version: 66.04
glider: 14
mission: 6
dive: 255
start: 10 7 108 5 25 1
data:
$ID,14
$MISSION,6
$DIVE,255
$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,-654997.62
$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,22
$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
$GPS1,051559,6414.834,-1142.108,11,2.1,30,-11.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-48.0
$GPS2,052439,6414.846,-1141.985,11,1.4,11,-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,273.7,63596,-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,-101.20,0.000,2,0.000,0.000,382,1589,2610
$GC,124,-1.16,-146.6,3.0,-2.5,5,154,11.30,2.53,-12.48,0.000,4,0.176,0.091,2414,212,3141
$GC,363,-1.16,-146.6,37.7,-15.0,15,369,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1620,3144
$GC,681,-1.16,-146.6,79.2,-13.4,31,686,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,206,3144
$GC,790,-1.16,-146.6,93.2,-12.4,36,794,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3145
$GC,1119,-1.16,-146.6,132.2,-12.1,52,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3145
$GC,1427,-1.16,-146.6,171.0,-12.8,67,1431,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,201,3145
$GC,1467,-1.16,-146.6,176.5,-14.1,69,1471,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1611,3145
$GC,1794,-1.16,-146.6,220.5,-13.4,85,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1613,3145
$GC,2104,-1.16,-146.6,260.6,-12.7,100,2108,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,209,3145
$GC,2189,-1.16,-146.6,271.7,-12.9,104,2193,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3145
$GC,2516,-1.16,-146.6,312.6,-12.7,120,2521,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,204,3146
$GC,2567,-1.16,-146.6,319.5,-13.1,122,2571,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1604,3145
$STATE,2865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2865,begin apogee
$GC,2874,-0.32,0.0,357.2,12.1,137,2998,0.90,0.00,120.93,0.890,6,0.100,0.000,2603,2198,2539
$STATE,2999,end apogee,CONTROL_FINISHED_OK
$STATE,2999,begin climb
$GC,3003,1.16,146.6,363.0,0.0,143,3129,1.50,2.83,117.65,0.867,4,0.084,0.107,2925,3604,1941
$GC,3293,1.27,210.4,354.7,5.6,156,3351,0.12,2.50,51.53,0.845,6,0.066,0.068,2965,2189,1681
$GC,3661,1.27,210.4,323.9,8.6,173,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2189,1681
$GC,3970,1.27,210.4,296.2,9.0,188,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2189,1681
$GC,4280,1.27,210.4,268.4,9.0,203,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2189,1681
$GC,4588,1.27,210.4,240.4,9.4,218,4593,0.00,2.65,0.00,0.000,4,0.000,0.091,2965,3605,1681
$GC,4684,1.27,210.4,230.6,10.7,222,4688,0.00,2.45,0.00,0.000,6,0.000,0.067,2965,2201,1681
$GC,5000,1.27,210.4,198.1,10.5,237,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2202,1681
$GC,5309,1.27,210.4,169.0,9.1,252,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2201,1681
$GC,5619,1.28,220.1,143.2,7.6,267,5630,0.00,0.00,9.18,0.672,6,0.000,0.000,2965,2202,1641
$GC,5930,1.30,233.9,120.3,7.5,282,5953,0.00,2.67,12.38,0.687,4,0.000,0.091,2965,3598,1585
$GC,5993,1.30,233.9,115.0,8.6,284,5999,0.00,2.45,0.00,0.000,6,0.000,0.067,2965,2200,1585
$GC,6310,1.35,261.3,91.6,7.0,300,6334,0.00,0.00,22.55,0.696,6,0.000,0.000,2965,2202,1473
$GC,6641,1.35,261.3,65.6,8.6,316,6645,0.00,2.53,0.00,0.000,4,0.000,0.079,2966,794,1473
$GC,6775,1.35,261.3,50.9,11.0,322,6779,0.00,2.42,0.00,0.000,6,0.000,0.061,2965,2198,1473
$GC,7104,1.38,281.4,26.0,7.2,338,7127,0.00,2.60,16.88,0.640,4,0.000,0.074,2965,791,1390
$GC,7229,1.38,281.4,15.1,8.3,343,7233,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1390
$STATE,7358,end climb,SURFACE_DEPTH_REACHED
$STATE,7358,begin surface coast
$FINISH,0.4,1.027109
$STATE,7378,end surface coast,CONTROL_FINISHED_OK
$STATE,7378,begin surface
$SM_CCo,7405,156.25,0.622,0,0,186,576.95
$SM_GC,0.84,0.00,0.00,156.25,0.000,0.000,0.622,382,1599,186,-10.55,-0.03,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1849
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,276.5,89.0
$24V_AH,23.8,35.671
$10V_AH,10.2,18.449
$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,25.175,52.275,351.075,156.250,0.000,75.525,62.616,197.853,2.000,0.000,0.000,12.834,685.961,5371.677,603.283,890.154,543.888,0.000,1071.325,0.000,874.776,0.000,13.762,0.000
$DEVICE_MAMPS,175.643,107.380,889.720,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,261.923,236.411,322.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,350
$CAP_FILE_SIZE,59337,0
$CFSIZE,254472192,239841280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,071008,073226,6413.934,-1142.553,40,1.5,40,-11.8