version: 66.04
glider: 14
mission: 6
dive: 174
start: 9 28 108 17 23 19
data:
$ID,14
$MISSION,6
$DIVE,174
$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,-653365.25
$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,25
$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
$GPS1,171733,6415.851,-1131.682,8,1.7,8,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.5
$GPS2,172256,6415.852,-1131.434,42,1.2,42,-11.7
$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,263.1,62847,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.33,0.000,2,0.000,0.000,371,1596,2737
$GC,83,-1.16,-146.6,3.1,-4.5,3,113,11.38,2.47,-9.98,0.000,4,0.176,0.080,2414,3002,3138
$GC,130,-1.16,-146.6,12.4,-15.5,5,135,0.00,2.42,0.00,0.000,6,0.000,0.060,2414,1595,3138
$GC,453,-1.16,-146.6,53.9,-12.6,21,458,0.00,2.50,0.00,0.000,4,0.000,0.082,2414,211,3138
$GC,527,-1.16,-146.6,63.8,-13.4,24,531,0.00,2.35,0.00,0.000,6,0.000,0.054,2414,1626,3139
$GC,843,-1.16,-146.6,102.9,-12.6,39,848,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,209,3139
$GC,911,-1.16,-146.6,112.0,-13.8,42,916,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1605,3140
$GC,1234,-1.16,-146.6,150.6,-11.7,58,1238,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,213,3140
$GC,1357,-1.16,-146.6,165.3,-11.3,63,1363,0.00,2.33,0.00,0.000,6,0.000,0.054,2415,1608,3141
$GC,1674,-1.16,-146.6,199.9,-11.2,79,1679,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,211,3141
$GC,1736,-1.16,-146.6,207.7,-12.8,81,1742,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1609,3141
$GC,2052,-1.16,-146.6,244.9,-11.7,97,2056,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,203,3141
$GC,2120,-1.16,-146.6,253.4,-12.3,100,2124,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1605,3142
$GC,2448,-1.16,-146.6,288.4,-10.1,116,2452,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3142
$GC,2594,-1.16,-146.6,307.3,-12.9,122,2600,0.00,2.33,0.00,0.000,6,0.000,0.055,2414,1600,3142
$GC,2910,-1.16,-146.6,343.8,-10.2,138,2914,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,204,3144
$STATE,3002,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3002,begin apogee
$GC,3014,-0.32,0.0,354.1,12.6,142,3150,0.88,0.00,127.53,0.897,6,0.103,0.000,2600,2196,2539
$STATE,3151,end apogee,CONTROL_FINISHED_OK
$STATE,3151,begin climb
$GC,3155,1.16,146.6,357.6,0.0,149,3279,1.50,0.00,119.68,0.881,6,0.080,0.000,2925,2198,1940
$GC,3587,1.24,191.9,331.1,6.3,170,3629,0.00,0.00,37.45,0.858,6,0.000,0.000,2925,2197,1756
$GC,3940,1.33,251.7,308.9,5.7,187,3996,0.17,2.60,48.45,0.864,4,0.063,0.072,2975,795,1512
$GC,4109,1.33,251.7,292.5,10.6,194,4115,0.00,2.45,0.00,0.000,6,0.000,0.058,2975,2202,1510
$GC,4425,1.33,251.7,259.4,10.9,210,4429,0.00,2.55,0.00,0.000,4,0.000,0.071,2975,787,1509
$GC,4510,1.33,251.7,248.9,13.0,214,4514,0.00,2.45,0.00,0.000,6,0.000,0.057,2975,2212,1508
$GC,4837,1.33,251.7,208.4,12.5,230,4841,0.00,2.55,0.00,0.000,4,0.000,0.071,2975,789,1507
$GC,4905,1.33,251.7,199.2,13.9,233,4909,0.00,2.42,0.00,0.000,6,0.000,0.056,2975,2206,1507
$GC,5232,1.33,251.7,158.7,12.2,249,5237,0.00,2.53,0.00,0.000,4,0.000,0.071,2976,793,1506
$GC,5296,1.33,251.7,150.9,12.1,252,5300,0.00,2.42,0.00,0.000,6,0.000,0.056,2975,2210,1506
$GC,5623,1.33,251.7,112.6,11.5,268,5628,0.00,2.53,0.00,0.000,4,0.000,0.071,2975,794,1506
$GC,5710,1.33,251.7,102.3,12.1,272,5714,0.00,2.40,0.00,0.000,6,0.000,0.057,2975,2199,1506
$GC,6040,1.33,251.7,66.6,10.8,288,6044,0.00,2.53,0.00,0.000,4,0.000,0.072,2975,786,1506
$GC,6107,1.33,251.7,58.3,11.6,291,6111,0.00,2.42,0.00,0.000,6,0.000,0.057,2975,2203,1506
$GC,6430,1.33,251.7,25.1,10.2,307,6435,0.00,2.50,0.00,0.000,4,0.000,0.073,2975,794,1506
$GC,6476,1.33,251.7,19.9,10.9,309,6480,0.00,2.40,0.00,0.000,6,0.000,0.056,2975,2199,1506
$STATE,6651,end climb,SURFACE_DEPTH_REACHED
$STATE,6652,begin surface coast
$FINISH,0.5,1.027001
$STATE,6672,end surface coast,CONTROL_FINISHED_OK
$STATE,6672,begin surface
$SM_CCo,6698,24.98,0.659,0,0,1315,300.00
$SM_GC,1.49,0.00,0.00,24.98,0.000,0.000,0.659,382,1599,1315,-10.55,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.5,38.0
$24V_AH,23.7,25.854
$10V_AH,10.2,14.381
$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,25.275,75.725,333.100,24.975,0.000,39.111,35.444,105.681,2.250,0.000,0.000,43.454,645.132,4700.415,447.129,890.870,377.274,0.000,906.339,0.000,843.035,0.000,16.871,0.000
$DEVICE_MAMPS,176.410,82.069,896.623,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.492,215.331,280.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,319
$CAP_FILE_SIZE,57485,0
$CFSIZE,254472192,242782208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,280908,191615,6416.276,-1128.282,9,1.5,9,-11.7