version: 66.04
glider: 14
mission: 6
dive: 211
start: 10 2 108 5 53 3
data:
$ID,14
$MISSION,6
$DIVE,211
$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,-654133.12
$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,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
$GPS1,054746,6400.951,-1234.046,24,1.4,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-49.5
$GPS2,055239,6400.899,-1234.137,10,1.9,10,-12.2
$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,323.0,11619,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-100.45,0.000,2,0.000,0.000,380,1588,2710
$GC,123,-1.16,-146.6,3.9,-3.2,5,150,11.32,2.55,-9.25,0.000,4,0.176,0.087,2414,3006,3140
$GC,271,-1.16,-146.6,25.5,-12.5,11,277,0.00,2.42,0.00,0.000,6,0.000,0.063,2414,1599,3142
$GC,588,-1.16,-146.6,73.9,-17.0,27,593,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,207,3145
$GC,701,-1.16,-146.6,90.5,-14.4,32,705,0.00,2.40,0.00,0.000,6,0.000,0.057,2414,1625,3146
$GC,1023,-1.16,-146.6,133.0,-13.1,48,1027,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,209,3148
$GC,1109,-1.16,-146.6,145.0,-13.8,52,1113,0.00,2.35,0.00,0.000,6,0.000,0.057,2414,1605,3148
$GC,1441,-1.16,-146.6,189.9,-13.7,68,1445,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,203,3149
$GC,1561,-1.16,-146.6,207.4,-14.3,73,1566,0.00,2.38,0.00,0.000,6,0.000,0.057,2414,1609,3149
$GC,1878,-1.16,-146.6,248.9,-13.0,88,1882,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,203,3149
$GC,1963,-1.16,-146.6,260.5,-13.8,92,1967,0.00,2.35,0.00,0.000,6,0.000,0.057,2414,1598,3149
$GC,2291,-1.16,-146.6,302.3,-12.8,108,2295,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3149
$GC,2381,-1.16,-146.6,314.5,-13.4,112,2385,0.00,2.35,0.00,0.000,6,0.000,0.057,2414,1598,3150
$GC,2703,-1.16,-146.6,354.3,-12.2,128,2707,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3149
$GC,2810,-1.16,-146.6,368.3,-12.9,133,2814,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1604,3149
$GC,3144,-1.16,-146.6,410.0,-12.7,149,3148,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3149
$GC,3185,-1.16,-146.6,415.2,-12.7,151,3189,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1598,3149
$GC,3512,-1.16,-146.6,455.9,-12.9,167,3516,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,208,3149
$GC,3575,-1.16,-146.6,464.7,-13.9,170,3579,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1611,3149
$GC,3908,-1.16,-146.6,507.3,-11.3,186,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1614,3148
$GC,4217,-1.16,-146.6,544.1,-12.6,201,4222,0.00,2.50,0.00,0.000,6,0.000,0.088,2414,2991,3150
$STATE,4222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4222,begin apogee
$GC,4233,-0.32,0.0,545.0,12.5,201,4358,0.88,0.00,121.68,1.034,6,0.101,0.000,2601,2188,2539
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4362,1.16,146.6,552.2,0.0,207,4492,1.50,2.75,122.00,1.015,4,0.076,0.098,2929,3592,1941
$GC,4528,1.26,208.6,549.2,5.6,215,4585,0.00,2.47,51.72,0.979,6,0.000,0.068,2929,2205,1688
$GC,4907,1.27,212.2,519.4,7.9,234,4914,0.10,0.00,4.50,0.672,6,0.071,0.000,2962,2205,1674
$GC,5216,1.27,212.2,488.9,9.5,249,5221,0.00,2.58,0.00,0.000,4,0.000,0.094,2962,3590,1674
