version: 66.04
glider: 14
mission: 6
dive: 180
start: 9 29 108 5 38 51
data:
$ID,14
$MISSION,6
$DIVE,180
$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,-653486.88
$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,28
$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
$GPS1,053337,6409.597,-1122.474,30,1.4,30,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.3
$GPS2,053827,6409.580,-1122.332,12,1.2,12,-11.5
$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,274.3,67450,-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,-60.15,0.000,2,0.000,0.000,379,1598,2747
$GC,83,-1.16,-146.6,3.5,-5.2,3,112,11.45,2.53,-9.70,0.000,4,0.177,0.078,2417,3004,3139
$GC,143,-1.16,-146.6,13.2,-12.6,6,147,0.00,2.40,0.00,0.000,6,0.000,0.059,2417,1602,3140
$GC,476,-1.16,-146.6,53.2,-10.2,22,480,0.00,2.47,0.00,0.000,4,0.000,0.080,2417,215,3140
$GC,516,-1.16,-146.6,57.4,-9.7,23,523,0.00,2.35,0.00,0.000,6,0.000,0.054,2417,1629,3141
$GC,833,-1.16,-146.6,83.9,-9.5,39,837,0.00,2.55,0.00,0.000,4,0.000,0.075,2417,209,3142
$GC,919,-1.16,-146.6,93.9,-12.6,43,923,0.00,2.33,0.00,0.000,6,0.000,0.054,2417,1609,3142
$GC,1248,-1.16,-146.6,131.0,-11.0,59,1253,0.00,2.50,0.00,0.000,4,0.000,0.074,2417,212,3142
$GC,1312,-1.16,-146.6,138.7,-11.4,62,1316,0.00,2.30,0.00,0.000,6,0.000,0.055,2417,1602,3142
$GC,1640,-1.16,-146.6,174.9,-11.4,78,1645,0.00,2.47,0.00,0.000,4,0.000,0.074,2417,213,3142
$GC,1724,-1.16,-146.6,185.4,-12.3,81,1731,0.00,2.30,0.00,0.000,6,0.000,0.055,2417,1598,3143
$GC,2041,-1.16,-146.6,223.0,-12.0,97,2045,0.00,2.47,0.00,0.000,4,0.000,0.074,2417,214,3143
$GC,2120,-1.16,-146.6,232.9,-12.3,100,2126,0.00,2.30,0.00,0.000,6,0.000,0.055,2417,1601,3143
$GC,2437,-1.16,-146.6,268.4,-11.0,116,2441,0.00,2.47,0.00,0.000,4,0.000,0.076,2417,214,3143
$GC,2515,-1.16,-146.6,277.7,-11.7,119,2522,0.00,2.30,0.00,0.000,6,0.000,0.055,2417,1598,3143
$GC,2832,-1.16,-146.6,312.6,-10.5,135,2836,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,209,3143
$GC,3108,-1.16,-146.6,329.2,0.1,147,3112,0.00,2.33,0.00,0.000,6,0.000,0.055,2417,1592,3144
$STATE,3132,end dive,NO_VERTICAL_VELOCITY
$STATE,3132,begin apogee
$GC,3141,-0.32,0.0,329.2,0.0,148,3269,0.85,0.00,124.72,0.874,6,0.085,0.000,2602,2192,2539
$STATE,3270,end apogee,CONTROL_FINISHED_OK
$STATE,3270,begin climb
$GC,3274,1.16,146.6,329.2,0.0,154,3401,1.52,2.55,119.35,0.847,4,0.087,0.069,2926,786,1940
$GC,3445,1.19,163.0,319.0,7.4,162,3464,0.00,2.42,14.62,0.770,6,0.000,0.057,2926,2203,1873
$GC,3793,1.24,192.1,294.1,6.9,179,3822,0.00,2.55,24.52,0.815,4,0.000,0.071,2926,795,1754
$GC,3933,1.24,195.0,283.5,7.9,185,3942,0.00,2.42,3.83,0.534,6,0.000,0.057,2926,2208,1743
$GC,4261,1.26,203.7,260.6,7.7,201,4275,0.10,2.58,8.43,0.721,4,0.070,0.070,2961,792,1708
$GC,4378,1.26,203.7,250.3,9.2,206,4382,0.00,2.40,0.00,0.000,6,0.000,0.057,2961,2202,1707
$GC,4705,1.26,203.7,221.8,8.6,222,4710,0.00,2.50,0.00,0.000,4,0.000,0.070,2961,795,1707
$GC,4795,1.26,203.7,213.5,9.3,226,4800,0.00,2.40,0.00,0.000,6,0.000,0.056,2961,2200,1706
$GC,5118,1.26,208.9,188.0,7.8,242,5128,0.00,2.53,5.62,0.643,4,0.000,0.070,2961,789,1686
$GC,5213,1.26,208.9,179.9,8.2,246,5218,0.00,2.42,0.00,0.000,6,0.000,0.057,2961,2209,1686
$GC,5531,1.26,208.9,154.5,8.2,261,5534,0.00,2.53,0.00,0.000,4,0.000,0.071,2961,787,1686
$GC,5628,1.26,208.9,146.0,8.2,265,5632,0.00,2.42,0.00,0.000,6,0.000,0.057,2961,2210,1686
$GC,5950,1.26,208.9,117.9,9.0,281,5954,0.00,2.53,0.00,0.000,4,0.000,0.071,2961,788,1685
$GC,6006,1.26,208.9,112.4,9.8,283,6012,0.00,2.40,0.00,0.000,6,0.000,0.057,2961,2199,1685
$GC,6324,1.26,208.9,76.6,12.6,299,6328,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,794,1685
$GC,6436,1.26,208.9,62.1,12.3,304,6440,0.00,2.40,0.00,0.000,6,0.000,0.057,2961,2199,1686
$GC,6760,1.26,208.9,27.6,9.3,320,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2199,1685
$STATE,7064,end climb,SURFACE_DEPTH_REACHED
$STATE,7064,begin surface coast
$FINISH,0.3,1.015966
$STATE,7085,end surface coast,CONTROL_FINISHED_OK
$STATE,7086,begin surface
$SM_CCo,7111,47.62,0.660,0,0,1316,300.00
$SM_GC,1.04,0.00,0.00,47.62,0.000,0.000,0.660,376,1595,1316,-10.58,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1904
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.8,26.423
$10V_AH,10.2,14.636
$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,25.100,80.175,301.100,47.625,0.000,37.755,33.144,107.177,2.750,0.000,0.000,13.695,699.774,4995.310,446.737,941.453,382.316,0.000,931.381,0.000,919.074,0.000,22.284,0.000
$DEVICE_MAMPS,177.177,79.768,874.380,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.066,227.162,307.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15944,336
$CAP_FILE_SIZE,61806,0
$CFSIZE,254472192,242581504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,290908,073934,6409.968,-1121.761,37,1.7,39,-11.5