version: 66.04
glider: 14
mission: 6
dive: 206
start: 10 1 108 14 38 51
data:
$ID,14
$MISSION,6
$DIVE,206
$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,-654044.81
$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,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
$GPS1,143008,6402.192,-1222.651,24,1.3,24,-12.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.0
$GPS2,143827,6402.039,-1222.716,9,1.5,9,-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,299.0,18853,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.28,0.000,2,0.000,0.000,379,1591,2746
$GC,83,-1.16,-146.6,3.2,-3.2,3,112,11.25,2.62,-10.02,0.000,4,0.170,0.090,2415,3008,3138
$GC,258,-1.16,-146.6,24.9,-8.4,11,262,0.00,2.45,0.00,0.000,6,0.000,0.066,2415,1598,3141
$GC,592,-1.16,-146.6,66.2,-13.0,27,596,0.00,2.50,0.00,0.000,4,0.000,0.082,2416,209,3141
$GC,755,-1.16,-146.6,90.4,-16.2,34,759,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1619,3141
$GC,1077,-1.16,-146.6,131.5,-11.8,50,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1623,3142
$GC,1386,-1.16,-146.6,165.0,-11.3,65,1390,0.00,2.55,0.00,0.000,4,0.000,0.078,2415,202,3143
$GC,1481,-1.16,-146.6,177.1,-12.0,69,1485,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1601,3143
$GC,1797,-1.16,-146.6,215.5,-12.0,84,1801,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,206,3144
$GC,1858,-1.16,-146.6,223.6,-12.9,86,1864,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1602,3144
$GC,2175,-1.16,-146.6,261.4,-12.3,102,2179,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,209,3144
$GC,2238,-1.16,-146.6,269.8,-12.7,105,2243,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1604,3144
$GC,2566,-1.16,-146.6,310.0,-12.1,121,2571,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,201,3143
$GC,2640,-1.16,-146.6,319.6,-13.0,124,2644,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1606,3144
$GC,2956,-1.16,-146.6,358.2,-12.5,139,2960,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,206,3144
$GC,3007,-1.16,-146.6,364.8,-13.1,141,3011,0.00,2.38,0.00,0.000,6,0.000,0.060,2415,1602,3144
$GC,3333,-1.16,-146.6,401.3,-11.0,157,3337,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,201,3144
$GC,3523,-1.16,-146.6,421.0,-11.2,165,3527,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1600,3144
$GC,3840,-1.16,-146.6,451.1,-9.3,180,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3144
$STATE,4124,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4125,begin apogee
$GC,4134,-0.32,0.0,481.9,12.1,194,4270,0.90,0.00,127.72,0.980,6,0.101,0.000,2603,2198,2539
$STATE,4271,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4275,1.16,146.6,489.9,0.0,201,4403,1.50,2.83,120.00,0.966,4,0.079,0.114,2929,3607,1940
$GC,4624,1.17,148.3,468.4,7.9,217,4628,0.00,2.53,0.00,0.000,6,0.000,0.074,2929,2199,1938
$GC,4951,1.17,148.3,441.9,8.3,233,4955,0.00,2.67,0.00,0.000,4,0.000,0.100,2929,3612,1937
$GC,5148,1.19,161.1,425.9,7.5,242,5169,0.00,2.53,12.35,0.886,6,0.000,0.071,2929,2194,1882
$GC,5480,1.20,167.0,402.4,7.8,258,5487,0.00,0.00,5.88,0.750,6,0.000,0.000,2929,2194,1858
$GC,5789,1.20,167.0,375.3,8.7,273,5793,0.00,2.55,0.00,0.000,4,0.000,0.081,2929,792,1856
$GC,5867,1.20,167.0,368.0,8.8,276,5872,0.00,2.47,0.00,0.000,6,0.000,0.062,2929,2211,1856
$GC,6184,1.24,191.8,344.1,7.1,291,6210,0.00,2.62,21.00,0.893,4,0.000,0.073,2929,783,1757
$GC,6285,1.24,191.8,336.2,8.2,295,6291,0.00,2.47,0.00,0.000,6,0.000,0.062,2929,2197,1755
$GC,6602,1.30,233.2,314.0,6.4,311,6644,0.12,2.60,33.83,0.888,4,0.068,0.073,2969,793,1588
$GC,6701,1.30,233.2,305.5,9.2,315,6705,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2208,1587
$GC,7018,1.30,233.2,276.8,10.2,330,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2209,1587
$GC,7327,1.30,233.2,248.7,9.3,345,7331,0.00,2.55,0.00,0.000,4,0.000,0.073,2969,787,1587
$GC,7423,1.30,233.2,238.6,10.7,349,7427,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2200,1587
$GC,7739,1.30,233.2,207.6,10.0,364,7743,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,789,1587
$GC,7801,1.30,233.2,200.6,11.9,366,7807,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2204,1587
$GC,8118,1.30,233.2,166.3,11.0,382,8122,0.00,2.50,0.00,0.000,4,0.000,0.073,2969,790,1587
$GC,8174,1.30,233.2,159.6,11.8,384,8178,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2208,1587
$GC,8491,1.30,233.2,125.5,10.4,399,8495,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,785,1587
$GC,8564,1.30,233.2,117.2,11.4,402,8568,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2200,1587
$GC,8881,1.30,233.2,85.7,10.7,417,8885,0.00,2.50,0.00,0.000,4,0.000,0.074,2969,791,1587
$GC,8922,1.30,233.2,81.4,11.4,418,8928,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1587
$GC,9239,1.37,275.6,52.0,6.4,434,9281,0.00,2.60,33.50,0.702,4,0.000,0.072,2969,791,1414
$GC,9338,1.37,275.6,40.2,15.5,438,9343,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2200,1414
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,0.6,1.026835
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9674,begin surface
$SM_CCo,9699,16.42,0.573,1,0,1315,300.00
$SM_GC,1.10,0.00,0.00,16.42,0.000,0.000,0.573,380,1594,1315,-10.56,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,401.3,89.4
$24V_AH,23.7,28.995
$10V_AH,10.2,15.811
$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,24.925,97.325,354.275,16.425,0.000,76.599,54.174,190.154,3.250,0.000,0.000,11.158,900.809,7064.385,459.500,1235.804,572.961,0.000,1099.909,0.000,1208.216,0.000,21.857,0.000
$DEVICE_MAMPS,170.274,114.283,980.226,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.934,307.634,328.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22216,454
$CAP_FILE_SIZE,78762,0
$CFSIZE,254472192,241668096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,011008,172231,6400.726,-1228.387,54,1.3,54,-12.1