$GC,5492,1.31,235.5,467.4,7.1,261,5517,0.00,2.45,20.15,0.958,6,0.000,0.067,2961,2200,1578
$GC,5829,1.33,253.8,443.6,7.3,277,5851,0.00,2.60,15.62,0.929,4,0.000,0.079,2962,793,1503
$GC,5915,1.33,253.8,436.3,8.8,280,5922,0.00,2.42,0.00,0.000,6,0.000,0.059,2962,2194,1503
$GC,6232,1.33,253.8,408.3,9.3,296,6236,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,784,1503
$GC,6282,1.33,253.8,403.1,10.5,298,6287,0.00,2.45,0.00,0.000,6,0.000,0.059,2962,2197,1503
$GC,6599,1.33,253.8,371.9,10.1,313,6603,0.00,2.50,0.00,0.000,4,0.000,0.070,2962,784,1503
$GC,6684,1.33,253.8,362.7,10.8,317,6688,0.00,2.47,0.00,0.000,6,0.000,0.059,2962,2210,1503
$GC,7017,1.33,253.8,327.1,10.7,333,7021,0.00,2.53,0.00,0.000,4,0.000,0.070,2962,789,1504
$GC,7102,1.33,253.8,317.2,11.5,337,7106,0.00,2.42,0.00,0.000,6,0.000,0.059,2962,2201,1504
$GC,7429,1.33,253.8,279.0,12.0,353,7433,0.00,2.53,0.00,0.000,4,0.000,0.070,2962,783,1503
$GC,7503,1.33,253.8,269.2,13.3,356,7507,0.00,2.45,0.00,0.000,6,0.000,0.060,2961,2202,1502
$GC,7824,1.33,253.8,227.9,12.8,372,7829,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,785,1503
$GC,7921,1.33,253.8,214.9,13.0,376,7925,0.00,2.45,0.00,0.000,6,0.000,0.059,2962,2203,1503
$GC,8237,1.33,253.8,178.1,10.5,391,8241,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,788,1503
$GC,8311,1.33,253.8,169.6,11.8,394,8315,0.00,2.45,0.00,0.000,6,0.000,0.060,2962,2208,1503
$GC,8633,1.33,253.8,138.1,9.8,410,8637,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,789,1503
$GC,8689,1.33,253.8,131.9,10.7,412,8695,0.00,2.42,0.00,0.000,6,0.000,0.060,2962,2199,1503
$GC,9007,1.33,253.8,99.6,10.3,428,9011,0.00,2.50,0.00,0.000,4,0.000,0.072,2962,786,1503
$GC,9058,1.33,253.8,94.0,10.4,430,9062,0.00,2.45,0.00,0.000,6,0.000,0.060,2962,2206,1503
$GC,9376,1.33,253.8,64.3,9.0,445,9380,0.00,2.53,0.00,0.000,4,0.000,0.072,2962,789,1503
$GC,9443,1.33,253.8,57.6,10.5,448,9447,0.00,2.42,0.00,0.000,6,0.000,0.059,2962,2198,1503
$GC,9767,1.33,253.8,28.9,9.1,464,9771,0.00,2.50,0.00,0.000,4,0.000,0.072,2962,785,1504
$GC,9856,1.33,253.8,22.7,8.1,468,9860,0.00,2.45,0.00,0.000,6,0.000,0.060,2962,2205,1503
$STATE,10094,end climb,SURFACE_DEPTH_REACHED
$STATE,10094,begin surface coast
$FINISH,0.6,1.013996
$STATE,10114,end surface coast,CONTROL_FINISHED_OK
$STATE,10115,begin surface
$SM_CCo,10141,178.15,0.633,0,0,186,576.95
$SM_GC,1.36,0.00,0.00,178.15,0.000,0.000,0.633,380,1584,186,-10.56,-0.45,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1835
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.3,54.4
$24V_AH,23.7,29.756
$10V_AH,10.2,16.111
$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,25.050,113.825,335.675,178.150,0.000,37.766,32.417,110.177,4.500,0.000,0.000,11.699,963.378,7283.685,648.355,1289.365,440.463,0.000,1312.366,0.000,1255.960,0.000,34.102,0.000
$DEVICE_MAMPS,175.643,98.176,1033.916,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.371,326.084,343.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25405,481
$CAP_FILE_SIZE,84029,0
$CFSIZE,254472192,241463296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,021008,084625,6402.140,-1236.287,38,1.4,38,-12.2