version: 66.04
glider: 14
mission: 6
dive: 187
start: 9 29 108 19 56 39
data:
$ID,14
$MISSION,6
$DIVE,187
$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,-653653.62
$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,25
$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
$GPS1,195131,6405.559,-1126.408,33,1.5,33,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-57.8
$GPS2,195615,6405.573,-1126.251,14,1.6,14,-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,280.6,63751,-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,-60.12,0.000,2,0.000,0.000,374,1595,2741
$GC,83,-1.16,-146.6,3.9,-6.0,3,109,11.38,2.47,-9.30,0.000,4,0.178,0.080,2412,3000,3138
$GC,312,-1.16,-146.6,36.9,-12.8,13,317,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1601,3139
$GC,629,-1.16,-146.6,72.7,-11.0,28,633,0.00,2.45,0.00,0.000,4,0.000,0.066,2412,3001,3141
$GC,657,-1.16,-146.6,76.1,-11.6,29,662,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1600,3141
$GC,976,-1.16,-146.6,111.9,-11.5,44,980,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,211,3141
$GC,1071,-1.16,-146.6,124.0,-12.0,48,1075,0.00,2.38,0.00,0.000,6,0.000,0.057,2412,1621,3141
$GC,1393,-1.16,-146.6,162.3,-12.0,64,1397,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,206,3141
$GC,1478,-1.16,-146.6,173.2,-12.9,68,1482,0.00,2.35,0.00,0.000,6,0.000,0.057,2412,1600,3141
$GC,1805,-1.16,-146.6,213.0,-12.7,84,1809,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3142
$GC,1874,-1.16,-146.6,222.3,-14.0,87,1878,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1599,3141
$GC,2195,-1.16,-146.6,262.0,-12.1,103,2199,0.00,2.50,0.00,0.000,4,0.000,0.078,2411,210,3141
$GC,2235,-1.16,-146.6,267.2,-13.3,104,2241,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1603,3141
$GC,2551,-1.16,-146.6,303.5,-11.1,120,2555,0.00,2.50,0.00,0.000,4,0.000,0.080,2411,214,3141
$GC,2705,-1.16,-146.6,321.5,-11.9,127,2709,0.00,2.40,0.00,0.000,6,0.000,0.064,2412,1594,3141
$STATE,2788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2788,begin apogee
$GC,2797,-0.32,0.0,332.0,12.3,131,2933,0.93,0.00,126.82,0.864,6,0.106,0.000,2603,2201,2539
$STATE,2933,end apogee,CONTROL_FINISHED_OK
$STATE,2933,begin climb
$GC,2937,1.16,146.6,338.0,0.0,138,3066,1.48,2.78,119.22,0.850,4,0.076,0.105,2926,3596,1940
$GC,3300,1.18,155.9,315.7,7.6,154,3315,0.00,2.47,8.88,0.726,6,0.000,0.070,2926,2202,1902
$GC,3645,1.24,197.2,291.8,6.4,171,3686,0.00,2.62,34.00,0.815,4,0.000,0.081,2926,794,1734
$GC,3814,1.24,197.2,278.8,8.2,178,3818,0.00,2.45,0.00,0.000,6,0.000,0.062,2926,2199,1734
$GC,4130,1.26,208.4,254.8,7.6,193,4146,0.10,2.58,10.27,0.733,4,0.070,0.074,2960,789,1688
$GC,4216,1.26,208.4,246.9,9.4,196,4220,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2200,1688
$GC,4543,1.26,208.4,216.4,9.1,212,4547,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,788,1688
$GC,4628,1.26,208.4,208.0,10.2,215,4635,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2208,1688
$GC,4945,1.26,208.4,179.1,8.9,231,4949,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,791,1687
$GC,5008,1.26,208.4,172.8,10.1,234,5012,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2208,1687
$GC,5335,1.26,208.4,143.0,8.9,250,5339,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,790,1687
$GC,5391,1.26,208.4,137.6,10.2,252,5398,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2206,1688
$GC,5709,1.26,208.4,110.5,8.7,268,5714,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,786,1687
$GC,5788,1.26,208.4,103.1,9.0,271,5795,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2203,1686
$GC,6107,1.26,208.4,76.2,9.5,287,6111,0.00,2.53,0.00,0.000,4,0.000,0.075,2960,788,1687
$GC,6180,1.26,208.4,68.1,11.3,290,6184,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2204,1686
$GC,6496,1.26,208.4,33.8,10.5,305,6501,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,791,1686
$GC,6542,1.26,208.4,29.2,10.2,307,6546,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2200,1686
$STATE,6840,end climb,SURFACE_DEPTH_REACHED
$STATE,6840,begin surface coast
$FINISH,0.4,1.018060
$STATE,6862,end surface coast,CONTROL_FINISHED_OK
$STATE,6862,begin surface
$SM_CCo,6888,45.92,0.640,0,0,1316,300.00
$SM_GC,1.07,0.00,0.00,45.92,0.000,0.000,0.640,381,1600,1316,-10.55,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1904
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.2,65.4
$24V_AH,23.8,27.064
$10V_AH,10.2,14.933
$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,25.025,81.700,299.200,45.925,0.000,37.759,26.451,105.528,1.750,0.000,0.000,16.279,678.168,4798.862,425.810,957.650,373.288,0.000,928.013,0.000,930.911,0.000,13.698,0.000
$DEVICE_MAMPS,177.944,105.079,864.409,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.043,218.130,299.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16010,323
$CAP_FILE_SIZE,61138,0
$CFSIZE,254472192,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,290908,215332,6405.945,-1124.770,35,1.6,35,-11.5