version: 66.04
glider: 14
mission: 6
dive: 167
start: 9 28 108 0 47 45
data:
$ID,14
$MISSION,6
$DIVE,167
$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,-653191.81
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,004238,6422.537,-1145.746,34,1.4,34,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.7
$GPS2,004721,6422.451,-1145.501,11,1.5,11,-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,248.0,58000,-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,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,374,1594,2666
$GC,83,-1.16,-146.6,3.3,-4.8,3,114,11.55,2.47,-12.98,0.000,4,0.179,0.080,2416,3000,3137
$GC,143,-1.16,-146.6,12.6,-13.1,5,147,0.00,2.45,0.00,0.000,6,0.000,0.060,2416,1587,3138
$GC,465,-1.16,-146.6,52.8,-11.6,21,469,0.00,2.50,0.00,0.000,4,0.000,0.066,2416,3005,3139
$GC,505,-1.16,-146.6,57.8,-12.2,23,510,0.00,2.42,0.00,0.000,6,0.000,0.061,2415,1599,3139
$GC,833,-1.16,-146.6,101.0,-13.4,39,838,0.00,2.53,0.00,0.000,4,0.000,0.081,2416,206,3141
$GC,897,-1.16,-146.6,110.0,-14.5,42,902,0.00,2.38,0.00,0.000,6,0.000,0.054,2415,1628,3142
$GC,1226,-1.16,-146.6,150.7,-11.6,58,1230,0.00,2.35,0.00,0.000,4,0.000,0.069,2415,2974,3144
$GC,1266,-1.16,-146.6,155.5,-11.2,60,1270,0.00,2.38,0.00,0.000,6,0.000,0.062,2416,1601,3144
$GC,1595,-1.16,-146.6,194.0,-11.8,76,1599,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,207,3145
$GC,1690,-1.16,-146.6,206.3,-12.5,80,1695,0.00,2.33,0.00,0.000,6,0.000,0.054,2416,1598,3145
$GC,2007,-1.16,-146.6,244.4,-12.6,95,2011,0.00,2.45,0.00,0.000,4,0.000,0.072,2415,2983,3145
$GC,2058,-1.16,-146.6,250.9,-11.8,97,2062,0.00,2.42,0.00,0.000,6,0.000,0.065,2415,1593,3145
$GC,2374,-1.16,-146.6,289.5,-11.8,112,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1593,3145
$GC,2683,-1.16,-146.6,323.5,-10.3,127,2688,0.00,2.53,0.00,0.000,4,0.000,0.085,2415,209,3145
$GC,2735,-1.16,-146.6,329.2,-10.9,129,2739,0.00,2.33,0.00,0.000,6,0.000,0.055,2415,1603,3145
$GC,3057,-1.16,-146.6,363.4,-11.0,145,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1606,3145
$GC,3366,-1.16,-146.6,395.9,-10.1,160,3370,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,212,3145
$STATE,3407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3407,begin apogee
$GC,3419,-0.32,0.0,400.6,11.0,162,3558,0.88,0.00,130.15,0.976,6,0.113,0.000,2598,2173,2538
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3562,1.16,146.6,406.1,0.0,169,3692,1.52,2.83,121.10,0.960,4,0.077,0.103,2927,3604,1940
$GC,3804,1.16,146.6,393.4,8.1,180,3808,0.00,2.53,0.00,0.000,6,0.000,0.070,2928,2196,1940
$GC,4126,1.20,166.6,369.9,7.2,196,4149,0.00,2.67,17.30,0.913,4,0.000,0.082,2927,797,1858
$GC,4241,1.21,177.2,360.6,7.6,201,4257,0.00,2.45,10.38,0.859,6,0.000,0.057,2927,2213,1816
$GC,4569,1.25,200.9,337.5,7.1,216,4594,0.00,2.62,19.92,0.924,4,0.000,0.074,2927,795,1720
$GC,4652,1.25,200.9,330.7,8.3,220,4656,0.00,2.45,0.00,0.000,6,0.000,0.056,2927,2210,1719
$GC,4985,1.28,217.5,305.8,7.4,236,5008,0.12,2.62,14.88,0.898,4,0.070,0.072,2962,790,1651
$GC,5087,1.28,217.5,295.8,9.9,240,5092,0.00,2.45,0.00,0.000,6,0.000,0.057,2963,2201,1650
$GC,5404,1.28,217.5,266.1,9.0,255,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2201,1648
$GC,5713,1.28,222.4,241.2,7.8,270,5723,0.00,2.58,4.78,0.682,4,0.000,0.074,2962,786,1632
$GC,5753,1.28,222.4,237.7,9.0,272,5758,0.00,2.45,0.00,0.000,6,0.000,0.057,2962,2204,1631
$GC,6080,1.28,222.4,207.2,9.6,288,6085,0.00,2.55,0.00,0.000,4,0.000,0.074,2962,794,1631
$GC,6144,1.28,222.4,200.8,9.5,291,6148,0.00,2.42,0.00,0.000,6,0.000,0.057,2962,2200,1631
$GC,6471,1.28,222.4,170.7,8.5,307,6476,0.00,2.55,0.00,0.000,4,0.000,0.074,2962,792,1631
$GC,6522,1.28,222.4,166.0,9.7,309,6526,0.00,2.45,0.00,0.000,6,0.000,0.057,2962,2210,1631
$GC,6839,1.28,222.4,135.8,10.1,324,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2210,1631
$GC,7150,1.28,222.4,105.8,9.5,339,7154,0.00,2.55,0.00,0.000,4,0.000,0.074,2962,788,1631
$GC,7213,1.28,222.4,99.2,10.4,342,7217,0.00,2.42,0.00,0.000,6,0.000,0.057,2962,2199,1631
$GC,7542,1.28,222.4,67.2,9.9,358,7546,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,788,1631
$GC,7628,1.28,222.4,58.0,11.0,362,7632,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2198,1630
$GC,7955,1.28,222.4,26.5,9.6,378,7960,0.00,2.58,0.00,0.000,4,0.000,0.089,2962,3600,1630
$GC,8001,1.28,222.4,22.0,9.3,380,8005,0.00,2.42,0.00,0.000,6,0.000,0.061,2962,2194,1630
$STATE,8216,end climb,SURFACE_DEPTH_REACHED
$STATE,8216,begin surface coast
$FINISH,0.6,1.027042
$STATE,8238,end surface coast,CONTROL_FINISHED_OK
$STATE,8238,begin surface
$SM_CCo,8264,42.83,0.703,0,0,1315,300.00
$SM_GC,1.32,0.00,0.00,42.83,0.000,0.000,0.703,378,1602,1315,-10.57,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.6,33.8
$24V_AH,23.6,25.126
$10V_AH,10.2,14.058
$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,25.325,91.650,318.500,42.825,0.000,37.758,25.789,108.016,2.750,0.000,0.000,13.417,781.516,5998.239,442.789,991.283,391.320,0.000,970.559,0.000,967.150,0.000,20.078,0.000
$DEVICE_MAMPS,179.478,102.778,976.391,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.592,266.298,318.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19091,392
$CAP_FILE_SIZE,68332,0
$CFSIZE,254472192,243011584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,280908,030732,6420.345,-1147.457,36,1.7,36,-11.9