version: 66.04
glider: 14
mission: 6
dive: 213
start: 10 2 108 12 9 30
data:
$ID,14
$MISSION,6
$DIVE,213
$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,-654164.62
$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,22
$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
$GPS1,120008,6404.461,-1234.182,49,1.2,49,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-55.1
$GPS2,120909,6404.471,-1233.921,12,1.2,12,-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,288.4,9021,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.16,-146.6,0.0,0.0,0,123,0.00,0.00,-101.10,0.000,2,0.000,0.000,376,1590,2722
$GC,128,-1.16,-146.6,4.0,-2.9,5,154,11.35,2.50,-9.15,0.000,4,0.176,0.081,2413,3005,3138
$GC,205,-1.16,-146.6,19.7,-14.0,8,211,0.00,2.42,0.00,0.000,6,0.000,0.061,2413,1596,3140
$GC,523,-1.16,-146.6,68.4,-14.0,24,528,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,205,3143
$GC,636,-1.16,-146.6,84.5,-13.2,29,640,0.00,2.38,0.00,0.000,6,0.000,0.056,2413,1617,3144
$GC,958,-1.16,-146.6,124.2,-12.1,45,962,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,212,3144
$GC,1082,-1.16,-146.6,140.0,-12.8,50,1088,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1605,3144
$GC,1399,-1.16,-146.6,179.6,-12.9,66,1403,0.00,2.45,0.00,0.000,4,0.000,0.075,2413,212,3145
$GC,1494,-1.16,-146.6,192.6,-13.3,70,1498,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1604,3145
$GC,1823,-1.16,-146.6,231.5,-11.4,86,1827,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,207,3146
$GC,1913,-1.16,-146.6,242.6,-11.9,90,1918,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1600,3146
$GC,2242,-1.16,-146.6,280.4,-11.9,106,2246,0.00,2.47,0.00,0.000,4,0.000,0.076,2413,212,3145
$GC,2310,-1.16,-146.6,289.3,-13.9,109,2314,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1604,3145
$GC,2637,-1.16,-146.6,331.7,-13.1,125,2641,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,212,3146
$GC,2733,-1.16,-146.6,344.8,-13.0,129,2737,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1598,3146
$GC,3049,-1.16,-146.6,386.8,-13.1,144,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3145
$GC,3360,-1.16,-146.6,425.6,-12.3,159,3364,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,208,3145
$GC,3417,-1.16,-146.6,432.9,-13.2,161,3423,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1610,3145
$GC,3733,-1.16,-146.6,471.0,-12.2,177,3738,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,206,3144
$GC,3830,-1.16,-146.6,482.7,-11.8,181,3834,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1605,3145
$GC,4151,-1.16,-146.6,518.7,-11.5,197,4156,0.00,2.50,0.00,0.000,4,0.000,0.085,2413,2991,3147
$GC,4197,-1.16,-146.6,524.2,-11.9,199,4201,0.00,2.42,0.00,0.000,6,0.000,0.066,2413,1594,3147
$STATE,4330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4330,begin apogee
$GC,4340,-0.32,0.0,539.4,11.2,206,4466,0.93,0.00,122.97,1.026,6,0.114,0.000,2601,2197,2539
$STATE,4467,end apogee,CONTROL_FINISHED_OK
$STATE,4467,begin climb
$GC,4470,1.16,146.6,544.7,0.0,212,4600,1.55,2.60,121.32,1.004,4,0.097,0.077,2925,795,1942
$GC,4825,1.25,197.3,537.6,6.1,228,4878,0.00,2.45,43.03,0.985,6,0.000,0.061,2925,2198,1734
