version: 66.04
glider: 14
mission: 6
dive: 246
start: 10 6 108 9 12 3
data:
$ID,14
$MISSION,6
$DIVE,246
$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,-654803.88
$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,20
$R_STBD_OVSHOOT,36
$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
$GPS1,090637,6416.953,-1157.125,9,1.2,25,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-53.5
$GPS2,091138,6416.993,-1157.038,8,1.3,13,-11.9
$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,267.6,52436,-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,-101.22,0.000,2,0.000,0.000,377,1627,2645
$GC,123,-1.16,-146.6,3.8,-3.1,5,153,11.43,2.60,-10.48,0.000,4,0.178,0.091,2415,201,3137
$GC,369,-1.16,-146.6,45.4,-12.9,16,373,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1601,3140
$GC,696,-1.16,-146.6,89.3,-12.7,32,700,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,208,3141
$GC,786,-1.16,-146.6,100.7,-12.6,36,790,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3142
$GC,1108,-1.16,-146.6,140.2,-12.8,52,1112,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3143
$GC,1204,-1.16,-146.6,153.2,-13.7,56,1208,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1604,3143
$GC,1526,-1.16,-146.6,195.6,-13.5,72,1530,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3143
$GC,1600,-1.16,-146.6,206.3,-14.0,75,1604,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1602,3143
$GC,1916,-1.16,-146.6,248.7,-13.0,90,1920,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,202,3143
$GC,1972,-1.16,-146.6,256.5,-13.5,92,1978,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1602,3143
$GC,2289,-1.16,-146.6,296.7,-12.6,108,2293,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,202,3143
$GC,2330,-1.16,-146.6,301.9,-13.9,110,2334,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1602,3143
$GC,2658,-1.16,-146.6,344.7,-13.2,126,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1607,3143
$GC,2967,-1.16,-146.6,381.7,-11.7,141,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1607,3143
$STATE,3149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3149,begin apogee
$GC,3158,-0.32,0.0,402.8,11.0,150,3283,0.90,0.00,121.55,0.920,6,0.104,0.000,2602,2191,2539
$STATE,3284,end apogee,CONTROL_FINISHED_OK
$STATE,3284,begin climb
$GC,3288,1.16,146.6,407.6,0.0,156,3416,1.50,2.83,118.12,0.900,4,0.082,0.110,2926,3593,1941
$GC,3690,1.23,185.9,392.2,6.5,174,3728,0.00,2.47,32.15,0.871,6,0.000,0.070,2926,2197,1780
$GC,4038,1.23,185.9,367.1,8.2,191,4042,0.00,2.65,0.00,0.000,4,0.000,0.096,2926,3601,1780
$GC,4184,1.23,185.9,354.2,8.2,197,4190,0.00,2.50,0.00,0.000,6,0.000,0.069,2926,2196,1780
$GC,4501,1.30,233.3,331.3,6.2,213,4546,0.15,2.72,38.95,0.871,4,0.064,0.093,2971,3597,1587
$GC,4604,1.30,233.3,322.7,9.3,217,4610,0.00,2.50,0.00,0.000,6,0.000,0.069,2971,2200,1587
$GC,4920,1.30,233.3,293.9,9.1,233,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2200,1587
$GC,5229,1.30,233.3,265.1,9.6,248,5233,0.00,2.62,0.00,0.000,4,0.000,0.092,2971,3605,1587
$GC,5279,1.30,233.3,260.1,9.8,250,5284,0.00,2.50,0.00,0.000,6,0.000,0.069,2971,2197,1587
$GC,5596,1.30,233.3,230.2,9.7,265,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,1587
$GC,5905,1.30,233.3,199.8,9.9,280,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,1587
$GC,6214,1.30,233.3,168.6,10.4,295,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,1587
$GC,6524,1.30,233.3,135.8,10.3,310,6528,0.00,2.55,0.00,0.000,4,0.000,0.080,2971,784,1587
$GC,6571,1.30,233.3,130.8,11.1,312,6575,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2200,1587
$GC,6899,1.30,233.3,97.8,10.0,328,6903,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,790,1587
$GC,6994,1.30,233.3,87.7,11.0,332,6999,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2205,1587
$GC,7317,1.30,233.3,57.9,8.7,348,7321,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,791,1587
$GC,7412,1.30,233.3,49.3,10.1,352,7416,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2201,1587
$GC,7729,1.30,233.3,21.7,9.1,367,7734,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,788,1587
$GC,7803,1.30,233.3,13.2,12.5,370,7807,0.00,2.45,0.00,0.000,6,0.000,0.063,2971,2200,1587
$STATE,7910,end climb,SURFACE_DEPTH_REACHED
$STATE,7910,begin surface coast
$FINISH,0.5,1.004835
$STATE,7932,end surface coast,CONTROL_FINISHED_OK
$STATE,7932,begin surface
$SM_CCo,7958,177.98,0.631,0,0,186,576.95
$SM_GC,0.91,0.00,0.00,177.98,0.000,0.000,0.631,377,1590,186,-10.57,-0.28,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1841
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.5,112.2
$24V_AH,23.7,34.549
$10V_AH,10.2,18.030
$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,25.175,72.350,310.775,177.975,0.000,37.762,35.459,111.425,2.000,0.000,0.000,14.807,745.056,5700.800,595.881,1011.626,399.268,0.000,1123.161,0.000,988.192,0.000,18.354,0.000
$DEVICE_MAMPS,177.944,110.448,919.633,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.377,254.302,304.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19046,376
$CAP_FILE_SIZE,63691,0
$CFSIZE,254472192,240128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,061008,112907,6417.177,-1155.176,38,1.1,43,-11.9