version: 66.04
glider: 14
mission: 6
dive: 204
start: 10 1 108 9 12 32
data:
$ID,14
$MISSION,6
$DIVE,204
$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,-654017
$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,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
$GPS1,090708,6402.258,-1220.875,36,1.1,36,-12.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.8
$GPS2,091209,6402.257,-1220.828,10,1.8,10,-12.1
$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,296.7,20215,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,381,1586,2878
$GC,88,-1.16,-146.6,3.3,-3.4,4,112,11.30,2.62,-6.07,0.000,4,0.175,0.087,2413,3011,3140
$GC,256,-1.16,-146.6,31.3,-16.1,11,260,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1601,3142
$GC,579,-1.16,-146.6,79.4,-16.6,27,583,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,212,3142
$GC,736,-1.16,-146.6,107.9,-17.6,34,740,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1623,3142
$GC,1060,-1.16,-146.6,151.0,-12.1,50,1065,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,204,3143
$GC,1117,-1.16,-146.6,158.3,-11.8,52,1123,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3143
$GC,1433,-1.16,-146.6,194.8,-12.1,68,1437,0.00,2.47,0.00,0.000,4,0.000,0.077,2413,211,3145
$GC,1557,-1.16,-146.6,210.8,-12.9,73,1563,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1605,3145
$GC,1873,-1.16,-146.6,249.5,-12.5,89,1878,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,210,3145
$GC,1946,-1.16,-146.6,259.5,-13.5,92,1950,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1604,3145
$GC,2270,-1.16,-146.6,300.7,-12.8,108,2275,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,211,3145
$GC,2361,-1.16,-146.6,313.2,-13.2,112,2365,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1599,3145
$GC,2685,-1.16,-146.6,352.2,-12.0,128,2689,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,212,3145
$GC,2780,-1.16,-146.6,364.4,-12.6,132,2784,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1600,3145
$GC,3097,-1.16,-146.6,399.5,-11.6,147,3103,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,212,3145
$GC,3194,-1.16,-146.6,411.3,-11.8,151,3198,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1600,3145
$GC,3515,-1.16,-146.6,445.0,-11.1,167,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3145
$STATE,3698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3698,begin apogee
$GC,3708,-0.32,0.0,463.8,10.1,176,3845,0.93,0.00,127.97,0.960,6,0.114,0.000,2601,2198,2539
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3849,1.16,146.6,469.8,0.0,183,3977,1.52,2.80,119.93,0.949,4,0.087,0.113,2926,3601,1940
$GC,4251,1.22,180.1,443.4,6.7,201,4288,0.00,2.50,27.92,0.907,6,0.000,0.073,2926,2203,1803
$GC,4598,1.22,180.1,416.6,8.7,218,4602,0.00,2.62,0.00,0.000,4,0.000,0.097,2926,3601,1802
$GC,4665,1.22,180.1,409.7,10.9,221,4669,0.00,2.50,0.00,0.000,6,0.000,0.071,2926,2197,1801
$GC,4987,1.22,180.1,378.1,8.9,237,4991,0.00,2.55,0.00,0.000,4,0.000,0.081,2927,791,1799
$GC,5032,1.22,180.1,373.9,9.0,239,5036,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2211,1799
$GC,5354,1.24,191.7,349.0,7.6,255,5369,0.00,2.58,9.88,0.816,4,0.000,0.074,2926,791,1756
$GC,5442,1.24,191.7,341.5,8.4,258,5447,0.00,2.45,0.00,0.000,6,0.000,0.062,2926,2201,1756
$GC,5765,1.24,191.7,314.3,8.7,274,5769,0.00,2.53,0.00,0.000,4,0.000,0.073,2926,790,1755
$GC,5833,1.24,191.7,307.6,9.6,277,5838,0.00,2.45,0.00,0.000,6,0.000,0.063,2926,2200,1755
$GC,6161,1.24,191.7,275.9,10.0,293,6165,0.00,2.53,0.00,0.000,4,0.000,0.073,2926,786,1755
$GC,6240,1.24,191.7,267.4,11.0,296,6246,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2201,1755
$GC,6556,1.24,191.7,234.5,10.0,312,6561,0.00,2.53,0.00,0.000,4,0.000,0.074,2926,781,1755
$GC,6624,1.24,191.7,227.3,10.4,315,6629,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2200,1755
$GC,6948,1.25,200.1,199.3,7.7,331,6962,0.00,2.58,8.12,0.701,4,0.000,0.074,2926,786,1722
$GC,7031,1.26,208.7,192.8,7.7,334,7046,0.10,2.47,8.68,0.705,6,0.070,0.063,2959,2202,1687
$GC,7370,1.26,208.7,164.0,9.1,351,7374,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,789,1686
$GC,7459,1.26,208.7,155.1,9.4,355,7464,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2205,1687
$GC,7781,1.26,208.7,125.8,8.7,371,7785,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,785,1687
$GC,7848,1.26,208.7,119.3,10.1,374,7853,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2201,1687
$GC,8171,1.26,208.7,84.1,12.1,390,8175,0.00,2.53,0.00,0.000,4,0.000,0.075,2959,785,1686
$GC,8215,1.26,208.7,78.7,11.7,392,8220,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2201,1686
$GC,8538,1.26,208.7,45.4,8.0,408,8543,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,783,1686
$GC,8617,1.30,230.6,39.0,7.2,411,8646,0.00,2.47,18.17,0.663,6,0.000,0.062,2959,2211,1597
$GC,8957,1.30,230.6,8.6,13.0,428,8961,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,786,1597
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9004,begin surface coast
$FINISH,1.3,1.026988
$STATE,9011,end surface coast,CONTROL_FINISHED_OK
$STATE,9011,begin surface
$SM_CCo,9037,36.90,0.641,0,0,1316,300.00
$SM_GC,1.54,0.00,0.00,36.90,0.000,0.000,0.641,380,1623,1316,-10.56,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1889
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.3,72.9
$24V_AH,23.7,28.773
$10V_AH,10.2,15.703
$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,25.050,104.775,320.675,36.900,0.000,39.109,31.515,118.490,3.250,0.000,0.000,11.757,870.509,6435.138,451.561,1201.493,429.582,0.000,1084.133,0.000,1172.505,0.000,24.776,0.000
$DEVICE_MAMPS,174.876,112.749,960.284,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.052,291.193,314.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22265,430
$CAP_FILE_SIZE,77227,0
$CFSIZE,254472192,241745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,011008,114507,6403.233,-1220.353,36,1.0,36,-12.1