version: 66.04
glider: 14
mission: 6
dive: 249
start: 10 6 108 16 16 46
data:
$ID,14
$MISSION,6
$DIVE,249
$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,-654866.19
$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,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
$GPS1,160757,6417.359,-1149.131,37,2.0,38,-11.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-48.1
$GPS2,161623,6417.346,-1148.885,9,2.4,28,-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,268.6,58981,-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,-100.65,0.000,2,0.000,0.000,376,1596,2649
$GC,124,-1.16,-146.6,3.2,-2.7,5,154,11.43,2.58,-11.50,0.000,4,0.179,0.091,2414,201,3138
$GC,313,-1.16,-146.6,37.6,-16.6,13,317,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1610,3142
$GC,630,-1.16,-146.6,80.7,-12.3,28,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1614,3142
$GC,940,-1.16,-146.6,118.1,-12.1,43,944,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,201,3142
$GC,980,-1.16,-146.6,123.3,-13.5,45,984,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1610,3142
$GC,1313,-1.16,-146.6,167.3,-13.8,61,1317,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,204,3143
$GC,1378,-1.16,-146.6,176.2,-14.5,64,1382,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1608,3143
$GC,1705,-1.16,-146.6,219.7,-12.8,80,1709,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,206,3143
$GC,1761,-1.16,-146.6,227.2,-12.6,82,1765,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1599,3142
$GC,2078,-1.16,-146.6,264.5,-11.7,97,2082,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3143
$GC,2118,-1.16,-146.6,269.6,-12.7,99,2122,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3143
$GC,2445,-1.16,-146.6,308.4,-11.8,115,2449,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,202,3143
$GC,2503,-1.16,-146.6,315.6,-12.9,117,2509,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1598,3143
$STATE,2816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2816,begin apogee
$GC,2826,-0.32,0.0,355.4,12.2,133,2950,0.93,0.00,121.20,0.889,6,0.112,0.000,2602,2196,2539
$STATE,2951,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin climb
$GC,2955,1.16,146.6,360.9,0.0,139,3083,1.50,2.62,118.03,0.867,4,0.081,0.074,2927,791,1941
$GC,3357,1.26,207.9,347.3,5.7,157,3415,0.10,2.47,49.28,0.851,6,0.071,0.063,2960,2203,1691
$GC,3729,1.28,222.4,320.5,7.4,175,3751,0.00,2.78,12.93,0.782,4,0.000,0.107,2960,3602,1632
$GC,4023,1.30,230.1,296.2,7.7,188,4037,0.00,2.47,7.85,0.716,6,0.000,0.069,2960,2196,1600
$GC,4355,1.30,230.1,268.9,8.3,204,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2196,1599
$GC,4664,1.30,230.1,239.5,10.1,219,4669,0.00,2.50,0.00,0.000,4,0.000,0.074,2960,796,1599
$GC,4705,1.30,230.1,235.1,11.5,221,4710,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2206,1600
$GC,5033,1.30,230.1,198.8,11.4,237,5037,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,791,1600
$GC,5119,1.30,230.1,188.4,12.8,241,5124,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2201,1599
$GC,5447,1.30,230.1,148.7,12.2,257,5451,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,795,1600
$GC,5520,1.30,230.1,139.7,11.7,260,5524,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2200,1600
$GC,5848,1.30,230.1,106.0,9.3,276,5852,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,787,1600
$GC,5921,1.30,230.1,98.7,9.8,279,5925,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2208,1600
$GC,6239,1.30,230.1,71.8,8.3,294,6243,0.00,2.62,0.00,0.000,4,0.000,0.099,2960,3606,1600
$GC,6325,1.30,230.1,64.6,8.2,298,6329,0.00,2.45,0.00,0.000,6,0.000,0.066,2960,2198,1600
$GC,6652,1.30,230.1,41.7,8.4,314,6657,0.00,2.53,0.00,0.000,4,0.000,0.077,2960,788,1599
$GC,6741,1.33,249.4,36.6,7.3,318,6763,0.00,2.45,16.10,0.653,6,0.000,0.061,2960,2204,1522
$GC,7074,1.33,249.4,5.3,9.6,334,7078,0.00,2.50,0.00,0.000,4,0.000,0.069,2960,796,1522
$STATE,7171,end climb,SURFACE_DEPTH_REACHED
$STATE,7171,begin surface coast
$FINISH,0.4,1.027149
$STATE,7184,end surface coast,CONTROL_FINISHED_OK
$STATE,7184,begin surface
$SM_CCo,7211,175.75,0.626,1,0,186,576.95
$SM_GC,1.04,0.00,0.00,175.75,0.000,0.000,0.626,380,1609,186,-10.56,0.25,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1856
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,301.1,63.7
$24V_AH,23.8,34.932
$10V_AH,10.2,18.173
$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,25.175,74.900,325.375,175.750,0.000,75.522,67.803,163.830,2.250,0.000,0.000,31.014,697.796,5074.304,611.354,1001.312,527.388,0.000,1129.119,0.000,962.687,0.000,15.312,0.000
$DEVICE_MAMPS,178.711,107.380,888.953,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.577,228.972,306.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15927,339
$CAP_FILE_SIZE,63771,0
$CFSIZE,254472192,240033792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,061008,182131,6416.392,-1147.685,49,1.3,49,-11.8