version: 66.04
glider: 14
mission: 6
dive: 435
start: 10 30 108 20 5 55
data:
$ID,14
$MISSION,6
$DIVE,435
$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,275
$T_MISSION,300
$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,250
$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,-658715.62
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,195932,6335.277,-1026.423,37,1.6,37,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-56.9
$GPS2,200533,6335.342,-1026.365,14,1.6,14,-10.8
$SPEED_LIMITS,0.208,0.341
$TGT_NAME,SF
$TGT_LATLONG,6400.000,-800.000
$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,79.8,127301,-16.0,-12.000
$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,12,begin dive
$GC,16,-1.42,-244.4,0.0,0.0,0,69,0.00,0.00,-50.45,0.000,2,0.000,0.000,378,1625,2473
$GC,73,-1.42,-244.4,3.4,-3.4,3,124,11.10,2.58,-30.75,0.000,4,0.176,0.088,2357,209,3539
$GC,250,-1.42,-244.4,33.7,-22.6,11,255,0.00,2.40,0.00,0.000,6,0.000,0.058,2357,1602,3540
$GC,579,-1.42,-244.4,93.9,-16.4,27,583,0.00,2.53,0.00,0.000,4,0.000,0.076,2357,210,3542
$GC,642,-1.42,-244.4,104.4,-17.7,30,647,0.00,2.40,0.00,0.000,6,0.000,0.058,2357,1606,3542
$GC,971,-1.42,-244.4,157.7,-15.5,46,975,0.00,2.53,0.00,0.000,4,0.000,0.076,2356,206,3542
$GC,1067,-1.42,-244.4,174.2,-18.1,50,1071,0.00,2.38,0.00,0.000,6,0.000,0.058,2356,1602,3542
$GC,1397,-1.42,-244.4,227.0,-15.8,66,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1606,3543
$GC,1705,-1.42,-244.4,272.8,-14.2,81,1709,0.00,2.53,0.00,0.000,4,0.000,0.077,2357,210,3544
$GC,1755,-1.42,-244.4,281.1,-16.8,83,1759,0.00,2.38,0.00,0.000,6,0.000,0.058,2357,1597,3544
$GC,2077,-1.42,-244.4,332.2,-15.8,99,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1602,3545
$GC,2386,-1.42,-244.4,382.1,-16.2,114,2390,0.00,2.55,0.00,0.000,4,0.000,0.082,2357,206,3547
$GC,2426,-1.42,-244.4,388.9,-17.1,116,2431,0.00,2.42,0.00,0.000,6,0.000,0.060,2357,1606,3546
$GC,2754,-1.42,-244.4,443.3,-16.3,132,2758,0.00,2.58,0.00,0.000,4,0.000,0.084,2357,209,3548
$GC,2787,-1.42,-244.4,449.0,-15.8,133,2794,0.00,2.42,0.00,0.000,6,0.000,0.061,2357,1603,3548
$STATE,3100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3101,begin apogee
$GC,3110,-0.32,0.0,496.8,15.6,149,3331,1.25,0.00,211.23,1.044,6,0.130,0.000,2601,2197,2539
$STATE,3332,end apogee,CONTROL_FINISHED_OK
$STATE,3332,begin climb
$GC,3336,1.42,244.4,504.3,0.0,160,3547,1.75,2.65,198.70,1.016,4,0.074,0.077,2982,793,1542
$GC,3701,1.48,283.4,471.5,10.7,176,3739,0.00,2.50,33.05,0.975,6,0.000,0.064,2982,2196,1383
$GC,4059,1.56,331.3,432.7,10.4,194,4106,0.15,2.62,39.53,0.994,4,0.066,0.074,3024,799,1188
$GC,4180,1.56,331.3,415.6,14.3,199,4185,0.00,2.50,0.00,0.000,6,0.000,0.063,3024,2201,1186
$GC,4497,1.56,331.3,375.1,12.3,214,4501,0.00,2.58,0.00,0.000,4,0.000,0.073,3024,791,1183
$GC,4538,1.56,331.3,370.1,12.4,216,4542,0.00,2.50,0.00,0.000,6,0.000,0.063,3024,2201,1183
$GC,4866,1.56,332.9,332.2,11.9,232,4870,0.00,2.55,0.00,0.000,4,0.000,0.073,3024,785,1179
$GC,4939,1.56,332.9,322.8,12.4,235,4943,0.00,2.50,0.00,0.000,6,0.000,0.062,3024,2203,1179
$GC,5262,1.56,332.9,279.0,14.5,251,5266,0.00,2.55,0.00,0.000,4,0.000,0.072,3024,786,1177
$GC,5347,1.56,332.9,266.1,15.4,255,5351,0.00,2.50,0.00,0.000,6,0.000,0.063,3023,2209,1176
$GC,5674,1.56,332.9,222.2,13.2,271,5678,0.00,2.55,0.00,0.000,4,0.000,0.071,3024,795,1175
$GC,5743,1.56,332.9,212.1,15.1,274,5747,0.00,2.47,0.00,0.000,6,0.000,0.062,3024,2200,1175
$GC,6064,1.56,332.9,164.7,14.9,290,6069,0.00,2.55,0.00,0.000,4,0.000,0.072,3024,789,1174
$GC,6138,1.56,332.9,153.9,14.6,293,6142,0.00,2.47,0.00,0.000,6,0.000,0.061,3024,2202,1175
$GC,6455,1.56,332.9,109.8,15.8,308,6459,0.00,2.53,0.00,0.000,4,0.000,0.071,3024,788,1174
$GC,6550,1.56,332.9,95.6,13.7,312,6555,0.00,2.47,0.00,0.000,6,0.000,0.061,3024,2206,1175
$GC,6867,1.56,332.9,54.6,15.0,327,6871,0.00,2.53,0.00,0.000,4,0.000,0.070,3024,786,1175
$GC,6954,1.56,332.9,40.2,15.4,331,6959,0.00,2.47,0.00,0.000,6,0.000,0.062,3024,2199,1175
$STATE,7258,end climb,SURFACE_DEPTH_REACHED
$STATE,7258,begin surface coast
$FINISH,0.7,1.013669
$STATE,7281,end surface coast,CONTROL_FINISHED_OK
$STATE,7282,begin surface
$SM_CCo,7368,0.00,0.000,0,0,1174,334.83
$SM_GC,1.49,11.48,0.00,0.00,0.054,0.000,0.000,373,1601,1174,-10.51,0.06,334.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1927
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,477.8,26.1
$24V_AH,23.5,57.486
$10V_AH,10.2,28.996
$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,25.725,77.300,482.500,0.000,0.000,39.114,33.264,166.886,3.750,0.000,0.000,16.374,683.550,5135.537,524.495,943.796,449.291,0.000,1049.129,0.000,911.816,0.000,26.533,0.000
$DEVICE_MAMPS,176.410,88.205,1043.887,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.747,234.374,251.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15997,347
$CAP_FILE_SIZE,61536,0
$CFSIZE,254472192,231993344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,301008,221002,6337.097,-1020.734,38,1.6,38,-10.7