version: 66.04
glider: 14
mission: 6
dive: 313
start: 10 12 108 1 31 57
data:
$ID,14
$MISSION,6
$DIVE,313
$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,225
$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,-656283.06
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,012338,6358.639,-1153.339,25,1.7,26,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,013132,6358.583,-1153.738,10,1.9,15,-11.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6350.947,-1211.064
$TGT_RADIUS,1852.000
$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,236.8,20000,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,6,0.000,0.000,373,1591,3138
$GC,96,-1.16,-146.6,2.7,-3.3,3,118,11.55,2.60,0.00,0.000,4,0.183,0.074,2421,3014,3141
$GC,338,-1.16,-146.6,43.7,-11.0,13,344,0.00,2.45,0.00,0.000,6,0.000,0.064,2421,1601,3143
$GC,656,-1.16,-146.6,81.6,-12.6,29,660,0.00,2.53,0.00,0.000,4,0.000,0.081,2421,201,3143
$GC,729,-1.16,-146.6,92.0,-13.6,32,734,0.00,2.42,0.00,0.000,6,0.000,0.059,2421,1619,3143
$GC,1046,-1.16,-146.6,132.8,-12.1,47,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1624,3144
$GC,1355,-1.16,-146.6,166.4,-10.5,62,1359,0.00,2.53,0.00,0.000,4,0.000,0.077,2421,209,3144
$GC,1428,-1.16,-146.6,174.4,-11.0,65,1432,0.00,2.38,0.00,0.000,6,0.000,0.058,2421,1607,3145
$GC,1751,-1.16,-146.6,205.1,-9.9,81,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1607,3145
$GC,2060,-1.16,-146.6,235.7,-9.1,96,2064,0.00,2.53,0.00,0.000,4,0.000,0.077,2421,201,3145
$GC,2128,-1.16,-146.6,242.2,-9.1,99,2133,0.00,2.40,0.00,0.000,6,0.000,0.059,2421,1607,3145
$GC,2451,-1.16,-146.6,267.5,-7.7,115,2455,0.00,2.53,0.00,0.000,4,0.000,0.077,2421,202,3145
$GC,2559,-1.16,-146.6,277.4,-9.0,120,2564,0.00,2.40,0.00,0.000,6,0.000,0.060,2421,1606,3145
$GC,2887,-1.16,-146.6,308.3,-10.5,136,2892,0.00,2.50,0.00,0.000,4,0.000,0.083,2421,2995,3145
$GC,2938,-1.16,-146.6,314.5,-11.7,138,2943,0.00,2.45,0.00,0.000,6,0.000,0.067,2421,1589,3145
$GC,3255,-1.16,-146.6,352.6,-11.5,153,3259,0.00,2.50,0.00,0.000,4,0.000,0.084,2421,203,3145
$GC,3345,-1.16,-146.6,362.8,-9.2,157,3349,0.00,2.40,0.00,0.000,6,0.000,0.060,2421,1607,3145
$STATE,3498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3498,begin apogee
$GC,3508,-0.32,0.0,376.1,9.3,165,3641,0.88,0.00,125.22,0.917,6,0.113,0.000,2600,2195,2539
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3642,begin climb
$GC,3645,1.16,146.6,381.0,0.0,172,3775,1.50,2.80,119.25,0.890,4,0.077,0.110,2926,3596,1941
$GC,3910,1.16,146.6,366.9,8.1,184,3915,0.00,2.50,0.00,0.000,6,0.000,0.071,2927,2200,1940
$GC,4232,1.18,154.9,338.5,7.7,200,4246,0.00,2.62,7.93,0.752,4,0.000,0.081,2927,801,1906
$GC,4373,1.29,225.4,330.1,5.3,206,4438,0.12,2.47,57.08,0.881,6,0.067,0.063,2964,2207,1621
$GC,4760,1.29,225.4,295.6,9.9,225,4764,0.00,2.58,0.00,0.000,4,0.000,0.075,2964,794,1617
$GC,4834,1.29,225.4,288.2,10.1,228,4838,0.00,2.47,0.00,0.000,6,0.000,0.064,2965,2199,1616
$GC,5150,1.29,225.4,261.0,8.4,243,5154,0.00,2.55,0.00,0.000,4,0.000,0.074,2964,792,1615
$GC,5223,1.29,225.4,254.1,10.1,246,5227,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2201,1615
$GC,5540,1.29,225.4,222.5,9.8,261,5544,0.00,2.55,0.00,0.000,4,0.000,0.075,2965,785,1613
$GC,5692,1.29,225.4,207.1,9.8,268,5697,0.00,2.47,0.00,0.000,6,0.000,0.064,2964,2201,1614
$GC,6020,1.29,225.4,178.0,8.9,284,6024,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,792,1613
$GC,6144,1.29,225.4,165.6,10.0,289,6150,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2214,1613
$GC,6461,1.29,225.4,137.0,9.4,305,6465,0.00,2.55,0.00,0.000,4,0.000,0.074,2964,788,1613
$GC,6556,1.29,225.4,127.0,10.4,309,6561,0.00,2.45,0.00,0.000,6,0.000,0.063,2964,2199,1613
$GC,6879,1.29,225.4,96.3,9.4,325,6883,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,792,1613
$GC,7009,1.29,225.4,84.0,9.4,331,7014,0.00,2.45,0.00,0.000,6,0.000,0.063,2964,2201,1613
$GC,7340,1.29,225.4,55.6,8.4,347,7344,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,790,1613
$GC,7435,1.29,225.4,45.7,10.1,351,7439,0.00,2.45,0.00,0.000,6,0.000,0.063,2964,2201,1613
$GC,7758,1.29,225.4,16.5,9.3,367,7762,0.00,2.53,0.00,0.000,4,0.000,0.075,2965,790,1613
$GC,7866,1.29,225.4,5.8,9.5,372,7870,0.00,2.45,0.00,0.000,6,0.000,0.063,2964,2200,1613
$STATE,7922,end climb,SURFACE_DEPTH_REACHED
$STATE,7922,begin surface coast
$FINISH,0.4,1.002995
$STATE,7944,end surface coast,CONTROL_FINISHED_OK
$STATE,7944,begin surface
$SM_CCo,7970,39.35,0.650,0,0,1315,300.00
$SM_GC,1.30,0.00,0.00,39.35,0.000,0.000,0.650,375,1596,1315,-10.58,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1915
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,350.1,35.6
$24V_AH,23.7,41.797
$10V_AH,10.2,20.902
$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,25.250,87.150,309.475,39.350,0.000,76.857,55.675,155.450,3.250,0.000,0.000,16.791,776.275,5666.177,437.010,1102.696,518.065,0.000,1004.119,0.000,1069.011,0.000,24.359,0.000
$DEVICE_MAMPS,182.546,109.681,916.565,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.505,254.821,311.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19128,376
$CAP_FILE_SIZE,70264,0
$CFSIZE,254472192,237948928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,121008,034641,6358.397,-1200.018,9,3.8,28,-11.8