version: 66.04
glider: 14
mission: 6
dive: 433
start: 10 30 108 14 28 30
data:
$ID,14
$MISSION,6
$DIVE,433
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-658685.12
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,141616,6331.429,-1027.277,41,3.3,60,-10.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-60.6
$GPS2,142809,6331.355,-1027.483,10,2.0,10,-10.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NC
$TGT_LATLONG,6336.000,-1020.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,46.4,10582,-14.4,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,59,0.00,0.00,-40.47,0.000,2,0.000,0.000,380,1590,2239
$GC,63,-1.16,-146.6,3.2,-3.6,2,109,11.35,0.00,-30.48,0.000,6,0.175,0.000,2412,1590,3139
$GC,417,-1.16,-146.6,39.1,-10.5,19,422,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,213,3139
$GC,468,-1.16,-146.6,45.6,-11.9,21,473,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1612,3140
$GC,787,-1.16,-146.6,76.8,-10.1,36,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1616,3139
$GC,1094,-1.16,-146.6,107.7,-10.5,51,1099,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,204,3140
$GC,1168,-1.16,-146.6,116.3,-12.0,54,1173,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1606,3140
$GC,1485,-1.16,-146.6,154.4,-11.6,69,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1607,3140
$GC,1795,-1.16,-146.6,188.5,-10.7,84,1799,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,208,3141
$GC,1845,-1.16,-146.6,194.2,-11.0,86,1849,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3141
$GC,2162,-1.16,-146.6,227.5,-10.7,101,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3141
$GC,2472,-1.16,-146.6,260.7,-11.0,116,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3142
$GC,2780,-1.16,-146.6,293.3,-10.5,131,2784,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,211,3143
$GC,2904,-1.16,-146.6,306.6,-10.2,136,2909,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1605,3143
$GC,3222,-1.16,-146.6,340.9,-11.7,151,3226,0.00,2.55,0.00,0.000,4,0.000,0.080,2413,207,3143
$GC,3278,-1.16,-146.6,348.2,-12.4,153,3284,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1601,3143
$GC,3594,-1.16,-146.6,384.2,-11.1,169,3599,0.00,2.55,0.00,0.000,4,0.000,0.081,2413,207,3146
$GC,3669,-1.16,-146.6,393.3,-12.1,172,3673,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1601,3145
$GC,3985,-1.16,-146.6,427.4,-10.7,187,3990,0.00,2.55,0.00,0.000,4,0.000,0.082,2413,210,3145
$GC,4059,-1.16,-146.6,435.9,-12.0,190,4063,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1598,3145
$GC,4376,-1.16,-146.6,470.5,-11.2,205,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3145
$STATE,4475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4475,begin apogee
$GC,4484,-0.32,0.0,481.9,11.3,210,4623,0.93,0.00,130.48,1.043,6,0.110,0.000,2601,2194,2539
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4628,1.16,146.6,488.1,0.0,217,4758,1.52,2.85,121.68,1.025,4,0.083,0.116,2926,3602,1940
$GC,5022,1.22,183.7,474.7,6.6,235,5058,0.00,2.50,31.05,1.002,6,0.000,0.071,2926,2202,1789
$GC,5369,1.22,183.7,448.5,8.1,251,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2202,1786
$GC,5679,1.22,183.7,423.2,8.2,266,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2202,1785
$GC,5989,1.22,183.7,396.7,8.4,281,5993,0.00,2.58,0.00,0.000,4,0.000,0.078,2926,791,1783
$GC,6061,1.22,183.7,390.1,8.6,284,6066,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2198,1782
$GC,6378,1.27,210.3,366.0,7.0,299,6408,0.12,2.62,22.45,0.997,4,0.070,0.073,2961,798,1680
$GC,6505,1.27,210.3,355.1,8.8,304,6511,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2198,1679
$GC,6822,1.27,214.9,329.5,7.8,320,6828,0.00,0.00,4.47,0.717,6,0.000,0.000,2961,2199,1663
$GC,7131,1.27,214.9,303.1,9.2,335,7135,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,785,1662
$GC,7245,1.27,214.9,290.9,11.3,340,7250,0.00,2.50,0.00,0.000,6,0.000,0.061,2961,2208,1661
$GC,7574,1.27,214.9,256.7,9.8,356,7578,0.00,2.58,0.00,0.000,4,0.000,0.072,2961,786,1660
$GC,7710,1.27,214.9,243.4,9.0,362,7715,0.00,2.50,0.00,0.000,6,0.000,0.062,2961,2208,1660
$GC,8033,1.29,225.6,218.5,7.6,378,8044,0.00,0.00,9.75,0.825,6,0.000,0.000,2961,2209,1619
$GC,8342,1.29,225.6,186.7,11.9,393,8347,0.00,2.58,0.00,0.000,4,0.000,0.072,2961,784,1618
$GC,8416,1.29,225.6,177.1,13.6,396,8420,0.00,2.50,0.00,0.000,6,0.000,0.061,2961,2209,1617
$GC,8733,1.29,225.6,144.2,8.8,411,8737,0.00,2.55,0.00,0.000,4,0.000,0.072,2961,787,1617
$GC,8828,1.29,225.6,135.6,8.7,415,8833,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2205,1617
$GC,9151,1.29,225.6,108.9,9.1,431,9155,0.00,2.55,0.00,0.000,4,0.000,0.073,2961,782,1617
$GC,9259,1.29,225.6,98.1,10.3,436,9263,0.00,2.47,0.00,0.000,6,0.000,0.062,2961,2200,1617
$GC,9587,1.34,254.9,71.5,6.9,452,9617,0.00,2.58,24.85,0.739,4,0.000,0.071,2961,792,1498
$GC,9677,1.34,254.9,64.5,8.5,456,9681,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2200,1497
$GC,10005,1.34,254.9,34.3,9.4,472,10009,0.00,2.53,0.00,0.000,4,0.000,0.073,2961,792,1497
$GC,10100,1.34,254.9,23.5,11.5,476,10105,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2209,1497
$STATE,10310,end climb,SURFACE_DEPTH_REACHED
$STATE,10311,begin surface coast
$FINISH,0.9,1.002789
$STATE,10332,end surface coast,CONTROL_FINISHED_OK
$STATE,10332,begin surface
$SM_CCo,10359,25.38,0.670,0,0,1316,300.00
$SM_GC,1.87,0.00,0.00,25.38,0.000,0.000,0.670,381,1600,1316,-10.55,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1914
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.2,64.7
$24V_AH,23.5,57.219
$10V_AH,10.2,28.903
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.200,87.475,344.725,25.375,0.000,113.289,84.656,259.947,3.750,0.000,0.000,12.057,944.600,7746.304,447.916,1236.864,730.784,0.000,1080.227,0.000,1209.162,0.000,23.401,0.000
$DEVICE_MAMPS,174.876,115.817,1043.120,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.910,331.655,369.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25352,487
$CAP_FILE_SIZE,82969,0
$CFSIZE,254472192,232038400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,301008,172254,6332.797,-1028.609,14,2.4,33,-10.8