version: 66.04
glider: 14
mission: 6
dive: 203
start: 10 1 108 6 32 3
data:
$ID,14
$MISSION,6
$DIVE,203
$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,-654004.62
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,062659,6401.499,-1218.333,11,4.3,30,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-57.2
$GPS2,063139,6401.478,-1218.394,11,1.7,11,-12.0
$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,298.9,22502,-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,-60.12,0.000,2,0.000,0.000,373,1590,2751
$GC,83,-1.16,-146.6,3.4,-5.2,3,110,11.35,2.55,-9.70,0.000,4,0.176,0.087,2412,3012,3137
$GC,242,-1.16,-146.6,25.9,-18.6,10,247,0.00,2.47,0.00,0.000,6,0.000,0.064,2412,1592,3139
$GC,566,-1.16,-146.6,65.4,-10.5,26,570,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,204,3139
$GC,785,-1.16,-146.6,91.7,-11.6,36,790,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1614,3139
$GC,1114,-1.16,-146.6,133.4,-13.8,52,1118,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,201,3140
$GC,1234,-1.16,-146.6,150.3,-13.2,57,1238,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1606,3140
$GC,1550,-1.16,-146.6,184.2,-9.7,72,1555,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,199,3140
$GC,1664,-1.16,-146.6,195.4,-9.6,77,1669,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1604,3140
$GC,1987,-1.16,-146.6,219.8,-6.9,93,1991,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,201,3142
$GC,2044,-1.16,-146.6,224.4,-7.7,95,2048,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1609,3141
$GC,2361,-1.16,-146.6,251.0,-9.0,110,2365,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,203,3141
$GC,2452,-1.16,-146.6,260.6,-11.3,114,2456,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1596,3141
$GC,2785,-1.16,-146.6,296.9,-11.6,130,2790,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,208,3141
$GC,2894,-1.16,-146.6,311.0,-12.9,135,2898,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1602,3141
$GC,3223,-1.16,-146.6,350.9,-12.1,151,3227,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,201,3141
$GC,3318,-1.16,-146.6,363.5,-13.1,155,3322,0.00,2.40,0.00,0.000,6,0.000,0.060,2410,1601,3141
$GC,3637,-1.16,-146.6,400.7,-11.9,170,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3141
$GC,3944,-1.16,-146.6,434.7,-10.0,185,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3141
$STATE,4208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4208,begin apogee
$GC,4218,-0.32,0.0,461.9,10.4,198,4351,0.93,0.00,126.10,0.969,6,0.106,0.000,2604,2192,2539
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4352,begin climb
$GC,4356,1.16,146.6,467.8,0.0,205,4484,1.48,2.60,120.43,0.948,4,0.076,0.075,2926,783,1940
$GC,4759,1.18,159.5,441.6,7.5,223,4776,0.00,2.50,11.77,0.843,6,0.000,0.064,2926,2200,1887
$GC,5088,1.27,214.6,420.0,5.9,239,5140,0.12,2.58,45.60,0.927,4,0.067,0.074,2966,791,1663
$GC,5218,1.27,214.6,408.3,11.5,245,5222,0.00,2.50,0.00,0.000,6,0.000,0.064,2966,2207,1662
$GC,5545,1.27,214.6,373.9,9.4,261,5550,0.00,2.70,0.00,0.000,4,0.000,0.108,2966,3607,1661
$GC,5641,1.27,214.6,365.2,9.1,265,5645,0.00,2.50,0.00,0.000,6,0.000,0.070,2966,2200,1660
$GC,5958,1.27,214.6,339.0,8.4,280,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,1658
$GC,6266,1.27,214.6,309.8,9.7,295,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,1658
$GC,6576,1.27,214.6,280.3,9.9,310,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,1658
$GC,6885,1.27,214.6,246.9,11.5,325,6889,0.00,2.53,0.00,0.000,4,0.000,0.075,2966,782,1658
$GC,6919,1.27,214.6,242.6,12.4,326,6924,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2211,1658
$GC,7236,1.27,214.6,205.3,12.0,341,7240,0.00,2.55,0.00,0.000,4,0.000,0.071,2966,784,1658
$GC,7281,1.27,214.6,199.6,12.7,343,7286,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2204,1658
$GC,7602,1.27,214.6,160.8,12.1,359,7607,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,791,1658
$GC,7683,1.27,214.6,150.6,12.7,362,7689,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2210,1658
$GC,8000,1.27,214.6,113.8,11.6,378,8004,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,782,1658
$GC,8067,1.27,214.6,105.3,12.4,381,8071,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2199,1658
$GC,8389,1.27,214.6,71.2,9.3,397,8393,0.00,2.50,0.00,0.000,4,0.000,0.074,2966,791,1658
$GC,8417,1.27,214.6,68.3,9.5,398,8421,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2199,1658
$GC,8734,1.27,214.6,42.3,8.1,413,8738,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,788,1658
$GC,8784,1.27,214.6,38.6,8.2,415,8788,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2208,1658
$GC,9101,1.27,214.6,7.1,11.7,430,9105,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,791,1658
$GC,9146,1.27,214.6,2.1,13.0,432,9150,0.00,2.20,0.00,0.000,3,0.000,0.061,2966,2072,1658
$STATE,9151,end climb,SURFACE_DEPTH_REACHED
$STATE,9151,begin surface coast
$FINISH,0.9,1.026995
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9155,begin surface
$SM_CCo,9180,43.35,0.645,0,0,1316,300.00
$SM_GC,1.07,0.00,0.00,43.35,0.000,0.000,0.645,380,1588,1316,-10.56,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1888
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.2,18.8
$24V_AH,23.7,28.671
$10V_AH,10.2,15.653
$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,25.200,91.400,303.900,43.350,0.000,37.758,25.254,104.942,4.250,0.000,0.000,12.577,873.715,6632.869,426.932,1174.504,410.760,0.000,1026.359,0.000,1139.536,0.000,33.615,0.000
$DEVICE_MAMPS,176.410,108.147,968.721,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.099,293.069,321.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,432
$CAP_FILE_SIZE,73812,0
$CFSIZE,254472192,241782784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,011008,090708,6402.258,-1220.875,36,1.1,36,-12.1