version: 66.04
glider: 14
mission: 6
dive: 430
start: 10 30 108 5 49 36
data:
$ID,14
$MISSION,6
$DIVE,430
$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,-658607.75
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,054401,6325.093,-1035.758,36,1.3,36,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-57.9
$GPS2,054915,6325.134,-1035.875,13,1.4,13,-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,43.8,23996,-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,-60.05,0.000,2,0.000,0.000,374,1586,2670
$GC,83,-1.16,-146.6,4.2,-5.1,3,114,11.50,2.53,-12.88,0.000,4,0.176,0.093,2415,210,3137
$GC,171,-1.16,-146.6,16.7,-13.8,6,175,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1614,3137
$GC,489,-1.16,-146.6,44.1,-7.3,21,493,0.00,2.55,0.00,0.000,4,0.000,0.077,2416,210,3138
$GC,529,-1.16,-146.6,47.7,-8.7,23,533,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1600,3138
$GC,863,-1.16,-146.6,84.1,-12.4,39,867,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,210,3139
$GC,909,-1.16,-146.6,89.7,-12.6,41,913,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1610,3139
$GC,1231,-1.16,-146.6,121.5,-9.2,57,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1613,3140
$GC,1540,-1.16,-146.6,153.4,-11.1,72,1543,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,213,3140
$GC,1647,-1.16,-146.6,166.4,-12.3,76,1654,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3140
$GC,1965,-1.16,-146.6,201.4,-11.5,92,1969,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,213,3142
$GC,2082,-1.16,-146.6,216.3,-12.3,97,2087,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1600,3142
$GC,2399,-1.16,-146.6,254.8,-12.7,112,2404,0.00,2.50,0.00,0.000,4,0.000,0.081,2415,2991,3143
$GC,2445,-1.16,-146.6,260.7,-12.2,114,2449,0.00,2.42,0.00,0.000,6,0.000,0.066,2415,1605,3143
$GC,2767,-1.16,-146.6,296.0,-9.8,130,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1605,3143
$GC,3076,-1.16,-146.6,321.4,-7.6,145,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1605,3143
$GC,3385,-1.16,-146.6,350.8,-10.4,160,3390,0.00,2.55,0.00,0.000,4,0.000,0.086,2416,209,3143
$GC,3517,-1.16,-146.6,365.3,-11.0,166,3521,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1600,3144
$GC,3855,-1.16,-146.6,400.5,-10.7,182,3859,0.00,2.55,0.00,0.000,4,0.000,0.087,2416,2994,3145
$GC,3884,-1.16,-146.6,404.1,-10.9,183,3889,0.00,2.45,0.00,0.000,6,0.000,0.068,2416,1602,3145
$STATE,4157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4157,begin apogee
$GC,4167,-0.32,0.0,431.9,9.9,196,4305,0.93,0.00,129.15,0.999,6,0.113,0.000,2602,2204,2539
$STATE,4305,end apogee,CONTROL_FINISHED_OK
$STATE,4305,begin climb
$GC,4309,1.16,146.6,439.0,0.0,203,4438,1.52,2.78,120.43,0.980,4,0.081,0.107,2928,3599,1941
$GC,4478,1.23,186.3,432.2,6.5,211,4520,0.00,2.53,33.12,0.945,6,0.000,0.070,2928,2197,1778
$GC,4830,1.27,212.7,407.5,7.0,228,4856,0.10,0.00,23.15,0.950,6,0.072,0.000,2958,2197,1671
$GC,5160,1.27,212.7,380.1,8.4,244,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2197,1668
$GC,5468,1.27,212.7,353.8,8.4,259,5473,0.00,2.67,0.00,0.000,4,0.000,0.098,2958,3602,1666
$GC,5513,1.27,212.7,349.7,9.3,261,5517,0.00,2.50,0.00,0.000,6,0.000,0.068,2959,2203,1663
$GC,5835,1.27,212.7,318.1,9.8,277,5839,0.00,2.58,0.00,0.000,4,0.000,0.079,2958,787,1663
$GC,5949,1.27,212.7,306.6,9.8,282,5953,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2201,1662
$GC,6276,1.27,212.7,277.1,8.7,298,6280,0.00,2.55,0.00,0.000,4,0.000,0.073,2958,783,1661
$GC,6346,1.27,212.7,270.9,9.1,301,6350,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2198,1658
$GC,6673,1.27,212.7,242.4,8.7,317,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2198,1658
$GC,6983,1.31,240.5,218.5,6.9,332,7011,0.00,2.60,21.52,0.871,4,0.000,0.072,2959,790,1557
$GC,7086,1.31,240.5,209.6,8.9,336,7092,0.00,2.50,0.00,0.000,6,0.000,0.062,2959,2207,1556
$GC,7404,1.31,240.5,179.2,9.9,352,7408,0.00,2.55,0.00,0.000,4,0.000,0.073,2959,787,1555
$GC,7535,1.31,240.5,165.9,10.9,358,7539,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2202,1554
$GC,7862,1.31,240.5,133.4,9.9,374,7866,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,790,1554
$GC,7952,1.31,240.5,124.4,10.2,378,7957,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2206,1554
$GC,8275,1.31,240.5,93.9,8.7,394,8279,0.00,2.55,0.00,0.000,4,0.000,0.073,2959,784,1554
$GC,8383,1.31,240.5,83.8,10.0,399,8387,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2201,1554
$GC,8713,1.31,240.5,51.2,11.5,415,8717,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,788,1554
$GC,8808,1.31,240.5,42.5,9.3,419,8812,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2204,1554
$GC,9125,1.31,240.5,11.9,10.2,434,9129,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,787,1555
$STATE,9216,end climb,SURFACE_DEPTH_REACHED
$STATE,9217,begin surface coast
$FINISH,1.4,1.027377
$STATE,9223,end surface coast,CONTROL_FINISHED_OK
$STATE,9223,begin surface
$SM_CCo,9251,32.92,0.680,0,0,1315,300.00
$SM_GC,1.78,0.00,0.00,32.92,0.000,0.000,0.680,373,1615,1315,-10.58,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1914
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.5,39.7
$24V_AH,23.5,56.861
$10V_AH,10.2,28.732
$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,25.275,90.175,327.375,32.925,0.000,44.246,25.946,120.067,3.250,0.000,0.000,15.029,858.756,6737.905,450.751,1127.538,432.650,0.000,1031.437,0.000,1097.760,0.000,24.616,0.000
$DEVICE_MAMPS,175.643,106.613,999.401,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.471,297.813,347.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22256,438
$CAP_FILE_SIZE,72765,0
$CFSIZE,254472192,232173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,301008,082538,6327.840,-1034.234,33,1.4,33,-10.8