version: 66.04
glider: 14
mission: 6
dive: 207
start: 10 1 108 17 50 11
data:
$ID,14
$MISSION,6
$DIVE,207
$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,-654075.62
$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,19
$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
$GPS1,172231,6400.726,-1228.387,54,1.3,54,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.6
$GPS2,174951,6400.331,-1229.105,10,2.0,28,-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,316.0,15502,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,2,0.000,0.000,381,1589,2792
$GC,84,-1.16,-146.6,3.4,-4.5,3,110,11.32,2.53,-9.27,0.000,4,0.176,0.084,2414,3008,3140
$GC,184,-1.16,-146.6,15.3,-5.9,7,190,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1595,3141
$GC,501,-1.16,-146.6,60.3,-15.5,23,505,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,206,3141
$GC,609,-1.16,-146.6,77.5,-18.0,28,614,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1621,3141
$GC,937,-1.16,-146.6,122.0,-12.8,44,942,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,201,3142
$GC,989,-1.16,-146.6,129.3,-13.8,46,993,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1598,3142
$GC,1306,-1.16,-146.6,165.4,-10.5,61,1310,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,206,3142
$GC,1413,-1.16,-146.6,176.8,-10.0,65,1419,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3143
$GC,1730,-1.16,-146.6,207.9,-10.5,81,1734,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,202,3143
$GC,1791,-1.16,-146.6,215.4,-11.7,83,1798,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3143
$GC,2110,-1.16,-146.6,252.2,-11.3,99,2114,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3143
$GC,2183,-1.16,-146.6,261.1,-11.3,102,2187,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1602,3143
$GC,2505,-1.16,-146.6,293.6,-9.9,118,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3143
$GC,2815,-1.16,-146.6,325.2,-10.0,133,2819,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,206,3143
$GC,2900,-1.16,-146.6,334.5,-11.1,136,2906,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3143
$GC,3217,-1.16,-146.6,369.6,-11.4,152,3221,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,210,3143
$GC,3303,-1.16,-146.6,380.0,-11.9,156,3307,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1599,3143
$GC,3631,-1.16,-146.6,413.7,-9.6,172,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3142
$GC,3939,-1.16,-146.6,447.4,-10.6,187,3943,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,206,3142
$GC,4008,-1.16,-146.6,455.2,-11.0,190,4013,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1604,3142
$GC,4337,-1.16,-146.6,490.0,-11.1,206,4341,0.00,2.53,0.00,0.000,4,0.000,0.090,2414,2995,3142
$GC,4370,-1.16,-146.6,494.0,-10.7,207,4376,0.00,2.45,0.00,0.000,6,0.000,0.070,2414,1595,3143
$STATE,4539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4539,begin apogee
$GC,4549,-0.32,0.0,512.0,10.4,216,4682,0.90,0.00,125.68,1.016,6,0.104,0.000,2601,2207,2538
$STATE,4682,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4686,1.16,146.6,517.8,0.0,223,4814,1.50,2.75,120.03,0.987,4,0.079,0.108,2928,3598,1940
$GC,5028,1.16,146.6,493.1,8.6,238,5035,0.00,2.50,0.00,0.000,6,0.000,0.072,2928,2200,1939
$GC,5345,1.21,172.3,469.9,7.0,254,5374,0.00,2.78,21.83,0.935,4,0.000,0.099,2928,3604,1836
$GC,5504,1.21,178.3,457.8,7.8,261,5515,0.00,2.50,5.93,0.752,6,0.000,0.071,2928,2201,1812
$GC,5832,1.22,178.7,431.4,8.0,277,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2201,1809
$GC,6141,1.27,214.2,410.0,6.7,292,6174,0.10,0.00,30.27,0.941,6,0.070,0.000,2960,2201,1664
$GC,6470,1.27,214.2,380.5,9.7,308,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2201,1662
$GC,6779,1.27,214.2,350.5,9.2,323,6783,0.00,2.62,0.00,0.000,4,0.000,0.094,2960,3602,1662
$GC,6891,1.27,214.2,339.7,9.8,328,6896,0.00,2.47,0.00,0.000,6,0.000,0.068,2960,2200,1662
$GC,7213,1.27,214.2,310.2,9.5,344,7218,0.00,2.53,0.00,0.000,4,0.000,0.081,2960,789,1662
$GC,7276,1.27,214.2,303.9,10.0,347,7281,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2205,1662
$GC,7604,1.27,214.2,272.7,9.6,363,7609,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,791,1662
$GC,7672,1.27,214.2,264.5,12.0,366,7676,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2204,1662
$GC,7993,1.27,214.2,230.4,10.6,382,7998,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,783,1662
$GC,8039,1.27,214.2,225.3,11.3,384,8043,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2200,1662
$GC,8360,1.27,214.2,194.2,9.0,400,8365,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,792,1662
$GC,8423,1.27,214.2,188.1,9.9,403,8428,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2202,1662
$GC,8751,1.27,214.2,159.3,8.6,419,8756,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,790,1662
$GC,8837,1.27,214.2,151.0,9.6,423,8841,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2201,1662
$GC,9164,1.27,214.2,119.2,9.7,439,9169,0.00,2.50,0.00,0.000,4,0.000,0.074,2960,792,1662
$GC,9210,1.27,214.2,114.6,9.1,441,9215,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2200,1662
$GC,9533,1.33,252.9,88.4,6.5,457,9568,0.00,2.55,30.38,0.716,4,0.000,0.074,2960,791,1507
$GC,9615,1.37,278.4,82.2,7.0,460,9642,0.00,2.47,21.02,0.693,6,0.000,0.062,2960,2202,1404
$GC,9954,1.37,278.4,49.3,10.7,477,9959,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,784,1401
$GC,10067,1.37,278.4,36.7,12.2,482,10071,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2200,1401
$GC,10390,1.41,302.7,4.7,7.1,498,10409,0.10,0.00,17.05,0.630,2,0.071,0.000,2995,2200,1317
$STATE,10410,end climb,SURFACE_DEPTH_REACHED
$STATE,10410,begin surface coast
$FINISH,0.7,1.027035
$STATE,10427,end surface coast,CONTROL_FINISHED_OK
$STATE,10427,begin surface
$SM_CCo,10453,149.20,0.614,0,0,186,576.95
$SM_GC,1.29,0.00,0.00,149.20,0.000,0.000,0.614,373,1590,186,-10.59,-0.28,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1855
$TCM_TEMP,17.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,426.8,94.5
$24V_AH,23.7,29.188
$10V_AH,10.2,15.882
$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,25.375,106.725,372.175,149.200,0.000,189.898,166.987,881.820,4.250,0.000,0.000,30.191,971.495,7842.776,609.293,1301.664,1527.263,0.000,1277.433,0.000,1254.282,0.000,23.495,0.000
$DEVICE_MAMPS,175.643,108.147,1015.508,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.751,338.897,352.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25479,500
$CAP_FILE_SIZE,94416,0
$CFSIZE,254472192,241598464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,011008,204811,6401.502,-1231.225,28,1.4,32,-12.2