version: 66.04
glider: 14
mission: 6
dive: 193
start: 9 30 108 7 56 9
data:
$ID,14
$MISSION,6
$DIVE,193
$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,-653782.5
$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,23
$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
$GPS1,075101,6403.042,-1148.249,36,1.3,36,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.7
$GPS2,075545,6403.113,-1148.265,13,1.4,13,-11.8
$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,286.2,46057,-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,-60.17,0.000,2,0.000,0.000,376,1611,2728
$GC,83,-1.16,-146.6,3.3,-4.9,3,114,11.40,2.55,-11.00,0.000,4,0.179,0.087,2413,3002,3139
$GC,261,-1.16,-146.6,27.0,-12.5,11,266,0.00,2.45,0.00,0.000,6,0.000,0.067,2413,1602,3140
$GC,589,-1.16,-146.6,72.3,-14.4,27,593,0.00,2.53,0.00,0.000,4,0.000,0.083,2414,208,3140
$GC,697,-1.16,-146.6,88.9,-15.1,32,701,0.00,2.42,0.00,0.000,6,0.000,0.061,2413,1617,3140
$GC,1025,-1.16,-146.6,133.4,-12.6,48,1029,0.00,2.55,0.00,0.000,4,0.000,0.079,2413,209,3141
$GC,1098,-1.16,-146.6,143.3,-13.2,51,1102,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3141
$GC,1415,-1.16,-146.6,175.7,-9.3,66,1419,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,203,3142
$GC,1529,-1.16,-146.6,187.1,-10.6,71,1533,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1601,3142
$GC,1856,-1.16,-146.6,229.6,-14.3,87,1860,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,203,3143
$GC,1957,-1.16,-146.6,245.3,-15.4,91,1963,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1599,3143
$GC,2274,-1.16,-146.6,285.6,-10.9,107,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3143
$GC,2582,-1.16,-146.6,319.0,-10.3,122,2587,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,206,3143
$GC,2746,-1.16,-146.6,337.7,-11.2,129,2750,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1607,3143
$STATE,2858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2858,begin apogee
$GC,2867,-0.32,0.0,349.4,10.1,135,3002,0.90,0.00,125.93,0.885,6,0.097,0.000,2603,2195,2539
$STATE,3003,end apogee,CONTROL_FINISHED_OK
$STATE,3003,begin climb
$GC,3006,1.16,146.6,356.0,0.0,142,3134,1.50,2.80,118.97,0.869,4,0.082,0.110,2927,3589,1941
$GC,3284,1.16,146.6,340.2,8.7,154,3291,0.00,2.50,0.00,0.000,6,0.000,0.072,2927,2195,1940
$GC,3601,1.17,152.6,313.4,7.8,170,3615,0.00,2.65,6.47,0.696,4,0.000,0.081,2927,788,1915
$GC,3790,1.22,183.7,298.9,6.8,178,3823,0.00,2.50,25.45,0.830,6,0.000,0.064,2925,2208,1790
$GC,4133,1.29,227.2,277.0,6.3,195,4176,0.12,2.62,36.10,0.834,4,0.067,0.075,2967,791,1611
$GC,4233,1.29,227.2,268.1,9.4,199,4238,0.00,2.50,0.00,0.000,6,0.000,0.064,2967,2205,1609
$GC,4550,1.29,227.2,235.4,11.1,214,4554,0.00,2.58,0.00,0.000,4,0.000,0.076,2967,786,1608
$GC,4628,1.29,227.2,226.5,10.7,217,4634,0.00,2.50,0.00,0.000,6,0.000,0.064,2967,2199,1608
$GC,4945,1.30,231.1,197.3,7.9,233,4955,0.00,2.58,3.90,0.537,4,0.000,0.075,2967,791,1595
$GC,5029,1.30,231.1,190.1,8.8,236,5035,0.00,2.50,0.00,0.000,6,0.000,0.064,2967,2208,1595
$GC,5346,1.30,231.1,155.6,13.5,252,5349,0.00,2.55,0.00,0.000,4,0.000,0.074,2967,786,1596
$GC,5424,1.30,231.1,143.4,15.2,255,5429,0.00,2.47,0.00,0.000,6,0.000,0.064,2967,2199,1595
$GC,5743,1.30,231.1,100.7,11.2,270,5747,0.00,2.53,0.00,0.000,4,0.000,0.075,2967,786,1596
$GC,5833,1.30,231.1,90.5,11.5,274,5837,0.00,2.47,0.00,0.000,6,0.000,0.064,2967,2200,1596
$GC,6155,1.30,231.1,62.0,8.2,290,6159,0.00,2.62,0.00,0.000,4,0.000,0.099,2967,3602,1596
$GC,6313,1.30,231.1,46.5,9.2,297,6317,0.00,2.47,0.00,0.000,6,0.000,0.067,2967,2190,1595
$GC,6634,1.30,231.1,17.8,11.2,313,6639,0.00,2.60,0.00,0.000,4,0.000,0.087,2967,3602,1595
$GC,6730,1.30,231.1,8.2,8.7,317,6735,0.00,2.45,0.00,0.000,6,0.000,0.066,2967,2202,1596
$STATE,6796,end climb,SURFACE_DEPTH_REACHED
$STATE,6796,begin surface coast
$FINISH,0.4,1.026339
$STATE,6820,end surface coast,CONTROL_FINISHED_OK
$STATE,6820,begin surface
$SM_CCo,6846,36.97,0.651,0,0,1316,300.00
$SM_GC,1.64,0.00,0.00,36.97,0.000,0.000,0.651,382,1600,1316,-10.55,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.1,105.4
$24V_AH,23.8,27.643
$10V_AH,10.2,15.186
$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,25.100,77.675,316.825,36.975,0.000,39.118,31.858,100.600,1.500,0.000,0.000,14.793,674.738,4729.271,430.815,975.501,371.764,0.000,945.532,0.000,950.446,0.000,12.190,0.000
$DEVICE_MAMPS,178.711,109.681,885.118,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.077,216.814,277.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15936,321
$CAP_FILE_SIZE,60924,0
$CFSIZE,254472192,242159616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,300908,095202,6404.556,-1149.777,10,1.4,27,-11.8