version: 66.04
glider: 14
mission: 6
dive: 402
start: 10 27 108 2 9 41
data:
$ID,14
$MISSION,6
$DIVE,402
$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,-657970.81
$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,20
$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
$GPS1,020326,6248.636,-1132.700,70,1.0,70,-11.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-53.2
$GPS2,020920,6248.554,-1132.717,9,1.9,9,-11.1
$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,36.7,66653,-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,16,begin dive
$GC,20,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-57.10,0.000,2,0.000,0.000,383,1586,2416
$GC,83,-1.16,-146.6,3.2,-3.7,3,126,11.20,2.50,-24.52,0.000,4,0.169,0.089,2414,205,3139
$GC,134,-1.16,-146.6,6.7,-8.9,5,138,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1608,3139
$GC,456,-1.16,-146.6,49.6,-12.4,21,460,0.00,2.47,0.00,0.000,4,0.000,0.075,2415,2999,3139
$GC,619,-1.16,-146.6,65.5,-8.7,28,623,0.00,2.45,0.00,0.000,6,0.000,0.064,2415,1591,3139
$GC,936,-1.16,-146.6,103.7,-11.4,43,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1591,3139
$GC,1245,-1.16,-146.6,144.8,-13.7,58,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1591,3139
$GC,1553,-1.16,-146.6,180.4,-12.3,73,1558,0.00,2.47,0.00,0.000,4,0.000,0.079,2414,210,3139
$GC,1611,-1.16,-146.6,187.4,-12.1,75,1617,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1610,3139
$GC,1927,-1.16,-146.6,224.9,-13.8,91,1935,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,203,3139
$GC,1981,-1.16,-146.6,232.6,-13.9,93,1985,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1597,3139
$GC,2303,-1.16,-146.6,272.2,-12.4,109,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3139
$GC,2612,-1.16,-146.6,308.1,-11.6,124,2616,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3139
$GC,2662,-1.16,-146.6,314.5,-13.1,126,2666,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1605,3139
$GC,2979,-1.16,-146.6,352.6,-11.7,141,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3139
$GC,3288,-1.16,-146.6,387.9,-11.2,156,3292,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,209,3139
$GC,3351,-1.16,-146.6,395.5,-12.0,159,3354,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1600,3139
$GC,3684,-1.16,-146.6,427.0,-9.2,175,3688,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,206,3139
$GC,3781,-1.16,-146.6,437.3,-10.6,179,3785,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1609,3139
$GC,4103,-1.16,-146.6,470.3,-11.0,195,4107,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,206,3139
$GC,4234,-1.16,-146.6,486.5,-13.3,201,4238,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1606,3140
$GC,4562,-1.16,-146.6,522.8,-10.1,217,4566,0.00,2.53,0.00,0.000,4,0.000,0.085,2415,2999,3140
$GC,4625,-1.16,-146.6,529.1,-10.0,220,4629,0.00,2.45,0.00,0.000,6,0.000,0.067,2414,1593,3140
$GC,4958,-1.16,-146.6,561.5,-9.8,236,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1593,3140
$STATE,4996,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4996,begin apogee
$GC,5006,-0.32,0.0,565.6,9.9,238,5143,0.93,0.00,128.43,1.048,6,0.113,0.000,2602,2199,2539
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5147,1.16,146.6,571.9,0.0,245,5277,1.50,2.75,121.43,1.029,4,0.082,0.106,2926,3598,1940
$GC,5332,1.21,177.3,563.1,6.8,253,5363,0.00,2.50,26.08,0.972,6,0.000,0.069,2926,2198,1816
$GC,5689,1.21,177.8,535.4,8.0,271,5694,0.00,2.58,0.00,0.000,4,0.000,0.081,2926,795,1814
$GC,5757,1.21,177.8,529.3,8.7,274,5762,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2202,1813
$GC,6080,1.25,197.8,504.8,7.2,290,6099,0.00,0.00,18.02,0.965,6,0.000,0.000,2926,2202,1732
$GC,6409,1.27,210.4,479.6,7.5,306,6430,0.12,2.65,11.82,0.919,4,0.067,0.074,2963,787,1681
$GC,6533,1.27,210.4,467.2,10.6,311,6537,0.00,2.50,0.00,0.000,6,0.000,0.062,2965,2201,1680
$GC,6849,1.27,210.4,435.8,9.7,326,6854,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,792,1678
$GC,6958,1.27,210.4,424.8,10.0,331,6962,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2207,1678
$GC,7286,1.27,210.4,394.6,9.2,347,7290,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,793,1677
$GC,7420,1.27,210.4,381.4,9.8,353,7424,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1677
$GC,7749,1.27,210.4,350.4,9.3,369,7753,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,793,1676
$GC,7828,1.27,210.4,342.3,9.7,372,7834,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1676
$GC,8144,1.27,210.4,314.2,8.6,388,8148,0.00,2.55,0.00,0.000,4,0.000,0.070,2965,786,1676
$GC,8229,1.27,210.4,306.5,8.7,391,8235,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1676
$GC,8546,1.28,220.7,281.1,7.6,407,8560,0.00,2.55,8.80,0.766,4,0.000,0.071,2965,798,1639
$GC,8646,1.28,220.7,273.0,8.1,411,8650,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2203,1639
$GC,8964,1.29,224.3,247.9,7.9,426,8974,0.00,2.55,4.82,0.623,4,0.000,0.071,2965,783,1624
$GC,9064,1.29,224.3,238.8,9.2,430,9070,0.00,2.50,0.00,0.000,6,0.000,0.061,2965,2209,1624
$GC,9382,1.29,224.3,207.4,11.2,446,9386,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,786,1624
$GC,9499,1.29,224.3,192.4,12.6,451,9504,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1624
$GC,9816,1.29,224.3,160.3,8.6,466,9820,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,787,1624
$GC,9935,1.29,224.3,148.5,11.1,471,9939,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1624
$GC,10251,1.29,224.3,115.1,10.5,486,10256,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,793,1624
$GC,10339,1.29,224.3,104.4,12.7,490,10343,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2206,1624
$GC,10669,1.29,224.3,69.8,11.1,506,10673,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,785,1624
$GC,10747,1.29,224.3,57.6,14.8,509,10754,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2198,1624
$GC,11066,1.29,224.3,22.9,11.6,525,11071,0.00,2.50,0.00,0.000,4,0.000,0.072,2964,792,1624
$GC,11175,1.29,224.3,11.8,11.8,530,11180,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2206,1624
$STATE,11293,end climb,SURFACE_DEPTH_REACHED
$STATE,11294,begin surface coast
$FINISH,0.9,1.027297
$STATE,11317,end surface coast,CONTROL_FINISHED_OK
$STATE,11317,begin surface
$SM_CCo,11343,42.47,0.632,1,0,1315,300.00
$SM_GC,1.59,0.00,0.00,42.47,0.000,0.000,0.632,379,1598,1315,-10.56,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.4,23.4
$24V_AH,23.6,53.713
$10V_AH,10.2,27.276
$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,25.050,116.750,319.400,42.475,0.000,39.219,27.720,160.172,4.500,0.000,0.000,11.043,1054.262,8294.360,481.719,1400.723,520.839,0.000,1204.761,0.000,1367.323,0.000,31.400,0.000
$DEVICE_MAMPS,168.740,105.846,1048.489,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.609,365.083,358.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28470,537
$CAP_FILE_SIZE,91088,0
$CFSIZE,254472192,233201664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,22,2,0
$GPS,271008,052057,6249.623,-1131.928,21,3.6,40,-11.1