version: 66.04
glider: 14
mission: 6
dive: 190
start: 9 30 108 2 0 18
data:
$ID,14
$MISSION,6
$DIVE,190
$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,-653719.31
$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,19
$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
$GPS1,015431,6403.020,-1129.031,34,1.5,40,-11.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-56.7
$GPS2,015957,6402.901,-1129.412,12,1.6,12,-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,285.2,61307,-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,-60.08,0.000,2,0.000,0.000,376,1592,2730
$GC,83,-1.16,-146.6,3.3,-4.9,3,113,11.40,2.55,-10.12,0.000,4,0.179,0.084,2414,3014,3138
$GC,287,-1.16,-146.6,32.5,-14.6,12,291,0.00,2.47,0.00,0.000,6,0.000,0.064,2414,1593,3139
$GC,609,-1.16,-146.6,75.9,-13.0,28,613,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,207,3139
$GC,884,-1.16,-146.6,111.4,-12.1,40,888,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1621,3140
$GC,1200,-1.16,-146.6,140.2,-8.3,55,1205,0.00,2.55,0.00,0.000,4,0.000,0.078,2414,212,3141
$GC,1325,-1.16,-146.6,152.1,-9.4,60,1331,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1603,3142
$GC,1642,-1.16,-146.6,191.0,-13.7,76,1645,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,203,3142
$GC,1693,-1.16,-146.6,198.9,-14.8,78,1697,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1609,3142
$GC,2014,-1.16,-146.6,240.4,-11.6,94,2019,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,210,3142
$GC,2129,-1.16,-146.6,253.4,-11.4,99,2133,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1597,3142
$GC,2456,-1.16,-146.6,283.9,-8.0,115,2460,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,203,3142
$GC,2646,-1.16,-146.6,304.1,-10.8,123,2652,0.00,2.40,0.00,0.000,6,0.000,0.062,2414,1598,3142
$STATE,2753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2753,begin apogee
$GC,2762,-0.32,0.0,314.9,9.7,129,2890,0.90,0.00,124.47,0.867,6,0.105,0.000,2601,2198,2539
$STATE,2891,end apogee,CONTROL_FINISHED_OK
$STATE,2891,begin climb
$GC,2895,1.16,146.6,318.3,0.0,135,3024,1.48,2.65,118.53,0.836,4,0.074,0.076,2928,789,1940
$GC,3097,1.18,154.1,305.3,7.7,144,3109,0.00,2.50,7.45,0.683,6,0.000,0.064,2928,2199,1909
$GC,3419,1.41,300.3,289.9,2.4,160,3544,0.22,2.78,116.20,0.825,4,0.061,0.107,2993,3603,1314
$GC,3591,1.46,330.9,278.2,6.8,168,3623,0.00,2.53,25.45,0.781,6,0.000,0.072,2993,2202,1190
$GC,3940,1.46,330.9,246.6,11.7,185,3944,0.00,2.58,0.00,0.000,4,0.000,0.078,2993,782,1185
$GC,4007,1.46,330.9,237.5,13.3,188,4011,0.00,2.50,0.00,0.000,6,0.000,0.062,2993,2210,1184
$GC,4334,1.46,330.9,193.4,13.6,204,4339,0.00,2.58,0.00,0.000,4,0.000,0.074,2993,785,1184
$GC,4413,1.46,330.9,182.4,13.4,207,4419,0.00,2.50,0.00,0.000,6,0.000,0.062,2993,2210,1184
$GC,4730,1.46,330.9,146.5,10.8,223,4735,0.00,2.58,0.00,0.000,4,0.000,0.075,2993,782,1182
$GC,4781,1.46,330.9,140.4,11.1,225,4786,0.00,2.50,0.00,0.000,6,0.000,0.063,2993,2209,1183
$GC,5100,1.46,330.9,103.1,13.0,240,5104,0.00,2.55,0.00,0.000,4,0.000,0.075,2993,786,1183
$GC,5156,1.46,330.9,95.0,13.8,242,5162,0.00,2.47,0.00,0.000,6,0.000,0.063,2993,2201,1183
$GC,5473,1.46,330.9,58.9,11.1,258,5477,0.00,2.53,0.00,0.000,4,0.000,0.075,2993,791,1182
$GC,5585,1.46,330.9,46.2,12.3,263,5589,0.00,2.47,0.00,0.000,6,0.000,0.063,2993,2205,1182
$GC,5906,1.46,330.9,7.8,12.4,279,5911,0.00,2.53,0.00,0.000,4,0.000,0.073,2993,786,1182
$GC,5948,1.46,330.9,2.3,15.7,281,5952,0.00,2.20,0.00,0.000,3,0.000,0.064,2993,2054,1182
$STATE,5953,end climb,SURFACE_DEPTH_REACHED
$STATE,5953,begin surface coast
$FINISH,1.0,1.026954
$STATE,5957,end surface coast,CONTROL_FINISHED_OK
$STATE,5957,begin surface
$SM_CCo,6043,0.00,0.000,0,0,1180,333.36
$SM_GC,1.16,11.32,0.00,0.00,0.056,0.000,0.000,373,1590,1180,-10.52,-0.28,333.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1900
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.1,74.2
$24V_AH,23.8,27.358
$10V_AH,10.2,15.055
$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,25.325,71.875,392.100,0.000,0.000,37.760,27.226,148.665,1.500,0.000,0.000,14.312,590.850,4060.992,438.564,885.432,401.798,0.000,924.460,0.000,863.668,0.000,12.107,0.000
$DEVICE_MAMPS,178.711,106.613,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.205,188.880,261.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12840,281
$CAP_FILE_SIZE,56120,0
$CFSIZE,254472192,242262016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,300908,034208,6401.639,-1135.905,10,1.6,28,-11.6