version: 66.04
glider: 14
mission: 6
dive: 185
start: 9 29 108 15 51 38
data:
$ID,14
$MISSION,6
$DIVE,185
$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,-653600.56
$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,22
$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
$GPS1,154608,6405.338,-1122.838,28,1.3,28,-11.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.2
$GPS2,155115,6405.337,-1123.002,14,1.4,14,-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,281.0,66376,-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,-60.42,0.000,2,0.000,0.000,372,1599,2757
$GC,83,-1.16,-146.6,3.5,-5.6,3,110,11.35,2.47,-9.30,0.000,4,0.176,0.079,2412,3010,3140
$GC,296,-1.16,-146.6,33.0,-13.8,12,302,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1590,3141
$GC,612,-1.16,-146.6,65.0,-8.5,28,617,0.00,2.47,0.00,0.000,4,0.000,0.079,2412,210,3141
$GC,826,-1.16,-146.6,86.1,-10.6,37,833,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1630,3142
$GC,1143,-1.16,-146.6,120.6,-11.9,53,1147,0.00,2.55,0.00,0.000,4,0.000,0.075,2412,209,3143
$GC,1340,-1.16,-146.6,145.3,-12.2,62,1344,0.00,2.33,0.00,0.000,6,0.000,0.055,2412,1608,3142
$GC,1668,-1.16,-146.6,185.7,-12.7,78,1673,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,212,3143
$GC,1747,-1.16,-146.6,196.2,-12.6,81,1753,0.00,2.33,0.00,0.000,6,0.000,0.055,2412,1611,3143
$GC,2064,-1.16,-146.6,233.4,-11.3,97,2068,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,212,3143
$GC,2176,-1.16,-146.6,246.9,-12.4,102,2180,0.00,2.30,0.00,0.000,6,0.000,0.055,2412,1599,3143
$GC,2497,-1.16,-146.6,282.6,-11.9,118,2501,0.00,2.47,0.00,0.000,4,0.000,0.077,2411,207,3143
$GC,2612,-1.16,-146.6,297.2,-13.6,123,2616,0.00,2.33,0.00,0.000,6,0.000,0.055,2412,1606,3143
$STATE,2894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2895,begin apogee
$GC,2904,-0.32,0.0,333.1,12.2,137,3038,0.90,0.00,125.88,0.871,6,0.101,0.000,2600,2193,2539
$STATE,3039,end apogee,CONTROL_FINISHED_OK
$STATE,3039,begin climb
$GC,3043,1.16,146.6,339.2,0.0,144,3171,1.50,2.72,118.75,0.851,4,0.076,0.096,2928,3589,1940
$GC,3257,1.18,155.1,327.8,7.7,154,3271,0.00,2.45,8.30,0.714,6,0.000,0.065,2928,2189,1906
$GC,3589,1.18,155.1,301.5,8.3,170,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2189,1904
$GC,3898,1.22,182.0,279.5,7.0,185,3922,0.00,0.00,22.30,0.805,6,0.000,0.000,2928,2189,1797
$GC,4230,1.25,197.7,256.4,7.4,201,4248,0.00,0.00,14.23,0.772,6,0.000,0.000,2928,2189,1732
$GC,4558,1.25,197.7,230.2,8.2,217,4562,0.00,2.50,0.00,0.000,4,0.000,0.075,2928,794,1731
$GC,4615,1.25,197.7,225.1,9.2,219,4619,0.00,2.38,0.00,0.000,6,0.000,0.055,2928,2201,1731
$GC,4932,1.25,197.7,198.3,8.5,234,4936,0.00,2.47,0.00,0.000,4,0.000,0.069,2928,797,1730
$GC,5017,1.25,197.7,190.9,8.6,238,5021,0.00,2.40,0.00,0.000,6,0.000,0.056,2928,2209,1731
$GC,5344,1.25,197.7,162.0,9.1,254,5348,0.00,2.50,0.00,0.000,4,0.000,0.070,2928,798,1730
$GC,5412,1.25,197.7,155.6,10.0,257,5416,0.00,2.40,0.00,0.000,6,0.000,0.056,2928,2211,1730
$GC,5740,1.26,205.3,128.7,7.7,273,5754,0.00,2.58,7.10,0.638,4,0.000,0.070,2929,792,1702
$GC,5840,1.29,224.6,121.0,7.3,277,5864,0.12,2.40,17.05,0.710,6,0.066,0.056,2968,2200,1622
$GC,6185,1.31,240.5,95.0,7.4,294,6207,0.00,2.55,13.93,0.677,4,0.000,0.071,2968,803,1557
$GC,6286,1.31,240.5,86.2,9.6,298,6290,0.00,2.38,0.00,0.000,6,0.000,0.056,2968,2199,1557
$GC,6609,1.31,240.5,54.2,10.4,314,6613,0.00,2.47,0.00,0.000,4,0.000,0.071,2968,798,1556
$GC,6740,1.31,240.5,39.4,11.0,320,6745,0.00,2.40,0.00,0.000,6,0.000,0.057,2968,2204,1556
$GC,7070,1.31,240.5,5.8,10.8,336,7075,0.00,2.50,0.00,0.000,4,0.000,0.073,2968,796,1555
$GC,7099,1.31,240.5,3.0,9.7,337,7103,0.00,2.40,0.00,0.000,6,0.000,0.056,2968,2208,1555
$STATE,7123,end climb,SURFACE_DEPTH_REACHED
$STATE,7123,begin surface coast
$FINISH,0.4,1.013684
$STATE,7145,end surface coast,CONTROL_FINISHED_OK
$STATE,7145,begin surface
$SM_CCo,7171,29.92,0.637,0,0,1315,300.00
$SM_GC,1.34,0.00,0.00,29.92,0.000,0.000,0.637,375,1600,1315,-10.58,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1902
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,277.5,64.1
$24V_AH,23.8,26.883
$10V_AH,10.2,14.848
$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,25.050,70.575,327.525,29.925,0.000,37.763,31.687,124.091,2.000,0.000,0.000,18.589,690.586,5014.764,429.816,987.701,400.573,0.000,941.786,0.000,962.777,0.000,16.631,0.000
$DEVICE_MAMPS,175.643,95.875,870.545,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.775,229.137,312.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,339
$CAP_FILE_SIZE,61466,0
$CFSIZE,254472192,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,290908,175253,6404.983,-1126.270,10,6.9,29,-11.6