version: 66.04
glider: 14
mission: 6
dive: 253
start: 10 7 108 1 3 4
data:
$ID,14
$MISSION,6
$DIVE,253
$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,-654947.38
$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,25
$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
$GPS1,005801,6415.661,-1144.945,36,1.4,41,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-45.3
$GPS2,010239,6415.695,-1144.879,10,1.5,10,-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,271.9,61535,-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,-101.20,0.000,2,0.000,0.000,383,1591,2728
$GC,124,-1.16,-146.6,4.2,-4.0,5,149,11.25,2.53,-8.15,0.000,4,0.174,0.092,2414,209,3139
$GC,352,-1.16,-146.6,45.1,-19.1,15,357,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1611,3142
$GC,675,-1.16,-146.6,90.5,-14.9,31,679,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,210,3142
$GC,798,-1.16,-146.6,110.0,-16.7,36,804,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3143
$GC,1115,-1.16,-146.6,157.7,-15.3,52,1119,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,212,3143
$GC,1182,-1.16,-146.6,168.8,-15.9,55,1187,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3144
$GC,1504,-1.16,-146.6,215.0,-13.7,71,1509,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3144
$GC,1550,-1.16,-146.6,221.4,-13.7,73,1554,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3144
$GC,1871,-1.16,-146.6,262.4,-12.5,89,1876,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,213,3144
$GC,1939,-1.16,-146.6,271.2,-12.1,92,1943,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1605,3144
$GC,2267,-1.16,-146.6,311.1,-12.3,108,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3144
$GC,2575,-1.16,-146.6,347.6,-11.8,123,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3144
$STATE,2616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2616,begin apogee
$GC,2626,-0.32,0.0,352.5,11.7,125,2751,0.90,0.00,121.25,0.887,6,0.106,0.000,2600,2198,2539
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2755,1.16,146.6,358.7,0.0,131,2881,1.52,2.83,117.55,0.866,4,0.087,0.107,2925,3600,1941
$GC,3104,1.28,221.8,345.6,5.1,146,3173,0.12,2.47,60.28,0.844,6,0.067,0.068,2964,2199,1633
$GC,3482,1.28,221.8,313.6,8.6,165,3487,0.00,2.62,0.00,0.000,4,0.000,0.094,2964,3599,1634
$GC,3562,1.28,221.8,306.4,9.2,168,3568,0.00,2.47,0.00,0.000,6,0.000,0.067,2964,2197,1634
$GC,3878,1.28,221.8,278.2,9.2,184,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2197,1634
$GC,4187,1.28,221.8,249.2,9.3,199,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2197,1633
$GC,4497,1.28,221.8,220.7,9.2,214,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2197,1633
$GC,4806,1.28,221.8,192.3,9.1,229,4810,0.00,2.50,0.00,0.000,4,0.000,0.076,2964,796,1633
$GC,4845,1.28,221.8,188.4,9.7,230,4851,0.00,2.42,0.00,0.000,6,0.000,0.061,2964,2200,1634
$GC,5162,1.28,221.8,160.8,8.5,246,5166,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,792,1633
$GC,5257,1.28,221.8,151.9,9.4,250,5262,0.00,2.42,0.00,0.000,6,0.000,0.061,2964,2199,1633
$GC,5576,1.30,233.1,127.3,7.6,265,5591,0.00,2.55,10.43,0.676,4,0.000,0.074,2964,797,1587
$GC,5710,1.30,233.1,115.9,9.1,270,5715,0.00,2.45,0.00,0.000,6,0.000,0.062,2964,2198,1587
$GC,6033,1.30,233.1,87.6,8.5,286,6037,0.00,2.50,0.00,0.000,4,0.000,0.072,2964,789,1588
$GC,6179,1.30,233.1,74.7,10.8,292,6186,0.00,2.45,0.00,0.000,6,0.000,0.062,2964,2198,1588
$GC,6496,1.30,233.1,46.7,8.8,308,6500,0.00,2.50,0.00,0.000,4,0.000,0.074,2964,791,1587
$GC,6552,1.30,233.1,40.9,10.8,310,6558,0.00,2.45,0.00,0.000,6,0.000,0.063,2964,2200,1587
$GC,6870,1.30,233.1,8.5,10.3,326,6875,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,789,1587
$GC,6938,1.30,233.1,3.0,10.0,329,6942,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1587
$STATE,6967,end climb,SURFACE_DEPTH_REACHED
$STATE,6968,begin surface coast
$FINISH,0.3,1.027137
$STATE,6989,end surface coast,CONTROL_FINISHED_OK
$STATE,6990,begin surface
$SM_CCo,7016,182.77,0.622,1,0,186,576.95
$SM_GC,1.15,0.00,0.00,182.77,0.000,0.000,0.622,380,1591,186,-10.56,-0.25,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1841
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.5,9.6
$24V_AH,23.8,35.420
$10V_AH,10.2,18.357
$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,25.125,66.700,309.500,182.775,0.000,39.122,26.093,99.091,3.000,0.000,0.000,12.168,671.673,4935.068,604.276,918.582,368.484,0.000,1088.513,0.000,897.843,0.000,24.098,0.000
$DEVICE_MAMPS,174.109,107.380,886.652,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.782,223.829,295.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15927,332
$CAP_FILE_SIZE,59278,0
$CFSIZE,254472192,239906816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,071008,030423,6415.509,-1143.132,11,2.7,30,-11.8