version: 66.04
glider: 14
mission: 6
dive: 419
start: 10 29 108 2 10 36
data:
$ID,14
$MISSION,6
$DIVE,419
$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,-658410.38
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,020208,6313.563,-1057.229,39,2.0,39,-10.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.5
$GPS2,021015,6313.460,-1057.288,15,1.4,15,-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,8.5,13975,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-55.72,0.000,2,0.000,0.000,382,1619,2593
$GC,79,-1.16,-146.6,3.4,-4.2,3,114,11.30,2.53,-18.00,0.000,4,0.174,0.085,2411,2996,3139
$GC,167,-1.16,-146.6,11.6,-10.4,7,172,0.00,2.45,0.00,0.000,6,0.000,0.064,2411,1597,3139
$GC,495,-1.16,-146.6,47.9,-9.6,23,500,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,204,3139
$GC,552,-1.16,-146.6,54.2,-11.4,25,558,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1607,3140
$GC,868,-1.16,-146.6,88.8,-11.2,41,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3139
$GC,1180,-1.16,-146.6,126.1,-12.5,56,1184,0.00,2.55,0.00,0.000,4,0.000,0.078,2411,204,3139
$GC,1270,-1.16,-146.6,138.7,-13.1,60,1274,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1605,3139
$GC,1594,-1.16,-146.6,176.5,-11.4,76,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1606,3140
$GC,1901,-1.16,-146.6,211.6,-11.4,91,1905,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,201,3140
$GC,1968,-1.16,-146.6,220.1,-12.2,94,1973,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1599,3140
$GC,2291,-1.16,-146.6,255.8,-11.0,110,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1602,3140
$GC,2600,-1.16,-146.6,288.0,-10.3,125,2604,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,210,3141
$GC,2655,-1.16,-146.6,294.2,-10.8,127,2662,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1603,3141
$GC,2973,-1.16,-146.6,326.2,-11.0,143,2978,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,206,3142
$GC,3097,-1.16,-146.6,342.5,-13.0,148,3103,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1599,3142
$GC,3414,-1.16,-146.6,377.9,-11.0,164,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1602,3143
$STATE,3658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3658,begin apogee
$GC,3668,-0.32,0.0,404.0,10.7,176,3805,0.93,0.00,128.02,0.940,6,0.107,0.000,2602,2190,2539
$STATE,3806,end apogee,CONTROL_FINISHED_OK
$STATE,3806,begin climb
$GC,3809,1.16,146.6,410.6,0.0,183,3935,1.55,0.00,120.12,0.925,6,0.081,0.000,2931,2190,1940
$GC,4232,1.21,172.6,386.2,7.0,204,4256,0.00,0.00,22.27,0.883,6,0.000,0.000,2931,2190,1834
$GC,4560,1.26,206.0,364.0,6.7,220,4595,0.00,2.62,28.20,0.900,4,0.000,0.075,2931,793,1698
$GC,4642,1.28,218.1,358.1,7.5,223,4660,0.10,2.50,11.60,0.831,6,0.071,0.064,2963,2194,1648
$GC,4980,1.28,221.7,332.5,7.9,240,4989,0.00,2.58,3.88,0.595,4,0.000,0.073,2963,777,1635
$GC,5037,1.30,230.2,327.9,7.7,242,5051,0.00,2.53,8.90,0.805,6,0.000,0.062,2963,2205,1598
$GC,5380,1.30,230.2,301.1,8.7,259,5385,0.00,2.58,0.00,0.000,4,0.000,0.072,2963,785,1597
$GC,5521,1.30,230.2,285.6,11.1,265,5525,0.00,2.50,0.00,0.000,6,0.000,0.063,2963,2203,1596
$GC,5838,1.30,230.2,251.2,9.6,280,5842,0.00,2.55,0.00,0.000,4,0.000,0.071,2963,788,1595
$GC,5956,1.30,230.2,238.4,10.9,285,5960,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2201,1594
$GC,6272,1.30,230.2,201.6,12.1,300,6277,0.00,2.55,0.00,0.000,4,0.000,0.072,2963,785,1594
$GC,6346,1.30,230.2,191.5,14.2,303,6351,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2202,1594
$GC,6663,1.30,230.2,151.0,12.4,318,6667,0.00,2.55,0.00,0.000,4,0.000,0.072,2963,785,1594
$GC,6775,1.30,230.2,137.4,11.5,323,6779,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2201,1594
$GC,7097,1.30,230.2,104.2,8.7,339,7102,0.00,2.53,0.00,0.000,4,0.000,0.071,2963,784,1594
$GC,7206,1.30,230.2,93.9,9.0,344,7211,0.00,2.47,0.00,0.000,6,0.000,0.061,2963,2205,1594
$GC,7537,1.36,270.9,68.7,6.5,360,7574,0.00,2.60,32.22,0.719,4,0.000,0.071,2963,792,1433
$GC,7667,1.36,270.9,57.8,9.0,365,7671,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2200,1432
$GC,7996,1.36,270.9,29.0,8.5,381,8000,0.00,2.53,0.00,0.000,4,0.000,0.072,2963,790,1432
$GC,8098,1.36,270.9,18.4,10.2,385,8104,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2204,1432
$STATE,8287,end climb,SURFACE_DEPTH_REACHED
$STATE,8287,begin surface coast
$FINISH,0.5,1.008655
$STATE,8310,end surface coast,CONTROL_FINISHED_OK
$STATE,8311,begin surface
$SM_CCo,8337,16.75,0.639,0,0,1315,300.00
$SM_GC,1.27,0.00,0.00,16.75,0.000,0.000,0.639,374,1586,1315,-10.58,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,350.8,62.0
$24V_AH,23.6,55.681
$10V_AH,10.2,28.191
$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,25.025,77.100,355.225,16.750,0.000,76.844,108.029,113.973,3.000,0.000,0.000,16.889,775.400,6073.586,469.390,1006.340,525.966,0.000,984.548,0.000,982.155,0.000,21.502,0.000
$DEVICE_MAMPS,174.109,85.137,939.575,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,298.223,268.535,331.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19108,396
$CAP_FILE_SIZE,65901,0
$CFSIZE,254472192,232574976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,291008,043105,6313.812,-1059.773,10,3.1,29,-11.0