version: 66.04
glider: 14
mission: 6
dive: 195
start: 9 30 108 11 56 11
data:
$ID,14
$MISSION,6
$DIVE,195
$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,-653818.19
$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,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
$GPS1,114807,6405.423,-1150.536,11,0.9,27,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-58.9
$GPS2,115550,6405.363,-1150.625,12,1.6,17,-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,280.9,44019,-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,-60.05,0.000,2,0.000,0.000,379,1594,2741
$GC,83,-1.16,-146.6,3.5,-5.6,3,110,11.38,2.55,-9.48,0.000,4,0.177,0.086,2414,3014,3138
$GC,307,-1.16,-146.6,37.0,-14.6,13,311,0.00,2.47,0.00,0.000,6,0.000,0.066,2414,1601,3140
$GC,630,-1.16,-146.6,84.6,-13.9,29,634,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,203,3140
$GC,770,-1.16,-146.6,103.4,-12.8,35,775,0.00,2.42,0.00,0.000,6,0.000,0.060,2414,1617,3141
$GC,1093,-1.16,-146.6,140.1,-11.0,51,1097,0.00,2.55,0.00,0.000,4,0.000,0.079,2414,206,3141
$GC,1166,-1.16,-146.6,148.8,-12.4,54,1170,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1604,3142
$GC,1482,-1.16,-146.6,184.7,-11.1,69,1487,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3143
$GC,1590,-1.16,-146.6,197.1,-11.0,74,1594,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1601,3143
$GC,1924,-1.16,-146.6,236.1,-12.0,90,1928,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,209,3143
$GC,1974,-1.16,-146.6,242.8,-13.0,92,1978,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1599,3143
$GC,2296,-1.16,-146.6,283.1,-12.5,108,2300,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,201,3143
$GC,2325,-1.16,-146.6,287.0,-14.3,109,2329,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1599,3143
$GC,2641,-1.16,-146.6,325.7,-11.9,124,2645,0.00,2.50,0.00,0.000,4,0.000,0.083,2414,2992,3143
$GC,2692,-1.16,-146.6,331.4,-10.9,126,2696,0.00,2.42,0.00,0.000,6,0.000,0.069,2414,1597,3143
$STATE,2763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2763,begin apogee
$GC,2773,-0.32,0.0,339.4,10.9,130,2907,0.93,0.00,126.32,0.875,6,0.113,0.000,2602,2197,2539
$STATE,2908,end apogee,CONTROL_FINISHED_OK
$STATE,2908,begin climb
$GC,2912,1.16,146.6,347.5,0.0,137,3040,1.55,2.75,119.43,0.864,4,0.093,0.104,2928,3593,1940
$GC,3153,1.20,168.7,336.5,7.2,148,3177,0.00,2.50,18.73,0.805,6,0.000,0.071,2928,2198,1850
$GC,3501,1.20,170.0,309.8,8.0,165,3506,0.00,2.65,0.00,0.000,4,0.000,0.097,2928,3600,1849
$GC,3557,1.20,170.0,305.2,8.3,167,3563,0.00,2.50,0.00,0.000,6,0.000,0.071,2928,2199,1849
$GC,3874,1.20,170.0,280.3,8.1,183,3878,0.00,2.65,0.00,0.000,4,0.000,0.096,2928,3601,1848
$GC,3965,1.20,170.0,272.4,9.1,187,3969,0.00,2.50,0.00,0.000,6,0.000,0.072,2928,2199,1848
$GC,4286,1.20,170.0,243.2,9.3,203,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2200,1847
$GC,4595,1.20,170.0,214.4,8.5,218,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2200,1846
$GC,4905,1.20,170.0,188.7,8.3,233,4908,0.00,2.55,0.00,0.000,4,0.000,0.082,2928,791,1845
$GC,4956,1.20,170.0,184.5,8.1,235,4960,0.00,2.45,0.00,0.000,6,0.000,0.061,2927,2206,1845
$GC,5278,1.34,255.0,165.2,4.8,251,5354,0.17,2.65,68.10,0.776,4,0.062,0.074,2983,791,1498
$GC,5433,1.34,255.0,154.0,9.1,258,5438,0.00,2.47,0.00,0.000,6,0.000,0.062,2984,2203,1497
$GC,5757,1.34,255.0,122.1,12.6,274,5761,0.00,2.55,0.00,0.000,4,0.000,0.075,2983,786,1496
$GC,5790,1.34,255.0,116.8,14.4,275,5797,0.00,2.47,0.00,0.000,6,0.000,0.063,2984,2198,1496
$GC,6108,1.34,255.0,86.5,8.8,291,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,1496
$GC,6417,1.34,255.0,47.3,12.4,306,6421,0.00,2.53,0.00,0.000,4,0.000,0.076,2983,791,1496
$GC,6489,1.34,255.0,38.8,11.1,309,6494,0.00,2.47,0.00,0.000,6,0.000,0.063,2983,2203,1495
$GC,6808,1.34,255.0,5.7,9.5,324,6812,0.00,2.53,0.00,0.000,4,0.000,0.076,2984,791,1495
$STATE,6837,end climb,SURFACE_DEPTH_REACHED
$STATE,6838,begin surface coast
$FINISH,0.7,1.026926
$STATE,6846,end surface coast,CONTROL_FINISHED_OK
$STATE,6846,begin surface
$SM_CCo,6873,23.83,0.646,0,0,1315,300.25
$SM_GC,1.37,0.00,0.00,23.83,0.000,0.000,0.646,383,1615,1315,-10.54,0.42,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.3,73.3
$24V_AH,23.8,27.834
$10V_AH,10.2,15.269
$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,25.450,75.275,332.575,23.825,0.000,76.591,57.544,143.717,2.000,0.000,0.000,18.574,664.510,4910.321,419.956,891.610,487.072,0.000,901.685,0.000,867.306,0.000,13.721,0.000
$DEVICE_MAMPS,177.177,104.312,875.147,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.533,220.410,278.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16023,326
$CAP_FILE_SIZE,60144,0
$CFSIZE,254472192,242094080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,300908,135223,6404.678,-1153.442,11,2.5,30,-11.8