version: 66.04
glider: 14
mission: 6
dive: 315
start: 10 12 108 6 12 58
data:
$ID,14
$MISSION,6
$DIVE,315
$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,-656326.06
$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,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
$GPS1,060325,6359.186,-1203.846,21,0.9,39,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.8
$GPS2,061238,6359.356,-1204.126,11,1.8,23,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6351.720,-1221.460
$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,236.9,20000,-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,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,97,0.00,0.00,-73.97,0.000,6,0.000,0.000,379,1593,3138
$GC,102,-1.16,-146.6,6.8,-8.6,4,124,11.52,2.53,0.00,0.000,4,0.183,0.072,2411,3010,3143
$GC,395,-1.16,-146.6,52.7,-13.9,17,399,0.00,2.45,0.00,0.000,6,0.000,0.064,2411,1601,3144
$GC,723,-1.16,-146.6,91.1,-11.6,33,727,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,203,3146
$GC,823,-1.16,-146.6,104.3,-12.9,37,830,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1619,3146
$GC,1142,-1.16,-146.6,139.9,-10.1,53,1146,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,209,3145
$GC,1250,-1.16,-146.6,151.4,-10.8,58,1255,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1603,3146
$GC,1577,-1.16,-146.6,184.9,-10.7,74,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3147
$GC,1887,-1.16,-146.6,221.4,-12.1,89,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3147
$GC,2196,-1.16,-146.6,257.7,-11.6,104,2200,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,201,3147
$GC,2240,-1.16,-146.6,263.1,-11.8,106,2245,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1608,3147
$GC,2563,-1.16,-146.6,298.4,-11.5,122,2567,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,208,3147
$GC,2627,-1.16,-146.6,306.8,-13.1,125,2631,0.00,2.38,0.00,0.000,6,0.000,0.060,2411,1594,3147
$GC,2961,-1.16,-146.6,346.9,-11.0,141,2965,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,202,3148
$GC,3006,-1.16,-146.6,352.0,-11.0,143,3010,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1602,3148
$STATE,3324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3324,begin apogee
$GC,3334,-0.32,0.0,384.2,10.1,159,3471,0.95,0.00,128.52,0.915,6,0.114,0.000,2604,2200,2539
$STATE,3471,end apogee,CONTROL_FINISHED_OK
$STATE,3472,begin climb
$GC,3476,1.16,146.6,388.6,0.0,166,3604,1.50,2.83,119.68,0.900,4,0.082,0.114,2926,3590,1941
$GC,3717,1.16,146.6,373.9,10.3,177,3721,0.00,2.50,0.00,0.000,6,0.000,0.073,2926,2199,1938
$GC,4039,1.16,146.6,346.0,8.1,193,4043,0.00,2.58,0.00,0.000,4,0.000,0.081,2926,787,1938
$GC,4140,1.16,146.6,337.2,9.0,197,4146,0.00,2.50,0.00,0.000,6,0.000,0.064,2925,2204,1937
$GC,4457,1.27,213.5,317.9,5.5,213,4520,0.12,2.65,53.53,0.904,4,0.067,0.077,2961,798,1667
$GC,4588,1.27,213.5,307.5,9.5,218,4594,0.00,2.50,0.00,0.000,6,0.000,0.064,2962,2208,1666
$GC,4904,1.27,213.5,277.3,10.2,234,4908,0.00,2.58,0.00,0.000,4,0.000,0.076,2963,793,1663
$GC,5028,1.27,213.5,263.7,10.3,239,5034,0.00,2.50,0.00,0.000,6,0.000,0.064,2962,2212,1662
$GC,5344,1.27,213.5,233.3,8.9,255,5348,0.00,2.58,0.00,0.000,4,0.000,0.074,2962,789,1660
$GC,5422,1.27,213.5,226.5,8.6,258,5428,0.00,2.47,0.00,0.000,6,0.000,0.064,2963,2200,1660
$GC,5739,1.27,213.5,198.3,9.0,274,5743,0.00,2.53,0.00,0.000,4,0.000,0.075,2963,791,1659
$GC,5846,1.27,213.5,187.4,10.0,278,5852,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2206,1659
$GC,6163,1.27,213.5,156.0,10.1,294,6167,0.00,2.55,0.00,0.000,4,0.000,0.075,2963,785,1657
$GC,6264,1.27,213.5,144.8,10.7,298,6270,0.00,2.50,0.00,0.000,6,0.000,0.062,2963,2211,1657
$GC,6581,1.27,213.5,113.3,9.9,314,6585,0.00,2.55,0.00,0.000,4,0.000,0.074,2963,785,1657
$GC,6659,1.27,213.5,105.4,9.7,317,6666,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2200,1657
$GC,6976,1.28,219.7,79.7,7.8,333,6986,0.00,2.55,4.95,0.566,4,0.000,0.073,2962,789,1643
$GC,7221,1.28,219.7,59.0,8.1,344,7225,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2201,1643
$GC,7550,1.28,219.7,29.4,8.5,360,7554,0.00,2.53,0.00,0.000,4,0.000,0.074,2963,787,1643
$GC,7651,1.28,219.7,20.2,9.5,364,7657,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2208,1643
$STATE,7862,end climb,SURFACE_DEPTH_REACHED
$STATE,7862,begin surface coast
$FINISH,0.5,1.027177
$STATE,7883,end surface coast,CONTROL_FINISHED_OK
$STATE,7883,begin surface
$SM_CCo,7909,48.53,0.657,0,0,1315,300.00
$SM_GC,0.89,0.00,0.00,48.53,0.000,0.000,0.657,372,1596,1315,-10.58,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1902
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.6,91.9
$24V_AH,23.7,42.001
$10V_AH,10.2,20.998
$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,25.375,82.500,306.675,48.525,0.000,78.436,53.754,224.596,2.250,0.000,0.000,24.954,759.670,5635.852,459.299,1083.161,583.719,0.000,1012.440,0.000,1045.991,0.000,15.387,0.000
$DEVICE_MAMPS,183.313,114.283,915.031,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.751,253.984,318.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19159,376
$CAP_FILE_SIZE,68410,0
$CFSIZE,254472192,237879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,121008,082653,6400.406,-1206.137,13,3.1,32,-11.9