version: 66.04
glider: 14
mission: 6
dive: 411
start: 10 28 108 5 17 57
data:
$ID,14
$MISSION,6
$DIVE,411
$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,-658244.19
$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,19
$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
$GPS1,051038,6300.495,-1107.611,28,1.9,28,-11.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-49.2
$GPS2,051737,6300.493,-1107.671,19,1.6,35,-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,22.9,38819,-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,-60.33,0.000,2,0.000,0.000,376,1592,2686
$GC,83,-1.16,-146.6,3.9,-6.0,3,114,11.40,2.60,-10.90,0.000,4,0.177,0.085,2412,3008,3140
$GC,137,-1.16,-146.6,13.1,-9.9,5,141,0.00,2.47,0.00,0.000,6,0.000,0.062,2413,1589,3140
$GC,455,-1.16,-146.6,46.0,-13.0,20,459,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,206,3140
$GC,506,-1.16,-146.6,51.0,-10.6,22,510,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1623,3140
$GC,824,-1.16,-146.6,78.2,-9.6,37,829,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,210,3140
$GC,870,-1.16,-146.6,82.9,-10.9,39,875,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3140
$GC,1192,-1.16,-146.6,111.2,-8.2,55,1197,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,210,3140
$GC,1233,-1.16,-146.6,114.5,-8.8,57,1238,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3140
$GC,1563,-1.16,-146.6,151.6,-14.4,73,1567,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,210,3140
$GC,1604,-1.16,-146.6,157.0,-12.6,75,1608,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3140
$GC,1931,-1.16,-146.6,191.0,-9.3,91,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3140
$GC,2241,-1.16,-146.6,223.9,-11.3,106,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3140
$GC,2550,-1.16,-146.6,257.3,-10.1,121,2554,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,212,3140
$GC,2645,-1.16,-146.6,267.4,-10.7,125,2649,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3140
$GC,2962,-1.16,-146.6,302.4,-11.1,140,2966,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3141
$GC,3043,-1.16,-146.6,312.5,-12.5,143,3049,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1605,3141
$GC,3361,-1.16,-146.6,351.7,-11.7,159,3365,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,2993,3141
$GC,3417,-1.16,-146.6,358.3,-11.1,161,3421,0.00,2.42,0.00,0.000,6,0.000,0.066,2413,1601,3142
$GC,3734,-1.16,-146.6,389.9,-10.1,176,3738,0.00,2.53,0.00,0.000,4,0.000,0.084,2412,209,3142
$GC,3797,-1.16,-146.6,397.0,-11.6,178,3803,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1609,3142
$GC,4113,-1.16,-146.6,431.1,-10.5,194,4117,0.00,2.50,0.00,0.000,4,0.000,0.085,2413,2991,3142
$GC,4214,-1.16,-146.6,441.9,-10.9,198,4220,0.00,2.45,0.00,0.000,6,0.000,0.067,2413,1594,3142
$STATE,4259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4259,begin apogee
$GC,4269,-0.32,0.0,446.9,10.8,201,4406,0.93,0.00,127.80,0.969,6,0.107,0.000,2603,2200,2539
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4407,begin climb
$GC,4410,1.16,146.6,453.1,0.0,208,4535,1.50,0.00,120.07,0.955,6,0.084,0.000,2924,2200,1941
$GC,4845,1.20,167.6,428.9,7.2,229,4870,0.00,2.65,18.08,0.897,4,0.000,0.077,2924,794,1854
$GC,4916,1.20,169.7,423.7,7.9,232,4921,0.00,2.50,0.00,0.000,6,0.000,0.064,2924,2201,1854
$GC,5239,1.22,180.6,401.4,7.6,248,5257,0.00,0.00,12.18,0.875,6,0.000,0.000,2924,2201,1801
$GC,5568,1.27,215.6,378.4,6.7,264,5603,0.12,2.60,29.35,0.933,4,0.067,0.074,2962,792,1660
$GC,5733,1.27,215.6,364.7,8.1,271,5737,0.00,2.50,0.00,0.000,6,0.000,0.063,2963,2207,1658
$GC,6050,1.27,215.6,334.8,10.9,286,6055,0.00,2.58,0.00,0.000,4,0.000,0.074,2962,784,1655
$GC,6141,1.27,215.6,324.4,11.4,290,6145,0.00,2.53,0.00,0.000,6,0.000,0.062,2962,2208,1655
$GC,6464,1.27,215.6,293.0,8.7,306,6468,0.00,2.55,0.00,0.000,4,0.000,0.071,2962,791,1653
$GC,6576,1.27,215.6,283.3,8.7,311,6580,0.00,2.47,0.00,0.000,6,0.000,0.062,2962,2202,1652
$GC,6897,1.27,215.6,256.1,9.0,327,6901,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,791,1652
$GC,7028,1.27,215.6,243.9,8.6,333,7032,0.00,2.45,0.00,0.000,6,0.000,0.061,2962,2200,1651
$GC,7361,1.27,215.6,212.1,10.3,349,7365,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,787,1652
$GC,7451,1.27,215.6,201.7,11.4,353,7456,0.00,2.47,0.00,0.000,6,0.000,0.061,2962,2205,1651
$GC,7773,1.27,215.6,168.5,11.5,369,7778,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,789,1652
$GC,7837,1.27,215.6,160.9,11.1,372,7841,0.00,2.47,0.00,0.000,6,0.000,0.061,2962,2210,1652
$GC,8165,1.27,215.6,127.8,12.0,388,8170,0.00,2.55,0.00,0.000,4,0.000,0.072,2962,784,1652
$GC,8244,1.27,215.6,120.2,9.9,391,8251,0.00,2.47,0.00,0.000,6,0.000,0.061,2962,2212,1652
$GC,8561,1.27,215.6,90.0,10.5,407,8565,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,789,1652
$GC,8634,1.27,215.6,83.9,8.3,410,8639,0.00,2.45,0.00,0.000,6,0.000,0.061,2962,2197,1652
$GC,8953,1.27,215.6,56.4,10.4,425,8957,0.00,2.53,0.00,0.000,4,0.000,0.072,2962,784,1652
$GC,9003,1.30,233.4,52.0,7.3,427,9023,0.00,2.47,14.62,0.676,6,0.000,0.062,2962,2202,1587
$GC,9347,1.30,233.4,21.6,10.9,444,9351,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,789,1586
$GC,9381,1.42,306.1,18.7,5.2,445,9443,0.00,2.45,56.90,0.675,6,0.000,0.062,2962,2199,1291
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.9,1.020452
$STATE,9619,end surface coast,CONTROL_FINISHED_OK
$STATE,9619,begin surface
$SM_CCo,9706,0.00,0.000,0,0,1286,307.36
$SM_GC,1.48,11.35,0.00,0.00,0.058,0.000,0.000,377,1616,1286,-10.51,0.45,307.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1906
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,427.0,28.8
$24V_AH,23.6,54.800
$10V_AH,10.2,27.791
$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,25.300,106.850,379.000,0.000,0.000,37.757,33.225,173.559,3.500,0.000,0.000,37.041,894.686,7027.289,457.339,1215.177,534.903,0.000,1091.588,0.000,1160.398,0.000,26.194,0.000
$DEVICE_MAMPS,177.177,112.749,968.721,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.272,309.979,366.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22284,457
$CAP_FILE_SIZE,78950,0
$CFSIZE,254472192,232853504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,281008,080132,6303.698,-1106.326,68,1.2,68,-11.0