version: 66.04
glider: 14
mission: 6
dive: 184
start: 9 29 108 13 44 39
data:
$ID,14
$MISSION,6
$DIVE,184
$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,-653581.38
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,133938,6407.085,-1118.738,23,2.0,23,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-61.3
$GPS2,134415,6407.015,-1118.877,11,2.0,11,-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,278.4,69811,-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,-60.15,0.000,2,0.000,0.000,379,1589,2748
$GC,83,-1.16,-146.6,3.5,-4.7,3,110,11.30,2.47,-9.43,0.000,4,0.176,0.077,2413,2998,3137
$GC,267,-1.16,-146.6,30.9,-14.4,11,271,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1597,3138
$GC,589,-1.16,-146.6,72.7,-11.6,27,594,0.00,2.47,0.00,0.000,4,0.000,0.079,2413,213,3139
$GC,859,-1.16,-146.6,105.2,-14.8,39,863,0.00,2.35,0.00,0.000,6,0.000,0.054,2413,1630,3140
$GC,1182,-1.16,-146.6,151.6,-14.7,55,1186,0.00,2.55,0.00,0.000,4,0.000,0.076,2413,209,3141
$GC,1284,-1.16,-146.6,166.8,-14.2,59,1290,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1612,3141
$GC,1600,-1.16,-146.6,204.9,-11.7,75,1604,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,213,3141
$GC,1690,-1.16,-146.6,216.1,-12.4,79,1694,0.00,2.30,0.00,0.000,6,0.000,0.054,2413,1602,3141
$GC,2012,-1.16,-146.6,252.6,-11.3,95,2017,0.00,2.47,0.00,0.000,4,0.000,0.075,2413,213,3142
$GC,2125,-1.16,-146.6,267.1,-13.4,100,2130,0.00,2.30,0.00,0.000,6,0.000,0.055,2413,1596,3141
$GC,2448,-1.16,-146.6,305.7,-11.1,116,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3142
$STATE,2733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2733,begin apogee
$GC,2742,-0.32,0.0,338.2,11.3,130,2877,0.90,0.00,125.70,0.868,6,0.102,0.000,2601,2198,2539
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2878,begin climb
$GC,2881,1.16,146.6,344.8,0.0,137,3006,1.52,0.00,119.60,0.856,6,0.076,0.000,2930,2198,1942
$GC,3306,1.20,169.5,320.6,7.1,158,3331,0.00,2.67,19.73,0.812,4,0.000,0.095,2930,3589,1846
$GC,3374,1.20,170.3,315.4,8.0,161,3378,0.00,2.42,0.00,0.000,6,0.000,0.064,2930,2197,1845
$GC,3708,1.24,191.3,290.3,7.2,177,3728,0.00,0.00,18.20,0.798,6,0.000,0.000,2930,2198,1759
$GC,4037,1.24,193.4,265.1,7.9,193,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2198,1758
$GC,4345,1.24,193.4,240.3,8.3,208,4349,0.00,2.50,0.00,0.000,4,0.000,0.074,2930,796,1758
$GC,4406,1.24,193.4,234.9,9.2,210,4413,0.00,2.38,0.00,0.000,6,0.000,0.055,2930,2200,1757
$GC,4724,1.24,193.4,208.1,8.7,226,4727,0.00,2.47,0.00,0.000,4,0.000,0.069,2930,797,1757
$GC,4797,1.24,193.4,201.4,8.9,229,4801,0.00,2.40,0.00,0.000,6,0.000,0.056,2930,2210,1757
$GC,5118,1.27,211.8,176.4,7.3,245,5141,0.00,2.60,17.75,0.747,4,0.000,0.069,2930,792,1675
$GC,5211,1.27,211.8,169.0,8.7,249,5215,0.00,2.42,0.00,0.000,6,0.000,0.056,2930,2212,1674
$GC,5539,1.27,215.7,143.3,7.9,265,5549,0.10,2.50,4.65,0.558,4,0.071,0.069,2965,799,1658
$GC,5606,1.27,215.7,136.9,9.7,268,5610,0.00,2.40,0.00,0.000,6,0.000,0.056,2965,2203,1658
$GC,5928,1.27,215.7,108.3,8.8,284,5932,0.00,2.50,0.00,0.000,4,0.000,0.070,2965,797,1658
$GC,6040,1.27,215.7,97.2,10.3,289,6044,0.00,2.40,0.00,0.000,6,0.000,0.057,2965,2203,1658
$GC,6364,1.27,215.7,67.4,9.4,305,6368,0.00,2.47,0.00,0.000,4,0.000,0.071,2965,799,1658
$GC,6454,1.27,215.7,58.2,9.7,309,6458,0.00,2.40,0.00,0.000,6,0.000,0.057,2965,2205,1659
$GC,6776,1.31,241.3,33.4,7.0,325,6803,0.00,2.55,21.20,0.660,4,0.000,0.071,2965,799,1554
$GC,6954,1.31,241.3,17.3,9.9,333,6958,0.00,2.40,0.00,0.000,6,0.000,0.057,2965,2203,1553
$STATE,7134,end climb,SURFACE_DEPTH_REACHED
$STATE,7134,begin surface coast
$FINISH,0.5,1.026860
$STATE,7156,end surface coast,CONTROL_FINISHED_OK
$STATE,7156,begin surface
$SM_CCo,7183,34.47,0.640,0,0,1316,300.00
$SM_GC,1.28,0.00,0.00,34.47,0.000,0.000,0.640,372,1601,1316,-10.59,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1886
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.5,70.1
$24V_AH,23.8,26.790
$10V_AH,10.2,14.804
$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,24.950,65.700,326.825,34.475,0.000,37.758,30.458,99.092,1.750,0.000,0.000,13.262,691.772,5080.584,453.127,922.203,363.228,0.000,918.981,0.000,906.441,0.000,13.714,0.000
$DEVICE_MAMPS,175.643,95.108,868.244,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,257.570,232.011,307.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15943,343
$CAP_FILE_SIZE,58563,0
$CFSIZE,254472192,242454528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,290908,154608,6405.338,-1122.838,28,1.3,28,-11.5