version: 66.04
glider: 14
mission: 6
dive: 208
start: 10 1 108 21 3 39
data:
$ID,14
$MISSION,6
$DIVE,208
$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,-654091.25
$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,24
$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
$GPS1,204811,6401.502,-1231.225,28,1.4,32,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-44.4
$GPS2,210314,6401.548,-1231.119,13,1.3,13,-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,311.8,12928,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.07,0.000,2,0.000,0.000,373,1588,2700
$GC,123,-1.16,-146.6,3.1,-2.1,5,154,11.27,2.58,-13.05,0.000,4,0.173,0.084,2413,3004,3140
$GC,307,-1.16,-146.6,29.1,-19.7,13,311,0.00,2.45,0.00,0.000,6,0.000,0.065,2414,1596,3141
$GC,635,-1.16,-146.6,80.5,-18.6,29,639,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,206,3143
$GC,823,-1.16,-146.6,118.3,-19.5,37,827,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1616,3144
$GC,1139,-1.16,-146.6,174.4,-16.1,52,1144,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3146
$GC,1208,-1.16,-146.6,185.5,-16.6,55,1212,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1602,3145
$GC,1536,-1.16,-146.6,229.5,-12.2,71,1540,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3146
$GC,1616,-1.16,-146.6,239.3,-11.9,74,1622,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1603,3146
$GC,1932,-1.16,-146.6,272.0,-10.4,90,1936,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,210,3146
$GC,1995,-1.16,-146.6,278.8,-11.3,93,1999,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1602,3146
$GC,2322,-1.16,-146.6,313.9,-11.1,109,2326,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,210,3146
$GC,2434,-1.16,-146.6,327.9,-12.2,114,2438,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3146
$GC,2756,-1.16,-146.6,365.4,-11.7,130,2760,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,209,3146
$GC,2902,-1.16,-146.6,384.2,-12.8,136,2908,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1602,3146
$GC,3218,-1.16,-146.6,423.1,-12.9,152,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3146
$GC,3527,-1.16,-146.6,462.9,-13.3,167,3531,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,205,3146
$GC,3556,-1.16,-146.6,466.9,-14.4,168,3560,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1600,3146
$GC,3878,-1.16,-146.6,505.7,-11.4,184,3882,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,201,3146
$STATE,3931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3931,begin apogee
$GC,3943,-0.32,0.0,512.5,13.8,186,4093,0.88,0.00,136.45,0.950,6,0.104,0.000,2598,2185,2539
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4097,1.16,146.6,522.5,0.0,194,4226,1.52,2.85,120.12,0.982,4,0.084,0.116,2925,3604,1941
$GC,4500,1.16,146.6,498.1,8.3,212,4504,0.00,2.50,0.00,0.000,6,0.000,0.073,2925,2202,1941
$GC,4816,1.16,146.6,472.8,8.0,227,4820,0.00,2.65,0.00,0.000,4,0.000,0.099,2925,3609,1941
$GC,5087,1.16,146.6,446.0,10.1,239,5091,0.00,2.50,0.00,0.000,6,0.000,0.071,2925,2199,1941
$GC,5408,1.16,146.6,417.3,8.8,255,5412,0.00,2.65,0.00,0.000,4,0.000,0.097,2925,3611,1941
$GC,5471,1.16,146.6,412.0,8.3,258,5475,0.00,2.50,0.00,0.000,6,0.000,0.070,2925,2198,1941
$GC,5798,1.18,155.8,386.3,7.7,274,5808,0.00,0.00,7.55,0.799,6,0.000,0.000,2925,2198,1903
$GC,6107,1.22,181.6,365.1,7.0,289,6131,0.00,0.00,22.30,0.907,6,0.000,0.000,2925,2198,1797
$GC,6436,1.25,201.2,342.0,7.3,305,6456,0.00,0.00,17.02,0.870,6,0.000,0.000,2925,2198,1718
$GC,6767,1.25,203.2,315.8,7.9,321,6771,0.10,2.55,0.00,0.000,4,0.070,0.079,2960,783,1718
$GC,6845,1.25,203.2,308.2,10.1,324,6851,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2211,1718
$GC,7162,1.25,203.2,277.4,10.1,340,7166,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,790,1718
$GC,7235,1.25,203.2,269.2,11.4,343,7239,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2206,1718
$GC,7556,1.25,203.2,234.8,10.6,359,7561,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,790,1718
$GC,7613,1.25,203.2,228.7,11.3,361,7619,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2197,1718
$GC,7930,1.25,203.2,196.6,9.6,377,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2197,1718
$GC,8239,1.25,203.2,169.3,8.1,392,8243,0.00,2.50,0.00,0.000,4,0.000,0.072,2960,790,1718
$GC,8330,1.25,203.2,161.7,8.2,396,8334,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2201,1718
$GC,8664,1.33,252.8,138.8,6.1,412,8712,0.00,2.62,41.33,0.754,4,0.000,0.072,2960,789,1509
$GC,8760,1.38,279.3,132.6,7.0,416,8787,0.00,2.47,21.95,0.723,6,0.000,0.061,2960,2200,1400
$GC,9099,1.38,279.3,105.8,10.8,432,9103,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,791,1401
$GC,9256,1.38,279.3,86.2,12.0,439,9260,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2205,1400
$GC,9580,1.38,279.3,57.5,10.3,455,9584,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,792,1400
$GC,9636,1.38,279.3,50.1,13.2,457,9642,0.00,2.45,0.00,0.000,6,0.000,0.064,2960,2197,1400
$GC,9952,1.38,279.3,9.8,14.8,473,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1401
$STATE,10052,end climb,SURFACE_DEPTH_REACHED
$STATE,10052,begin surface coast
$FINISH,0.6,1.002846
$STATE,10074,end surface coast,CONTROL_FINISHED_OK
$STATE,10074,begin surface
$SM_CCo,10100,154.90,0.629,0,0,187,576.95
$SM_GC,1.07,0.00,0.00,154.90,0.000,0.000,0.629,381,1593,187,-10.55,-0.20,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1855
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.9,70.1
$24V_AH,23.7,29.346
$10V_AH,10.2,15.944
$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,24.950,97.000,366.725,154.900,0.000,114.581,97.200,434.210,4.000,0.000,0.000,14.971,945.122,7353.561,659.469,1293.345,918.930,0.000,1320.246,0.000,1261.540,0.000,25.057,0.000
$DEVICE_MAMPS,172.575,115.817,981.760,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.631,324.743,330.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25406,479
$CAP_FILE_SIZE,88394,0
$CFSIZE,254472192,241573888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,011008,235557,6402.815,-1228.749,38,1.6,39,-12.1