version: 66.04
glider: 14
mission: 6
dive: 248
start: 10 6 108 14 4 19
data:
$ID,14
$MISSION,6
$DIVE,248
$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,-654834.56
$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
$GPS1,135307,6417.635,-1151.782,27,1.7,27,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-48.7
$GPS2,140357,6417.726,-1151.343,12,2.0,12,-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,267.4,57226,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-118.40,0.000,6,0.000,0.000,380,1594,3138
$GC,142,-1.16,-146.6,6.7,-6.1,6,164,11.48,2.60,0.00,0.000,4,0.181,0.071,2413,3017,3142
$GC,423,-1.16,-146.6,55.2,-13.2,18,427,0.00,2.47,0.00,0.000,6,0.000,0.065,2413,1598,3145
$GC,739,-1.16,-146.6,97.6,-12.4,33,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1597,3146
$GC,1051,-1.16,-146.6,134.7,-12.4,48,1055,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,201,3146
$GC,1101,-1.16,-146.6,141.7,-12.6,50,1106,0.00,2.42,0.00,0.000,6,0.000,0.059,2413,1622,3146
$GC,1418,-1.16,-146.6,180.1,-12.1,65,1422,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,210,3146
$GC,1485,-1.16,-146.6,189.0,-13.0,68,1490,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3146
$GC,1807,-1.16,-146.6,230.5,-13.4,84,1812,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,201,3147
$GC,1848,-1.16,-146.6,236.1,-14.3,86,1853,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1609,3147
$GC,2177,-1.16,-146.6,280.8,-13.5,102,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3147
$GC,2485,-1.16,-146.6,322.3,-13.3,117,2490,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,210,3147
$GC,2548,-1.16,-146.6,331.2,-13.9,120,2553,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1596,3146
$STATE,2816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2816,begin apogee
$GC,2826,-0.32,0.0,365.4,12.3,133,2951,0.93,0.00,121.18,0.898,6,0.105,0.000,2604,2198,2539
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2952,begin climb
$GC,2955,1.16,146.6,371.6,0.0,139,3083,1.45,2.62,117.70,0.877,4,0.071,0.076,2928,796,1940
$GC,3147,1.26,203.9,369.6,5.8,148,3200,0.00,2.47,46.33,0.850,6,0.000,0.063,2928,2197,1707
$GC,3520,1.31,239.8,343.5,6.6,166,3556,0.15,2.78,29.85,0.838,4,0.065,0.109,2974,3601,1561
$GC,3603,1.31,239.8,335.9,9.7,169,3607,0.00,2.50,0.00,0.000,6,0.000,0.070,2974,2198,1561
$GC,3930,1.31,239.8,304.9,9.7,185,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2198,1561
$GC,4240,1.31,239.8,273.9,10.3,200,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2196,1561
$GC,4549,1.31,239.8,241.7,10.2,215,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2198,1560
$GC,4858,1.31,239.8,210.6,9.7,230,4862,0.00,2.62,0.00,0.000,4,0.000,0.092,2974,3602,1560
$GC,4891,1.31,239.8,207.3,10.0,231,4897,0.00,2.47,0.00,0.000,6,0.000,0.067,2974,2196,1560
$GC,5208,1.31,239.8,176.1,10.2,247,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,1560
$GC,5517,1.31,239.8,145.9,9.4,262,5522,0.00,2.53,0.00,0.000,4,0.000,0.077,2974,786,1560
$GC,5551,1.31,239.8,142.4,9.9,263,5558,0.00,2.47,0.00,0.000,6,0.000,0.061,2974,2212,1560
$GC,5870,1.31,239.8,114.5,8.9,279,5874,0.00,2.53,0.00,0.000,4,0.000,0.074,2974,793,1560
$GC,5960,1.31,239.8,105.3,10.7,283,5964,0.00,2.45,0.00,0.000,6,0.000,0.062,2974,2203,1560
$GC,6281,1.31,239.8,72.3,9.7,299,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2202,1560
$GC,6591,1.31,239.8,43.7,9.0,314,6595,0.00,2.50,0.00,0.000,4,0.000,0.073,2974,792,1560
$GC,6664,1.31,239.8,37.0,9.0,317,6669,0.00,2.45,0.00,0.000,6,0.000,0.062,2974,2206,1560
$GC,6983,1.31,239.8,13.1,10.1,332,6987,0.00,2.53,0.00,0.000,4,0.000,0.074,2975,788,1560
$GC,7079,1.37,275.9,5.0,6.6,336,7112,0.00,2.45,28.38,0.650,6,0.000,0.064,2974,2200,1414
$STATE,7129,end climb,SURFACE_DEPTH_REACHED
$STATE,7129,begin surface coast
$FINISH,0.4,1.026786
$STATE,7151,end surface coast,CONTROL_FINISHED_OK
$STATE,7151,begin surface
$SM_CCo,7177,158.43,0.627,0,0,187,576.95
$SM_GC,1.12,0.00,0.00,158.43,0.000,0.000,0.627,375,1596,187,-10.58,-0.11,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.4,74.6
$24V_AH,23.7,34.806
$10V_AH,10.2,18.125
$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,25.450,62.300,343.425,158.425,0.000,75.525,61.048,333.069,2.250,0.000,0.000,14.216,663.927,5194.634,614.714,849.233,675.763,0.000,1069.614,0.000,832.176,0.000,15.341,0.000
$DEVICE_MAMPS,181.012,108.914,898.157,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.699,229.411,300.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15967,340
$CAP_FILE_SIZE,62426,0
$CFSIZE,254472192,240066560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,061008,160757,6417.359,-1149.131,37,2.0,38,-11.9