version: 66.04
glider: 14
mission: 6
dive: 258
start: 10 7 108 12 1 57
data:
$ID,14
$MISSION,6
$DIVE,258
$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,-655072.56
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,114915,6413.836,-1143.722,8,1.7,8,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-51.8
$GPS2,120137,6413.917,-1143.511,40,1.2,40,-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,275.1,62153,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,138,0.00,0.00,-116.85,0.000,6,0.000,0.000,383,1594,3138
$GC,142,-1.16,-146.6,7.1,-6.9,6,164,11.43,2.50,0.00,0.000,4,0.180,0.074,2414,201,3142
$GC,338,-1.16,-146.6,49.8,-16.1,14,342,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1614,3145
$GC,655,-1.16,-146.6,100.8,-16.1,29,659,0.00,2.45,0.00,0.000,4,0.000,0.076,2415,2995,3145
$GC,696,-1.16,-146.6,107.8,-16.8,31,700,0.00,2.42,0.00,0.000,6,0.000,0.065,2414,1590,3146
$GC,1029,-1.16,-146.6,170.4,-18.6,47,1033,0.00,2.47,0.00,0.000,4,0.000,0.079,2414,212,3146
$GC,1170,-1.16,-146.6,195.0,-16.5,53,1174,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1601,3147
$GC,1487,-1.16,-146.6,239.1,-13.0,68,1491,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,210,3147
$GC,1565,-1.16,-146.6,249.8,-13.9,71,1573,0.00,2.38,0.00,0.000,6,0.000,0.060,2415,1602,3147
$GC,1882,-1.16,-146.6,291.5,-13.7,87,1886,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,212,3147
$GC,1933,-1.16,-146.6,298.7,-13.7,89,1937,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1600,3147
$GC,2249,-1.16,-146.6,342.0,-13.1,104,2253,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,204,3147
$GC,2277,-1.16,-146.6,345.8,-13.4,105,2282,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1600,3147
$STATE,2369,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2369,begin apogee
$GC,2379,-0.32,0.0,358.3,13.4,110,2503,0.93,0.00,120.95,0.888,6,0.110,0.000,2605,2198,2539
$STATE,2504,end apogee,CONTROL_FINISHED_OK
$STATE,2504,begin climb
$GC,2508,1.16,146.6,364.6,0.0,116,2634,1.45,2.60,118.03,0.865,4,0.072,0.074,2925,798,1941
$GC,2709,1.20,168.8,359.9,7.2,125,2734,0.00,2.45,19.40,0.808,6,0.000,0.063,2925,2197,1849
$GC,3052,1.23,189.3,335.3,7.2,142,3073,0.00,0.00,17.17,0.802,6,0.000,0.000,2925,2197,1767
$GC,3383,1.23,189.3,307.5,8.5,158,3387,0.00,2.53,0.00,0.000,4,0.000,0.072,2925,790,1767
$GC,3497,1.23,189.3,297.4,9.0,163,3502,0.00,2.47,0.00,0.000,6,0.000,0.063,2925,2203,1767
$GC,3825,1.26,203.8,272.3,7.5,179,3847,0.10,2.58,13.07,0.768,4,0.070,0.073,2959,799,1708
$GC,3939,1.26,203.8,261.9,9.3,184,3944,0.00,2.45,0.00,0.000,6,0.000,0.063,2959,2201,1708
$GC,4267,1.26,203.8,233.8,8.1,200,4271,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,786,1708
$GC,4334,1.26,203.8,228.3,8.2,203,4338,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2203,1708
$GC,4662,1.30,230.1,204.6,7.0,219,4691,0.00,2.62,22.30,0.765,4,0.000,0.073,2959,791,1600
$GC,4755,1.32,241.5,197.4,7.6,223,4771,0.00,2.50,10.57,0.706,6,0.000,0.063,2959,2209,1553
$GC,5081,1.34,254.4,172.6,7.5,239,5102,0.00,2.62,11.48,0.702,4,0.000,0.073,2959,790,1500
$GC,5187,1.34,254.4,163.4,9.3,243,5193,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2200,1501
$GC,5504,1.34,254.4,132.4,10.8,259,5508,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,791,1501
$GC,5583,1.34,254.4,123.3,11.0,262,5589,0.00,2.47,0.00,0.000,6,0.000,0.064,2959,2203,1501
$GC,5901,1.45,324.8,97.8,5.3,278,5966,0.15,2.60,54.92,0.710,4,0.065,0.074,3005,798,1214
$GC,6136,1.45,324.8,77.0,10.4,288,6141,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2205,1214
$GC,6453,1.45,324.8,40.4,11.6,303,6457,0.00,2.55,0.00,0.000,4,0.000,0.074,3004,789,1214
$GC,6549,1.45,324.8,27.6,14.7,307,6553,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2202,1214
$STATE,6759,end climb,SURFACE_DEPTH_REACHED
$STATE,6759,begin surface coast
$FINISH,0.3,1.015852
$STATE,6781,end surface coast,CONTROL_FINISHED_OK
$STATE,6781,begin surface
$SM_CCo,6807,131.20,0.620,1,0,187,576.95
$SM_GC,0.88,0.00,0.00,131.20,0.000,0.000,0.620,381,1593,187,-10.55,-0.20,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1853
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,302.6,65.5
$24V_AH,23.8,36.050
$10V_AH,10.2,18.585
$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,25.400,76.850,387.900,131.200,0.000,119.840,88.189,253.222,2.750,0.000,0.000,42.168,650.840,4779.099,635.280,951.314,679.746,0.000,1142.850,0.000,898.004,0.000,18.259,0.000
$DEVICE_MAMPS,180.245,79.768,888.186,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.432,213.982,259.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15986,318
$CAP_FILE_SIZE,65196,0
$CFSIZE,254472192,239738880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,071008,135902,6414.397,-1142.634,38,1.2,38,-11.8