version: 66.04
glider: 14
mission: 6
dive: 436
start: 10 30 108 22 21 19
data:
$ID,14
$MISSION,6
$DIVE,436
$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,275
$T_MISSION,300
$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,250
$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,-658729.25
$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,18
$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
$GPS1,221002,6337.097,-1020.734,38,1.6,38,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-60.0
$GPS2,222057,6337.207,-1020.421,11,2.0,11,-10.7
$SPEED_LIMITS,0.208,0.341
$TGT_NAME,SF
$TGT_LATLONG,6400.000,-800.000
$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,80.4,121567,-16.0,-12.000
$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,-1.42,-244.4,0.0,0.0,0,79,0.00,0.00,-60.30,0.000,2,0.000,0.000,373,1593,2562
$GC,83,-1.42,-244.4,3.1,-2.0,3,134,11.12,2.55,-32.38,0.000,4,0.176,0.088,2357,207,3539
$GC,292,-1.42,-244.4,34.7,-19.2,12,297,0.00,2.42,0.00,0.000,6,0.000,0.058,2357,1619,3541
$GC,609,-1.42,-244.4,87.9,-15.2,27,613,0.00,2.55,0.00,0.000,4,0.000,0.076,2357,210,3541
$GC,687,-1.42,-244.4,100.9,-16.4,30,694,0.00,2.40,0.00,0.000,6,0.000,0.058,2358,1605,3541
$GC,1005,-1.42,-244.4,148.3,-14.6,46,1009,0.00,2.53,0.00,0.000,4,0.000,0.075,2357,209,3541
$GC,1090,-1.42,-244.4,160.5,-14.1,50,1094,0.00,2.38,0.00,0.000,6,0.000,0.058,2356,1601,3542
$GC,1418,-1.42,-244.4,214.8,-15.9,66,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1605,3542
$GC,1728,-1.42,-244.4,266.5,-17.7,81,1732,0.00,2.53,0.00,0.000,4,0.000,0.076,2357,204,3543
$GC,1818,-1.42,-244.4,283.8,-17.5,85,1822,0.00,2.40,0.00,0.000,6,0.000,0.058,2357,1608,3543
$GC,2141,-1.42,-244.4,336.8,-15.6,101,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1612,3544
$GC,2449,-1.42,-244.4,385.5,-15.5,116,2453,0.00,2.55,0.00,0.000,4,0.000,0.082,2357,210,3545
$GC,2483,-1.42,-244.4,391.4,-16.0,117,2491,0.00,2.40,0.00,0.000,6,0.000,0.059,2358,1604,3545
$GC,2800,-1.42,-244.4,442.8,-16.2,133,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1608,3546
$GC,3109,-1.42,-244.4,490.0,-14.6,148,3113,0.00,2.55,0.00,0.000,4,0.000,0.084,2357,210,3547
$GC,3165,-1.42,-244.4,497.6,-12.3,150,3171,0.00,2.40,0.00,0.000,6,0.000,0.061,2358,1598,3547
$STATE,3210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3210,begin apogee
$GC,3220,-0.32,0.0,504.1,13.8,153,3441,1.20,0.00,211.45,1.043,6,0.107,0.000,2603,2194,2539
$STATE,3441,end apogee,CONTROL_FINISHED_OK
$STATE,3441,begin climb
$GC,3445,1.42,244.4,514.9,0.0,164,3656,1.75,2.65,198.85,1.016,4,0.074,0.074,2982,794,1541
$GC,3765,1.51,304.3,494.2,10.0,178,3822,0.10,2.50,49.67,0.990,6,0.071,0.065,3013,2196,1297
$GC,4144,1.51,304.3,445.9,13.0,197,4149,0.00,2.55,0.00,0.000,4,0.000,0.074,3013,794,1294
$GC,4213,1.51,304.3,435.3,14.1,200,4217,0.00,2.50,0.00,0.000,6,0.000,0.064,3013,2203,1294
$GC,4535,1.51,304.3,393.4,13.0,216,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2203,1292
$GC,4844,1.51,304.3,350.3,13.4,231,4848,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,792,1289
$GC,4935,1.51,304.3,337.6,13.4,235,4940,0.00,2.50,0.00,0.000,6,0.000,0.063,3013,2209,1288
$GC,5263,1.60,359.9,303.5,10.1,251,5313,0.00,2.65,43.47,0.956,4,0.000,0.071,3013,795,1071
$GC,5377,1.60,359.9,289.4,13.3,256,5381,0.00,2.50,0.00,0.000,6,0.000,0.062,3013,2204,1069
$GC,5698,1.60,359.9,247.3,13.2,272,5703,0.00,2.55,0.00,0.000,4,0.000,0.071,3013,786,1066
$GC,5762,1.60,359.9,238.4,13.9,275,5766,0.00,2.50,0.00,0.000,6,0.000,0.063,3013,2205,1066
$GC,6090,1.60,359.9,194.4,13.5,291,6094,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,785,1066
$GC,6198,1.60,359.9,178.5,14.6,296,6202,0.00,2.50,0.00,0.000,6,0.000,0.062,3013,2209,1065
$GC,6527,1.61,362.2,137.2,11.9,312,6531,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,788,1066
$GC,6627,1.61,362.2,123.0,14.5,316,6634,0.00,2.50,0.00,0.000,6,0.000,0.061,3013,2209,1066
$GC,6944,1.61,362.2,77.5,14.6,332,6949,0.00,2.53,0.00,0.000,4,0.000,0.072,3013,792,1066
$GC,7041,1.61,362.2,63.9,13.2,336,7045,0.00,2.45,0.00,0.000,6,0.000,0.061,3013,2199,1066
$GC,7358,1.61,362.2,21.7,14.2,351,7361,0.00,2.50,0.00,0.000,4,0.000,0.071,3013,792,1066
$GC,7450,1.65,390.2,9.3,11.1,355,7480,0.00,2.47,25.15,0.673,6,0.000,0.062,3013,2210,948
$STATE,7505,end climb,SURFACE_DEPTH_REACHED
$STATE,7505,begin surface coast
$FINISH,0.9,1.027363
$STATE,7528,end surface coast,CONTROL_FINISHED_OK
$STATE,7528,begin surface
$SM_CCo,7615,0.00,0.000,0,0,945,390.76
$SM_GC,1.63,11.48,0.00,0.00,0.054,0.000,0.000,377,1601,945,-10.49,0.03,390.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,452.7,61.0
$24V_AH,23.5,57.662
$10V_AH,10.2,29.045
$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,25.650,77.300,528.600,0.000,0.000,76.978,75.827,316.428,4.000,0.000,0.000,13.017,703.609,5312.823,579.643,987.685,694.069,0.000,1133.167,0.000,957.328,0.000,27.939,0.000
$DEVICE_MAMPS,176.410,88.205,1043.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.295,241.981,259.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19138,359
$CAP_FILE_SIZE,67821,0
$CFSIZE,254472192,231948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,311008,002948,6337.804,-1014.602,36,1.8,53,-10.7