version: 66.04
glider: 14
mission: 6
dive: 175
start: 9 28 108 19 24 18
data:
$ID,14
$MISSION,6
$DIVE,175
$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,-653377.75
$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,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
$GPS1,191615,6416.276,-1128.282,9,1.5,9,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.5
$GPS2,192357,6416.328,-1127.786,10,1.5,10,-11.6
$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,263.0,65927,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.12,0.000,2,0.000,0.000,382,1595,2730
$GC,83,-1.16,-146.6,3.4,-5.2,3,110,11.35,2.47,-9.85,0.000,4,0.178,0.080,2413,3004,3138
$GC,124,-1.16,-146.6,11.1,-13.9,5,128,0.00,2.42,0.00,0.000,6,0.000,0.060,2413,1595,3139
$GC,451,-1.16,-146.6,54.0,-12.7,21,455,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,209,3139
$GC,524,-1.16,-146.6,63.3,-12.1,24,528,0.00,2.35,0.00,0.000,6,0.000,0.054,2413,1623,3140
$GC,841,-1.16,-146.6,99.7,-11.5,39,845,0.00,2.55,0.00,0.000,4,0.000,0.076,2413,206,3140
$GC,930,-1.16,-146.6,111.0,-12.4,43,935,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1605,3140
$GC,1254,-1.16,-146.6,148.7,-12.0,59,1258,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3141
$GC,1350,-1.16,-146.6,161.0,-12.1,63,1354,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1608,3142
$GC,1666,-1.16,-146.6,198.8,-12.2,78,1670,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,213,3141
$GC,1767,-1.16,-146.6,212.7,-13.8,82,1773,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1607,3142
$GC,2084,-1.16,-146.6,254.9,-12.7,98,2088,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,212,3142
$GC,2134,-1.16,-146.6,261.8,-13.5,100,2138,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1606,3141
$GC,2451,-1.16,-146.6,302.5,-12.1,115,2455,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,209,3144
$GC,2563,-1.16,-146.6,314.1,-10.2,120,2567,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1604,3144
$GC,2885,-1.16,-146.6,347.5,-9.5,136,2889,0.00,2.45,0.00,0.000,4,0.000,0.077,2414,2986,3144
$GC,2913,-1.16,-146.6,350.6,-9.5,137,2917,0.00,2.40,0.00,0.000,6,0.000,0.063,2413,1595,3144
$STATE,2958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2958,begin apogee
$GC,2967,-0.32,0.0,355.3,9.9,139,3103,0.90,0.00,126.85,0.903,6,0.104,0.000,2599,2197,2539
$STATE,3104,end apogee,CONTROL_FINISHED_OK
$STATE,3104,begin climb
$GC,3107,1.16,146.6,360.8,0.0,146,3231,1.58,0.00,119.07,0.888,6,0.092,0.000,2927,2197,1940
$GC,3532,1.16,146.6,328.2,9.5,167,3537,0.00,2.62,0.00,0.000,4,0.000,0.094,2927,3593,1939
$GC,3651,1.16,146.6,318.8,11.0,172,3655,0.00,2.45,0.00,0.000,6,0.000,0.066,2927,2197,1939
$GC,3967,1.16,146.6,287.7,9.0,187,3971,0.00,2.53,0.00,0.000,4,0.000,0.079,2927,799,1938
$GC,4114,1.16,146.6,275.3,8.0,193,4118,0.00,2.40,0.00,0.000,6,0.000,0.056,2927,2205,1938
$GC,4436,1.16,146.6,251.1,8.4,209,4440,0.00,2.53,0.00,0.000,4,0.000,0.071,2927,796,1937
$GC,4548,1.16,146.6,241.3,8.5,214,4552,0.00,2.42,0.00,0.000,6,0.000,0.056,2927,2212,1935
$GC,4870,1.23,187.5,218.5,6.4,230,4911,0.00,2.60,32.28,0.836,4,0.000,0.070,2927,795,1774
$GC,4951,1.24,195.6,212.6,7.7,233,4966,0.00,2.42,8.25,0.726,6,0.000,0.055,2927,2200,1740
$GC,5289,1.33,248.1,190.5,6.0,250,5339,0.17,2.58,42.33,0.810,4,0.063,0.070,2982,797,1525
$GC,5428,1.33,248.1,177.5,10.3,256,5432,0.00,2.42,0.00,0.000,6,0.000,0.056,2982,2202,1524
$GC,5750,1.33,248.1,145.0,10.0,272,5754,0.00,2.53,0.00,0.000,4,0.000,0.069,2982,790,1523
$GC,5800,1.33,248.1,139.3,11.1,274,5804,0.00,2.40,0.00,0.000,6,0.000,0.056,2982,2206,1523
$GC,6122,1.33,248.1,104.6,11.3,290,6127,0.00,2.53,0.00,0.000,4,0.000,0.070,2982,791,1523
$GC,6212,1.33,248.1,93.4,12.2,294,6217,0.00,2.40,0.00,0.000,6,0.000,0.056,2983,2199,1523
$GC,6537,1.33,248.1,55.4,12.0,310,6541,0.00,2.50,0.00,0.000,4,0.000,0.071,2982,796,1523
$GC,6604,1.33,248.1,47.4,11.6,313,6609,0.00,2.40,0.00,0.000,6,0.000,0.056,2982,2198,1524
$GC,6928,1.33,248.1,15.3,10.8,329,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2198,1523
$STATE,7067,end climb,SURFACE_DEPTH_REACHED
$STATE,7067,begin surface coast
$FINISH,0.4,1.027101
$STATE,7091,end surface coast,CONTROL_FINISHED_OK
$STATE,7091,begin surface
$SM_CCo,7117,27.52,0.653,0,0,1315,300.00
$SM_GC,1.35,0.00,0.00,27.52,0.000,0.000,0.653,374,1589,1315,-10.58,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1899
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.3,63.7
$24V_AH,23.7,25.955
$10V_AH,10.2,14.424
$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,25.325,80.625,328.775,27.525,0.000,77.952,64.451,141.596,2.250,0.000,0.000,11.846,693.372,5081.005,434.799,914.388,496.751,0.000,926.564,0.000,896.651,0.000,15.316,0.000
$DEVICE_MAMPS,177.944,94.341,902.759,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.748,228.056,290.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,337
$CAP_FILE_SIZE,63130,0
$CFSIZE,254472192,242741248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,280908,212438,6416.415,-1122.699,31,1.0,31,-11.6