version: 66.04
glider: 14
mission: 6
dive: 409
start: 10 27 108 23 36 2
data:
$ID,14
$MISSION,6
$DIVE,409
$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,-658193.69
$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
$GPS1,232329,6259.452,-1106.253,19,5.0,38,-10.9
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-53.2
$GPS2,233538,6259.251,-1106.058,38,1.7,38,-10.9
$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,20.3,40830,-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,-60.83,0.000,2,0.000,0.000,381,1588,2796
$GC,83,-1.16,-146.6,4.1,-5.4,3,109,11.50,2.55,-7.95,0.000,4,0.182,0.094,2418,213,3141
$GC,256,-1.16,-146.6,27.4,-10.7,10,263,0.00,2.40,0.00,0.000,6,0.000,0.058,2419,1613,3142
$GC,575,-1.16,-146.6,51.4,-9.1,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1616,3142
$GC,882,-1.16,-146.6,79.1,-9.3,41,886,0.00,2.55,0.00,0.000,4,0.000,0.077,2419,203,3142
$GC,946,-1.16,-146.6,85.6,-10.3,44,950,0.00,2.40,0.00,0.000,6,0.000,0.058,2419,1604,3142
$GC,1276,-1.16,-146.6,119.1,-11.1,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1609,3143
$GC,1582,-1.16,-146.6,152.5,-9.5,75,1587,0.00,2.53,0.00,0.000,4,0.000,0.076,2419,209,3143
$GC,1645,-1.16,-146.6,158.6,-9.5,78,1650,0.00,2.38,0.00,0.000,6,0.000,0.058,2419,1604,3143
$GC,1980,-1.16,-146.6,185.8,-8.0,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1605,3143
$GC,2288,-1.16,-146.6,212.3,-9.1,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1606,3143
$GC,2597,-1.16,-146.6,243.5,-10.9,124,2601,0.00,2.53,0.00,0.000,4,0.000,0.077,2419,206,3143
$GC,2655,-1.16,-146.6,250.2,-12.4,126,2661,0.00,2.38,0.00,0.000,6,0.000,0.058,2419,1602,3143
$GC,2972,-1.16,-146.6,282.3,-9.0,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1602,3143
$GC,3281,-1.16,-146.6,309.0,-8.8,157,3285,0.00,2.53,0.00,0.000,4,0.000,0.079,2419,204,3144
$GC,3332,-1.16,-146.6,314.2,-10.3,159,3336,0.00,2.38,0.00,0.000,6,0.000,0.058,2419,1595,3144
$GC,3648,-1.16,-146.6,346.8,-10.9,174,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1600,3144
$GC,3958,-1.16,-146.6,382.2,-11.7,189,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1600,3145
$GC,4267,-1.16,-146.6,417.9,-11.4,204,4271,0.00,2.53,0.00,0.000,4,0.000,0.080,2419,209,3145
$GC,4329,-1.16,-146.6,425.2,-11.5,207,4334,0.00,2.40,0.00,0.000,6,0.000,0.060,2419,1603,3145
$STATE,4571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4571,begin apogee
$GC,4581,-0.32,0.0,450.1,9.9,219,4718,0.90,0.00,127.95,0.968,6,0.106,0.000,2604,2192,2539
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4722,1.16,146.6,456.4,0.0,226,4851,1.50,2.80,119.88,0.953,4,0.081,0.110,2927,3598,1941
$GC,4980,1.17,152.0,441.5,7.8,238,4991,0.00,2.50,5.72,0.719,6,0.000,0.070,2927,2198,1919
$GC,5307,1.20,171.6,417.1,7.3,254,5330,0.00,2.67,17.17,0.899,4,0.000,0.080,2927,795,1839
$GC,5470,1.20,171.6,405.0,8.0,261,5475,0.00,2.50,0.00,0.000,6,0.000,0.062,2927,2205,1837
$GC,5798,1.23,184.9,380.1,7.5,277,5819,0.00,2.62,11.43,0.871,4,0.000,0.075,2927,789,1784
$GC,5904,1.23,184.9,370.9,9.2,281,5911,0.00,2.50,0.00,0.000,6,0.000,0.064,2927,2200,1784
$GC,6221,1.23,184.9,341.2,9.0,297,6225,0.00,2.55,0.00,0.000,4,0.000,0.075,2927,787,1782
$GC,6318,1.23,189.9,332.7,7.8,301,6329,0.00,2.50,5.20,0.713,6,0.000,0.063,2927,2206,1763
$GC,6640,1.29,223.1,309.1,6.7,317,6675,0.12,2.65,28.05,0.907,4,0.067,0.074,2965,792,1629
$GC,6732,1.29,223.1,301.5,8.1,321,6737,0.00,2.50,0.00,0.000,6,0.000,0.063,2965,2204,1628
$GC,7055,1.29,223.1,275.6,8.5,337,7059,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,795,1626
$GC,7179,1.29,223.1,264.0,9.5,342,7183,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2205,1625
$GC,7495,1.29,225.9,237.1,7.9,357,7499,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,791,1624
$GC,7598,1.29,225.9,228.4,8.4,361,7602,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1624
$GC,7915,1.29,225.9,200.4,9.3,376,7919,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,790,1624
$GC,8016,1.29,225.9,190.0,10.1,380,8023,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2211,1624
$GC,8333,1.29,225.9,159.8,9.0,396,8338,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,794,1624
$GC,8429,1.29,225.9,148.9,11.0,400,8434,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2202,1624
$GC,8747,1.29,225.9,116.9,9.2,415,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2202,1624
$GC,9057,1.29,225.9,86.2,10.5,430,9061,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,786,1624
$GC,9174,1.29,225.9,72.7,9.9,435,9179,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2210,1624
$GC,9492,1.29,225.9,45.7,10.2,450,9496,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,793,1624
$GC,9561,1.59,412.4,42.9,0.9,453,9717,0.25,2.45,145.60,0.684,6,0.060,0.062,3035,2208,857
$STATE,9954,end climb,SURFACE_DEPTH_REACHED
$STATE,9954,begin surface coast
$FINISH,0.7,1.014903
$STATE,9976,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,10063,0.00,0.000,0,0,852,413.82
$SM_GC,1.23,11.82,0.00,0.00,0.063,0.000,0.000,381,1595,852,-10.50,-0.14,413.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,401.4,57.4
$24V_AH,23.6,54.576
$10V_AH,10.2,27.684
$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,26.100,87.450,461.000,0.000,0.000,117.652,135.476,203.428,3.750,0.000,0.000,39.621,907.435,7408.148,503.821,1262.679,718.415,0.000,1160.115,0.000,1206.372,0.000,28.351,0.000
$DEVICE_MAMPS,181.779,109.681,967.954,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.771,320.530,364.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25411,473
$CAP_FILE_SIZE,80060,0
$CFSIZE,254472192,232919040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,281008,022507,6259.169,-1105.818,41,1.2,41,-10.9