version: 66.04
glider: 14
mission: 6
dive: 414
start: 10 28 108 13 24 54
data:
$ID,14
$MISSION,6
$DIVE,414
$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,-658294.94
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,131634,6306.923,-1103.328,39,2.0,41,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-49.0
$GPS2,132433,6306.810,-1103.355,14,1.5,14,-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,20.6,26653,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,97,0.00,0.00,-75.43,0.000,2,0.000,0.000,382,1614,2807
$GC,101,-1.16,-146.6,4.3,-4.0,4,127,11.32,2.53,-8.05,0.000,4,0.176,0.086,2413,2994,3138
$GC,171,-1.16,-146.6,14.6,-10.4,7,175,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1595,3139
$GC,500,-1.16,-146.6,52.7,-12.5,23,504,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,210,3140
$GC,563,-1.16,-146.6,59.5,-10.9,26,567,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1612,3140
$GC,893,-1.16,-146.6,94.7,-10.8,42,897,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,203,3140
$GC,965,-1.16,-146.6,102.3,-10.7,45,970,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1608,3139
$GC,1282,-1.16,-146.6,132.6,-9.2,60,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3139
$GC,1592,-1.16,-146.6,166.5,-11.0,75,1596,0.00,2.53,0.00,0.000,4,0.000,0.074,2413,201,3140
$GC,1681,-1.16,-146.6,177.8,-12.2,79,1685,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1608,3139
$GC,2003,-1.16,-146.6,213.8,-11.3,95,2007,0.00,2.50,0.00,0.000,4,0.000,0.074,2413,209,3139
$GC,2048,-1.16,-146.6,219.1,-12.1,97,2052,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3140
$GC,2370,-1.16,-146.6,251.3,-10.3,113,2375,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,210,3140
$GC,2421,-1.16,-146.6,257.2,-11.3,115,2425,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3140
$GC,2738,-1.16,-146.6,293.4,-11.0,130,2743,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3140
$GC,2789,-1.16,-146.6,299.2,-11.0,132,2793,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1604,3141
$GC,3106,-1.16,-146.6,329.2,-8.9,147,3110,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,2994,3141
$GC,3151,-1.16,-146.6,333.5,-9.0,149,3155,0.00,2.42,0.00,0.000,6,0.000,0.064,2413,1599,3140
$GC,3472,-1.16,-146.6,363.7,-9.4,165,3476,0.00,2.50,0.00,0.000,4,0.000,0.082,2413,212,3141
$GC,3569,-1.16,-146.6,373.6,-10.4,169,3573,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3142
$GC,3885,-1.16,-146.6,404.9,-10.4,184,3889,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,204,3142
$GC,3976,-1.16,-146.6,413.7,-9.0,188,3980,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1601,3142
$STATE,4161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4161,begin apogee
$GC,4171,-0.32,0.0,431.5,9.9,197,4308,0.93,0.00,127.88,0.962,6,0.113,0.000,2601,2199,2539
$STATE,4309,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4312,1.16,146.6,438.0,0.0,204,4441,1.50,2.80,119.90,0.948,4,0.077,0.109,2927,3604,1941
$GC,4570,1.18,158.5,423.4,7.5,216,4586,0.00,2.50,11.07,0.838,6,0.000,0.068,2927,2199,1892
$GC,4897,1.18,158.5,399.1,8.1,231,4901,0.00,2.58,0.00,0.000,4,0.000,0.081,2927,795,1890
$GC,4987,1.18,158.5,391.3,8.3,235,4991,0.00,2.50,0.00,0.000,6,0.000,0.062,2927,2206,1889
$GC,5309,1.18,158.5,365.2,8.2,251,5313,0.00,2.58,0.00,0.000,4,0.000,0.073,2926,790,1886
$GC,5427,1.18,159.5,355.2,8.0,256,5431,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2199,1886
$GC,5750,1.22,184.3,332.4,7.1,272,5776,0.00,2.60,20.98,0.907,4,0.000,0.072,2927,795,1786
$GC,5908,1.22,184.3,319.8,8.0,279,5913,0.00,2.50,0.00,0.000,6,0.000,0.063,2927,2201,1784
$GC,6231,1.28,220.5,298.4,6.6,295,6267,0.12,2.72,30.23,0.900,4,0.067,0.098,2964,3603,1639
$GC,6319,1.28,220.5,290.8,9.4,299,6324,0.00,2.50,0.00,0.000,6,0.000,0.066,2964,2196,1638
$GC,6648,1.28,220.5,261.7,9.7,315,6652,0.00,2.53,0.00,0.000,4,0.000,0.075,2964,794,1636
$GC,6743,1.28,220.5,250.8,12.0,319,6748,0.00,2.47,0.00,0.000,6,0.000,0.060,2964,2213,1635
$GC,7059,1.28,220.5,216.1,10.7,334,7064,0.00,2.55,0.00,0.000,4,0.000,0.072,2964,792,1635
$GC,7157,1.28,220.5,205.3,10.9,338,7162,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2198,1635
$GC,7474,1.28,220.5,175.5,8.6,353,7478,0.00,2.55,0.00,0.000,4,0.000,0.072,2964,784,1634
$GC,7586,1.28,220.5,164.4,11.0,358,7590,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2201,1635
$GC,7915,1.28,220.5,131.6,9.1,374,7919,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,782,1635
$GC,7988,1.28,220.5,124.4,11.0,377,7992,0.00,2.47,0.00,0.000,6,0.000,0.061,2963,2209,1635
$GC,8307,1.28,220.5,98.4,10.2,392,8311,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,789,1635
$GC,8402,1.28,220.5,85.8,13.5,396,8406,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2196,1634
$GC,8719,1.28,220.5,50.0,12.1,411,8723,0.00,2.50,0.00,0.000,4,0.000,0.072,2964,792,1635
$GC,8805,1.28,220.5,40.4,10.5,415,8809,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2201,1635
$GC,9132,1.28,220.5,5.9,9.6,431,9137,0.00,2.53,0.00,0.000,4,0.000,0.072,2964,785,1634
$STATE,9185,end climb,SURFACE_DEPTH_REACHED
$STATE,9185,begin surface coast
$FINISH,0.7,1.027341
$STATE,9209,end surface coast,CONTROL_FINISHED_OK
$STATE,9209,begin surface
$SM_CCo,9236,45.75,0.640,1,0,1316,300.00
$SM_GC,1.41,0.00,0.00,45.75,0.000,0.000,0.640,375,1629,1316,-10.58,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1910
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,376.2,65.1
$24V_AH,23.6,55.136
$10V_AH,10.2,27.946
$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,25.250,109.875,310.050,45.750,0.000,75.519,61.150,152.024,3.000,0.000,0.000,15.853,885.080,6681.712,454.861,1202.558,552.862,0.000,1083.966,0.000,1172.455,0.000,20.171,0.000
$DEVICE_MAMPS,175.643,108.914,961.818,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,324.388,295.156,336.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22277,434
$CAP_FILE_SIZE,79454,0
$CFSIZE,254472192,232738816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,281008,160132,6307.776,-1105.879,66,1.1,66,-11.0