version: 66.04
glider: 14
mission: 6
dive: 406
start: 10 27 108 14 51 52
data:
$ID,14
$MISSION,6
$DIVE,406
$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,-658087.56
$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,27
$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
$GPS1,144602,6253.600,-1120.330,59,1.6,59,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-49.4
$GPS2,145132,6253.561,-1120.341,12,1.7,29,-11.0
$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,31.1,54099,-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,-60.40,0.000,2,0.000,0.000,374,1582,2709
$GC,83,-1.16,-146.6,3.7,-5.0,3,114,11.20,2.50,-11.85,0.000,4,0.169,0.088,2414,215,3138
$GC,143,-1.16,-146.6,10.9,-12.8,5,149,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1617,3139
$GC,460,-1.16,-146.6,51.9,-11.5,21,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1616,3139
$GC,769,-1.16,-146.6,91.3,-14.7,36,773,0.00,2.53,0.00,0.000,4,0.000,0.074,2414,211,3139
$GC,877,-1.16,-146.6,107.7,-14.6,41,881,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3139
$GC,1206,-1.16,-146.6,150.2,-11.8,57,1210,0.00,2.50,0.00,0.000,4,0.000,0.074,2414,210,3140
$GC,1269,-1.16,-146.6,158.6,-14.0,60,1273,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1609,3138
$GC,1603,-1.16,-146.6,198.0,-12.2,76,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3140
$GC,1911,-1.16,-146.6,235.3,-11.9,91,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3139
$GC,2220,-1.16,-146.6,270.6,-11.1,106,2225,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,213,3140
$GC,2307,-1.16,-146.6,281.2,-12.1,110,2311,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3140
$GC,2634,-1.16,-146.6,319.9,-11.7,126,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3139
$GC,2944,-1.16,-146.6,354.3,-10.5,141,2947,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,215,3139
$GC,3018,-1.16,-146.6,362.5,-10.9,144,3022,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1595,3140
$GC,3339,-1.16,-146.6,397.4,-11.3,160,3343,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,212,3140
$GC,3417,-1.16,-146.6,406.5,-11.2,163,3424,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3140
$GC,3734,-1.16,-146.6,436.8,-9.4,179,3739,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,214,3141
$GC,3785,-1.16,-146.6,442.2,-9.9,181,3790,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1599,3141
$GC,4102,-1.16,-146.6,471.0,-8.9,196,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$STATE,4284,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4284,begin apogee
$GC,4294,-0.32,0.0,488.3,9.9,205,4431,0.93,0.00,127.90,0.988,6,0.120,0.000,2600,2198,2539
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4431,begin climb
$GC,4435,1.16,146.6,493.4,0.0,212,4560,1.50,0.00,120.95,0.971,6,0.076,0.000,2926,2197,1941
$GC,4871,1.20,169.3,472.3,7.1,233,4895,0.00,2.60,19.67,0.926,4,0.000,0.075,2926,794,1848
$GC,4976,1.21,177.8,464.1,7.7,237,4991,0.00,2.50,8.10,0.825,6,0.000,0.065,2926,2198,1814
$GC,5315,1.21,177.8,436.9,8.5,254,5319,0.00,2.55,0.00,0.000,4,0.000,0.074,2926,798,1811
$GC,5400,1.21,177.8,429.4,9.3,258,5404,0.00,2.50,0.00,0.000,6,0.000,0.064,2926,2209,1811
$GC,5727,1.24,194.8,403.7,7.4,274,5749,0.00,2.60,14.45,0.919,4,0.000,0.073,2926,795,1744
$GC,5845,1.24,194.8,393.4,9.5,279,5850,0.00,2.50,0.00,0.000,6,0.000,0.064,2926,2206,1743
$GC,6168,1.24,194.8,362.6,9.9,295,6172,0.00,2.55,0.00,0.000,4,0.000,0.073,2926,798,1741
$GC,6257,1.24,194.8,354.2,8.5,299,6262,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2204,1741
$GC,6580,1.33,250.1,332.4,5.9,315,6631,0.17,2.62,44.35,0.930,4,0.063,0.072,2979,797,1518
$GC,6738,1.33,250.1,317.4,10.7,322,6742,0.00,2.47,0.00,0.000,6,0.000,0.063,2981,2201,1517
$GC,7060,1.33,250.1,284.1,11.0,338,7064,0.00,2.50,0.00,0.000,4,0.000,0.071,2981,797,1516
$GC,7173,1.33,250.1,270.2,12.8,343,7177,0.00,2.47,0.00,0.000,6,0.000,0.062,2981,2208,1516
$GC,7501,1.33,250.1,231.8,11.5,359,7505,0.00,2.53,0.00,0.000,4,0.000,0.071,2981,795,1516
$GC,7608,1.33,250.1,218.5,12.2,363,7614,0.00,2.47,0.00,0.000,6,0.000,0.062,2981,2203,1516
$GC,7924,1.33,250.1,181.5,12.4,379,7929,0.00,2.53,0.00,0.000,4,0.000,0.071,2981,787,1516
$GC,7993,1.33,250.1,173.2,12.3,382,7997,0.00,2.47,0.00,0.000,6,0.000,0.061,2981,2206,1516
$GC,8315,1.33,250.1,133.7,12.2,398,8319,0.00,2.53,0.00,0.000,4,0.000,0.071,2981,796,1516
$GC,8393,1.33,250.1,123.5,12.5,401,8400,0.00,2.45,0.00,0.000,6,0.000,0.061,2981,2204,1516
$GC,8711,1.33,250.1,85.3,13.4,417,8715,0.00,2.53,0.00,0.000,4,0.000,0.071,2981,788,1516
$GC,8800,1.33,250.1,72.5,14.4,421,8805,0.00,2.47,0.00,0.000,6,0.000,0.061,2981,2209,1516
$GC,9125,1.54,382.8,44.9,3.0,437,9234,0.12,2.60,103.03,0.686,4,0.067,0.072,3021,791,977
$GC,9315,1.54,382.8,24.7,14.9,445,9321,0.00,2.47,0.00,0.000,6,0.000,0.062,3021,2201,976
$STATE,9463,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,0.9,1.015287
$STATE,9485,end surface coast,CONTROL_FINISHED_OK
$STATE,9485,begin surface
$SM_CCo,9572,0.00,0.000,0,0,974,383.89
$SM_GC,1.44,11.57,0.00,0.00,0.057,0.000,0.000,373,1605,974,-10.51,0.17,383.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1899
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.2,71.7
$24V_AH,23.6,54.188
$10V_AH,10.2,27.507
$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,25.500,91.700,438.450,0.000,0.000,37.761,27.287,117.773,3.250,0.000,0.000,30.608,869.524,6905.483,511.042,1180.958,438.066,0.000,1126.951,0.000,1132.327,0.000,23.428,0.000
$DEVICE_MAMPS,168.740,88.205,987.896,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.162,307.507,319.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22238,454
$CAP_FILE_SIZE,74408,0
$CFSIZE,254472192,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,271008,173235,6255.391,-1117.959,11,2.4,30,-11.0