version: 66.04
glider: 14
mission: 6
dive: 192
start: 9 30 108 5 55 13
data:
$ID,14
$MISSION,6
$DIVE,192
$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,-653767.06
$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,20
$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
$GPS1,054638,6401.560,-1143.668,34,1.5,34,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.9
$GPS2,055453,6401.648,-1144.043,9,8.9,28,-11.7
$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,288.9,49730,-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,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,97,0.00,0.00,-73.90,0.000,6,0.000,0.000,374,1592,3140
$GC,102,-1.16,-146.6,5.9,-7.6,4,123,11.38,2.53,0.00,0.000,4,0.178,0.071,2411,3007,3143
$GC,320,-1.16,-146.6,45.9,-12.8,13,327,0.00,2.45,0.00,0.000,6,0.000,0.065,2411,1599,3145
$GC,637,-1.16,-146.6,86.3,-12.3,29,641,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,203,3145
$GC,817,-1.16,-146.6,108.3,-11.7,37,821,0.00,2.42,0.00,0.000,6,0.000,0.060,2411,1616,3145
$GC,1140,-1.16,-146.6,144.6,-10.6,53,1144,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,211,3146
$GC,1275,-1.16,-146.6,161.3,-12.9,59,1279,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1609,3146
$GC,1596,-1.16,-146.6,198.5,-11.3,75,1601,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,211,3146
$GC,1663,-1.16,-146.6,207.5,-13.1,78,1668,0.00,2.40,0.00,0.000,6,0.000,0.063,2411,1599,3146
$GC,1986,-1.16,-146.6,245.7,-11.4,94,1990,0.00,2.53,0.00,0.000,4,0.000,0.082,2411,200,3146
$GC,2082,-1.16,-146.6,258.0,-14.1,98,2086,0.00,2.42,0.00,0.000,6,0.000,0.063,2411,1605,3146
$GC,2403,-1.16,-146.6,295.3,-10.9,114,2408,0.00,2.53,0.00,0.000,4,0.000,0.083,2411,212,3146
$GC,2538,-1.16,-146.6,310.8,-11.3,120,2542,0.00,2.40,0.00,0.000,6,0.000,0.063,2411,1601,3146
$GC,2860,-1.16,-146.6,344.2,-10.4,136,2864,0.00,2.55,0.00,0.000,4,0.000,0.084,2410,205,3147
$STATE,2891,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2891,begin apogee
$GC,2903,-0.32,0.0,348.4,11.9,137,3035,0.90,0.00,124.50,0.897,6,0.113,0.000,2599,2193,2539
$STATE,3035,end apogee,CONTROL_FINISHED_OK
$STATE,3035,begin climb
$GC,3039,1.16,146.6,355.1,0.0,144,3167,1.50,2.83,118.47,0.870,4,0.078,0.110,2927,3598,1940
$GC,3440,1.16,146.6,328.4,8.2,162,3444,0.00,2.50,0.00,0.000,6,0.000,0.072,2926,2199,1939
$GC,3761,1.16,146.6,297.4,10.0,178,3766,0.00,2.58,0.00,0.000,4,0.000,0.081,2926,787,1938
$GC,3892,1.16,146.6,284.4,10.2,184,3897,0.00,2.47,0.00,0.000,6,0.000,0.064,2926,2198,1937
$GC,4220,1.30,231.1,264.6,4.8,200,4293,0.15,2.60,66.80,0.838,4,0.064,0.076,2971,794,1595
$GC,4361,1.30,231.1,253.4,10.0,206,4367,0.00,2.50,0.00,0.000,6,0.000,0.065,2971,2199,1595
$GC,4677,1.30,231.1,223.2,9.4,222,4681,0.00,2.55,0.00,0.000,4,0.000,0.076,2971,792,1593
$GC,4767,1.30,231.1,213.8,10.8,226,4771,0.00,2.47,0.00,0.000,6,0.000,0.064,2971,2201,1593
$GC,5094,1.30,231.1,179.0,11.2,242,5098,0.00,2.53,0.00,0.000,4,0.000,0.076,2971,792,1592
$GC,5156,1.30,231.1,171.8,11.3,245,5161,0.00,2.47,0.00,0.000,6,0.000,0.064,2970,2206,1592
$GC,5484,1.30,231.1,136.8,11.3,261,5489,0.00,2.55,0.00,0.000,4,0.000,0.076,2971,792,1592
$GC,5558,1.30,231.1,127.2,13.5,264,5562,0.00,2.47,0.00,0.000,6,0.000,0.064,2971,2200,1592
$GC,5876,1.30,231.1,93.9,9.0,279,5880,0.00,2.53,0.00,0.000,4,0.000,0.076,2971,791,1591
$GC,5966,1.30,231.1,85.4,9.0,283,5970,0.00,2.47,0.00,0.000,6,0.000,0.064,2971,2202,1592
$GC,6288,1.30,231.1,55.1,9.6,299,6292,0.00,2.55,0.00,0.000,4,0.000,0.076,2971,788,1592
$GC,6423,1.30,231.1,40.3,11.4,305,6427,0.00,2.47,0.00,0.000,6,0.000,0.064,2971,2200,1592
$GC,6745,1.30,231.1,7.6,9.2,321,6749,0.00,2.53,0.00,0.000,4,0.000,0.078,2971,792,1592
$STATE,6797,end climb,SURFACE_DEPTH_REACHED
$STATE,6797,begin surface coast
$FINISH,1.3,1.027015
$STATE,6805,end surface coast,CONTROL_FINISHED_OK
$STATE,6806,begin surface
$SM_CCo,6832,34.97,0.650,0,0,1315,300.00
$SM_GC,1.45,0.00,0.00,34.97,0.000,0.000,0.650,376,1612,1315,-10.58,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1894
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,327.2,30.7
$24V_AH,23.8,27.549
$10V_AH,10.2,15.144
$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,25.200,80.250,309.775,34.975,0.000,76.872,71.102,146.198,3.000,0.000,0.000,31.225,681.220,4736.080,426.256,1025.544,505.413,0.000,950.862,0.000,982.634,0.000,22.587,0.000
$DEVICE_MAMPS,177.944,109.681,896.623,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.053,219.010,282.544,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15986,324
$CAP_FILE_SIZE,62321,0
$CFSIZE,254472192,242188288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,300908,075101,6403.042,-1148.249,36,1.3,36,-11.8