$GC,5191,1.26,207.9,510.5,7.6,246,5206,0.12,0.00,10.15,0.881,6,0.067,0.000,2963,2198,1690
$GC,5517,1.26,207.9,479.4,9.3,262,5521,0.00,2.70,0.00,0.000,4,0.000,0.105,2963,3607,1691
$GC,5774,1.26,207.9,454.7,8.2,273,5781,0.00,2.47,0.00,0.000,6,0.000,0.067,2963,2200,1690
$GC,6091,1.26,207.9,428.8,8.8,289,6095,0.00,2.62,0.00,0.000,4,0.000,0.093,2963,3604,1689
$GC,6221,1.26,207.9,417.0,9.8,295,6225,0.00,2.47,0.00,0.000,6,0.000,0.065,2964,2195,1689
$GC,6549,1.26,207.9,386.4,9.4,311,6553,0.00,2.60,0.00,0.000,4,0.000,0.090,2963,3601,1689
$GC,6599,1.26,207.9,381.2,9.5,313,6604,0.00,2.45,0.00,0.000,6,0.000,0.064,2963,2201,1688
$GC,6916,1.26,207.9,350.7,9.9,328,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2201,1688
$GC,7225,1.26,207.9,319.2,10.0,343,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2201,1688
$GC,7534,1.26,207.9,291.0,8.4,358,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2201,1688
$GC,7843,1.26,207.9,265.0,9.2,373,7847,0.00,2.53,0.00,0.000,4,0.000,0.077,2963,788,1688
$GC,7890,1.26,207.9,260.4,10.3,375,7894,0.00,2.40,0.00,0.000,6,0.000,0.058,2964,2207,1688
$GC,8223,1.26,207.9,226.4,11.1,391,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2207,1689
$GC,8532,1.26,207.9,193.5,10.2,406,8536,0.00,2.53,0.00,0.000,4,0.000,0.070,2963,789,1688
$GC,8624,1.26,207.9,184.0,10.2,410,8628,0.00,2.40,0.00,0.000,6,0.000,0.058,2964,2198,1688
$GC,8951,1.26,207.9,152.7,9.6,426,8956,0.00,2.50,0.00,0.000,4,0.000,0.070,2963,787,1689
$GC,9021,1.26,207.9,145.7,10.7,429,9025,0.00,2.42,0.00,0.000,6,0.000,0.058,2963,2200,1689
$GC,9343,1.26,207.9,117.3,8.0,445,9347,0.00,2.47,0.00,0.000,4,0.000,0.071,2963,789,1688
$GC,9384,1.26,207.9,113.9,8.6,446,9391,0.00,2.42,0.00,0.000,6,0.000,0.058,2963,2199,1689
$GC,9701,1.26,207.9,87.4,9.0,462,9705,0.00,2.47,0.00,0.000,4,0.000,0.070,2963,792,1689
$GC,9752,1.26,207.9,82.3,10.5,464,9756,0.00,2.42,0.00,0.000,6,0.000,0.059,2963,2201,1689
$GC,10069,1.26,207.9,51.9,9.0,479,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2201,1688
$GC,10378,1.28,220.3,30.8,7.5,494,10394,0.00,2.62,11.20,0.634,4,0.000,0.094,2964,3600,1639
$GC,10458,1.37,272.9,26.5,6.0,496,10506,0.00,2.42,40.90,0.667,6,0.000,0.062,2963,2191,1426
$STATE,10771,end climb,SURFACE_DEPTH_REACHED
$STATE,10772,begin surface coast
$FINISH,0.7,1.016701
$STATE,10796,end surface coast,CONTROL_FINISHED_OK
$STATE,10796,begin surface
$SM_CCo,10823,167.68,0.627,0,0,187,576.95
$SM_GC,1.31,0.00,0.00,167.68,0.000,0.000,0.627,373,1590,187,-10.59,-0.31,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1853
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,501.9,45.4
$24V_AH,23.7,30.053
$10V_AH,10.2,16.235
$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,25.150,100.775,349.575,167.675,0.000,76.881,66.261,210.162,4.250,0.000,0.000,14.266,998.239,7938.419,640.534,1334.546,628.712,0.000,1326.947,0.000,1302.035,0.000,28.213,0.000
$DEVICE_MAMPS,176.410,105.079,1026.246,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.814,347.886,369.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25409,513
$CAP_FILE_SIZE,87822,0
$CFSIZE,254472192,241373184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,021008,151402,6404.088,-1234.705,37,1.7,37,-12.2