version: 66.04
glider: 14
mission: 6
dive: 400
start: 10 26 108 19 0 38
data:
$ID,14
$MISSION,6
$DIVE,400
$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,300
$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,-657941.94
$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,22
$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
$GPS1,185138,6247.231,-1139.693,40,0.9,53,-11.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-52.0
$GPS2,190017,6247.193,-1139.547,11,1.7,13,-11.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,CS
$TGT_LATLONG,6321.000,-1058.000
$TGT_RADIUS,5000.000
$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,40.1,71493,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.10,0.000,2,0.000,0.000,379,1591,2609
$GC,83,-1.16,-146.6,3.2,-3.8,3,120,11.40,2.53,-15.70,0.000,4,0.174,0.091,2417,215,3138
$GC,199,-1.16,-146.6,15.8,-10.1,8,203,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1620,3139
$GC,521,-1.16,-146.6,53.6,-15.3,24,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1624,3139
$GC,831,-1.16,-146.6,75.1,-6.5,39,836,0.00,2.53,0.00,0.000,4,0.000,0.074,2417,206,3139
$GC,917,-1.16,-146.6,81.2,-8.4,43,921,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1601,3139
$GC,1245,-1.16,-146.6,107.7,-9.3,59,1249,0.00,2.50,0.00,0.000,4,0.000,0.074,2418,206,3139
$GC,1296,-1.16,-146.6,114.4,-13.3,61,1300,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1606,3139
$GC,1618,-1.16,-146.6,147.0,-11.2,77,1623,0.00,2.50,0.00,0.000,4,0.000,0.074,2417,209,3139
$GC,1664,-1.16,-146.6,153.2,-13.8,79,1668,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1608,3139
$GC,1986,-1.16,-146.6,195.0,-10.6,95,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1609,3139
$GC,2295,-1.16,-146.6,231.6,-10.8,110,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1609,3139
$GC,2604,-1.16,-146.6,266.0,-10.6,125,2608,0.00,2.50,0.00,0.000,4,0.000,0.074,2417,208,3139
$GC,2655,-1.16,-146.6,271.7,-10.4,127,2659,0.00,2.35,0.00,0.000,6,0.000,0.058,2417,1597,3140
$GC,2976,-1.16,-146.6,304.2,-9.9,143,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1601,3139
$GC,3286,-1.16,-146.6,335.2,-10.2,158,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1601,3139
$GC,3596,-1.16,-146.6,366.5,-10.2,173,3600,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,209,3139
$GC,3651,-1.16,-146.6,372.8,-10.9,175,3658,0.00,2.38,0.00,0.000,6,0.000,0.058,2418,1606,3139
$GC,3968,-1.16,-146.6,404.1,-9.6,191,3973,0.00,2.53,0.00,0.000,4,0.000,0.077,2417,202,3139
$GC,4032,-1.16,-146.6,410.3,-9.8,194,4036,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1599,3139
$GC,4359,-1.16,-146.6,441.4,-9.5,210,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3139
$GC,4668,-1.16,-146.6,469.7,-9.0,225,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3140
$GC,4978,-1.16,-146.6,497.6,-9.0,240,4982,0.00,2.50,0.00,0.000,4,0.000,0.079,2417,211,3140
$GC,5085,-1.16,-146.6,507.8,-9.2,244,5092,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1598,3141
$GC,5402,-1.16,-146.6,537.3,-9.7,260,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1602,3141
$GC,5711,-1.16,-146.6,566.6,-9.8,275,5715,0.00,2.53,0.00,0.000,4,0.000,0.081,2417,210,3141
$GC,5806,-1.16,-146.6,576.6,-10.4,279,5811,0.00,2.40,0.00,0.000,6,0.000,0.060,2417,1603,3141
$STATE,5872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5872,begin apogee
$GC,5882,-0.32,0.0,583.5,10.3,282,6019,0.88,0.00,128.98,1.059,6,0.100,0.000,2600,2201,2539
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6024,1.16,146.6,588.9,0.0,289,6151,1.50,0.00,122.40,1.042,6,0.077,0.000,2926,2201,1941
$GC,6457,1.19,165.0,567.0,7.3,310,6480,0.00,2.60,16.27,0.969,4,0.000,0.073,2926,792,1865
