version: 66.04
glider: 14
mission: 6
dive: 186
start: 9 29 108 17 58 28
data:
$ID,14
$MISSION,6
$DIVE,186
$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,-653636.75
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,175253,6404.983,-1126.270,10,6.9,29,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.7
$GPS2,175805,6405.030,-1126.244,14,2.6,33,-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,281.5,63749,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-74.22,0.000,6,0.000,0.000,375,1598,3138
$GC,101,-1.16,-146.6,6.9,-9.2,4,123,11.43,2.45,0.00,0.000,4,0.179,0.065,2413,3003,3143
$GC,263,-1.16,-146.6,36.6,-10.2,11,267,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1596,3145
$GC,591,-1.16,-146.6,70.9,-11.3,27,595,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,208,3145
$GC,686,-1.16,-146.6,82.8,-11.7,31,690,0.00,2.33,0.00,0.000,6,0.000,0.055,2413,1620,3145
$GC,1009,-1.16,-146.6,119.4,-11.8,47,1013,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,215,3146
$GC,1162,-1.16,-146.6,138.4,-12.7,54,1166,0.00,2.30,0.00,0.000,6,0.000,0.055,2413,1603,3146
$GC,1489,-1.16,-146.6,179.2,-12.5,70,1493,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,213,3145
$GC,1585,-1.16,-146.6,191.9,-12.9,74,1589,0.00,2.30,0.00,0.000,6,0.000,0.054,2413,1597,3146
$GC,1901,-1.16,-146.6,233.0,-13.1,89,1905,0.00,2.47,0.00,0.000,4,0.000,0.076,2413,214,3146
$GC,1996,-1.16,-146.6,246.2,-13.6,93,2001,0.00,2.30,0.00,0.000,6,0.000,0.055,2413,1603,3146
$GC,2313,-1.16,-146.6,283.6,-10.9,108,2317,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,206,3146
$GC,2381,-1.16,-146.6,291.7,-12.3,111,2386,0.00,2.33,0.00,0.000,6,0.000,0.055,2413,1604,3146
$GC,2704,-1.16,-146.6,327.0,-11.1,127,2708,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,213,3146
$STATE,2723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2723,begin apogee
$GC,2734,-0.32,0.0,329.7,12.2,128,2863,0.90,0.00,125.12,0.873,6,0.118,0.000,2599,2191,2539
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2867,1.16,146.6,335.2,0.0,134,2995,1.48,2.72,118.65,0.851,4,0.070,0.094,2926,3590,1941
$GC,3172,1.23,188.3,317.5,6.4,148,3214,0.00,2.42,34.30,0.814,6,0.000,0.064,2927,2198,1771
$GC,3524,1.25,201.5,291.6,7.5,165,3546,0.00,2.62,12.18,0.756,4,0.000,0.075,2927,790,1717
$GC,3603,1.26,206.6,285.4,7.8,168,3615,0.10,2.40,5.88,0.647,6,0.071,0.055,2959,2213,1696
$GC,3925,1.26,206.6,256.0,9.1,184,3929,0.00,2.53,0.00,0.000,4,0.000,0.069,2959,792,1695
$GC,3987,1.26,206.6,249.8,9.6,186,3993,0.00,2.40,0.00,0.000,6,0.000,0.056,2959,2201,1694
$GC,4303,1.26,206.6,219.2,9.9,202,4307,0.00,2.50,0.00,0.000,4,0.000,0.070,2959,795,1694
$GC,4371,1.26,206.6,212.0,10.3,205,4375,0.00,2.40,0.00,0.000,6,0.000,0.056,2959,2201,1693
$GC,4693,1.26,206.6,180.2,9.8,221,4697,0.00,2.50,0.00,0.000,4,0.000,0.070,2959,799,1693
$GC,4766,1.26,206.6,172.5,10.5,224,4770,0.00,2.40,0.00,0.000,6,0.000,0.056,2959,2206,1693
$GC,5083,1.26,206.6,142.3,9.8,239,5088,0.00,2.50,0.00,0.000,4,0.000,0.070,2959,798,1693
$GC,5147,1.26,206.6,135.7,10.2,242,5151,0.00,2.40,0.00,0.000,6,0.000,0.057,2959,2208,1693
$GC,5476,1.26,206.6,103.5,10.0,258,5480,0.00,2.50,0.00,0.000,4,0.000,0.071,2959,798,1692
$GC,5566,1.26,206.6,93.7,10.5,262,5570,0.00,2.40,0.00,0.000,6,0.000,0.057,2959,2206,1692
$GC,5888,1.26,206.6,63.8,9.0,278,5892,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,798,1693
$GC,5983,1.26,206.6,54.8,9.2,282,5987,0.00,2.40,0.00,0.000,6,0.000,0.057,2959,2205,1692
$GC,6306,1.28,216.6,28.4,7.6,298,6320,0.00,2.53,9.15,0.611,4,0.000,0.071,2959,789,1654
$GC,6338,1.28,217.1,25.8,8.0,299,6343,0.00,2.42,0.00,0.000,6,0.000,0.056,2959,2202,1654
$STATE,6610,end climb,SURFACE_DEPTH_REACHED
$STATE,6610,begin surface coast
$FINISH,0.3,1.026977
$STATE,6632,end surface coast,CONTROL_FINISHED_OK
$STATE,6632,begin surface
$SM_CCo,6658,48.20,0.645,0,0,1315,300.00
$SM_GC,1.09,0.00,0.00,48.20,0.000,0.000,0.645,373,1596,1315,-10.58,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1883
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.3,87.3
$24V_AH,23.8,26.975
$10V_AH,10.2,14.890
$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,24.900,80.400,305.275,48.200,0.000,37.760,37.084,103.301,1.500,0.000,0.000,35.571,650.406,4638.346,438.239,930.971,374.645,0.000,922.616,0.000,888.990,0.000,12.142,0.000
$DEVICE_MAMPS,179.478,94.341,872.846,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.613,211.481,295.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16002,313
$CAP_FILE_SIZE,59102,0
$CFSIZE,254472192,242388992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,290908,195131,6405.559,-1126.408,33,1.5,33,-11.6