version: 66.04
glider: 14
mission: 6
dive: 416
start: 10 28 108 18 35 18
data:
$ID,14
$MISSION,6
$DIVE,416
$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,-658325.38
$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,21
$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
$GPS1,182907,6309.910,-1105.952,30,1.0,34,-11.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-56.2
$GPS2,183457,6309.960,-1105.946,9,1.2,9,-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,28.9,21485,-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,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.10,0.000,2,0.000,0.000,370,1593,2435
$GC,83,-1.16,-146.6,3.4,-3.9,3,119,11.45,0.00,-21.92,0.000,6,0.173,0.000,2418,1593,3138
$GC,430,-1.16,-146.6,36.6,-9.7,20,435,0.00,2.50,0.00,0.000,4,0.000,0.077,2418,210,3140
$GC,481,-1.16,-146.6,43.9,-14.7,22,486,0.00,2.42,0.00,0.000,6,0.000,0.058,2417,1619,3140
$GC,799,-1.16,-146.6,76.5,-10.6,37,804,0.00,2.58,0.00,0.000,4,0.000,0.077,2417,203,3141
$GC,856,-1.16,-146.6,83.9,-14.0,39,862,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1602,3141
$GC,1173,-1.16,-146.6,118.9,-11.9,55,1178,0.00,2.53,0.00,0.000,4,0.000,0.075,2417,205,3141
$GC,1237,-1.16,-146.6,125.5,-11.0,58,1241,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1609,3141
$GC,1564,-1.16,-146.6,162.6,-12.0,74,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1612,3141
$GC,1873,-1.16,-146.6,195.0,-10.2,89,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1612,3141
$GC,2182,-1.16,-146.6,229.4,-11.5,104,2186,0.00,2.53,0.00,0.000,4,0.000,0.077,2417,209,3141
$GC,2233,-1.16,-146.6,235.5,-11.4,106,2237,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1600,3142
$GC,2554,-1.16,-146.6,270.7,-11.8,122,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3141
$GC,2864,-1.16,-146.6,305.3,-11.6,137,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3141
$GC,3174,-1.16,-146.6,339.1,-9.1,152,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1603,3142
$GC,3482,-1.16,-146.6,369.5,-12.7,167,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3143
$GC,3793,-1.16,-146.6,404.3,-10.4,182,3797,0.00,2.55,0.00,0.000,4,0.000,0.087,2417,2996,3144
$GC,3861,-1.16,-146.6,411.3,-11.0,185,3865,0.00,2.45,0.00,0.000,6,0.000,0.067,2417,1600,3146
$STATE,3952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3952,begin apogee
$GC,3962,-0.32,0.0,421.1,10.5,190,4098,0.93,0.00,128.15,0.953,6,0.129,0.000,2599,2195,2539
$STATE,4099,end apogee,CONTROL_FINISHED_OK
$STATE,4099,begin climb
$GC,4103,1.16,146.6,427.3,0.0,197,4231,1.52,2.75,119.75,0.939,4,0.077,0.106,2929,3594,1941
$GC,4462,1.16,146.6,402.6,8.1,213,4466,0.00,2.47,0.00,0.000,6,0.000,0.067,2929,2195,1939
$GC,4779,1.23,186.8,380.3,6.5,228,4821,0.00,2.65,32.92,0.920,4,0.000,0.079,2929,799,1776
$GC,4856,1.29,226.8,375.6,6.5,231,4896,0.12,2.47,33.80,0.913,6,0.067,0.061,2965,2196,1614
$GC,5222,1.29,226.8,340.6,10.3,249,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1609
$GC,5528,1.29,226.8,308.3,9.7,264,5532,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,792,1608
$GC,5668,1.29,226.8,294.0,10.1,270,5672,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2201,1607
$GC,5985,1.29,226.8,265.4,9.2,285,5989,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,790,1602
$GC,6082,1.29,226.8,255.6,10.6,289,6086,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2201,1602
$GC,6404,1.29,226.8,225.8,9.1,305,6408,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,794,1602
$GC,6490,1.29,226.8,217.0,10.8,309,6494,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2208,1602
$GC,6817,1.29,226.8,184.9,9.4,325,6821,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,795,1602
$GC,6884,1.29,226.8,177.8,11.2,328,6888,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2201,1602
$GC,7207,1.29,226.8,146.5,9.9,344,7211,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,789,1602
$GC,7285,1.29,226.8,138.1,10.4,347,7291,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2209,1602
$GC,7602,1.29,226.8,107.0,9.7,363,7607,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,792,1602
$GC,7711,1.29,226.8,95.5,10.5,368,7715,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1602
$GC,8038,1.29,226.8,59.2,11.3,384,8043,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,794,1602
$GC,8112,1.29,226.8,51.0,10.6,387,8117,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1602
$GC,8431,1.29,226.8,22.6,9.2,402,8435,0.00,2.50,0.00,0.000,4,0.000,0.072,2966,796,1602
$GC,8526,1.29,226.8,14.2,9.5,406,8530,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1602
$STATE,8675,end climb,SURFACE_DEPTH_REACHED
$STATE,8675,begin surface coast
$FINISH,0.8,1.013751
$STATE,8698,end surface coast,CONTROL_FINISHED_OK
$STATE,8698,begin surface
$SM_CCo,8724,41.92,0.643,1,0,1316,300.00
$SM_GC,1.61,0.00,0.00,41.92,0.000,0.000,0.643,378,1591,1316,-10.57,-0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.8,79.6
$24V_AH,23.6,55.366
$10V_AH,10.2,28.043
$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,25.200,77.100,314.625,41.925,0.000,37.759,25.971,168.590,2.750,0.000,0.000,11.259,810.568,6354.943,452.398,1048.705,465.329,0.000,994.903,0.000,1024.599,0.000,21.536,0.000
$DEVICE_MAMPS,173.342,105.846,952.614,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.789,280.974,335.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22244,414
$CAP_FILE_SIZE,68028,0
$CFSIZE,254472192,232681472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,281008,210237,6312.649,-1101.925,7,1.4,23,-11.0