version: 66.04
glider: 14
mission: 6
dive: 168
start: 9 28 108 3 22 27
data:
$ID,14
$MISSION,6
$DIVE,168
$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,-653204.81
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,030732,6420.345,-1147.457,36,1.7,36,-11.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.0
$GPS2,032203,6420.237,-1147.068,10,1.2,10,-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,250.9,54728,-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,-60.22,0.000,2,0.000,0.000,379,1594,2710
$GC,83,-1.16,-146.6,3.6,-5.2,3,108,11.50,0.00,-10.95,0.000,6,0.179,0.000,2416,1596,3138
$GC,410,-1.16,-146.6,47.1,-12.0,19,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1596,3140
$GC,717,-1.16,-146.6,83.6,-12.1,34,722,0.00,2.50,0.00,0.000,4,0.000,0.079,2415,212,3141
$GC,768,-1.16,-146.6,90.0,-12.3,36,772,0.00,2.35,0.00,0.000,6,0.000,0.054,2416,1625,3142
$GC,1090,-1.16,-146.6,126.8,-11.5,52,1095,0.00,2.55,0.00,0.000,4,0.000,0.077,2416,212,3143
$GC,1186,-1.16,-146.6,138.0,-11.0,56,1190,0.00,2.33,0.00,0.000,6,0.000,0.054,2415,1604,3143
$GC,1503,-1.16,-146.6,172.0,-10.9,71,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1608,3144
$GC,1812,-1.16,-146.6,205.8,-11.0,86,1817,0.00,2.53,0.00,0.000,4,0.000,0.077,2416,212,3144
$GC,1908,-1.16,-146.6,217.8,-12.2,90,1912,0.00,2.33,0.00,0.000,6,0.000,0.054,2416,1600,3144
$GC,2226,-1.16,-146.6,251.1,-9.7,105,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1603,3145
$GC,2534,-1.16,-146.6,280.4,-9.6,120,2538,0.00,2.55,0.00,0.000,4,0.000,0.081,2416,204,3144
$GC,2668,-1.16,-146.6,294.4,-10.2,126,2673,0.00,2.35,0.00,0.000,6,0.000,0.055,2416,1602,3145
$GC,2991,-1.16,-146.6,324.6,-9.8,142,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1606,3145
$GC,3299,-1.16,-146.6,351.4,-8.3,157,3304,0.00,2.55,0.00,0.000,4,0.000,0.082,2416,211,3145
$GC,3385,-1.16,-146.6,359.5,-9.8,161,3390,0.00,2.35,0.00,0.000,6,0.000,0.055,2416,1604,3144
$STATE,3607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3607,begin apogee
$GC,3616,-0.32,0.0,381.2,9.7,172,3754,0.93,0.00,128.80,0.966,6,0.113,0.000,2603,2189,2539
$STATE,3755,end apogee,CONTROL_FINISHED_OK
$STATE,3755,begin climb
$GC,3758,1.16,146.6,387.3,0.0,179,3887,1.52,2.78,120.32,0.948,4,0.084,0.104,2927,3595,1940
$GC,4009,1.17,151.0,373.3,7.8,190,4019,0.00,2.47,5.07,0.693,6,0.000,0.067,2927,2197,1923
$GC,4349,1.17,152.6,346.7,7.9,207,4353,0.00,2.58,0.00,0.000,4,0.000,0.081,2928,792,1921
$GC,4556,1.17,152.6,329.4,8.0,216,4560,0.00,2.42,0.00,0.000,6,0.000,0.056,2928,2201,1921
$GC,4873,1.23,187.5,308.1,6.7,231,4908,0.00,2.60,29.98,0.933,4,0.000,0.073,2927,795,1773
$GC,4988,1.24,196.6,299.7,7.7,236,5004,0.00,2.45,8.93,0.823,6,0.000,0.057,2928,2198,1736
$GC,5315,1.29,225.7,276.8,6.9,252,5345,0.12,2.60,24.70,0.910,4,0.069,0.073,2963,794,1617
$GC,5408,1.29,225.7,268.3,10.0,256,5413,0.00,2.47,0.00,0.000,6,0.000,0.057,2963,2213,1616
$GC,5725,1.29,225.7,238.8,9.5,271,5729,0.00,2.58,0.00,0.000,4,0.000,0.073,2963,791,1615
$GC,5781,1.29,225.7,232.7,10.9,273,5787,0.00,2.45,0.00,0.000,6,0.000,0.057,2963,2204,1614
$GC,6097,1.29,225.7,204.2,8.7,289,6102,0.00,2.55,0.00,0.000,4,0.000,0.074,2963,796,1613
$GC,6183,1.29,225.7,195.8,10.1,293,6187,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2201,1613
$GC,6510,1.29,225.7,167.5,8.5,309,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2201,1613
$GC,6820,1.32,246.7,145.3,7.2,324,6843,0.00,2.62,16.90,0.807,4,0.000,0.074,2963,795,1533
$GC,6944,1.32,246.7,134.3,9.5,329,6949,0.00,2.45,0.00,0.000,6,0.000,0.056,2963,2212,1532
$GC,7262,1.32,246.7,105.9,9.6,344,7266,0.00,2.53,0.00,0.000,4,0.000,0.072,2963,795,1531
$GC,7379,1.32,246.7,93.7,11.1,349,7383,0.00,2.42,0.00,0.000,6,0.000,0.056,2963,2210,1531
$GC,7701,1.32,246.7,60.3,10.8,365,7706,0.00,2.53,0.00,0.000,4,0.000,0.073,2963,792,1531
$GC,7803,1.32,246.7,48.9,11.2,369,7809,0.00,2.40,0.00,0.000,6,0.000,0.056,2963,2197,1531
$GC,8121,1.32,246.7,18.9,9.0,385,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2197,1531
$STATE,8301,end climb,SURFACE_DEPTH_REACHED
$STATE,8301,begin surface coast
$FINISH,0.6,1.022287
$STATE,8323,end surface coast,CONTROL_FINISHED_OK
$STATE,8323,begin surface
$SM_CCo,8350,29.35,0.681,0,0,1316,300.00
$SM_GC,1.48,0.00,0.00,29.35,0.000,0.000,0.681,374,1598,1316,-10.58,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,301.3,88.0
$24V_AH,23.6,25.249
$10V_AH,10.2,14.110
$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,25.300,71.750,334.700,29.350,0.000,152.393,118.761,294.316,2.750,0.000,0.000,12.356,778.480,6222.816,437.464,1034.063,791.914,0.000,975.209,0.000,1016.510,0.000,15.370,0.000
$DEVICE_MAMPS,178.711,103.545,965.653,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,296.905,267.318,323.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,395
$CAP_FILE_SIZE,71843,0
$CFSIZE,254472192,242970624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,280908,054331,6419.795,-1146.732,37,1.2,41,-11.9