version: 66.04
glider: 14
mission: 6
dive: 183
start: 9 29 108 11 48 16
data:
$ID,14
$MISSION,6
$DIVE,183
$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,-653567.5
$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,28
$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
$GPS1,114253,6409.051,-1117.385,8,2.6,27,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.7
$GPS2,114753,6408.964,-1117.409,11,2.5,30,-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,275.6,71279,-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,-60.55,0.000,2,0.000,0.000,381,1594,2768
$GC,83,-1.16,-146.6,3.7,-5.6,3,109,11.30,2.47,-8.90,0.000,4,0.175,0.079,2415,3001,3140
$GC,317,-1.16,-146.6,39.3,-15.9,13,321,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1595,3141
$GC,634,-1.16,-146.6,85.6,-11.3,28,638,0.00,2.47,0.00,0.000,4,0.000,0.078,2415,212,3142
$GC,909,-1.16,-146.6,117.1,-12.1,40,913,0.00,2.35,0.00,0.000,6,0.000,0.054,2415,1635,3143
$GC,1225,-1.16,-146.6,156.4,-13.2,55,1229,0.00,2.55,0.00,0.000,4,0.000,0.075,2416,211,3143
$GC,1275,-1.16,-146.6,163.5,-13.8,57,1279,0.00,2.30,0.00,0.000,6,0.000,0.054,2415,1603,3144
$GC,1594,-1.16,-146.6,201.8,-11.8,72,1598,0.00,2.47,0.00,0.000,4,0.000,0.074,2415,213,3144
$GC,1680,-1.16,-146.6,212.6,-12.1,76,1684,0.00,2.30,0.00,0.000,6,0.000,0.054,2415,1607,3144
$GC,2007,-1.16,-146.6,252.6,-12.5,92,2011,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,208,3144
$GC,2131,-1.16,-146.6,269.6,-13.4,97,2137,0.00,2.33,0.00,0.000,6,0.000,0.054,2415,1607,3144
$GC,2447,-1.16,-146.6,307.4,-11.1,113,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1611,3144
$STATE,2712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2712,begin apogee
$GC,2722,-0.32,0.0,335.3,10.6,126,2857,0.90,0.00,126.45,0.867,6,0.107,0.000,2601,2193,2539
$STATE,2858,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2861,1.16,146.6,340.8,0.0,133,2989,1.50,2.72,119.05,0.854,4,0.074,0.097,2928,3587,1940
$GC,3098,1.18,159.4,327.1,7.5,144,3119,0.00,2.42,11.70,0.760,6,0.000,0.064,2928,2198,1887
$GC,3429,1.19,165.0,300.6,7.8,160,3440,0.00,2.60,5.78,0.653,4,0.000,0.084,2928,3589,1865
$GC,3493,1.19,165.0,295.3,8.6,163,3497,0.00,2.42,0.00,0.000,6,0.000,0.065,2929,2201,1865
$GC,3820,1.22,180.2,269.9,7.4,179,3835,0.00,0.00,13.55,0.774,6,0.000,0.000,2928,2202,1804
$GC,4147,1.26,208.2,246.1,6.9,194,4176,0.00,2.62,23.60,0.795,4,0.000,0.084,2928,3583,1689
$GC,4217,1.32,243.3,241.4,6.7,197,4255,0.15,2.42,29.15,0.789,6,0.064,0.065,2973,2199,1547
$GC,4564,1.32,243.3,210.3,9.2,214,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,1545
$GC,4874,1.32,243.3,181.2,9.6,229,4878,0.00,2.53,0.00,0.000,4,0.000,0.077,2973,792,1544
$GC,4902,1.32,243.3,178.2,10.0,230,4906,0.00,2.38,0.00,0.000,6,0.000,0.055,2973,2198,1543
$GC,5224,1.32,243.3,146.8,9.8,246,5228,0.00,2.50,0.00,0.000,4,0.000,0.070,2973,794,1544
$GC,5268,1.32,243.3,141.8,10.9,248,5273,0.00,2.40,0.00,0.000,6,0.000,0.055,2973,2201,1544
$GC,5591,1.32,243.3,106.1,11.6,264,5595,0.00,2.50,0.00,0.000,4,0.000,0.071,2973,796,1543
$GC,5642,1.32,243.3,99.5,12.5,266,5646,0.00,2.38,0.00,0.000,6,0.000,0.056,2973,2199,1543
$GC,5964,1.32,243.3,60.0,12.0,282,5968,0.00,2.50,0.00,0.000,4,0.000,0.071,2973,795,1543
$GC,6055,1.32,243.3,49.3,11.2,286,6059,0.00,2.40,0.00,0.000,6,0.000,0.056,2973,2204,1543
$GC,6377,1.32,243.3,17.0,10.0,302,6381,0.00,2.50,0.00,0.000,4,0.000,0.071,2973,796,1542
$GC,6467,1.32,243.3,7.0,10.1,306,6471,0.00,2.40,0.00,0.000,6,0.000,0.056,2973,2210,1542
$STATE,6539,end climb,SURFACE_DEPTH_REACHED
$STATE,6539,begin surface coast
$FINISH,0.3,1.015974
$STATE,6560,end surface coast,CONTROL_FINISHED_OK
$STATE,6560,begin surface
$SM_CCo,6585,30.00,0.640,0,0,1315,300.00
$SM_GC,1.59,0.00,0.00,30.00,0.000,0.000,0.640,379,1589,1315,-10.56,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1898
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.6,43.2
$24V_AH,23.8,26.698
$10V_AH,10.2,14.761
$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,25.100,65.900,329.275,30.000,0.000,39.130,31.363,99.760,2.000,0.000,0.000,32.857,635.494,4617.343,426.693,888.707,363.419,0.000,890.223,0.000,851.356,0.000,15.258,0.000
$DEVICE_MAMPS,174.876,96.642,866.710,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.957,210.264,269.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15933,311
$CAP_FILE_SIZE,56590,0
$CFSIZE,254472192,242491392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,290908,133938,6407.085,-1118.738,23,2.0,23,-11.5