version: 66.04
glider: 14
mission: 6
dive: 170
start: 9 28 108 8 19 26
data:
$ID,14
$MISSION,6
$DIVE,170
$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,-653235.06
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,081402,6420.458,-1141.527,38,1.4,38,-11.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.7
$GPS2,081903,6420.518,-1141.170,10,1.8,10,-11.8
$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,252.7,59121,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.72,0.000,2,0.000,0.000,373,1623,2875
$GC,88,-1.16,-146.6,3.8,-4.3,4,112,11.43,2.47,-5.82,0.000,4,0.179,0.080,2412,2994,3141
$GC,174,-1.16,-146.6,19.9,-12.2,7,180,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1594,3143
$GC,493,-1.16,-146.6,58.6,-11.4,23,497,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,212,3143
$GC,728,-1.16,-146.6,90.4,-13.8,33,734,0.00,2.33,0.00,0.000,6,0.000,0.054,2412,1614,3145
$GC,1046,-1.16,-146.6,129.6,-12.3,49,1051,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,212,3144
$GC,1177,-1.16,-146.6,145.7,-11.6,55,1181,0.00,2.30,0.00,0.000,6,0.000,0.054,2412,1604,3145
$GC,1511,-1.16,-146.6,179.8,-10.2,71,1515,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,213,3146
$GC,1561,-1.16,-146.6,185.8,-12.3,73,1565,0.00,2.33,0.00,0.000,6,0.000,0.054,2412,1604,3146
$GC,1877,-1.16,-146.6,220.2,-10.9,88,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3146
$GC,2188,-1.16,-146.6,250.5,-10.1,103,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3147
$GC,2498,-1.16,-146.6,283.6,-11.5,118,2502,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,215,3149
$GC,2593,-1.16,-146.6,295.9,-12.6,122,2597,0.00,2.33,0.00,0.000,6,0.000,0.055,2412,1599,3149
$GC,2910,-1.16,-146.6,332.4,-11.4,137,2914,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,214,3149
$GC,2966,-1.16,-146.6,339.5,-12.1,139,2971,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1605,3149
$GC,3283,-1.16,-146.6,375.1,-10.9,154,3287,0.00,2.47,0.00,0.000,4,0.000,0.079,2412,2990,3149
$STATE,3336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3336,begin apogee
$GC,3346,-0.32,0.0,381.3,11.2,156,3484,0.90,0.00,129.32,0.946,6,0.116,0.000,2598,2184,2539
$STATE,3485,end apogee,CONTROL_FINISHED_OK
$STATE,3485,begin climb
$GC,3489,1.16,146.6,387.1,0.0,163,3617,1.55,2.72,119.90,0.929,4,0.087,0.096,2926,3587,1941
$GC,3781,1.23,190.2,371.6,6.3,176,3822,0.00,2.45,35.95,0.900,6,0.000,0.067,2926,2210,1763
$GC,4142,1.27,213.4,347.2,7.1,194,4168,0.12,2.65,20.45,0.887,4,0.067,0.091,2962,3584,1667
$GC,4315,1.27,213.4,330.4,9.6,202,4320,0.00,2.47,0.00,0.000,6,0.000,0.068,2962,2197,1666
$GC,4643,1.27,213.4,299.1,9.2,218,4648,0.00,2.58,0.00,0.000,4,0.000,0.084,2962,794,1664
$GC,4689,1.27,213.4,294.6,9.6,220,4693,0.00,2.40,0.00,0.000,6,0.000,0.056,2962,2194,1664
$GC,5010,1.27,213.4,265.4,9.3,236,5015,0.00,2.55,0.00,0.000,4,0.000,0.073,2963,785,1663
$GC,5101,1.27,213.4,256.0,9.6,240,5105,0.00,2.42,0.00,0.000,6,0.000,0.056,2963,2196,1663
$GC,5423,1.27,213.4,222.0,11.1,256,5427,0.00,2.60,0.00,0.000,4,0.000,0.091,2962,3596,1660
$GC,5546,1.27,213.4,207.4,11.8,261,5552,0.00,2.45,0.00,0.000,6,0.000,0.064,2962,2196,1659
$GC,5863,1.27,213.4,173.5,10.4,277,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2196,1658
$GC,6172,1.27,213.4,141.2,10.4,292,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2196,1657
$GC,6481,1.27,213.4,109.6,10.1,307,6485,0.00,2.53,0.00,0.000,4,0.000,0.076,2962,791,1657
$GC,6515,1.27,213.4,105.9,10.7,308,6522,0.00,2.40,0.00,0.000,6,0.000,0.055,2963,2205,1657
$GC,6832,1.27,213.4,76.8,9.2,324,6836,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,796,1657
$GC,6899,1.27,213.4,70.4,8.9,327,6903,0.00,2.38,0.00,0.000,6,0.000,0.055,2962,2199,1657
$GC,7222,1.28,222.5,43.4,7.7,343,7235,0.00,2.55,6.78,0.617,4,0.000,0.071,2962,787,1631
$GC,7339,1.31,240.2,33.6,7.3,348,7359,0.00,2.40,15.80,0.680,6,0.000,0.056,2962,2199,1559
$GC,7690,1.31,240.7,6.4,8.0,365,7694,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,790,1558
$STATE,7736,end climb,SURFACE_DEPTH_REACHED
$STATE,7736,begin surface coast
$FINISH,1.3,1.026963
$STATE,7743,end surface coast,CONTROL_FINISHED_OK
$STATE,7743,begin surface
$SM_CCo,7770,34.92,0.643,1,0,1316,300.00
$SM_GC,1.12,0.00,0.00,34.92,0.000,0.000,0.643,382,1632,1316,-10.55,0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,1884
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.1,38.8
$24V_AH,23.7,25.459
$10V_AH,10.2,14.205
$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,25.300,76.925,328.200,34.925,0.000,37.759,26.651,125.336,2.500,0.000,0.000,14.550,742.374,5513.236,441.500,1023.491,403.377,0.000,977.516,0.000,1003.237,0.000,18.480,0.000
$DEVICE_MAMPS,178.711,95.875,946.478,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,271.027,248.024,313.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19165,367
$CAP_FILE_SIZE,65122,0
$CFSIZE,254472192,242905088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,280908,103047,6420.154,-1135.562,7,3.2,26,-11.7