version: 66.04
glider: 14
mission: 6
dive: 250
start: 10 6 108 18 26 49
data:
$ID,14
$MISSION,6
$DIVE,250
$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,-654886.25
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,182131,6416.392,-1147.685,49,1.3,49,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-46.0
$GPS2,182625,6416.358,-1147.663,13,1.9,17,-11.8
$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,270.4,59553,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-115.68,0.000,2,0.000,0.000,380,1611,3000
$GC,138,-1.16,-146.6,3.4,-2.8,6,160,11.43,2.47,-2.92,0.000,4,0.179,0.086,2414,2995,3140
$GC,172,-1.16,-146.6,15.5,-29.7,7,177,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1604,3142
$GC,489,-1.16,-146.6,63.7,-13.6,22,494,0.00,2.47,0.00,0.000,4,0.000,0.075,2414,2992,3143
$GC,759,-1.16,-146.6,97.0,-11.1,34,763,0.00,2.45,0.00,0.000,6,0.000,0.067,2415,1594,3144
$GC,1081,-1.16,-146.6,132.3,-11.7,50,1085,0.00,2.50,0.00,0.000,4,0.000,0.082,2414,210,3144
$GC,1114,-1.16,-146.6,136.6,-12.2,51,1121,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1604,3144
$GC,1433,-1.16,-146.6,175.4,-12.2,67,1437,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,212,3145
$GC,1478,-1.16,-146.6,181.4,-13.0,69,1482,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1603,3145
$GC,1799,-1.16,-146.6,223.4,-13.7,85,1803,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,205,3145
$GC,1846,-1.16,-146.6,229.7,-14.1,87,1850,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1610,3145
$GC,2173,-1.16,-146.6,272.3,-13.0,103,2177,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,209,3145
$GC,2241,-1.16,-146.6,281.5,-12.6,106,2245,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1595,3145
$GC,2562,-1.16,-146.6,321.8,-12.2,122,2566,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,203,3145
$GC,2631,-1.16,-146.6,330.4,-11.9,125,2635,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1598,3145
$STATE,2810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2810,begin apogee
$GC,2820,-0.32,0.0,352.7,12.2,134,2944,0.93,0.00,121.32,0.887,6,0.114,0.000,2603,2196,2539
$STATE,2945,end apogee,CONTROL_FINISHED_OK
$STATE,2945,begin climb
$GC,2949,1.16,146.6,357.8,0.0,140,3075,1.48,2.83,117.88,0.864,4,0.077,0.107,2926,3599,1941
$GC,3351,1.27,214.1,342.1,5.4,158,3415,0.12,2.47,54.53,0.844,6,0.066,0.069,2966,2198,1665
$GC,3724,1.27,214.1,310.2,8.6,176,3729,0.00,2.55,0.00,0.000,4,0.000,0.079,2966,796,1666
$GC,3775,1.27,214.1,305.6,9.4,178,3779,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1666
$GC,4092,1.27,214.1,277.9,8.9,193,4096,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,786,1665
$GC,4154,1.27,214.1,272.1,9.4,195,4160,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1665
$GC,4471,1.27,214.1,245.4,8.4,211,4475,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,789,1666
$GC,4544,1.27,214.1,238.5,9.0,214,4548,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2205,1666
$GC,4860,1.27,214.1,209.6,9.0,229,4865,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,792,1665
$GC,4939,1.27,214.1,202.2,9.1,232,4945,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2204,1665
$GC,5256,1.27,214.1,172.3,9.1,248,5260,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,794,1665
$GC,5325,1.27,214.1,166.2,8.7,251,5329,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2201,1665
$GC,5654,1.27,215.5,139.1,7.9,267,5658,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,788,1665
$GC,5721,1.27,215.5,133.2,8.1,270,5726,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2208,1665
$GC,6045,1.27,215.5,105.2,9.4,286,6050,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,788,1665
$GC,6142,1.27,215.5,94.9,10.3,290,6146,0.00,2.47,0.00,0.000,6,0.000,0.064,2966,2210,1666
$GC,6464,1.27,215.5,63.0,9.2,306,6468,0.00,2.60,0.00,0.000,4,0.000,0.099,2967,3600,1665
$GC,6531,1.27,215.5,55.3,11.3,309,6535,0.00,2.45,0.00,0.000,6,0.000,0.067,2966,2199,1666
$GC,6854,1.31,241.0,33.8,7.0,325,6877,0.00,0.00,22.08,0.662,6,0.000,0.000,2966,2200,1556
$STATE,7180,end climb,SURFACE_DEPTH_REACHED
$STATE,7180,begin surface coast
$FINISH,0.2,1.027254
$STATE,7200,end surface coast,CONTROL_FINISHED_OK
$STATE,7201,begin surface
$SM_CCo,7227,184.10,0.622,1,0,186,576.95
$SM_GC,0.96,0.00,0.00,184.10,0.000,0.000,0.622,381,1597,186,-10.56,-0.08,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1848
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,301.4,59.7
$24V_AH,23.8,35.050
$10V_AH,10.2,18.219
$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,25.250,81.825,315.800,184.100,0.000,39.037,32.171,101.799,2.000,0.000,0.000,19.410,696.156,5061.265,622.326,956.796,389.094,0.000,1128.848,0.000,927.858,0.000,15.304,0.000
$DEVICE_MAMPS,179.478,107.380,886.652,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.079,231.057,309.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15910,342
$CAP_FILE_SIZE,62091,0
$CFSIZE,254472192,240001024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,061008,203138,6415.683,-1147.281,28,1.5,28,-11.8