version: 66.04
glider: 14
mission: 6
dive: 196
start: 9 30 108 13 58 38
data:
$ID,14
$MISSION,6
$DIVE,196
$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,-653854.56
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,135223,6404.678,-1153.442,11,2.5,30,-11.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.9
$GPS2,135818,6404.600,-1153.731,14,2.3,33,-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,282.8,41506,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,2,0.000,0.000,384,1615,2796
$GC,83,-1.16,-146.6,3.8,-5.5,3,109,11.32,2.50,-7.82,0.000,4,0.176,0.086,2415,2991,3139
$GC,288,-1.16,-146.6,33.5,-12.9,12,293,0.00,2.42,0.00,0.000,6,0.000,0.066,2415,1598,3141
$GC,611,-1.16,-146.6,74.9,-12.4,28,615,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,201,3141
$GC,886,-1.16,-146.6,118.3,-15.8,40,890,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1603,3142
$GC,1202,-1.16,-146.6,165.1,-14.2,55,1206,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,201,3143
$GC,1368,-1.16,-146.6,188.5,-13.9,62,1372,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1605,3143
$GC,1685,-1.16,-146.6,227.1,-11.4,77,1689,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,204,3143
$GC,1741,-1.16,-146.6,233.7,-11.8,79,1747,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1605,3143
$GC,2057,-1.16,-146.6,267.9,-11.1,95,2062,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,204,3143
$GC,2138,-1.16,-146.6,277.8,-12.0,98,2144,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1602,3142
$GC,2454,-1.16,-146.6,313.2,-10.4,114,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3143
$GC,2764,-1.16,-146.6,345.4,-10.8,129,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3143
$STATE,2925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2925,begin apogee
$GC,2935,-0.32,0.0,363.9,11.2,137,3070,0.90,0.00,127.07,0.891,6,0.104,0.000,2602,2191,2539
$STATE,3071,end apogee,CONTROL_FINISHED_OK
$STATE,3071,begin climb
$GC,3075,1.16,146.6,369.7,0.0,144,3202,1.48,2.80,119.38,0.881,4,0.071,0.110,2929,3599,1941
$GC,3289,1.20,171.9,357.4,7.0,154,3318,0.00,2.50,21.52,0.830,6,0.000,0.071,2929,2197,1837
$GC,3642,1.20,171.9,329.5,8.5,171,3646,0.00,2.65,0.00,0.000,4,0.000,0.097,2929,3599,1836
$GC,3737,1.20,171.9,320.5,9.2,175,3742,0.00,2.50,0.00,0.000,6,0.000,0.071,2929,2200,1836
$GC,4054,1.20,171.9,294.1,8.1,190,4058,0.00,2.65,0.00,0.000,4,0.000,0.097,2929,3601,1835
$GC,4127,1.20,171.9,288.2,8.4,193,4131,0.00,2.50,0.00,0.000,6,0.000,0.071,2929,2200,1834
$GC,4443,1.23,189.6,264.7,7.3,208,4462,0.00,0.00,14.55,0.802,6,0.000,0.000,2929,2201,1766
$GC,4773,1.28,218.1,240.7,6.9,224,4803,0.10,2.65,24.45,0.815,4,0.071,0.082,2961,785,1649
$GC,4849,1.28,218.1,234.1,9.0,227,4853,0.00,2.50,0.00,0.000,6,0.000,0.062,2961,2209,1647
$GC,5165,1.28,218.1,208.6,8.3,242,5169,0.00,2.58,0.00,0.000,4,0.000,0.074,2961,782,1647
$GC,5238,1.28,218.1,201.7,9.6,245,5242,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2202,1646
$GC,5560,1.28,218.1,170.4,10.2,261,5564,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,788,1646
$GC,5638,1.28,218.1,161.8,11.1,264,5644,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2201,1646
$GC,5956,1.28,218.1,128.8,10.5,280,5960,0.00,2.55,0.00,0.000,4,0.000,0.075,2962,785,1646
$GC,6034,1.28,218.1,120.3,10.6,283,6041,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2205,1646
$GC,6353,1.30,231.7,93.1,7.5,299,6374,0.00,2.62,11.52,0.678,4,0.000,0.074,2961,783,1593
$GC,6437,1.30,231.7,84.6,10.9,302,6443,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2198,1593
$GC,6755,1.30,231.7,52.2,10.1,318,6759,0.00,2.53,0.00,0.000,4,0.000,0.075,2961,784,1593
$GC,6896,1.30,231.7,37.2,10.9,324,6900,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2199,1593
$GC,7218,1.30,231.7,4.5,9.5,340,7222,0.00,2.53,0.00,0.000,4,0.000,0.075,2961,785,1593
$STATE,7242,end climb,SURFACE_DEPTH_REACHED
$STATE,7242,begin surface coast
$FINISH,0.6,1.026928
$STATE,7256,end surface coast,CONTROL_FINISHED_OK
$STATE,7256,begin surface
$SM_CCo,7283,34.97,0.647,0,0,1316,300.00
$SM_GC,1.31,0.00,0.00,34.97,0.000,0.000,0.647,376,1614,1316,-10.58,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1885
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.6,96.0
$24V_AH,23.8,27.931
$10V_AH,10.2,15.313
$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,24.975,75.550,318.500,34.975,0.000,37.758,32.599,144.372,1.750,0.000,0.000,35.762,694.974,5134.373,436.648,994.359,425.032,0.000,947.186,0.000,951.410,0.000,13.779,0.000
$DEVICE_MAMPS,176.410,110.448,891.254,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.700,230.891,285.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15996,342
$CAP_FILE_SIZE,62140,0
$CFSIZE,254472192,242057216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,300908,160208,6403.721,-1159.131,48,1.8,48,-11.9