version: 66.04
glider: 14
mission: 6
dive: 404
start: 10 27 108 8 35 40
data:
$ID,14
$MISSION,6
$DIVE,404
$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,-658037.5
$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
$GPS1,082926,6252.126,-1127.068,45,1.4,45,-11.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-57.8
$GPS2,083520,6252.092,-1126.917,13,1.4,30,-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,35.3,58680,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.35,0.000,2,0.000,0.000,377,1595,2734
$GC,83,-1.16,-146.6,3.7,-5.2,3,114,11.35,2.58,-11.38,0.000,4,0.175,0.090,2415,201,3139
$GC,183,-1.16,-146.6,10.1,-5.3,7,187,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1610,3139
$GC,501,-1.16,-146.6,39.9,-11.3,22,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1614,3139
$GC,809,-1.16,-146.6,77.2,-11.9,37,813,0.00,2.53,0.00,0.000,4,0.000,0.075,2415,209,3139
$GC,917,-1.16,-146.6,88.0,-9.4,42,922,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1612,3139
$GC,1246,-1.16,-146.6,118.3,-9.5,58,1250,0.00,2.53,0.00,0.000,4,0.000,0.075,2415,208,3139
$GC,1287,-1.16,-146.6,123.6,-13.3,60,1291,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3139
$GC,1615,-1.16,-146.6,170.4,-15.5,76,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3139
$GC,1924,-1.16,-146.6,203.3,-11.4,91,1928,0.00,2.53,0.00,0.000,4,0.000,0.076,2415,201,3140
$GC,1980,-1.16,-146.6,210.3,-11.8,93,1986,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1602,3139
$GC,2297,-1.16,-146.6,244.2,-10.2,109,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3140
$GC,2606,-1.16,-146.6,275.6,-10.3,124,2610,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,209,3139
$GC,2685,-1.16,-146.6,284.4,-11.0,127,2691,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1601,3140
$GC,3002,-1.16,-146.6,315.9,-9.8,143,3006,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3140
$GC,3047,-1.16,-146.6,320.9,-10.6,145,3052,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1606,3140
$GC,3370,-1.16,-146.6,352.3,-9.7,161,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1610,3140
$GC,3680,-1.16,-146.6,380.4,-9.5,176,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1610,3141
$GC,3989,-1.16,-146.6,411.4,-10.3,191,3993,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,209,3141
$GC,4089,-1.16,-146.6,422.5,-10.9,195,4096,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1598,3141
$GC,4407,-1.16,-146.6,451.0,-9.3,211,4411,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,201,3142
$GC,4498,-1.16,-146.6,460.6,-11.0,215,4502,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1602,3142
$GC,4826,-1.16,-146.6,493.4,-9.1,231,4831,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,206,3142
$STATE,4891,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4891,begin apogee
$GC,4903,-0.32,0.0,500.5,10.3,234,5042,0.88,0.00,128.25,1.000,6,0.103,0.000,2600,2194,2538
$STATE,5042,end apogee,CONTROL_FINISHED_OK
$STATE,5042,begin climb
$GC,5046,1.16,146.6,505.2,0.0,241,5175,1.52,2.83,120.35,0.983,4,0.082,0.114,2928,3600,1940
$GC,5446,1.18,155.2,493.8,7.7,259,5463,0.00,2.50,8.30,0.835,6,0.000,0.069,2928,2197,1905
$GC,5774,1.21,176.6,469.9,7.2,275,5799,0.00,2.65,18.55,0.947,4,0.000,0.080,2928,797,1818
$GC,5938,1.21,176.6,456.6,8.4,282,5943,0.00,2.47,0.00,0.000,6,0.000,0.063,2928,2198,1816
$GC,6261,1.21,176.6,428.9,8.1,298,6265,0.00,2.55,0.00,0.000,4,0.000,0.074,2929,795,1814
$GC,6370,1.29,228.6,421.1,6.0,303,6420,0.12,2.47,42.67,0.979,6,0.067,0.063,2965,2203,1606
$GC,6747,1.31,235.2,394.1,7.7,321,6760,0.00,2.62,6.47,0.786,4,0.000,0.073,2965,789,1579
$GC,6874,1.31,235.2,381.7,9.7,326,6880,0.00,2.50,0.00,0.000,6,0.000,0.063,2965,2206,1579
$GC,7191,1.31,235.2,351.0,10.1,342,7195,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,795,1577
$GC,7269,1.31,235.2,342.3,11.1,345,7276,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2205,1576
$GC,7586,1.31,235.2,306.2,12.0,361,7590,0.00,2.55,0.00,0.000,4,0.000,0.071,2965,786,1575
$GC,7700,1.31,235.2,291.8,12.5,366,7705,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2200,1575
$GC,8028,1.31,235.2,254.8,10.8,382,8032,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,789,1575
$GC,8118,1.31,235.2,245.0,11.1,386,8122,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1575
$GC,8440,1.31,235.2,214.4,9.0,402,8444,0.00,2.55,0.00,0.000,4,0.000,0.071,2965,784,1575
$GC,8541,1.31,235.2,204.8,9.9,406,8547,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1575
$GC,8857,1.31,235.2,176.0,9.0,422,8861,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,793,1575
$GC,8949,1.31,235.2,167.3,9.9,426,8953,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2207,1575
$GC,9283,1.31,235.2,132.4,9.3,442,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2207,1576
$GC,9592,1.31,235.2,104.5,8.8,457,9596,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,783,1575
$GC,9764,1.33,252.9,91.1,7.3,464,9784,0.00,2.47,15.27,0.693,6,0.000,0.061,2965,2203,1507
$GC,10103,1.47,339.5,65.4,4.7,481,10177,0.12,2.58,68.03,0.696,4,0.067,0.067,3005,792,1152
$GC,10267,1.47,339.5,52.8,12.7,488,10274,0.00,2.47,0.00,0.000,6,0.000,0.061,3006,2208,1151
$GC,10586,1.47,339.5,17.6,12.0,504,10590,0.00,2.55,0.00,0.000,4,0.000,0.072,3005,793,1151
$GC,10665,1.47,339.5,5.9,15.2,507,10671,0.00,2.45,0.00,0.000,6,0.000,0.062,3005,2198,1150
$STATE,10710,end climb,SURFACE_DEPTH_REACHED
$STATE,10710,begin surface coast
$FINISH,0.9,1.027171
$STATE,10733,end surface coast,CONTROL_FINISHED_OK
$STATE,10734,begin surface
$SM_CCo,10820,0.00,0.000,0,0,1149,340.97
$SM_GC,1.69,11.38,0.00,0.00,0.054,0.000,0.000,377,1602,1149,-10.49,0.08,340.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1909
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.9,109.4
$24V_AH,23.6,53.942
$10V_AH,10.2,27.394
$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,25.375,107.150,407.900,0.000,0.000,38.832,32.179,135.391,3.500,0.000,0.000,31.514,995.267,7793.133,483.092,1416.032,489.655,0.000,1214.000,0.000,1363.047,0.000,21.909,0.000
$DEVICE_MAMPS,174.876,113.516,1000.168,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.189,346.460,377.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25476,511
$CAP_FILE_SIZE,85388,0
$CFSIZE,254472192,233119744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,271008,113737,6253.284,-1122.118,57,1.6,57,-11.0