version: 66.04
glider: 14
mission: 6
dive: 260
start: 10 7 108 16 23 36
data:
$ID,14
$MISSION,6
$DIVE,260
$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,-655103.75
$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,16
$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
$GPS1,161456,6414.442,-1141.664,36,1.5,36,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.1
$GPS2,162314,6414.468,-1141.638,9,1.4,14,-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,274.3,63778,-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,-101.30,0.000,2,0.000,0.000,380,1600,2599
$GC,126,-1.16,-146.6,3.1,-2.5,5,157,11.30,2.58,-12.62,0.000,4,0.175,0.094,2411,205,3138
$GC,365,-1.16,-146.6,42.4,-14.7,15,372,0.00,2.42,0.00,0.000,6,0.000,0.060,2411,1618,3140
$GC,683,-1.16,-146.6,86.6,-13.3,31,688,0.00,2.55,0.00,0.000,4,0.000,0.077,2411,203,3141
$GC,797,-1.16,-146.6,101.7,-12.3,36,801,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1605,3141
$GC,1120,-1.16,-146.6,142.9,-12.3,52,1125,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,202,3142
$GC,1210,-1.16,-146.6,154.6,-12.8,56,1215,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1607,3142
$GC,1532,-1.16,-146.6,193.3,-12.0,72,1536,0.00,2.53,0.00,0.000,4,0.000,0.077,2410,201,3142
$GC,1611,-1.16,-146.6,203.5,-12.4,75,1616,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1600,3142
$GC,1928,-1.16,-146.6,240.9,-11.8,90,1932,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,199,3143
$GC,1984,-1.16,-146.6,248.0,-13.0,92,1990,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1602,3142
$GC,2300,-1.16,-146.6,283.8,-11.5,108,2304,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,200,3142
$GC,2368,-1.16,-146.6,292.3,-12.3,111,2373,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1600,3142
$GC,2690,-1.16,-146.6,329.4,-11.4,127,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1603,3143
$STATE,2873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2873,begin apogee
$GC,2883,-0.32,0.0,351.9,12.2,136,3007,0.93,0.00,120.82,0.884,6,0.100,0.000,2604,2191,2539
$STATE,3008,end apogee,CONTROL_FINISHED_OK
$STATE,3008,begin climb
$GC,3012,1.16,146.6,357.7,0.0,142,3138,1.45,2.83,117.80,0.863,4,0.073,0.107,2927,3600,1941
$GC,3234,1.27,214.7,351.0,5.4,152,3295,0.12,2.47,55.00,0.840,6,0.066,0.069,2966,2193,1664
$GC,3623,1.27,214.7,315.9,9.5,171,3628,0.00,2.65,0.00,0.000,4,0.000,0.095,2966,3601,1663
$GC,3702,1.27,214.7,307.3,11.2,174,3708,0.00,2.47,0.00,0.000,6,0.000,0.068,2966,2200,1663
$GC,4019,1.27,214.7,273.3,10.6,190,4023,0.00,2.55,0.00,0.000,4,0.000,0.078,2966,791,1663
$GC,4086,1.27,214.7,265.4,11.7,193,4090,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2202,1663
$GC,4407,1.27,214.7,231.2,10.9,209,4412,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,785,1663
$GC,4487,1.27,214.7,221.9,11.3,212,4493,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2210,1663
$GC,4803,1.27,214.7,187.9,10.6,228,4807,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,792,1663
$GC,4877,1.27,214.7,179.7,11.1,231,4881,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2207,1663
$GC,5199,1.27,214.7,146.8,9.8,247,5203,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,790,1663
$GC,5262,1.27,214.7,140.5,10.0,250,5266,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2206,1663
$GC,5590,1.27,214.7,110.8,8.7,266,5594,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,793,1663
$GC,5702,1.27,214.7,100.9,8.4,271,5707,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2198,1663
$GC,6026,1.31,238.3,76.5,7.1,287,6051,0.00,2.58,19.42,0.683,4,0.000,0.074,2966,798,1567
$GC,6165,1.31,238.3,65.3,8.0,293,6170,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2212,1567
$GC,6488,1.31,238.3,39.9,8.4,309,6492,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,793,1567
$GC,6533,1.31,238.3,35.7,9.0,311,6537,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2209,1567
$GC,6855,1.31,238.3,7.3,8.8,327,6859,0.00,2.53,0.00,0.000,4,0.000,0.075,2966,793,1567
$STATE,6924,end climb,SURFACE_DEPTH_REACHED
$STATE,6924,begin surface coast
$FINISH,0.8,1.027118
$STATE,6931,end surface coast,CONTROL_FINISHED_OK
$STATE,6931,begin surface
$SM_CCo,6958,175.85,0.621,1,0,186,576.95
$SM_GC,0.99,0.00,0.00,175.85,0.000,0.000,0.621,373,1625,186,-10.59,0.76,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1842
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,301.1,59.0
$24V_AH,23.8,36.294
$10V_AH,10.2,18.679
$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,25.000,80.100,313.050,175.850,0.000,75.525,70.128,164.370,2.500,0.000,0.000,15.423,676.113,4892.584,605.139,947.039,529.739,0.000,1106.695,0.000,925.012,0.000,18.225,0.000
$DEVICE_MAMPS,174.876,106.613,884.351,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.310,222.650,305.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,330
$CAP_FILE_SIZE,62914,0
$CFSIZE,254472192,239677440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,071008,182347,6414.061,-1141.364,8,6.8,27,-11.8