version: 66.04
glider: 14
mission: 6
dive: 412
start: 10 28 108 8 7 47
data:
$ID,14
$MISSION,6
$DIVE,412
$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,-658265
$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,5
$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
$GPS1,080132,6303.698,-1106.326,68,1.2,68,-11.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-44.7
$GPS2,080727,6303.732,-1106.320,18,1.3,18,-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,23.2,32718,-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,-60.35,0.000,2,0.000,0.000,377,1606,2695
$GC,83,-1.16,-146.6,3.2,-3.6,3,114,11.38,2.58,-12.43,0.000,4,0.176,0.088,2413,198,3138
$GC,165,-1.16,-146.6,14.1,-10.0,6,172,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1616,3139
$GC,484,-1.16,-146.6,46.8,-7.7,22,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1616,3140
$GC,791,-1.16,-146.6,82.7,-11.1,37,795,0.00,2.58,0.00,0.000,4,0.000,0.076,2413,197,3140
$GC,841,-1.16,-146.6,87.7,-8.2,39,845,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1609,3140
$GC,1164,-1.16,-146.6,124.9,-9.3,55,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3140
$GC,1473,-1.16,-146.6,158.5,-11.0,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3140
$GC,1782,-1.16,-146.6,188.3,-10.0,85,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3140
$GC,2092,-1.16,-146.6,224.6,-11.5,100,2097,0.00,2.55,0.00,0.000,4,0.000,0.075,2413,190,3140
$GC,2193,-1.16,-146.6,237.0,-11.8,104,2197,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1598,3141
$GC,2509,-1.16,-146.6,274.0,-11.6,119,2513,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,198,3140
$GC,2550,-1.16,-146.6,278.9,-12.9,121,2555,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1601,3140
$GC,2878,-1.16,-146.6,309.2,-6.8,137,2883,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,2993,3140
$GC,2913,-1.16,-146.6,311.4,-6.3,138,2919,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1580,3140
$GC,3230,-1.16,-146.6,337.4,-9.2,154,3234,0.00,2.47,0.00,0.000,4,0.000,0.082,2413,205,3141
$GC,3269,-1.16,-146.6,341.4,-10.0,155,3276,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3141
$GC,3586,-1.16,-146.6,373.9,-10.4,171,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3141
$GC,3896,-1.16,-146.6,405.7,-11.0,186,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3142
$STATE,4201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4201,begin apogee
$GC,4211,-0.32,0.0,439.2,10.1,201,4347,0.95,0.00,127.60,0.973,6,0.121,0.000,2603,2195,2539
$STATE,4348,end apogee,CONTROL_FINISHED_OK
$STATE,4348,begin climb
$GC,4352,1.16,146.6,445.2,0.0,208,4480,1.50,2.83,119.45,0.954,4,0.076,0.107,2929,3600,1941
$GC,4650,1.22,183.2,427.0,6.6,221,4686,0.00,2.50,30.45,0.916,6,0.000,0.069,2929,2201,1792
$GC,5006,1.22,183.6,402.0,8.0,239,5010,0.00,2.58,0.00,0.000,4,0.000,0.083,2929,795,1790
$GC,5079,1.22,183.6,395.4,8.7,242,5083,0.00,2.47,0.00,0.000,6,0.000,0.061,2929,2205,1789
$GC,5396,1.22,183.6,367.8,8.4,257,5400,0.00,2.58,0.00,0.000,4,0.000,0.074,2929,792,1788
$GC,5491,1.22,183.6,359.7,8.2,261,5495,0.00,2.47,0.00,0.000,6,0.000,0.061,2929,2205,1787
$GC,5808,1.27,212.3,338.8,6.9,276,5838,0.10,2.62,24.35,0.910,4,0.071,0.074,2961,789,1672
$GC,5979,1.27,212.3,321.8,11.0,283,5985,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2199,1671
$GC,6295,1.27,212.3,290.1,10.0,299,6300,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,792,1669
$GC,6369,1.27,212.3,282.1,11.4,302,6374,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2206,1669
$GC,6686,1.27,212.3,248.5,11.0,317,6690,0.00,2.55,0.00,0.000,4,0.000,0.072,2960,793,1669
$GC,6771,1.27,212.3,239.3,11.5,321,6775,0.00,2.47,0.00,0.000,6,0.000,0.062,2961,2210,1668
$GC,7099,1.27,212.3,202.7,11.5,337,7103,0.00,2.55,0.00,0.000,4,0.000,0.071,2961,792,1668
$GC,7200,1.27,212.3,190.9,11.4,341,7206,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2200,1668
$GC,7517,1.27,212.3,157.4,10.2,357,7521,0.00,2.53,0.00,0.000,4,0.000,0.071,2961,792,1668
$GC,7625,1.27,212.3,146.1,10.7,362,7629,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2199,1668
$GC,7958,1.27,212.3,112.9,10.0,378,7963,0.00,2.53,0.00,0.000,4,0.000,0.073,2961,793,1667
$GC,8010,1.27,212.3,107.0,10.7,380,8014,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2199,1668
$GC,8327,1.27,212.3,73.8,10.5,395,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2199,1668
$GC,8636,1.27,212.3,42.5,9.5,410,8640,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,792,1668
$GC,8794,1.28,220.1,26.1,7.7,417,8811,0.00,2.45,7.22,0.597,6,0.000,0.061,2961,2199,1640
$STATE,9119,end climb,SURFACE_DEPTH_REACHED
$STATE,9119,begin surface coast
$FINISH,0.8,1.027319
$STATE,9142,end surface coast,CONTROL_FINISHED_OK
$STATE,9142,begin surface
$SM_CCo,9168,50.65,0.662,0,0,1316,300.00
$SM_GC,1.68,0.00,0.00,50.65,0.000,0.000,0.662,377,1597,1316,-10.57,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1898
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.0,71.4
$24V_AH,23.6,54.905
$10V_AH,10.2,27.843
$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,25.200,82.275,309.075,50.650,0.000,37.754,36.778,149.230,2.750,0.000,0.000,20.218,839.273,6722.495,447.186,1104.597,468.275,0.000,1015.692,0.000,1072.452,0.000,20.195,0.000
$DEVICE_MAMPS,175.643,107.380,972.556,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.373,294.469,342.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22270,434
$CAP_FILE_SIZE,70409,0
$CFSIZE,254472192,232824832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,281008,104237,6306.127,-1103.398,10,1.5,26,-11.0