version: 66.04
glider: 14
mission: 6
dive: 280
start: 10 9 108 9 25 0
data:
$ID,14
$MISSION,6
$DIVE,280
$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,315
$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,-655551.69
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,091917,6412.586,-1118.574,8,2.9,27,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.3
$GPS2,092437,6412.595,-1118.557,36,1.3,40,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6420.231,-1136.190
$TGT_RADIUS,1852.000
$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,326.5,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.05,0.000,2,0.000,0.000,381,1594,2761
$GC,83,-1.16,-146.6,3.7,-6.6,3,109,11.48,2.55,-8.18,0.000,4,0.182,0.092,2414,206,3139
$GC,380,-1.16,-146.6,49.4,-14.5,16,384,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1614,3140
$GC,701,-1.16,-146.6,92.3,-12.4,32,706,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,200,3140
$GC,758,-1.16,-146.6,100.0,-13.7,34,764,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3141
$GC,1075,-1.16,-146.6,139.4,-12.4,50,1079,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,206,3141
$GC,1139,-1.16,-146.6,147.3,-12.3,53,1143,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3141
$GC,1466,-1.16,-146.6,185.6,-13.1,69,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3142
$GC,1777,-1.16,-146.6,226.3,-13.1,84,1781,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,201,3142
$GC,1839,-1.16,-146.6,235.2,-13.3,87,1843,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3142
$GC,2172,-1.16,-146.6,278.6,-12.9,103,2176,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3143
$GC,2219,-1.16,-146.6,284.7,-13.6,105,2223,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3143
$STATE,2425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2425,begin apogee
$GC,2434,-0.32,0.0,310.8,13.1,115,2560,0.93,0.00,122.45,0.866,6,0.114,0.000,2602,2196,2539
$STATE,2561,end apogee,CONTROL_FINISHED_OK
$STATE,2561,begin climb
$GC,2565,1.16,146.6,315.5,0.0,121,2691,1.50,2.65,117.32,0.840,4,0.080,0.073,2927,780,1940
$GC,2786,1.16,146.6,304.0,11.7,131,2791,0.00,2.50,0.00,0.000,6,0.000,0.061,2927,2204,1940
$GC,3109,1.29,227.1,282.4,4.9,147,3180,0.12,2.78,64.22,0.826,4,0.067,0.107,2965,3606,1613
$GC,3251,1.29,227.1,269.4,10.5,153,3255,0.00,2.50,0.00,0.000,6,0.000,0.067,2965,2194,1613
$GC,3568,1.29,227.1,238.5,9.6,168,3572,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,789,1611
$GC,3619,1.29,227.1,233.1,10.5,170,3623,0.00,2.47,0.00,0.000,6,0.000,0.060,2965,2213,1611
$GC,3941,1.29,227.1,202.9,9.0,186,3945,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,789,1610
$GC,4065,1.30,230.7,192.7,7.9,191,4074,0.00,2.45,3.75,0.523,6,0.000,0.061,2965,2200,1597
$GC,4404,1.30,232.0,167.0,8.0,208,4408,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,792,1597
$GC,4460,1.30,232.0,161.7,9.3,210,4466,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1597
$GC,4777,1.30,232.0,133.0,9.3,226,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2200,1597
$GC,5086,1.30,232.0,99.9,11.0,241,5090,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,791,1597
$GC,5254,1.30,232.0,80.4,11.4,248,5261,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2203,1597
$GC,5571,1.30,232.0,45.8,10.9,264,5575,0.00,2.50,0.00,0.000,4,0.000,0.073,2964,794,1597
$GC,5666,1.30,232.0,35.4,8.1,268,5671,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2207,1597
$GC,5984,1.30,232.0,7.3,10.4,283,5988,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,793,1597
$GC,6035,1.36,268.2,2.3,6.6,285,6044,0.00,2.45,4.50,0.500,2,0.000,0.062,2965,2198,1584
$STATE,6045,end climb,SURFACE_DEPTH_REACHED
$STATE,6045,begin surface coast
$FINISH,0.2,1.027177
$STATE,6060,end surface coast,CONTROL_FINISHED_OK
$STATE,6060,begin surface
$SM_CCo,6086,34.80,0.652,0,0,1316,300.00
$SM_GC,1.25,0.00,0.00,34.80,0.000,0.000,0.652,383,1594,1316,-10.54,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1894
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.0,68.8
$24V_AH,23.8,38.607
$10V_AH,10.2,19.540
$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,25.350,66.925,312.250,34.800,0.000,37.761,28.765,111.439,1.500,0.000,0.000,41.536,592.192,4221.485,411.168,859.690,371.596,0.000,854.533,0.000,813.521,0.000,12.089,0.000
$DEVICE_MAMPS,181.779,107.380,865.943,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,209.226,192.959,268.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12780,286
$CAP_FILE_SIZE,53809,0
$CFSIZE,254472192,239030272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,091008,110853,6411.756,-1120.081,48,2.9,67,-11.5