version: 66.04
glider: 14
mission: 6
dive: 164
start: 9 27 108 17 5 52
data:
$ID,14
$MISSION,6
$DIVE,164
$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,-653131.38
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,170038,6425.228,-1147.350,26,1.7,26,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.4
$GPS2,170527,6425.322,-1147.237,10,1.6,10,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,2BT
$TGT_LATLONG,6405.000,-1245.000
$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,243.1,60021,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,2,0.000,0.000,381,1626,3048
$GC,98,-1.16,-146.6,5.2,-5.4,4,121,11.52,2.60,-1.90,0.000,4,0.183,0.091,2420,220,3139
$GC,183,-1.16,-146.6,25.4,-13.1,7,189,0.00,2.35,0.00,0.000,6,0.000,0.054,2421,1606,3141
$GC,502,-1.16,-146.6,63.2,-11.7,23,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1609,3143
$GC,809,-1.16,-146.6,102.2,-13.2,38,813,0.00,2.55,0.00,0.000,4,0.000,0.080,2421,212,3144
$GC,921,-1.16,-146.6,117.0,-13.3,43,925,0.00,2.35,0.00,0.000,6,0.000,0.054,2422,1607,3144
$GC,1243,-1.16,-146.6,154.2,-11.4,59,1247,0.00,2.53,0.00,0.000,4,0.000,0.080,2421,214,3146
$GC,1366,-1.16,-146.6,169.3,-11.7,64,1372,0.00,2.35,0.00,0.000,6,0.000,0.055,2421,1609,3146
$GC,1683,-1.16,-146.6,204.0,-10.9,80,1687,0.00,2.55,0.00,0.000,4,0.000,0.081,2421,215,3146
$GC,1728,-1.16,-146.6,209.6,-12.1,82,1732,0.00,2.35,0.00,0.000,6,0.000,0.055,2421,1603,3146
$GC,2055,-1.16,-146.6,246.7,-11.5,98,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1607,3146
$GC,2365,-1.16,-146.6,278.0,-9.9,113,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1607,3146
$GC,2674,-1.16,-146.6,308.0,-9.7,128,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1607,3146
$GC,2983,-1.16,-146.6,337.8,-9.2,143,2987,0.00,2.58,0.00,0.000,4,0.000,0.085,2421,213,3146
$GC,3062,-1.16,-146.6,345.6,-9.6,146,3068,0.00,2.35,0.00,0.000,6,0.000,0.056,2421,1598,3146
$GC,3381,-1.16,-146.6,375.3,-10.1,162,3385,0.00,2.55,0.00,0.000,4,0.000,0.085,2421,216,3146
$GC,3431,-1.16,-146.6,381.1,-11.3,164,3435,0.00,2.35,0.00,0.000,6,0.000,0.056,2421,1599,3146
$GC,3748,-1.16,-146.6,412.2,-9.4,179,3752,0.00,2.55,0.00,0.000,4,0.000,0.085,2421,216,3146
$STATE,3801,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3801,begin apogee
$GC,3812,-0.32,0.0,418.4,10.7,181,3951,0.88,0.00,130.23,1.037,6,0.121,0.000,2600,2185,2537
$STATE,3952,end apogee,CONTROL_FINISHED_OK
$STATE,3952,begin climb
$GC,3956,1.16,146.6,424.5,0.0,188,4085,1.55,2.83,120.82,1.009,4,0.085,0.107,2928,3601,1940
$GC,4191,1.16,146.6,413.2,8.4,199,4195,0.00,2.53,0.00,0.000,6,0.000,0.069,2927,2190,1939
$GC,4519,1.21,177.5,390.4,6.8,215,4550,0.00,2.62,26.15,0.977,4,0.000,0.081,2928,796,1814
$GC,4641,1.21,177.5,380.4,8.6,220,4647,0.00,2.45,0.00,0.000,6,0.000,0.057,2927,2204,1812
$GC,4958,1.23,186.6,355.4,7.7,236,4972,0.00,2.65,8.23,0.881,4,0.000,0.079,2927,796,1777
$GC,5058,1.23,186.6,346.6,8.9,240,5063,0.00,2.45,0.00,0.000,6,0.000,0.057,2927,2201,1777
$GC,5375,1.23,186.6,320.2,8.5,255,5379,0.00,2.55,0.00,0.000,4,0.000,0.077,2927,793,1775
$GC,5442,1.23,186.6,314.0,9.4,258,5446,0.00,2.45,0.00,0.000,6,0.000,0.057,2927,2209,1776
$GC,5764,1.23,190.7,287.7,7.8,274,5773,0.00,2.60,4.35,0.703,4,0.000,0.077,2927,791,1761
$GC,5841,1.23,190.7,281.1,8.3,277,5846,0.00,2.45,0.00,0.000,6,0.000,0.057,2927,2199,1761
$GC,6158,1.26,209.5,258.0,7.3,292,6181,0.10,2.65,17.27,0.931,4,0.073,0.075,2956,796,1683
$GC,6233,1.26,209.5,251.3,9.8,295,6237,0.00,2.47,0.00,0.000,6,0.000,0.057,2957,2209,1683
$GC,6561,1.26,209.5,221.9,9.1,311,6565,0.00,2.58,0.00,0.000,4,0.000,0.075,2957,793,1682
$GC,6639,1.26,209.5,214.2,9.2,314,6645,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2204,1682
$GC,6956,1.26,209.5,185.5,9.4,330,6960,0.00,2.58,0.00,0.000,4,0.000,0.075,2957,789,1682
$GC,7029,1.26,209.5,177.9,9.9,333,7033,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2203,1682
$GC,7345,1.26,209.5,147.9,9.2,348,7350,0.00,2.55,0.00,0.000,4,0.000,0.076,2956,791,1681
$GC,7576,1.26,209.5,124.6,10.1,358,7580,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2206,1680
$GC,7892,1.26,209.5,97.1,8.5,373,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2206,1680
$GC,8202,1.26,209.5,66.8,10.3,388,8206,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,797,1680
$GC,8348,1.26,209.5,51.2,10.0,394,8354,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2203,1680
$GC,8666,1.26,209.5,20.5,9.3,410,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1680
$STATE,8867,end climb,SURFACE_DEPTH_REACHED
$STATE,8867,begin surface coast
$FINISH,0.8,1.027254
$STATE,8890,end surface coast,CONTROL_FINISHED_OK
$STATE,8891,begin surface
$SM_CCo,8917,50.50,0.727,0,0,1316,300.00
$SM_GC,1.27,0.00,0.00,50.50,0.000,0.000,0.727,373,1598,1316,-10.59,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1931
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.3,53.0
$24V_AH,23.6,24.808
$10V_AH,10.1,13.916
$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,25.325,87.275,307.050,50.500,0.000,37.759,33.646,107.815,2.750,0.000,0.000,11.643,833.665,6477.967,452.214,1103.701,404.415,0.000,1029.254,0.000,1081.493,0.000,20.131,0.000
$DEVICE_MAMPS,183.313,106.613,1036.984,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.108,284.680,327.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22269,421
$CAP_FILE_SIZE,70865,0
$CFSIZE,254472192,243109888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,270908,193638,6425.476,-1146.906,35,1.0,35,-11.9