version: 66.04
glider: 14
mission: 6
dive: 209
start: 10 2 108 0 5 5
data:
$ID,14
$MISSION,6
$DIVE,209
$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,576.94562
$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,-654104.88
$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,18
$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
$GPS1,235557,6402.815,-1228.749,38,1.6,39,-12.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-47.1
$GPS2,000444,6402.787,-1228.494,11,1.2,11,-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,299.2,13975,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-100.28,0.000,2,0.000,0.000,382,1592,2644
$GC,123,-1.16,-146.6,3.2,-2.3,5,154,11.27,2.55,-13.35,0.000,4,0.174,0.087,2413,3011,3138
$GC,287,-1.16,-146.6,26.4,-20.8,12,291,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1599,3142
$GC,610,-1.16,-146.6,76.3,-13.7,28,614,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,211,3144
$GC,810,-1.16,-146.6,105.5,-15.1,37,815,0.00,2.42,0.00,0.000,6,0.000,0.062,2413,1616,3146
$GC,1139,-1.16,-146.6,147.6,-13.0,53,1143,0.00,2.55,0.00,0.000,4,0.000,0.081,2413,201,3149
$GC,1228,-1.16,-146.6,160.3,-13.5,57,1233,0.00,2.42,0.00,0.000,6,0.000,0.062,2413,1607,3149
$GC,1552,-1.16,-146.6,201.8,-13.4,73,1556,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,206,3151
$GC,1620,-1.16,-146.6,212.0,-14.3,76,1624,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3151
$GC,1947,-1.16,-146.6,258.1,-14.1,92,1951,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,205,3151
$GC,2015,-1.16,-146.6,268.0,-14.2,95,2019,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1600,3151
$GC,2344,-1.16,-146.6,314.1,-14.1,111,2348,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,203,3151
$GC,2423,-1.16,-146.6,325.6,-14.1,114,2429,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3151
$GC,2740,-1.16,-146.6,366.7,-12.7,130,2744,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,203,3151
$GC,2818,-1.16,-146.6,377.0,-12.8,133,2824,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3151
$GC,3134,-1.16,-146.6,410.5,-9.7,149,3139,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,202,3151
$GC,3176,-1.16,-146.6,414.4,-9.5,151,3180,0.00,2.40,0.00,0.000,6,0.000,0.062,2413,1596,3151
$GC,3503,-1.16,-146.6,441.8,-8.2,167,3507,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,201,3151
$GC,3588,-1.16,-146.6,449.9,-9.7,171,3593,0.00,2.42,0.00,0.000,6,0.000,0.062,2413,1605,3151
$GC,3916,-1.16,-146.6,483.0,-11.5,187,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3152
$STATE,4077,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4078,begin apogee
$GC,4087,-0.32,0.0,501.6,11.7,195,4235,0.93,0.00,134.15,0.964,6,0.116,0.000,2600,2196,2539
$STATE,4235,end apogee,CONTROL_FINISHED_OK
$STATE,4235,begin climb
$GC,4239,1.16,146.6,508.4,0.0,202,4367,1.52,2.78,120.07,0.983,4,0.082,0.110,2929,3601,1941
$GC,4526,1.16,146.6,494.4,9.4,215,4531,0.00,2.50,0.00,0.000,6,0.000,0.071,2929,2200,1941
$GC,4849,1.16,146.6,469.4,8.1,231,4854,0.00,2.62,0.00,0.000,4,0.000,0.096,2929,3600,1942
$GC,5079,1.17,152.3,449.6,7.8,241,5091,0.00,2.47,5.72,0.745,6,0.000,0.068,2929,2199,1918
$GC,5401,1.26,205.6,427.9,6.0,257,5451,0.00,2.65,44.03,0.960,4,0.000,0.080,2929,798,1700
$GC,5515,1.30,230.3,420.6,7.1,262,5542,0.12,2.45,21.25,0.917,6,0.067,0.061,2966,2200,1600
$GC,5862,1.30,230.3,391.3,9.0,279,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,1600
$GC,6168,1.30,230.3,362.1,9.7,294,6172,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,791,1600
$GC,6218,1.30,230.3,357.0,10.0,296,6222,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2200,1600
$GC,6541,1.30,230.3,325.6,9.9,312,6545,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,789,1599
$GC,6626,1.30,230.3,316.6,10.9,316,6630,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2201,1599
$GC,6953,1.30,230.3,283.4,10.1,332,6957,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,788,1599
$GC,7009,1.30,230.3,277.3,11.1,334,7014,0.00,2.45,0.00,0.000,6,0.000,0.060,2966,2199,1600
$GC,7326,1.30,230.3,244.7,10.5,349,7330,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,782,1599
$GC,7393,1.30,230.3,237.2,11.4,352,7397,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2204,1599
$GC,7715,1.30,230.3,203.5,10.5,368,7719,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,787,1599
$GC,7777,1.30,230.3,196.6,11.0,370,7783,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2200,1599
$GC,8093,1.30,230.3,163.4,10.4,386,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2199,1599
$GC,8405,1.30,230.3,133.7,9.2,401,8409,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,783,1599
$GC,8540,1.30,230.3,120.2,9.9,407,8544,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2199,1599
$GC,8862,1.30,230.3,87.7,10.7,423,8866,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,785,1599
$GC,8958,1.30,230.3,76.7,11.5,427,8962,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2201,1600
$GC,9280,1.30,230.3,42.4,12.0,443,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2201,1599
$GC,9589,1.30,230.3,5.0,12.6,458,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2201,1599
$STATE,9627,end climb,SURFACE_DEPTH_REACHED
$STATE,9627,begin surface coast
$FINISH,0.6,1.027234
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9651,begin surface
$SM_CCo,9677,186.82,0.630,1,0,186,576.95
$SM_GC,1.27,0.00,0.00,186.82,0.000,0.000,0.630,372,1587,186,-10.59,-0.37,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1858
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.3,84.9
$24V_AH,23.7,29.487
$10V_AH,10.2,16.000
$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,25.125,96.900,325.225,186.825,0.000,77.098,55.588,211.383,3.750,0.000,0.000,13.002,912.248,7009.342,643.024,1239.815,600.790,0.000,1282.191,0.000,1209.049,0.000,26.425,0.000
$DEVICE_MAMPS,174.109,110.448,982.527,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.149,312.636,328.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22301,461
$CAP_FILE_SIZE,81162,0
$CFSIZE,254472192,241545216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,3,0
$GPS,021008,025056,6402.087,-1229.421,38,2.0,38,-12.1