version: 66.04
glider: 14
mission: 6
dive: 243
start: 10 6 108 1 47 34
data:
$ID,14
$MISSION,6
$DIVE,243
$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,-654722.12
$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,19
$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
$GPS1,014207,6419.272,-1202.064,26,1.6,26,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-53.0
$GPS2,014709,6419.296,-1201.812,14,1.9,14,-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,261.9,50015,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.30,0.000,2,0.000,0.000,374,1596,2659
$GC,124,-1.16,-146.6,3.9,-3.1,5,153,11.43,2.53,-10.55,0.000,4,0.177,0.092,2414,208,3138
$GC,317,-1.16,-146.6,37.2,-14.6,13,324,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1619,3141
$GC,635,-1.16,-146.6,82.3,-14.1,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1623,3142
$GC,943,-1.16,-146.6,125.1,-14.5,44,948,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,207,3143
$GC,1076,-1.16,-146.6,144.1,-14.1,50,1080,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1604,3143
$GC,1404,-1.16,-146.6,187.2,-13.0,66,1408,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,207,3144
$GC,1467,-1.16,-146.6,195.8,-14.0,69,1471,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3145
$GC,1801,-1.16,-146.6,240.0,-13.1,85,1804,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3144
$GC,1869,-1.16,-146.6,249.3,-13.1,88,1877,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3144
$GC,2205,-1.16,-146.6,291.1,-12.4,104,2209,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,206,3145
$GC,2247,-1.16,-146.6,296.3,-12.5,106,2251,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3144
$GC,2574,-1.16,-146.6,335.4,-11.9,122,2578,0.00,2.55,0.00,0.000,4,0.000,0.081,2414,201,3144
$GC,2630,-1.16,-146.6,342.3,-12.0,124,2636,0.00,2.42,0.00,0.000,6,0.000,0.060,2414,1606,3145
$GC,2947,-1.16,-146.6,378.3,-11.8,140,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3145
$STATE,3252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3252,begin apogee
$GC,3262,-0.32,0.0,413.9,9.6,155,3387,0.93,0.00,121.85,0.937,6,0.118,0.000,2600,2197,2539
$STATE,3388,end apogee,CONTROL_FINISHED_OK
$STATE,3388,begin climb
$GC,3392,1.16,146.6,416.9,0.0,161,3521,1.50,2.83,118.28,0.915,4,0.079,0.113,2926,3596,1940
$GC,3771,1.19,161.3,401.0,7.4,179,3792,0.00,2.50,12.62,0.828,6,0.000,0.070,2926,2191,1882
$GC,4103,1.24,197.3,377.3,6.6,195,4135,0.00,0.00,30.30,0.890,6,0.000,0.000,2926,2191,1734
$GC,4433,1.25,203.2,350.9,7.8,211,4441,0.00,0.00,6.07,0.714,6,0.000,0.000,2926,2191,1711
$GC,4742,1.29,225.2,328.1,7.2,226,4767,0.12,2.75,18.88,0.856,4,0.067,0.097,2965,3600,1620
$GC,4841,1.29,225.2,318.7,10.6,230,4845,0.00,2.50,0.00,0.000,6,0.000,0.069,2965,2196,1620
$GC,5157,1.29,225.2,288.1,9.8,245,5162,0.00,2.55,0.00,0.000,4,0.000,0.080,2965,787,1620
$GC,5198,1.29,225.2,283.9,10.4,247,5203,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2206,1620
$GC,5525,1.29,225.2,251.6,9.8,263,5529,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,790,1620
$GC,5626,1.29,225.2,241.2,10.3,267,5632,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2199,1620
$GC,5943,1.29,225.2,211.8,9.2,283,5947,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,784,1620
$GC,5976,1.29,225.2,208.5,9.7,284,5982,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2202,1620
$GC,6293,1.29,225.2,179.6,9.2,300,6297,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,783,1620
$GC,6377,1.29,225.2,171.3,9.8,303,6383,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2203,1620
$GC,6694,1.29,225.2,142.4,9.2,319,6698,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,786,1620
$GC,6767,1.29,225.2,134.9,10.2,322,6771,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2200,1620
$GC,7085,1.29,225.2,106.7,8.8,337,7089,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,789,1620
$GC,7175,1.29,225.2,98.3,9.2,341,7179,0.00,2.47,0.00,0.000,6,0.000,0.064,2965,2203,1620
$GC,7497,1.29,225.2,71.0,8.4,357,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2203,1620
$GC,7806,1.30,230.2,46.0,7.8,372,7816,0.00,2.55,5.47,0.555,4,0.000,0.074,2965,788,1599
$GC,7896,1.30,230.2,37.2,10.1,376,7901,0.00,2.45,0.00,0.000,6,0.000,0.064,2966,2198,1600
$GC,8219,1.36,270.3,11.2,6.5,392,8261,0.00,2.60,31.98,0.657,4,0.000,0.074,2965,786,1435
$STATE,8305,end climb,SURFACE_DEPTH_REACHED
$STATE,8305,begin surface coast
$FINISH,1.0,1.027083
$STATE,8310,end surface coast,CONTROL_FINISHED_OK
$STATE,8310,begin surface
$SM_CCo,8337,165.80,0.627,0,0,186,576.95
$SM_GC,1.06,0.00,0.00,165.80,0.000,0.000,0.627,373,1619,186,-10.58,0.54,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1846
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.2,70.3
$24V_AH,23.7,34.186
$10V_AH,10.2,17.886
$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,25.300,80.350,345.450,165.800,0.000,39.299,36.676,108.147,2.500,0.000,0.000,16.084,778.918,5954.080,643.416,1040.000,403.337,0.000,1184.562,0.000,1014.656,0.000,21.486,0.000
$DEVICE_MAMPS,177.177,112.749,937.274,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.953,267.881,319.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19096,396
$CAP_FILE_SIZE,67489,0
$CFSIZE,254472192,240230400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,061008,041038,6418.683,-1158.501,37,1.5,37,-12.0