version: 66.04
glider: 14
mission: 6
dive: 189
start: 9 29 108 23 58 39
data:
$ID,14
$MISSION,6
$DIVE,189
$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,-653704.38
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,235338,6404.908,-1124.857,32,1.4,32,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-58.9
$GPS2,235815,6404.789,-1124.905,14,1.4,14,-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,281.8,64833,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,370,1595,2735
$GC,83,-1.16,-146.6,3.1,-4.7,3,113,11.32,2.53,-10.62,0.000,4,0.175,0.085,2414,3009,3138
$GC,298,-1.16,-146.6,29.4,-12.0,12,305,0.00,2.45,0.00,0.000,6,0.000,0.065,2414,1599,3140
$GC,616,-1.16,-146.6,70.4,-11.0,28,620,0.00,2.50,0.00,0.000,4,0.000,0.082,2414,209,3140
$GC,890,-1.16,-146.6,102.6,-9.5,40,895,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1613,3140
$GC,1209,-1.16,-146.6,131.8,-9.7,55,1213,0.00,2.55,0.00,0.000,4,0.000,0.078,2414,203,3141
$GC,1317,-1.16,-146.6,143.7,-10.8,60,1321,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1603,3142
$GC,1645,-1.16,-146.6,178.5,-10.4,76,1649,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,209,3143
$GC,1695,-1.16,-146.6,184.4,-10.8,78,1699,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3143
$GC,2017,-1.16,-146.6,219.4,-10.8,94,2022,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3143
$GC,2085,-1.16,-146.6,227.6,-12.6,97,2090,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1606,3143
$GC,2407,-1.16,-146.6,265.4,-11.7,113,2412,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,205,3143
$GC,2497,-1.16,-146.6,276.3,-11.4,117,2502,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1598,3143
$GC,2820,-1.16,-146.6,310.5,-9.8,133,2824,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,207,3143
$GC,2921,-1.16,-146.6,321.5,-10.6,137,2927,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1598,3143
$STATE,2987,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2987,begin apogee
$GC,2997,-0.32,0.0,328.8,10.8,141,3128,0.90,0.00,124.40,0.870,6,0.109,0.000,2599,2194,2539
$STATE,3129,end apogee,CONTROL_FINISHED_OK
$STATE,3129,begin climb
$GC,3133,1.16,146.6,335.1,0.0,148,3257,1.55,0.00,119.85,0.846,6,0.081,0.000,2931,2195,1940
$GC,3561,1.25,203.6,311.3,5.8,169,3614,0.00,2.75,46.45,0.825,4,0.000,0.104,2931,3600,1709
$GC,3660,1.28,218.1,304.7,7.4,173,3680,0.10,2.50,13.85,0.763,6,0.070,0.071,2964,2198,1649
$GC,3997,1.28,218.1,272.6,9.9,190,4001,0.00,2.58,0.00,0.000,4,0.000,0.081,2966,784,1646
$GC,4060,1.28,218.1,266.1,11.3,193,4064,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2203,1646
$GC,4387,1.28,218.1,231.2,10.9,209,4391,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,789,1644
$GC,4467,1.28,218.1,222.4,11.1,212,4473,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2212,1644
$GC,4783,1.30,231.1,195.6,7.5,228,4799,0.00,2.60,10.80,0.720,4,0.000,0.074,2966,790,1595
$GC,4873,1.30,231.1,188.1,8.8,231,4877,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2197,1595
$GC,5195,1.30,231.1,155.8,11.7,247,5198,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,790,1595
$GC,5234,1.30,231.1,150.6,12.6,248,5240,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2203,1595
$GC,5551,1.30,231.1,113.8,10.9,264,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2203,1595
$GC,5861,1.37,272.8,88.4,6.4,279,5899,0.00,0.00,34.22,0.707,6,0.000,0.000,2966,2203,1425
$GC,6211,1.37,272.8,66.7,8.2,296,6215,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,791,1423
$GC,6345,1.37,272.8,52.7,10.8,302,6350,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2205,1423
$GC,6668,1.37,272.8,16.0,12.3,318,6673,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,780,1423
$GC,6719,1.37,272.8,10.2,11.8,320,6723,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2201,1423
$STATE,6807,end climb,SURFACE_DEPTH_REACHED
$STATE,6807,begin surface coast
$FINISH,0.3,1.013914
$STATE,6827,end surface coast,CONTROL_FINISHED_OK
$STATE,6827,begin surface
$SM_CCo,6854,14.18,0.610,0,0,1315,300.00
$SM_GC,1.17,0.00,0.00,14.18,0.000,0.000,0.610,376,1594,1315,-10.58,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.3,38.1
$24V_AH,23.8,27.253
$10V_AH,10.2,15.015
$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,25.050,71.900,349.575,14.175,0.000,37.757,24.703,101.932,2.250,0.000,0.000,15.962,666.260,4772.271,442.399,916.249,364.373,0.000,923.368,0.000,893.051,0.000,18.174,0.000
$DEVICE_MAMPS,174.876,103.545,869.778,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.654,219.305,302.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15993,325
$CAP_FILE_SIZE,58646,0
$CFSIZE,254472192,242290688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,300908,015431,6403.020,-1129.031,34,1.5,40,-11.6