version: 66.04
glider: 14
mission: 6
dive: 214
start: 10 2 108 15 20 6
data:
$ID,14
$MISSION,6
$DIVE,214
$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,-654179.12
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,151402,6404.088,-1234.705,37,1.7,37,-12.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-52.6
$GPS2,151945,6404.017,-1234.666,12,1.6,12,-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,294.5,8561,-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,17,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.15,0.000,2,0.000,0.000,371,1589,2190
$GC,103,-1.16,-146.6,3.1,-2.7,4,149,11.30,2.55,-28.85,0.000,4,0.173,0.083,2412,3000,3138
$GC,214,-1.16,-146.6,15.2,-11.7,9,218,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1594,3140
$GC,542,-1.16,-146.6,60.5,-14.1,25,546,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,206,3142
$GC,609,-1.16,-146.6,70.8,-14.2,28,614,0.00,2.40,0.00,0.000,6,0.000,0.055,2412,1627,3142
$GC,932,-1.16,-146.6,114.1,-14.1,44,936,0.00,2.55,0.00,0.000,4,0.000,0.075,2412,205,3143
$GC,1033,-1.16,-146.6,129.1,-14.6,48,1039,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1601,3143
$GC,1349,-1.16,-146.6,171.9,-14.7,64,1353,0.00,2.50,0.00,0.000,4,0.000,0.074,2412,203,3143
$GC,1411,-1.16,-146.6,181.1,-15.1,66,1417,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1603,3143
$GC,1728,-1.16,-146.6,225.5,-13.3,82,1732,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,207,3144
$GC,1785,-1.16,-146.6,233.6,-14.4,84,1791,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1603,3143
$GC,2102,-1.16,-146.6,276.7,-13.9,100,2106,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3144
$GC,2176,-1.16,-146.6,287.7,-14.5,103,2180,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1604,3144
$GC,2492,-1.16,-146.6,331.3,-14.1,118,2496,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,202,3143
$GC,2606,-1.16,-146.6,348.3,-14.9,123,2610,0.00,2.35,0.00,0.000,6,0.000,0.057,2412,1595,3145
$GC,2933,-1.16,-146.6,395.4,-14.2,139,2937,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,203,3144
$GC,3011,-1.16,-146.6,407.5,-15.6,142,3017,0.00,2.38,0.00,0.000,6,0.000,0.057,2412,1602,3144
$GC,3329,-1.16,-146.6,450.2,-12.6,158,3333,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,211,3143
$GC,3436,-1.16,-146.6,464.8,-13.2,163,3440,0.00,2.38,0.00,0.000,6,0.000,0.057,2412,1611,3144
$GC,3764,-1.16,-146.6,503.4,-10.6,179,3768,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,209,3144
$GC,3797,-1.16,-146.6,507.7,-11.5,180,3804,0.00,2.35,0.00,0.000,6,0.000,0.057,2412,1596,3144
$GC,4114,-1.16,-146.6,541.8,-10.9,196,4118,0.00,2.50,0.00,0.000,4,0.000,0.084,2412,2993,3144
$STATE,4184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4184,begin apogee
$GC,4194,-0.32,0.0,550.1,10.7,199,4320,0.93,0.00,122.50,1.035,6,0.127,0.000,2599,2189,2539
$STATE,4321,end apogee,CONTROL_FINISHED_OK
$STATE,4321,begin climb
$GC,4325,1.16,146.6,555.8,0.0,205,4454,1.52,2.72,121.03,1.011,4,0.086,0.097,2925,3590,1941
$GC,4481,1.22,181.3,551.6,6.7,212,4516,0.00,2.47,29.88,0.960,6,0.000,0.069,2925,2207,1799
$GC,4848,1.23,186.1,526.7,7.8,230,4855,0.00,0.00,4.93,0.709,6,0.000,0.000,2924,2207,1780
