version: 66.04
glider: 14
mission: 6
dive: 254
start: 10 7 108 3 13 13
data:
$ID,14
$MISSION,6
$DIVE,254
$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,-654984.19
$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,23
$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
$GPS1,030423,6415.509,-1143.132,11,2.7,30,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-50.1
$GPS2,031253,6415.540,-1142.970,14,2.5,33,-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,272.4,63005,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,122,0.00,0.00,-100.80,0.000,2,0.000,0.000,381,1592,2684
$GC,127,-1.16,-146.6,3.7,-3.4,5,153,11.32,2.50,-9.70,0.000,4,0.176,0.090,2414,210,3138
$GC,425,-1.16,-146.6,51.8,-15.8,18,429,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1611,3141
$GC,747,-1.16,-146.6,101.3,-12.6,34,751,0.00,2.55,0.00,0.000,4,0.000,0.079,2414,203,3143
$GC,820,-1.16,-146.6,111.4,-14.4,37,824,0.00,2.42,0.00,0.000,6,0.000,0.060,2414,1613,3143
$GC,1136,-1.16,-146.6,154.5,-13.6,52,1141,0.00,2.55,0.00,0.000,4,0.000,0.078,2414,205,3143
$GC,1193,-1.16,-146.6,162.4,-14.1,54,1199,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3143
$GC,1510,-1.16,-146.6,203.7,-13.5,70,1514,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,210,3143
$GC,1556,-1.16,-146.6,210.3,-13.8,72,1560,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1601,3143
$GC,1883,-1.16,-146.6,253.3,-13.1,88,1888,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,203,3143
$GC,1924,-1.16,-146.6,259.0,-13.6,90,1928,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1601,3143
$GC,2254,-1.16,-146.6,301.6,-13.0,106,2259,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,207,3143
$GC,2300,-1.16,-146.6,308.4,-13.8,108,2304,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3142
$STATE,2618,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2618,begin apogee
$GC,2628,-0.32,0.0,349.3,12.0,124,2752,0.93,0.00,121.05,0.882,6,0.116,0.000,2602,2193,2539
$STATE,2753,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin climb
$GC,2757,1.16,146.6,355.0,0.0,130,2883,1.48,2.83,117.93,0.859,4,0.075,0.106,2925,3602,1941
$GC,3159,1.20,168.6,339.5,7.2,148,3184,0.00,2.47,18.88,0.811,6,0.000,0.068,2925,2198,1850
$GC,3513,1.27,214.9,317.3,6.2,165,3557,0.12,2.75,38.00,0.834,4,0.066,0.093,2964,3606,1662
$GC,3644,1.27,214.9,306.0,9.2,170,3651,0.00,2.50,0.00,0.000,6,0.000,0.068,2965,2196,1662
$GC,3962,1.27,214.9,277.8,8.5,186,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2196,1662
$GC,4270,1.27,214.9,251.5,8.5,201,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1662
$GC,4580,1.27,214.9,224.5,9.0,216,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1662
$GC,4889,1.27,214.9,196.8,8.8,231,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1662
$GC,5198,1.27,214.9,169.9,8.5,246,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1662
$GC,5507,1.27,214.9,143.3,8.4,261,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1662
$GC,5817,1.27,214.9,115.0,9.5,276,5822,0.00,2.60,0.00,0.000,4,0.000,0.091,2965,3601,1661
$GC,5862,1.27,214.9,110.6,9.9,278,5866,0.00,2.45,0.00,0.000,6,0.000,0.067,2965,2200,1662
$GC,6184,1.27,214.9,81.2,10.2,294,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2200,1662
$GC,6495,1.27,214.9,53.1,9.9,309,6499,0.00,2.53,0.00,0.000,4,0.000,0.080,2965,791,1662
$GC,6618,1.27,214.9,40.6,10.1,314,6625,0.00,2.42,0.00,0.000,6,0.000,0.061,2965,2201,1662
$GC,6937,1.30,232.5,14.1,7.3,330,6959,0.00,2.58,14.50,0.635,4,0.000,0.073,2965,791,1591
$GC,6994,1.30,232.5,7.5,11.7,332,6998,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2201,1591
$STATE,7061,end climb,SURFACE_DEPTH_REACHED
$STATE,7061,begin surface coast
$FINISH,0.2,1.012661
$STATE,7082,end surface coast,CONTROL_FINISHED_OK
$STATE,7082,begin surface
$SM_CCo,7108,182.43,0.628,0,0,186,576.95
$SM_GC,0.86,0.00,0.00,182.43,0.000,0.000,0.628,381,1588,186,-10.55,-0.34,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,301.6,57.2
$24V_AH,23.8,35.542
$10V_AH,10.2,18.402
$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,25.250,57.275,310.350,182.425,0.000,75.524,61.463,168.903,2.250,0.000,0.000,36.209,660.806,5145.688,592.589,898.532,514.385,0.000,1054.005,0.000,860.390,0.000,15.298,0.000
$DEVICE_MAMPS,175.643,105.846,882.050,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.193,227.181,291.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15950,336
$CAP_FILE_SIZE,57940,0
$CFSIZE,254472192,239874048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,071008,051559,6414.834,-1142.108,11,2.1,30,-11.8