version: 66.04
glider: 14
mission: 6
dive: 266
start: 10 8 108 4 23 58
data:
$ID,14
$MISSION,6
$DIVE,266
$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,-655240.5
$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
$GPS1,041837,6413.997,-1138.979,26,1.2,26,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.5
$GPS2,042333,6413.953,-1138.883,12,1.3,12,-11.7
$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,275.3,65871,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-100.30,0.000,2,0.000,0.000,380,1591,2598
$GC,122,-1.16,-146.6,3.1,-2.7,5,153,11.43,2.53,-12.75,0.000,4,0.179,0.091,2414,210,3140
$GC,221,-1.16,-146.6,19.5,-14.5,9,225,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1609,3142
$GC,540,-1.16,-146.6,60.0,-11.9,24,544,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,209,3143
$GC,625,-1.16,-146.6,70.8,-12.4,28,630,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3142
$GC,953,-1.16,-146.6,104.5,-8.6,44,958,0.00,2.47,0.00,0.000,4,0.000,0.076,2414,2996,3143
$GC,1010,-1.16,-146.6,109.6,-9.0,46,1017,0.00,2.42,0.00,0.000,6,0.000,0.065,2414,1600,3143
$GC,1329,-1.16,-146.6,140.5,-10.3,62,1333,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,209,3144
$GC,1415,-1.16,-146.6,150.4,-11.8,66,1419,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1603,3144
$GC,1748,-1.16,-146.6,192.5,-12.8,82,1752,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,1816,-1.16,-146.6,201.8,-13.8,85,1820,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3144
$GC,2139,-1.16,-146.6,243.8,-13.5,101,2143,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,2189,-1.16,-146.6,250.9,-13.1,103,2193,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3144
$GC,2505,-1.16,-146.6,290.6,-12.1,118,2509,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,201,3144
$GC,2546,-1.16,-146.6,295.4,-12.1,120,2550,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1607,3143
$GC,2873,-1.16,-146.6,335.6,-12.8,136,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3144
$STATE,2952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2952,begin apogee
$GC,2961,-0.32,0.0,345.9,12.5,140,3087,0.90,0.00,121.80,0.881,6,0.106,0.000,2600,2200,2539
$STATE,3087,end apogee,CONTROL_FINISHED_OK
$STATE,3087,begin climb
$GC,3092,1.16,146.6,352.2,0.0,146,3217,1.52,2.62,117.88,0.858,4,0.087,0.072,2925,791,1941
$GC,3492,1.20,171.0,339.3,7.1,164,3518,0.00,2.45,20.90,0.815,6,0.000,0.061,2925,2199,1841
$GC,3844,1.29,223.1,318.4,6.0,181,3894,0.12,2.62,42.20,0.833,4,0.066,0.071,2963,783,1629
$GC,4074,1.29,223.1,298.0,8.7,191,4078,0.00,2.50,0.00,0.000,6,0.000,0.062,2964,2210,1629
$GC,4391,1.29,223.1,270.6,9.4,206,4395,0.00,2.55,0.00,0.000,4,0.000,0.071,2965,785,1629
$GC,4476,1.29,223.1,261.6,10.8,210,4480,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2203,1629
$GC,4804,1.29,223.1,229.7,9.1,226,4808,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,789,1629
$GC,4877,1.29,223.1,222.4,10.0,229,4881,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2208,1629
$GC,5194,1.29,223.1,191.5,9.9,244,5198,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,781,1629
$GC,5306,1.29,223.1,180.2,9.7,249,5310,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2201,1629
$GC,5627,1.29,223.1,152.1,8.2,265,5631,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,790,1629
$GC,5723,1.29,223.1,144.3,8.2,269,5727,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1629
$GC,6041,1.32,242.8,122.3,7.3,284,6064,0.00,2.58,16.52,0.703,4,0.000,0.072,2966,784,1549
$GC,6127,1.32,242.8,114.1,10.0,287,6133,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2198,1549
$GC,6445,1.32,242.8,79.2,11.4,303,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2199,1549
$GC,6753,1.32,242.8,45.3,10.9,318,6757,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,784,1549
$GC,6832,1.32,242.8,36.1,12.3,321,6838,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1549
$GC,7150,1.32,242.8,5.8,9.5,337,7154,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,787,1549
$STATE,7187,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,0.9,1.027083
$STATE,7192,end surface coast,CONTROL_FINISHED_OK
$STATE,7192,begin surface
$SM_CCo,7219,171.48,0.627,0,0,186,576.95
$SM_GC,1.07,0.00,0.00,171.48,0.000,0.000,0.627,377,1622,186,-10.57,0.59,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1865
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.6,79.1
$24V_AH,23.8,37.017
$10V_AH,10.2,18.932
$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,25.275,79.500,319.300,171.475,0.000,37.760,26.236,118.819,1.750,0.000,0.000,13.580,698.289,5039.648,599.146,969.689,397.175,0.000,1114.516,0.000,948.074,0.000,13.734,0.000
$DEVICE_MAMPS,178.711,90.506,881.283,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.506,228.929,305.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,339
$CAP_FILE_SIZE,62717,0
$CFSIZE,254472192,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,081008,062831,6413.701,-1138.255,37,1.8,37,-11.7