$GC,5154,1.30,229.6,506.6,6.3,245,5198,0.15,2.70,37.03,0.984,4,0.065,0.092,2968,3590,1602
$GC,5469,1.30,229.6,473.8,9.9,259,5473,0.00,2.45,0.00,0.000,6,0.000,0.068,2968,2199,1602
$GC,5797,1.30,229.6,439.6,10.1,275,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2200,1601
$GC,6106,1.30,229.6,409.4,10.6,290,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2199,1601
$GC,6416,1.30,229.6,375.7,10.9,305,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2200,1601
$GC,6725,1.30,229.6,345.0,9.3,320,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2200,1600
$GC,7034,1.30,229.6,315.1,9.7,335,7038,0.00,2.50,0.00,0.000,4,0.000,0.076,2968,790,1600
$GC,7075,1.30,229.6,311.1,9.9,336,7081,0.00,2.40,0.00,0.000,6,0.000,0.058,2968,2197,1600
$GC,7392,1.30,229.6,279.7,10.0,352,7396,0.00,2.50,0.00,0.000,4,0.000,0.069,2968,788,1600
$GC,7437,1.30,229.6,274.7,11.4,354,7441,0.00,2.42,0.00,0.000,6,0.000,0.058,2968,2208,1600
$GC,7758,1.30,229.6,242.4,10.2,370,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2209,1600
$GC,8067,1.30,229.6,210.7,9.3,385,8072,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,787,1600
$GC,8135,1.30,229.6,203.3,10.9,388,8139,0.00,2.40,0.00,0.000,6,0.000,0.058,2968,2198,1600
$GC,8462,1.30,229.6,170.5,9.4,404,8467,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,783,1600
$GC,8503,1.30,229.6,166.3,10.5,406,8508,0.00,2.42,0.00,0.000,6,0.000,0.058,2968,2203,1600
$GC,8833,1.30,229.6,135.9,9.2,422,8837,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,784,1600
$GC,8878,1.30,229.6,131.2,9.9,424,8882,0.00,2.45,0.00,0.000,6,0.000,0.058,2968,2205,1600
$GC,9200,1.31,241.2,104.2,7.6,440,9215,0.00,2.55,10.45,0.673,4,0.000,0.071,2968,790,1554
$GC,9267,1.31,241.2,98.4,9.5,442,9271,0.00,2.42,0.00,0.000,6,0.000,0.058,2968,2200,1554
$GC,9591,1.36,270.9,74.4,6.9,458,9621,0.00,2.58,24.08,0.693,4,0.000,0.071,2968,798,1434
$GC,9690,1.36,270.9,66.0,9.3,462,9694,0.00,2.45,0.00,0.000,6,0.000,0.059,2968,2206,1434
$GC,10008,1.36,270.9,36.8,9.4,477,10012,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,784,1434
$GC,10064,1.36,270.9,29.8,12.8,479,10071,0.00,2.45,0.00,0.000,6,0.000,0.058,2968,2205,1434
$STATE,10357,end climb,SURFACE_DEPTH_REACHED
$STATE,10357,begin surface coast
$FINISH,0.6,1.017029
$STATE,10379,end surface coast,CONTROL_FINISHED_OK
$STATE,10379,begin surface
$SM_CCo,10405,165.68,0.625,1,0,187,576.95
$SM_GC,1.32,0.00,0.00,165.68,0.000,0.000,0.625,381,1585,187,-10.55,-0.40,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1850
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.3,84.7
$24V_AH,23.7,30.192
$10V_AH,10.2,16.292
$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,25.100,103.750,349.875,165.675,0.000,39.130,36.613,142.980,3.750,0.000,0.000,13.894,956.711,7602.882,630.016,1253.265,485.039,0.000,1292.491,0.000,1220.289,0.000,26.700,0.000
$DEVICE_MAMPS,172.575,96.642,1035.450,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.665,335.390,357.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25377,495
$CAP_FILE_SIZE,83071,0
$CFSIZE,254472192,241332224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,021008,181748,6403.465,-1238.349,30,1.9,41,-12.2