version: 66.04
glider: 14
mission: 6
dive: 210
start: 10 2 108 2 56 29
data:
$ID,14
$MISSION,6
$DIVE,210
$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,-654120.81
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,025056,6402.087,-1229.421,38,2.0,38,-12.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-43.3
$GPS2,025609,6401.990,-1229.453,10,1.8,10,-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,306.0,13764,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-117.93,0.000,6,0.000,0.000,372,1588,3139
$GC,142,-1.16,-146.6,5.6,-4.9,6,164,11.45,2.58,0.00,0.000,4,0.179,0.069,2412,3005,3142
$GC,301,-1.16,-146.6,36.5,-14.3,13,305,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1598,3145
$GC,631,-1.16,-146.6,89.6,-13.9,29,635,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,210,3148
$GC,704,-1.16,-146.6,100.7,-14.8,32,708,0.00,2.38,0.00,0.000,6,0.000,0.056,2413,1618,3149
$GC,1021,-1.16,-146.6,141.9,-13.0,47,1025,0.00,2.53,0.00,0.000,4,0.000,0.075,2413,203,3150
$GC,1139,-1.16,-146.6,158.4,-14.1,52,1143,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1602,3150
$GC,1461,-1.16,-146.6,202.2,-13.6,68,1465,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3152
$GC,1534,-1.16,-146.6,213.4,-14.9,71,1538,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1601,3152
$GC,1851,-1.16,-146.6,254.2,-12.7,86,1855,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,201,3152
$GC,1913,-1.16,-146.6,262.5,-13.0,88,1919,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1605,3152
$GC,2232,-1.16,-146.6,301.0,-12.0,104,2236,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3152
$GC,2299,-1.16,-146.6,309.8,-11.8,107,2303,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1598,3152
$GC,2626,-1.16,-146.6,347.3,-11.9,123,2630,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,208,3152
$GC,2676,-1.16,-146.6,354.0,-12.6,125,2680,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1608,3152
$GC,2999,-1.16,-146.6,393.0,-12.3,141,3003,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3152
$GC,3066,-1.16,-146.6,401.9,-12.5,144,3070,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3152
$GC,3388,-1.16,-146.6,438.2,-11.3,160,3392,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3152
$GC,3422,-1.16,-146.6,442.2,-11.5,161,3428,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1599,3152
$GC,3743,-1.16,-146.6,475.5,-10.1,177,3747,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3152
$GC,3816,-1.16,-146.6,484.0,-11.2,180,3821,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1605,3152
$STATE,4088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4088,begin apogee
$GC,4098,-0.32,0.0,513.7,10.8,193,4225,0.93,0.00,123.43,0.999,6,0.111,0.000,2602,2199,2539
$STATE,4225,end apogee,CONTROL_FINISHED_OK
$STATE,4225,begin climb
$GC,4230,1.16,146.6,518.7,0.0,199,4356,1.50,0.00,121.78,0.984,6,0.077,0.000,2929,2199,1941
$GC,4666,1.26,205.2,500.4,5.8,220,4720,0.00,0.00,49.08,0.967,6,0.000,0.000,2929,2200,1701
$GC,5031,1.26,205.2,469.5,8.5,238,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2199,1701
$GC,5341,1.29,226.7,445.7,7.2,253,5362,0.12,0.00,18.55,0.929,6,0.067,0.000,2967,2199,1613
$GC,5670,1.29,226.7,417.9,9.4,269,5674,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,787,1613
$GC,5726,1.29,226.7,412.4,9.3,271,5731,0.00,2.47,0.00,0.000,6,0.000,0.060,2967,2204,1613
$GC,6043,1.29,226.7,385.1,9.2,286,6047,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,791,1613
$GC,6111,1.29,226.7,378.0,10.6,289,6116,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2204,1613
$GC,6433,1.29,226.7,345.6,9.8,305,6437,0.00,2.53,0.00,0.000,4,0.000,0.070,2967,785,1613
$GC,6483,1.29,226.7,340.3,10.3,307,6487,0.00,2.47,0.00,0.000,6,0.000,0.060,2967,2209,1613
$GC,6799,1.29,226.7,311.0,8.8,322,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2209,1612
$GC,7109,1.29,226.7,281.7,9.9,337,7113,0.00,2.53,0.00,0.000,4,0.000,0.070,2967,785,1613
$GC,7210,1.29,226.7,270.2,11.5,341,7216,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2199,1613
$GC,7526,1.29,226.7,235.9,10.5,357,7530,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,791,1613
$GC,7594,1.29,226.7,228.2,12.1,360,7598,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2205,1613
$GC,7922,1.29,226.7,195.8,9.6,376,7927,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,785,1613
$GC,7973,1.29,226.7,190.8,9.6,378,7977,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2199,1613
$GC,8290,1.29,226.7,163.2,8.9,393,8294,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,788,1613
$GC,8363,1.29,226.7,155.9,10.3,396,8367,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2204,1613
$GC,8685,1.29,226.7,125.8,9.3,412,8689,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,786,1613
$GC,8748,1.29,226.7,119.6,10.2,415,8753,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2204,1613
$GC,9076,1.29,226.7,87.2,9.7,431,9081,0.00,2.50,0.00,0.000,4,0.000,0.073,2967,791,1613
$GC,9144,1.29,226.7,79.6,11.3,434,9148,0.00,2.42,0.00,0.000,6,0.000,0.060,2967,2198,1613
$GC,9466,1.29,226.7,50.3,8.9,450,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2199,1613
$GC,9775,1.29,226.7,18.0,10.2,465,9779,0.00,2.47,0.00,0.000,4,0.000,0.071,2967,792,1613
$GC,9848,1.29,226.7,9.1,12.5,468,9852,0.00,2.42,0.00,0.000,6,0.000,0.060,2967,2201,1614
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,0.7,1.016807
$STATE,9979,end surface coast,CONTROL_FINISHED_OK
$STATE,9979,begin surface
$SM_CCo,10005,189.62,0.627,1,0,187,576.95
$SM_GC,1.30,0.00,0.00,189.62,0.000,0.000,0.627,380,1588,187,-10.56,-0.34,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.5,47.4
$24V_AH,23.7,29.619
$10V_AH,10.2,16.054
$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,25.200,100.575,312.825,189.625,0.000,37.760,28.225,127.135,4.000,0.000,0.000,15.290,919.077,7340.908,675.177,1141.825,443.892,0.000,1257.543,0.000,1114.781,0.000,29.541,0.000
$DEVICE_MAMPS,178.711,79.001,999.401,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.748,321.457,333.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22306,474
$CAP_FILE_SIZE,77527,0
$CFSIZE,254472192,241512448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,021008,054746,6400.951,-1234.046,24,1.4,33,-12.2