version: 66.04
glider: 14
mission: 6
dive: 428
start: 10 30 108 0 38 30
data:
$ID,14
$MISSION,6
$DIVE,428
$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,-658579.19
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,002658,6324.652,-1034.824,28,2.1,47,-10.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.8
$GPS2,003809,6324.496,-1034.693,13,1.4,13,-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,40.4,24501,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.25,0.000,2,0.000,0.000,379,1587,2699
$GC,86,-1.16,-146.6,4.1,-5.7,3,112,11.40,0.00,-11.85,0.000,6,0.176,0.000,2415,1587,3139
$GC,435,-1.16,-146.6,53.2,-14.2,20,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1587,3139
$GC,745,-1.16,-146.6,87.9,-11.4,35,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1587,3140
$GC,1054,-1.16,-146.6,122.5,-11.4,50,1058,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,207,3140
$GC,1126,-1.16,-146.6,131.4,-12.3,53,1131,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1622,3140
$GC,1443,-1.16,-146.6,168.3,-11.4,68,1448,0.00,2.55,0.00,0.000,4,0.000,0.077,2415,210,3140
$GC,1472,-1.16,-146.6,171.7,-11.5,69,1476,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3141
$GC,1788,-1.16,-146.6,204.3,-9.9,84,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3141
$GC,2097,-1.16,-146.6,233.5,-9.4,99,2102,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,206,3142
$GC,2211,-1.16,-146.6,245.4,-11.4,104,2215,0.00,2.40,0.00,0.000,6,0.000,0.058,2416,1607,3143
$GC,2532,-1.16,-146.6,280.8,-11.1,120,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1608,3143
$GC,2842,-1.16,-146.6,312.5,-9.9,135,2847,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,210,3144
$GC,2938,-1.16,-146.6,323.5,-12.0,139,2942,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1600,3144
$GC,3254,-1.16,-146.6,357.5,-10.1,154,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3144
$GC,3564,-1.16,-146.6,387.0,-9.6,169,3569,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,215,3144
$GC,3606,-1.16,-146.6,391.7,-12.2,171,3610,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1607,3144
$STATE,3888,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3889,begin apogee
$GC,3899,-0.32,0.0,418.2,10.4,185,4036,0.93,0.00,128.60,0.989,6,0.112,0.000,2603,2190,2538
$STATE,4037,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4041,1.16,146.6,424.6,0.0,192,4169,1.52,2.85,119.40,0.966,4,0.083,0.113,2928,3594,1941
$GC,4423,1.16,146.6,398.0,8.0,209,4428,0.00,2.47,0.00,0.000,6,0.000,0.067,2928,2200,1938
$GC,4745,1.16,146.6,372.7,8.3,225,4749,0.00,2.58,0.00,0.000,4,0.000,0.081,2928,790,1937
$GC,4836,1.19,159.9,365.9,7.5,229,4853,0.00,2.47,11.55,0.891,6,0.000,0.061,2928,2202,1886
$GC,5162,1.19,159.9,341.4,8.4,245,5166,0.00,2.55,0.00,0.000,4,0.000,0.074,2928,789,1884
$GC,5224,1.19,159.9,335.9,8.9,247,5230,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2199,1884
$GC,5541,1.21,176.9,310.5,7.4,263,5562,0.00,2.58,14.45,0.907,4,0.000,0.073,2928,796,1816
$GC,5665,1.22,179.5,300.9,7.9,268,5669,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2199,1815
$GC,5982,1.24,192.7,277.3,7.5,283,6003,0.00,2.60,13.32,0.881,4,0.000,0.072,2928,802,1753
$GC,6073,1.24,192.7,269.8,8.2,287,6077,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2207,1752
$GC,6400,1.26,204.9,243.8,7.5,303,6421,0.00,2.65,11.57,0.842,4,0.000,0.072,2928,784,1702
$GC,6566,1.26,204.9,230.2,9.1,310,6571,0.10,2.50,0.00,0.000,6,0.073,0.061,2957,2208,1701
$GC,6888,1.26,204.9,199.7,9.4,326,6892,0.00,2.58,0.00,0.000,4,0.000,0.072,2957,784,1700
$GC,6951,1.26,204.9,193.4,10.2,329,6956,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2200,1700
$GC,7279,1.26,204.9,162.9,9.4,345,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1699
$GC,7589,1.26,204.9,132.7,10.3,360,7593,0.00,2.55,0.00,0.000,4,0.000,0.072,2957,789,1699
$GC,7679,1.26,204.9,123.2,11.2,364,7684,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2205,1699
$GC,8002,1.26,204.9,90.1,9.0,380,8006,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,792,1699
$GC,8103,1.33,252.9,84.3,6.2,384,8151,0.00,2.45,38.70,0.759,6,0.000,0.061,2958,2200,1506
$GC,8464,1.37,274.6,59.7,7.2,402,8487,0.00,2.62,18.38,0.706,4,0.000,0.071,2957,789,1417
$GC,8589,1.37,274.6,49.5,8.8,407,8593,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2198,1417
$GC,8907,1.41,301.1,23.3,7.0,422,8936,0.10,2.58,22.00,0.680,4,0.071,0.069,2991,793,1310
$GC,9018,1.41,301.1,8.6,14.9,427,9022,0.00,2.47,0.00,0.000,6,0.000,0.062,2991,2200,1310
$STATE,9096,end climb,SURFACE_DEPTH_REACHED
$STATE,9096,begin surface coast
$FINISH,0.7,1.014829
$STATE,9116,end surface coast,CONTROL_FINISHED_OK
$STATE,9117,begin surface
$SM_CCo,9203,0.00,0.000,0,0,1308,301.96
$SM_GC,1.56,11.35,0.00,0.00,0.054,0.000,0.000,375,1603,1308,-10.49,0.08,301.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1895
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,326.5,100.8
$24V_AH,23.5,56.645
$10V_AH,10.2,28.633
$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,25.400,82.625,377.975,0.000,0.000,116.961,81.567,222.714,2.750,0.000,0.000,14.505,843.180,6771.649,446.628,1147.364,671.124,0.000,1046.634,0.000,1119.420,0.000,17.026,0.000
$DEVICE_MAMPS,175.643,112.749,989.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.919,293.267,342.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22248,432
$CAP_FILE_SIZE,74993,0
$CFSIZE,254472192,232243200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,301008,031307,6324.159,-1033.986,33,1.9,33,-10.8