version: 66.04
glider: 14
mission: 6
dive: 198
start: 9 30 108 18 26 36
data:
$ID,14
$MISSION,6
$DIVE,198
$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,-653880
$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,23
$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
$GPS1,182117,6403.926,-1204.374,8,1.9,10,-11.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-57.5
$GPS2,182615,6403.958,-1204.403,9,1.8,9,-11.9
$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,285.3,32917,-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,-60.10,0.000,2,0.000,0.000,379,1591,2739
$GC,83,-1.16,-146.6,3.5,-5.2,3,113,11.35,2.55,-10.10,0.000,4,0.176,0.089,2415,3004,3139
$GC,276,-1.16,-146.6,34.0,-13.4,11,283,0.00,2.45,0.00,0.000,6,0.000,0.066,2415,1599,3140
$GC,594,-1.16,-146.6,74.4,-13.1,27,599,0.00,2.53,0.00,0.000,4,0.000,0.082,2414,205,3140
$GC,729,-1.16,-146.6,92.0,-11.0,33,734,0.00,2.42,0.00,0.000,6,0.000,0.059,2415,1619,3141
$GC,1052,-1.16,-146.6,120.2,-8.5,49,1057,0.00,2.55,0.00,0.000,4,0.000,0.078,2415,207,3141
$GC,1231,-1.16,-146.6,136.3,-9.2,57,1235,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1610,3142
$GC,1559,-1.16,-146.6,169.8,-11.3,73,1564,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,203,3142
$GC,1738,-1.16,-146.6,190.8,-11.6,81,1743,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1607,3142
$GC,2066,-1.16,-146.6,231.2,-12.1,97,2071,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3143
$GC,2168,-1.16,-146.6,243.7,-11.6,101,2174,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1603,3142
$GC,2486,-1.16,-146.6,275.7,-9.9,117,2491,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,209,3142
$GC,2543,-1.16,-146.6,282.1,-10.8,119,2549,0.00,2.38,0.00,0.000,6,0.000,0.061,2415,1600,3142
$GC,2859,-1.16,-146.6,317.3,-11.8,135,2863,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,203,3142
$GC,2909,-1.16,-146.6,324.0,-12.9,137,2914,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1600,3142
$GC,3226,-1.16,-146.6,361.2,-10.6,152,3230,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,206,3144
$GC,3344,-1.16,-146.6,374.8,-11.2,157,3348,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1598,3144
$GC,3661,-1.16,-146.6,405.9,-9.5,172,3665,0.00,2.53,0.00,0.000,6,0.000,0.081,2415,205,3144
$STATE,3666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3666,begin apogee
$GC,3678,-0.32,0.0,406.5,9.4,172,3806,0.88,0.00,125.00,0.942,6,0.104,0.000,2601,2194,2539
$STATE,3807,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3811,1.16,146.6,411.9,0.0,178,3939,1.50,2.83,119.85,0.910,4,0.077,0.110,2927,3599,1940
$GC,4064,1.16,146.6,397.6,8.3,189,4070,0.00,2.50,0.00,0.000,6,0.000,0.072,2927,2200,1939
$GC,4380,1.19,164.0,374.3,7.3,205,4402,0.00,2.60,14.98,0.842,4,0.000,0.081,2927,793,1870
$GC,4510,1.19,164.4,363.8,8.0,210,4517,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2203,1869
$GC,4827,1.22,182.4,340.6,7.3,226,4849,0.00,2.60,16.08,0.844,4,0.000,0.074,2927,792,1795
$GC,4914,1.25,200.4,333.9,7.3,229,4935,0.00,2.50,16.12,0.834,6,0.000,0.064,2927,2211,1721
$GC,5246,1.25,200.4,307.1,8.3,245,5250,0.00,2.58,0.00,0.000,4,0.000,0.074,2927,789,1718
$GC,5337,1.25,200.4,298.8,9.2,249,5341,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2200,1718
$GC,5664,1.27,215.9,272.5,7.4,265,5683,0.12,0.00,13.65,0.808,6,0.067,0.000,2967,2201,1657
$GC,5993,1.27,215.9,240.0,10.5,281,5998,0.00,2.53,0.00,0.000,4,0.000,0.074,2967,786,1656
$GC,6103,1.27,215.9,228.1,10.8,286,6107,0.00,2.50,0.00,0.000,6,0.000,0.063,2967,2211,1656
$GC,6430,1.27,215.9,196.9,9.1,302,6434,0.00,2.55,0.00,0.000,4,0.000,0.074,2967,791,1655
$GC,6520,1.27,215.9,188.0,10.1,306,6524,0.00,2.47,0.00,0.000,6,0.000,0.063,2967,2203,1655
$GC,6842,1.30,233.0,161.7,7.4,322,6864,0.00,2.58,14.35,0.737,4,0.000,0.074,2967,787,1589
$GC,6938,1.35,263.9,154.8,6.8,326,6968,0.00,2.47,25.55,0.752,6,0.000,0.063,2967,2199,1463
$GC,7281,1.35,263.9,121.9,11.9,342,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2199,1462
$GC,7590,1.35,263.9,85.7,9.7,357,7594,0.00,2.53,0.00,0.000,4,0.000,0.075,2967,789,1462
$GC,7772,1.37,273.5,71.6,7.6,365,7790,0.00,2.47,9.02,0.641,6,0.000,0.063,2966,2203,1423
$GC,8101,1.39,287.0,45.6,7.5,381,8118,0.00,0.00,12.20,0.649,6,0.000,0.000,2967,2203,1368
$GC,8430,1.39,287.0,10.8,11.9,397,8434,0.00,2.53,0.00,0.000,4,0.000,0.074,2967,788,1367
$GC,8497,1.39,287.0,2.5,11.4,400,8501,0.00,2.20,0.00,0.000,3,0.000,0.061,2967,2060,1368
$STATE,8502,end climb,SURFACE_DEPTH_REACHED
$STATE,8502,begin surface coast
$FINISH,0.7,1.026950
$STATE,8506,end surface coast,CONTROL_FINISHED_OK
$STATE,8506,begin surface
$SM_CCo,8532,10.12,0.603,0,0,1316,300.00
$SM_GC,1.55,0.00,0.00,10.12,0.000,0.000,0.603,375,1592,1316,-10.58,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1914
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.3,63.7
$24V_AH,23.7,28.130
$10V_AH,10.2,15.409
$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,24.950,91.725,366.800,10.125,0.000,37.758,26.791,121.505,2.500,0.000,0.000,13.563,813.954,6006.590,458.576,1155.299,417.784,0.000,1064.901,0.000,1132.939,0.000,18.547,0.000
$DEVICE_MAMPS,176.410,110.448,941.876,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,299.215,270.368,325.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19181,400
$CAP_FILE_SIZE,72526,0
$CFSIZE,254472192,241971200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,300908,205007,6405.473,-1205.837,24,1.3,24,-11.9