$GC,6648,1.21,176.1,553.2,7.6,318,6664,0.00,2.50,10.48,0.920,6,0.000,0.065,2926,2200,1821
$GC,6987,1.26,204.1,529.4,6.9,335,7018,0.10,2.62,24.35,1.003,4,0.071,0.074,2958,793,1705
$GC,7134,1.26,204.1,516.1,9.5,341,7139,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2204,1704
$GC,7452,1.26,204.1,486.4,9.9,356,7456,0.00,2.58,0.00,0.000,4,0.000,0.073,2958,783,1702
$GC,7560,1.26,204.1,475.5,9.9,361,7564,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2204,1701
$GC,7887,1.26,204.1,444.5,9.0,377,7891,0.00,2.55,0.00,0.000,4,0.000,0.072,2958,791,1699
$GC,7973,1.26,204.1,436.6,9.9,381,7977,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2203,1699
$GC,8300,1.26,204.1,407.3,9.2,397,8304,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,790,1698
$GC,8401,1.26,204.1,397.7,9.5,401,8407,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2206,1698
$GC,8718,1.26,204.1,369.8,8.7,417,8722,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,787,1697
$GC,8825,1.26,204.1,359.7,9.2,421,8831,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2207,1697
$GC,9141,1.26,204.1,328.9,10.2,437,9145,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,787,1697
$GC,9242,1.26,204.1,318.1,11.1,441,9249,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2202,1697
$GC,9559,1.26,204.1,287.3,9.7,457,9563,0.00,2.50,0.00,0.000,4,0.000,0.070,2958,790,1698
$GC,9655,1.26,204.1,277.4,10.5,461,9659,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1697
$GC,9974,1.26,204.1,246.7,9.2,476,9978,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,789,1697
$GC,10065,1.26,204.1,238.4,9.1,480,10069,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2208,1697
$GC,10388,1.28,217.3,214.4,7.5,496,10404,0.00,2.58,11.07,0.747,4,0.000,0.070,2958,786,1652
$GC,10511,1.28,217.3,201.9,10.6,500,10518,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2199,1652
$GC,10829,1.28,217.3,170.2,8.2,516,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1652
$GC,11137,1.28,217.3,144.2,9.4,531,11142,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,789,1652
$GC,11228,1.28,217.3,135.4,10.2,535,11232,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2213,1652
$GC,11552,1.28,217.3,102.7,13.3,551,11556,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,788,1652
$GC,11652,1.28,217.3,90.2,11.3,555,11659,0.00,2.45,0.00,0.000,6,0.000,0.062,2958,2202,1652
$GC,11969,1.28,217.3,57.2,12.0,571,11973,0.00,2.50,0.00,0.000,4,0.000,0.068,2958,784,1652
$GC,12088,1.28,217.3,40.5,12.4,576,12092,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1652
$GC,12411,1.29,228.1,15.4,7.6,592,12426,0.00,2.55,10.55,0.614,4,0.000,0.071,2958,789,1609
$GC,12506,1.29,228.1,7.7,17.3,595,12510,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2201,1609
$STATE,12578,end climb,SURFACE_DEPTH_REACHED
$STATE,12578,begin surface coast
$FINISH,0.7,1.027247
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12627,44.80,0.647,0,0,1315,300.00
$SM_GC,1.56,0.00,0.00,44.80,0.000,0.000,0.647,377,1594,1315,-10.57,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1880
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.3,66.4
$24V_AH,23.6,53.464
$10V_AH,10.2,27.150
$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,25.125,116.325,324.100,44.800,0.000,76.888,61.447,176.564,4.500,0.000,0.000,14.704,1155.485,9404.349,500.364,1502.613,633.701,0.000,1253.049,0.000,1467.416,0.000,29.887,0.000
$DEVICE_MAMPS,174.109,91.273,1059.227,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.323,408.101,412.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,600
$CAP_FILE_SIZE,97520,0
$CFSIZE,254472192,233287680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,261008,223408,6248.813,-1133.734,93,1.7,93,-11.1