version: 66.04
glider: 14
mission: 6
dive: 242
start: 10 5 108 23 20 19
data:
$ID,14
$MISSION,6
$DIVE,242
$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,576.94562
$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,-654705.44
$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
$GPS1,231137,6418.789,-1207.477,39,2.0,39,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.9
$GPS2,231956,6418.896,-1206.990,12,1.8,17,-12.0
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IS1
$TGT_LATLONG,6410.000,-1300.000
$TGT_RADIUS,3000.000
$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,260.9,45843,-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,16,-1.16,-146.6,0.0,0.0,0,119,0.00,0.00,-100.62,0.000,2,0.000,0.000,382,1596,2635
$GC,124,-1.16,-146.6,3.3,-2.6,5,154,11.38,2.58,-11.60,0.000,4,0.178,0.091,2412,201,3140
$GC,217,-1.16,-146.6,18.8,-13.4,9,221,0.00,2.42,0.00,0.000,6,0.000,0.059,2412,1612,3142
$GC,539,-1.16,-146.6,65.5,-14.7,25,543,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,209,3143
$GC,602,-1.16,-146.6,74.6,-13.0,28,606,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3143
$GC,931,-1.16,-146.6,117.4,-13.3,44,936,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,201,3144
$GC,1033,-1.16,-146.6,132.1,-14.1,48,1039,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1606,3144
$GC,1351,-1.16,-146.6,175.4,-14.0,64,1355,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,209,3145
$GC,1429,-1.16,-146.6,186.8,-13.4,67,1436,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1597,3145
$GC,1746,-1.16,-146.6,228.3,-13.3,83,1750,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,209,3145
$GC,1797,-1.16,-146.6,235.5,-14.4,85,1801,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3145
$GC,2113,-1.16,-146.6,278.7,-13.7,100,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3145
$GC,2422,-1.16,-146.6,319.5,-13.2,115,2426,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,207,3145
$GC,2473,-1.16,-146.6,326.5,-13.5,117,2477,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1602,3145
$GC,2789,-1.16,-146.6,367.0,-12.1,132,2793,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,212,3145
$GC,2891,-1.16,-146.6,380.8,-14.3,136,2897,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1604,3145
$GC,3207,-1.16,-146.6,421.0,-13.7,152,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3146
$STATE,3225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3225,begin apogee
$GC,3234,-0.32,0.0,423.6,13.7,153,3360,0.93,0.00,122.47,0.960,6,0.113,0.000,2601,2194,2539
$STATE,3361,end apogee,CONTROL_FINISHED_OK
$STATE,3361,begin climb
$GC,3365,1.16,146.6,428.0,0.0,159,3493,1.50,2.83,118.10,0.927,4,0.079,0.110,2926,3598,1941
$GC,3766,1.28,216.4,409.3,5.3,177,3828,0.12,2.50,56.00,0.917,6,0.067,0.072,2965,2200,1656
$GC,4151,1.28,216.4,374.1,8.9,196,4156,0.00,2.65,0.00,0.000,4,0.000,0.098,2965,3601,1656
$GC,4309,1.28,216.4,358.9,9.6,203,4314,0.00,2.50,0.00,0.000,6,0.000,0.071,2965,2196,1656
$GC,4631,1.28,216.4,329.1,10.0,219,4636,0.00,2.65,0.00,0.000,4,0.000,0.097,2965,3601,1655
$GC,4762,1.28,216.4,315.3,10.8,225,4766,0.00,2.47,0.00,0.000,6,0.000,0.070,2965,2195,1655
$GC,5090,1.28,216.4,282.2,10.0,241,5094,0.00,2.55,0.00,0.000,4,0.000,0.081,2965,789,1653
$GC,5130,1.28,216.4,278.0,10.5,243,5134,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2213,1653
$GC,5457,1.28,216.4,245.8,10.1,259,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2213,1652
$GC,5766,1.28,216.4,214.7,10.1,274,5770,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,786,1652
$GC,5856,1.28,216.4,205.1,10.8,278,5860,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2210,1652
$GC,6178,1.28,216.4,174.4,9.4,294,6182,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,782,1652
$GC,6229,1.28,216.4,169.5,9.8,296,6233,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2203,1652
$GC,6550,1.28,216.4,142.1,8.3,312,6555,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,786,1653
$GC,6647,1.28,216.4,133.4,8.9,316,6651,0.00,2.45,0.00,0.000,6,0.000,0.063,2965,2197,1652
$GC,6969,1.28,216.4,107.4,8.1,332,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1653
$GC,7278,1.28,216.4,81.8,8.4,347,7283,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,789,1652
$GC,7473,1.28,216.4,63.3,9.8,355,7479,0.00,2.47,0.00,0.000,6,0.000,0.064,2965,2210,1652
$GC,7790,1.31,239.1,37.8,7.1,371,7815,0.00,2.65,18.10,0.667,4,0.000,0.074,2966,783,1564
$GC,7929,1.31,239.1,25.4,10.9,377,7933,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2200,1564
$STATE,8207,end climb,SURFACE_DEPTH_REACHED
$STATE,8207,begin surface coast
$FINISH,0.5,1.014934
$STATE,8230,end surface coast,CONTROL_FINISHED_OK
$STATE,8230,begin surface
$SM_CCo,8256,180.23,0.630,0,0,186,576.95
$SM_GC,1.10,0.00,0.00,180.23,0.000,0.000,0.630,373,1598,186,-10.59,-0.03,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1853
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,402.5,28.6
$24V_AH,23.7,34.060
$10V_AH,10.2,17.838
$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,25.125,82.350,314.675,180.225,0.000,75.521,55.873,178.473,3.500,0.000,0.000,19.213,788.990,5912.400,608.166,1095.558,543.904,0.000,1174.652,0.000,1063.253,0.000,24.611,0.000
$DEVICE_MAMPS,177.944,110.448,959.517,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,292.798,265.365,326.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19073,392
$CAP_FILE_SIZE,70331,0
$CFSIZE,254472192,240263168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,061008,014207,6419.272,-1202.064,26,1.6,26,-12.0