version: 66.04
glider: 14
mission: 6
dive: 117
start: 9 22 108 9 2 34
data:
$ID,14
$MISSION,6
$DIVE,117
$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,-652288.44
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$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,28
$R_STBD_OVSHOOT,53
$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
$GPS1,085338,6445.106,-1031.195,33,1.2,33,-11.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.1
$GPS2,090209,6445.040,-1031.156,11,1.6,11,-11.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$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,348.6,17991,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.08,0.000,2,0.000,0.000,378,1637,2669
$GC,82,-1.16,-146.6,4.0,-6.2,3,113,11.50,2.60,-12.10,0.000,4,0.175,0.092,2443,225,3139
$GC,321,-1.16,-146.6,36.8,-13.2,13,327,0.00,2.30,0.00,0.000,6,0.000,0.054,2443,1604,3139
$GC,639,-1.16,-146.6,74.1,-11.5,29,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1606,3140
$GC,947,-1.16,-146.6,103.7,-9.0,44,951,0.00,2.53,0.00,0.000,4,0.000,0.077,2443,212,3142
$GC,1010,-1.16,-146.6,109.8,-9.3,47,1014,0.00,2.33,0.00,0.000,6,0.000,0.055,2443,1598,3142
$GC,1338,-1.16,-146.6,141.7,-10.5,63,1342,0.00,2.45,0.00,0.000,4,0.000,0.073,2444,2980,3145
$GC,1401,-1.16,-146.6,148.5,-10.4,66,1405,0.00,2.38,0.00,0.000,6,0.000,0.062,2443,1604,3146
$GC,1728,-1.16,-146.6,184.3,-11.3,82,1733,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,210,3147
$GC,1785,-1.16,-146.6,191.3,-12.5,84,1791,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1609,3147
$GC,2102,-1.16,-146.6,225.8,-10.9,100,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1610,3147
$GC,2410,-1.16,-146.6,260.7,-11.0,115,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1610,3147
$GC,2719,-1.16,-146.6,291.6,-9.4,130,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1611,3147
$GC,3029,-1.16,-146.6,319.5,-8.7,145,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1610,3147
$GC,3338,-1.16,-146.6,347.0,-9.2,160,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1610,3147
$GC,3648,-1.16,-146.6,375.4,-9.3,175,3652,0.00,2.60,0.00,0.000,4,0.000,0.091,2443,212,3147
$GC,3698,-1.16,-146.6,380.5,-9.0,177,3703,0.00,2.35,0.00,0.000,6,0.000,0.056,2443,1595,3147
$GC,4015,-1.16,-146.6,409.9,-8.8,192,4019,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,212,3147
$GC,4087,-1.16,-146.6,417.8,-10.8,195,4092,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1598,3147
$STATE,4200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4200,begin apogee
$GC,4210,-0.32,0.0,429.7,10.0,201,4343,0.95,0.00,128.38,1.049,6,0.122,0.000,2633,2190,2538
$STATE,4344,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4348,1.16,146.6,434.0,0.0,208,4478,1.50,2.80,121.57,1.016,4,0.077,0.109,2956,3598,1940
$GC,4607,1.20,169.6,418.5,7.1,220,4632,0.00,2.50,19.70,0.961,6,0.000,0.067,2957,2196,1846
$GC,4961,1.29,226.5,392.8,5.8,237,5016,0.12,2.65,47.42,0.997,4,0.071,0.084,2991,798,1614
$GC,5062,1.29,226.5,384.2,9.0,241,5068,0.00,2.45,0.00,0.000,6,0.000,0.056,2991,2207,1614
$GC,5379,1.29,226.5,350.2,11.4,257,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2207,1613
$GC,5688,1.29,226.5,319.1,9.7,272,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2208,1611
$GC,5997,1.29,226.5,291.9,8.7,287,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2208,1610
$GC,6306,1.29,226.5,266.2,8.4,302,6310,0.00,2.58,0.00,0.000,4,0.000,0.077,2991,793,1608
$GC,6398,1.29,226.5,257.1,10.4,306,6402,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2208,1608
$GC,6731,1.29,226.5,223.0,10.3,322,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2208,1607
$GC,7040,1.29,226.5,191.3,9.8,337,7045,0.00,2.55,0.00,0.000,4,0.000,0.076,2990,794,1607
$GC,7119,1.29,226.5,182.9,10.1,340,7125,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2210,1607
$GC,7436,1.29,226.5,152.4,9.6,356,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2210,1606
$GC,7745,1.29,226.5,120.3,12.0,371,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2210,1604
$GC,8054,1.29,226.5,87.0,11.1,386,8059,0.00,2.58,0.00,0.000,4,0.000,0.091,2991,3599,1601
$GC,8150,1.29,226.5,75.2,12.8,390,8154,0.00,2.45,0.00,0.000,6,0.000,0.062,2991,2190,1601
$GC,8467,1.29,226.5,39.4,10.6,405,8471,0.00,2.58,0.00,0.000,4,0.000,0.081,2991,3602,1601
$GC,8536,1.29,226.5,31.0,12.8,408,8540,0.00,2.42,0.00,0.000,6,0.000,0.062,2991,2202,1601
$STATE,8825,end climb,SURFACE_DEPTH_REACHED
$STATE,8825,begin surface coast
$FINISH,0.6,1.008141
$STATE,8846,end surface coast,CONTROL_FINISHED_OK
$STATE,8846,begin surface
$SM_CCo,8873,39.03,0.707,0,0,1316,300.00
$SM_GC,1.65,0.00,0.00,39.03,0.000,0.000,0.707,373,1605,1316,-10.73,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1943
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.3,37.9
$24V_AH,23.6,19.609
$10V_AH,10.1,11.486
$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,25.450,61.875,317.075,39.025,0.000,77.832,60.684,195.929,3.250,0.000,0.000,12.542,802.671,6647.979,423.709,1009.547,553.710,0.000,946.154,0.000,990.069,0.000,21.708,0.000
$DEVICE_MAMPS,174.876,108.914,1049.256,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.551,286.627,326.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22194,423
$CAP_FILE_SIZE,67543,0
$CFSIZE,254472192,244858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220908,113157,6446.863,-1034.241,7,1.5,7,-11.3