version: 66.04
glider: 14
mission: 6
dive: 199
start: 9 30 108 20 55 53
data:
$ID,14
$MISSION,6
$DIVE,199
$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,-653895.62
$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,24
$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
$GPS1,205007,6405.473,-1205.837,24,1.3,24,-11.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-56.9
$GPS2,205532,6405.497,-1205.665,8,1.3,13,-11.9
$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,280.2,31853,-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,17,-1.16,-146.6,0.0,0.0,0,84,0.00,0.00,-65.78,0.000,2,0.000,0.000,375,1591,2914
$GC,89,-1.16,-146.6,3.9,-4.5,4,112,11.40,2.53,-4.85,0.000,4,0.178,0.084,2413,3009,3139
$GC,252,-1.16,-146.6,30.2,-11.6,11,257,0.00,2.45,0.00,0.000,6,0.000,0.065,2413,1602,3141
$GC,580,-1.16,-146.6,76.4,-15.5,27,584,0.00,2.53,0.00,0.000,4,0.000,0.082,2414,203,3141
$GC,636,-1.16,-146.6,86.8,-18.5,29,642,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1614,3141
$GC,953,-1.16,-146.6,132.8,-13.6,45,957,0.00,2.55,0.00,0.000,4,0.000,0.078,2414,203,3142
$GC,1166,-1.16,-146.6,161.7,-13.4,54,1172,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1599,3143
$GC,1483,-1.16,-146.6,196.0,-9.8,70,1487,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,206,3143
$GC,1538,-1.16,-146.6,202.1,-10.6,72,1544,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1600,3144
$GC,1855,-1.16,-146.6,234.4,-10.5,88,1859,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,210,3144
$GC,1940,-1.16,-146.6,243.7,-10.7,92,1944,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1602,3144
$GC,2268,-1.16,-146.6,278.8,-11.0,108,2272,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,211,3144
$GC,2402,-1.16,-146.6,294.6,-11.1,114,2407,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1598,3144
$GC,2728,-1.16,-146.6,326.0,-10.2,130,2732,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,203,3144
$GC,2790,-1.16,-146.6,333.5,-11.3,133,2794,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1598,3144
$GC,3118,-1.16,-146.6,370.6,-11.3,149,3121,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,201,3144
$GC,3247,-1.16,-146.6,385.8,-11.5,154,3253,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1600,3144
$STATE,3478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3478,begin apogee
$GC,3488,-0.32,0.0,410.3,9.1,166,3624,0.93,0.00,127.38,0.931,6,0.120,0.000,2599,2202,2539
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3628,1.16,146.6,414.4,0.0,173,3757,1.55,2.80,119.60,0.917,4,0.091,0.110,2927,3597,1940
$GC,4031,1.20,166.4,387.6,7.3,191,4054,0.00,2.50,17.00,0.849,6,0.000,0.071,2927,2196,1859
$GC,4378,1.25,200.5,363.9,6.7,208,4413,0.00,2.65,28.25,0.884,4,0.000,0.081,2927,797,1721
$GC,4505,1.25,203.0,353.8,7.9,213,4515,0.00,2.47,3.78,0.563,6,0.000,0.064,2927,2201,1710
$GC,4844,1.27,212.6,326.5,7.6,230,4859,0.10,2.58,9.43,0.789,4,0.071,0.075,2960,786,1671
$GC,4945,1.27,212.6,317.2,9.1,233,4951,0.00,2.50,0.00,0.000,6,0.000,0.064,2961,2200,1670
$GC,5261,1.27,212.6,289.8,8.6,249,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2200,1669
$GC,5570,1.27,212.6,262.1,9.1,264,5574,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,792,1668
$GC,5662,1.27,212.6,253.2,9.8,268,5666,0.00,2.47,0.00,0.000,6,0.000,0.064,2960,2206,1668
$GC,5994,1.27,212.6,219.9,9.7,284,5999,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,788,1668
$GC,6040,1.27,212.6,215.0,10.7,286,6044,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2205,1668
$GC,6368,1.27,212.6,176.3,13.2,302,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2205,1668
$GC,6677,1.27,212.6,134.7,12.4,317,6681,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,785,1668
$GC,6778,1.27,212.6,123.0,10.7,321,6784,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2206,1667
$GC,7095,1.38,283.1,101.4,5.3,337,7159,0.00,2.62,55.10,0.730,4,0.000,0.075,2960,791,1383
$GC,7183,1.38,283.1,94.4,10.2,341,7188,0.00,2.50,0.00,0.000,6,0.000,0.063,2960,2205,1384
$GC,7512,1.38,283.1,59.2,10.7,357,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2204,1383
$GC,7821,1.38,283.1,24.8,10.6,372,7825,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,790,1383
$GC,7921,1.38,283.1,11.4,12.4,376,7928,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2197,1383
$STATE,8008,end climb,SURFACE_DEPTH_REACHED
$STATE,8008,begin surface coast
$FINISH,0.5,1.010294
$STATE,8030,end surface coast,CONTROL_FINISHED_OK
$STATE,8030,begin surface
$SM_CCo,8055,9.90,0.597,0,0,1316,300.00
$SM_GC,1.71,0.00,0.00,9.90,0.000,0.000,0.597,378,1591,1316,-10.57,-0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1899
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,326.0,92.7
$24V_AH,23.7,28.233
$10V_AH,10.2,15.456
$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,25.050,82.075,360.525,9.900,0.000,37.758,36.064,134.063,2.250,0.000,0.000,14.994,762.800,5673.625,441.943,1095.739,427.111,0.000,1017.914,0.000,1068.709,0.000,17.009,0.000
$DEVICE_MAMPS,177.944,109.681,931.138,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.568,258.037,297.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19145,382
$CAP_FILE_SIZE,67714,0
$CFSIZE,254472192,241938432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,300908,231157,6406.357,-1205.024,34,5.3,53,-11.9