version: 66.04
glider: 14
mission: 6
dive: 311
start: 10 11 108 21 10 46
data:
$ID,14
$MISSION,6
$DIVE,311
$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,225
$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,-656250.38
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,210529,6401.053,-1143.932,19,2.2,38,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.0
$GPS2,211021,6401.042,-1143.907,11,1.6,11,-11.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6353.406,-1201.258
$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,236.7,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,2,0.000,0.000,379,1595,2749
$GC,83,-1.16,-146.6,3.4,-5.3,3,110,11.43,2.55,-9.32,0.000,4,0.179,0.087,2413,3015,3139
$GC,290,-1.16,-146.6,32.7,-13.9,12,294,0.00,2.47,0.00,0.000,6,0.000,0.064,2413,1593,3139
$GC,608,-1.16,-146.6,71.4,-10.7,27,612,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,205,3139
$GC,671,-1.16,-146.6,79.0,-11.4,30,676,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1617,3139
$GC,1001,-1.16,-146.6,112.0,-9.9,46,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1622,3140
$GC,1308,-1.16,-146.6,143.1,-10.5,61,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1622,3140
$GC,1619,-1.16,-146.6,175.7,-10.5,76,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1622,3141
$GC,1928,-1.16,-146.6,211.8,-12.1,91,1931,0.00,2.55,0.00,0.000,4,0.000,0.078,2412,202,3141
$GC,1996,-1.16,-146.6,220.7,-12.6,94,2001,0.00,2.38,0.00,0.000,6,0.000,0.059,2411,1599,3141
$GC,2324,-1.16,-146.6,262.0,-12.7,110,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3141
$GC,2634,-1.16,-146.6,299.7,-12.2,125,2638,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,210,3141
$GC,2723,-1.16,-146.6,310.8,-11.5,129,2728,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3141
$STATE,2877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2877,begin apogee
$GC,2886,-0.32,0.0,326.7,10.3,137,3020,0.93,0.00,125.15,0.862,6,0.106,0.000,2604,2193,2538
$STATE,3021,end apogee,CONTROL_FINISHED_OK
$STATE,3021,begin climb
$GC,3025,1.16,146.6,331.2,0.0,144,3153,1.52,2.80,118.20,0.845,4,0.088,0.106,2927,3594,1941
$GC,3172,1.17,149.4,325.0,7.9,151,3181,0.00,2.50,3.90,0.528,6,0.000,0.068,2927,2193,1930
$GC,3505,1.17,149.4,300.5,8.8,167,3510,0.00,2.55,0.00,0.000,4,0.000,0.077,2927,785,1929
$GC,3636,1.17,149.4,287.8,9.4,173,3640,0.00,2.47,0.00,0.000,6,0.000,0.061,2927,2202,1929
$GC,3964,1.19,164.7,261.2,7.4,189,3985,0.00,2.60,13.27,0.765,4,0.000,0.072,2927,793,1867
$GC,4038,1.20,166.1,255.3,7.9,192,4042,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2207,1866
$GC,4360,1.22,184.1,230.7,7.3,208,4382,0.00,2.62,16.45,0.773,4,0.000,0.073,2927,793,1788
$GC,4474,1.22,184.1,221.6,8.1,213,4478,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2208,1788
$GC,4801,1.26,204.3,197.5,7.2,229,4824,0.00,2.65,17.58,0.755,4,0.000,0.073,2927,785,1705
$GC,4943,1.26,204.3,186.2,8.1,235,4947,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2199,1705
$GC,5265,1.27,209.9,162.0,7.8,251,5277,0.10,2.55,6.10,0.624,4,0.071,0.073,2961,792,1683
$GC,5379,1.27,209.9,150.4,10.2,256,5383,0.00,2.45,0.00,0.000,6,0.000,0.063,2961,2200,1682
$GC,5707,1.27,209.9,114.8,11.4,272,5711,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,789,1682
$GC,5763,1.27,209.9,107.9,12.3,274,5769,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2203,1682
$GC,6080,1.27,209.9,75.6,10.4,290,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2203,1682
$GC,6390,1.27,209.9,46.2,9.7,305,6394,0.00,2.53,0.00,0.000,4,0.000,0.075,2961,793,1682
$GC,6492,1.27,209.9,36.4,8.5,309,6498,0.00,2.45,0.00,0.000,6,0.000,0.063,2961,2200,1682
$GC,6809,1.27,211.5,9.0,7.9,325,6813,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,789,1682
$GC,6887,1.27,211.5,2.2,9.3,328,6894,0.00,2.47,0.00,0.000,6,0.000,0.062,2962,2209,1681
$STATE,6912,end climb,SURFACE_DEPTH_REACHED
$STATE,6912,begin surface coast
$FINISH,0.4,1.012402
$STATE,6934,end surface coast,CONTROL_FINISHED_OK
$STATE,6934,begin surface
$SM_CCo,6960,47.60,0.647,0,0,1316,300.00
$SM_GC,1.07,0.00,0.00,47.60,0.000,0.000,0.647,377,1591,1316,-10.57,-0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,225.6,109.4
$24V_AH,23.8,41.596
$10V_AH,10.2,20.806
$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,25.225,67.450,300.650,47.600,0.000,39.120,27.263,110.375,1.250,0.000,0.000,13.320,669.061,4956.299,425.856,887.427,377.735,0.000,893.863,0.000,870.903,0.000,10.580,0.000
$DEVICE_MAMPS,179.478,105.846,862.108,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.505,223.857,306.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15999,331
$CAP_FILE_SIZE,58164,0
$CFSIZE,254472192,238034944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,111008,230915,6359.873,-1147.116,37,4.5,56,-11.7