version: 66.04
glider: 14
mission: 6
dive: 407
start: 10 27 108 17 52 13
data:
$ID,14
$MISSION,6
$DIVE,407
$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,-658119.75
$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
$GPS1,173235,6255.391,-1117.959,11,2.4,30,-11.0
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-53.2
$GPS2,175150,6255.503,-1117.470,13,1.3,30,-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,29.9,49914,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.45,0.000,2,0.000,0.000,373,1597,2885
$GC,103,-1.16,-146.6,4.0,-3.9,4,126,11.35,2.58,-6.10,0.000,4,0.173,0.091,2412,210,3139
$GC,139,-1.16,-146.6,11.8,-20.0,5,144,0.00,2.42,0.00,0.000,6,0.000,0.058,2412,1616,3140
$GC,456,-1.16,-146.6,41.2,-9.4,20,460,0.00,2.55,0.00,0.000,4,0.000,0.076,2412,209,3140
$GC,551,-1.16,-146.6,51.1,-10.8,24,555,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1606,3140
$GC,869,-1.16,-146.6,83.7,-12.2,39,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1610,3140
$GC,1177,-1.16,-146.6,128.3,-9.4,54,1181,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,206,3140
$GC,1263,-1.16,-146.6,135.8,-8.7,58,1267,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3140
$GC,1591,-1.16,-146.6,171.2,-10.3,74,1595,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,208,3140
$GC,1653,-1.16,-146.6,178.3,-10.8,76,1659,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1605,3141
$GC,1970,-1.16,-146.6,210.7,-10.2,92,1974,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,210,3140
$GC,2015,-1.16,-146.6,215.9,-11.6,94,2019,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3140
$GC,2337,-1.16,-146.6,250.9,-10.9,110,2341,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3140
$GC,2393,-1.16,-146.6,257.6,-12.1,112,2399,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3140
$GC,2710,-1.16,-146.6,294.6,-12.6,128,2714,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,201,3141
$GC,2755,-1.16,-146.6,300.7,-13.1,130,2759,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1607,3140
$GC,3078,-1.16,-146.6,336.3,-10.2,146,3083,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,209,3141
$GC,3164,-1.16,-146.6,345.6,-10.6,150,3168,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3140
$GC,3491,-1.16,-146.6,377.3,-9.1,166,3496,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,205,3141
$GC,3588,-1.16,-146.6,386.9,-10.1,170,3592,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1602,3141
$GC,3904,-1.16,-146.6,417.2,-9.9,185,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3142
$GC,4214,-1.16,-146.6,451.5,-11.6,200,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3142
$STATE,4335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4335,begin apogee
$GC,4345,-0.32,0.0,465.1,10.8,206,4482,0.95,0.00,128.20,0.978,6,0.118,0.000,2603,2198,2539
$STATE,4482,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4486,1.16,146.6,471.2,0.0,213,4615,1.52,2.80,120.22,0.963,4,0.085,0.110,2928,3602,1940
$GC,4718,1.17,147.8,457.6,8.0,223,4724,0.00,2.53,0.00,0.000,6,0.000,0.070,2928,2195,1938
$GC,5035,1.21,174.3,432.1,7.0,239,5064,0.00,2.67,23.23,0.927,4,0.000,0.083,2928,792,1827
$GC,5112,1.27,214.4,426.9,6.5,242,5152,0.10,2.50,33.97,0.934,6,0.071,0.063,2959,2206,1663
$GC,5478,1.27,214.4,395.7,10.2,260,5482,0.00,2.60,0.00,0.000,4,0.000,0.076,2959,786,1659
$GC,5574,1.27,214.4,385.6,9.9,264,5578,0.00,2.50,0.00,0.000,6,0.000,0.063,2959,2202,1658
$GC,5890,1.27,214.4,356.3,9.2,279,5894,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,793,1656
$GC,5963,1.27,214.4,349.6,9.1,282,5967,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2201,1655
$GC,6285,1.27,214.4,321.6,9.1,298,6289,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,786,1653
$GC,6447,1.27,214.4,304.5,10.1,305,6452,0.00,2.50,0.00,0.000,6,0.000,0.063,2959,2209,1651
$GC,6764,1.27,214.4,275.0,9.3,320,6768,0.00,2.55,0.00,0.000,4,0.000,0.072,2960,787,1651
$GC,6872,1.27,214.4,264.5,10.0,325,6876,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2204,1651
$GC,7200,1.27,214.4,234.1,8.6,341,7204,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,790,1651
$GC,7296,1.27,214.4,226.0,8.3,345,7300,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2212,1650
$GC,7612,1.27,214.4,200.6,8.3,360,7616,0.00,2.55,0.00,0.000,4,0.000,0.072,2959,781,1650
$GC,7719,1.27,214.4,190.6,9.5,365,7724,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2205,1650
$GC,8048,1.27,214.4,161.2,8.4,381,8053,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,788,1650
$GC,8183,1.27,214.4,148.9,8.7,387,8188,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2199,1651
$GC,8507,1.27,214.4,122.0,8.7,403,8511,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,784,1650
$GC,8630,1.27,214.4,110.5,9.2,408,8638,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2199,1650
$GC,8949,1.31,239.7,85.4,7.0,424,8974,0.00,2.60,19.50,0.707,4,0.000,0.072,2959,790,1560
$GC,9027,1.31,239.7,78.6,9.4,427,9031,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2197,1560
$GC,9343,1.31,239.7,45.4,10.7,442,9348,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,786,1560
$GC,9430,1.31,239.7,34.8,11.8,446,9434,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2204,1560
$STATE,9733,end climb,SURFACE_DEPTH_REACHED
$STATE,9733,begin surface coast
$FINISH,0.8,1.027308
$STATE,9756,end surface coast,CONTROL_FINISHED_OK
$STATE,9757,begin surface
$SM_CCo,9783,34.17,0.627,1,0,1315,300.00
$SM_GC,1.55,0.00,0.00,34.17,0.000,0.000,0.627,382,1590,1315,-10.55,-0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,425.7,49.3
$24V_AH,23.6,54.321
$10V_AH,10.2,27.569
$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,25.225,107.125,325.125,34.175,0.000,195.717,154.934,402.855,4.500,0.000,0.000,31.535,913.712,7307.952,470.291,1258.306,1039.184,0.000,1112.945,0.000,1207.793,0.000,29.154,0.000
$DEVICE_MAMPS,173.342,110.448,977.925,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.232,313.700,352.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22191,462
$CAP_FILE_SIZE,89348,0
$CFSIZE,254472192,232992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,271008,203732,6258.225,-1111.738,51,1.5,51,-11.0