version: 66.04
glider: 14
mission: 6
dive: 420
start: 10 29 108 4 36 21
data:
$ID,14
$MISSION,6
$DIVE,420
$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,-658424.19
$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,25
$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
$GPS1,043105,6313.812,-1059.773,10,3.1,29,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.0
$GPS2,043557,6313.805,-1059.899,11,1.2,11,-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,17.8,13418,-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,13,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,-60.00,0.000,2,0.000,0.000,375,1584,2686
$GC,83,-1.16,-146.6,3.8,-4.9,3,114,11.50,2.60,-12.32,0.000,4,0.179,0.086,2415,3006,3139
$GC,176,-1.16,-146.6,15.1,-11.4,7,181,0.00,2.45,0.00,0.000,6,0.000,0.063,2415,1601,3139
$GC,499,-1.16,-146.6,50.7,-11.9,23,504,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,209,3139
$GC,545,-1.16,-146.6,56.9,-14.0,25,549,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1618,3139
$GC,873,-1.16,-146.6,91.3,-9.5,41,877,0.00,2.55,0.00,0.000,4,0.000,0.077,2415,213,3139
$GC,919,-1.16,-146.6,95.7,-9.9,43,923,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1606,3140
$GC,1241,-1.16,-146.6,127.5,-10.0,59,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1610,3140
$GC,1549,-1.16,-146.6,159.3,-10.7,74,1554,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,204,3140
$GC,1640,-1.16,-146.6,170.2,-13.1,78,1645,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1601,3140
$GC,1962,-1.16,-146.6,207.0,-11.3,94,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3140
$GC,2272,-1.16,-146.6,246.6,-13.2,109,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3140
$GC,2582,-1.16,-146.6,288.7,-13.1,124,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3141
$GC,2892,-1.16,-146.6,330.1,-13.3,139,2896,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,209,3142
$GC,3053,-1.16,-146.6,350.6,-13.0,146,3057,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1596,3143
$GC,3380,-1.16,-146.6,390.9,-11.7,162,3384,0.00,2.55,0.00,0.000,4,0.000,0.087,2415,2998,3144
$GC,3430,-1.16,-146.6,396.5,-10.9,164,3435,0.00,2.45,0.00,0.000,6,0.000,0.067,2415,1602,3144
$STATE,3516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3516,begin apogee
$GC,3527,-0.32,0.0,405.8,10.4,168,3663,0.90,0.00,128.25,0.940,6,0.107,0.000,2601,2197,2538
$STATE,3664,end apogee,CONTROL_FINISHED_OK
$STATE,3664,begin climb
$GC,3668,1.16,146.6,412.4,0.0,175,3794,1.50,0.00,119.45,0.930,6,0.077,0.000,2927,2197,1941
$GC,4105,1.18,154.5,385.3,7.7,196,4114,0.00,0.00,7.82,0.781,6,0.000,0.000,2926,2197,1908
$GC,4413,1.20,172.0,360.6,7.3,211,4435,0.00,2.60,15.77,0.871,4,0.000,0.074,2926,794,1836
$GC,4520,1.24,196.6,352.9,7.1,215,4548,0.00,2.47,21.23,0.887,6,0.000,0.063,2926,2198,1738
$GC,4859,1.36,271.1,332.5,5.2,232,4925,0.20,2.60,60.12,0.923,4,0.062,0.073,2984,792,1432
$GC,5021,1.36,271.1,319.0,9.2,239,5025,0.00,2.50,0.00,0.000,6,0.000,0.063,2984,2204,1431
$GC,5338,1.36,271.1,289.9,10.0,254,5342,0.00,2.55,0.00,0.000,4,0.000,0.073,2984,792,1427
$GC,5450,1.36,271.1,276.8,10.9,259,5454,0.00,2.50,0.00,0.000,6,0.000,0.063,2984,2207,1427
$GC,5772,1.36,271.1,244.4,10.3,275,5776,0.00,2.55,0.00,0.000,4,0.000,0.072,2984,788,1425
$GC,5845,1.36,271.1,236.5,11.0,278,5849,0.00,2.47,0.00,0.000,6,0.000,0.063,2984,2201,1425
$GC,6161,1.36,271.1,208.6,8.3,293,6165,0.00,2.53,0.00,0.000,4,0.000,0.071,2984,789,1424
$GC,6247,1.36,271.1,200.9,9.7,297,6251,0.00,2.47,0.00,0.000,6,0.000,0.062,2984,2202,1424
$GC,6574,1.36,271.1,169.3,10.0,313,6578,0.00,2.53,0.00,0.000,4,0.000,0.071,2984,790,1424
$GC,6675,1.36,271.1,158.3,11.3,317,6681,0.00,2.47,0.00,0.000,6,0.000,0.062,2984,2205,1424
$GC,6993,1.36,271.1,124.6,10.9,333,6997,0.00,2.53,0.00,0.000,4,0.000,0.071,2985,790,1424
$GC,7082,1.36,271.1,114.2,11.0,337,7087,0.00,2.47,0.00,0.000,6,0.000,0.062,2984,2205,1424
$GC,7406,1.36,271.1,77.6,10.0,353,7410,0.00,2.53,0.00,0.000,4,0.000,0.070,2984,787,1424
$GC,7479,1.36,271.1,68.2,11.6,356,7483,0.00,2.47,0.00,0.000,6,0.000,0.061,2984,2208,1424
$GC,7797,1.36,271.1,30.6,12.1,371,7801,0.00,2.53,0.00,0.000,4,0.000,0.071,2983,789,1424
$GC,7898,1.36,271.1,17.7,10.8,375,7905,0.00,2.45,0.00,0.000,6,0.000,0.061,2984,2198,1424
$STATE,8048,end climb,SURFACE_DEPTH_REACHED
$STATE,8048,begin surface coast
$FINISH,0.5,1.006890
$STATE,8068,end surface coast,CONTROL_FINISHED_OK
$STATE,8069,begin surface
$SM_CCo,8094,16.40,0.653,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,16.40,0.000,0.000,0.653,372,1596,1315,-10.59,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1927
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.6,65.0
$24V_AH,23.6,55.786
$10V_AH,10.2,28.237
$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,25.300,77.050,352.650,16.400,0.000,39.106,27.165,107.663,2.750,0.000,0.000,13.181,756.564,5818.017,436.754,1002.984,401.961,0.000,969.888,0.000,977.096,0.000,21.479,0.000
$DEVICE_MAMPS,179.478,86.671,939.575,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.234,260.321,314.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19082,384
$CAP_FILE_SIZE,64880,0
$CFSIZE,254472192,232546304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,291008,065255,6315.780,-1059.892,21,1.0,38,-11.0