version: 66.04
glider: 14
mission: 6
dive: 216
start: 10 2 108 21 48 36
data:
$ID,14
$MISSION,6
$DIVE,216
$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,-654203.25
$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,19
$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
$GPS1,213825,6405.710,-1238.034,39,1.5,39,-12.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.7
$GPS2,214815,6405.834,-1237.753,8,1.8,8,-12.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IS1
$TGT_LATLONG,6410.000,-1300.000
$TGT_RADIUS,3000.000
$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,305.6,19541,-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,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,118,0.00,0.00,-96.97,0.000,2,0.000,0.000,372,1599,2626
$GC,122,-1.16,-146.6,3.8,-2.8,5,153,11.40,2.53,-11.85,0.000,4,0.176,0.081,2413,3002,3139
$GC,221,-1.16,-146.6,19.4,-13.7,9,225,0.00,2.45,0.00,0.000,6,0.000,0.061,2413,1586,3141
$GC,540,-1.16,-146.6,66.5,-14.9,24,544,0.00,2.47,0.00,0.000,4,0.000,0.078,2414,209,3143
$GC,625,-1.16,-146.6,79.0,-14.5,28,630,0.00,2.38,0.00,0.000,6,0.000,0.056,2413,1618,3143
$GC,954,-1.16,-146.6,124.8,-14.1,44,958,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,213,3144
$GC,1107,-1.16,-146.6,147.4,-15.3,51,1111,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1605,3144
$GC,1434,-1.16,-146.6,190.9,-13.1,67,1438,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,210,3144
$GC,1552,-1.16,-146.6,207.8,-14.4,72,1557,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1604,3144
$GC,1875,-1.16,-146.6,250.6,-13.2,88,1879,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,209,3145
$GC,1976,-1.16,-146.6,264.6,-13.6,92,1983,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1602,3145
$GC,2293,-1.16,-146.6,304.6,-12.2,108,2297,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3145
$GC,2382,-1.16,-146.6,316.3,-12.5,112,2386,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1603,3145
$GC,2705,-1.16,-146.6,354.5,-11.7,128,2709,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3144
$GC,2768,-1.16,-146.6,362.0,-11.7,131,2772,0.00,2.33,0.00,0.000,6,0.000,0.057,2413,1598,3145
$GC,3101,-1.16,-146.6,403.9,-13.1,147,3105,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,203,3144
$GC,3141,-1.16,-146.6,409.2,-13.0,148,3147,0.00,2.38,0.00,0.000,6,0.000,0.057,2414,1610,3145
$GC,3457,-1.16,-146.6,445.3,-11.8,164,3461,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,205,3145
$GC,3660,-1.16,-146.6,471.4,-12.4,173,3664,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1604,3145
$GC,3988,-1.16,-146.6,510.9,-11.7,189,3992,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,206,3146
$GC,4067,-1.16,-146.6,520.7,-12.9,192,4071,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1599,3146
$STATE,4215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4215,begin apogee
$GC,4225,-0.32,0.0,538.3,11.6,199,4352,0.93,0.00,123.53,1.033,6,0.116,0.000,2600,2192,2538
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4356,1.16,146.6,544.3,0.0,205,4484,1.52,2.78,120.15,1.014,4,0.088,0.106,2926,3602,1941
$GC,4648,1.19,165.6,531.6,7.3,218,4670,0.00,2.47,16.48,0.932,6,0.000,0.068,2925,2200,1864
$GC,4987,1.24,195.9,508.1,6.8,235,5015,0.00,0.00,26.00,0.975,6,0.000,0.000,2926,2201,1740
$GC,5317,1.25,201.6,482.9,7.8,251,5330,0.00,2.58,6.35,0.792,4,0.000,0.077,2925,788,1717
$GC,5494,1.25,201.6,467.6,9.1,258,5500,0.00,2.45,0.00,0.000,6,0.000,0.059,2926,2206,1717
$GC,5810,1.28,221.6,444.2,7.2,274,5835,0.12,2.62,17.60,0.940,4,0.067,0.073,2963,795,1635
$GC,6034,1.28,221.6,422.6,11.4,284,6038,0.00,2.42,0.00,0.000,6,0.000,0.060,2964,2206,1636
$GC,6367,1.29,225.4,393.7,7.9,300,6376,0.00,2.55,4.12,0.643,4,0.000,0.072,2963,776,1620
$GC,6416,1.29,225.4,388.8,10.1,302,6421,0.00,2.47,0.00,0.000,6,0.000,0.059,2963,2201,1620
$GC,6739,1.29,225.4,357.0,10.2,318,6743,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,789,1620
$GC,6812,1.29,225.4,349.2,11.1,321,6816,0.00,2.42,0.00,0.000,6,0.000,0.059,2963,2200,1620
$GC,7129,1.29,225.4,317.1,10.1,336,7133,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,793,1620
$GC,7174,1.29,225.4,312.3,10.5,338,7179,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2208,1620
$GC,7496,1.29,225.4,282.0,9.1,354,7500,0.00,2.53,0.00,0.000,4,0.000,0.070,2963,789,1620
$GC,7604,1.29,225.4,271.7,9.6,359,7609,0.00,2.42,0.00,0.000,6,0.000,0.059,2963,2200,1620
$GC,7932,1.29,225.4,242.3,9.2,375,7937,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,792,1620
$GC,8006,1.29,225.4,234.9,10.2,378,8010,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2206,1620
$GC,8328,1.29,225.4,206.4,8.4,394,8332,0.00,2.53,0.00,0.000,4,0.000,0.070,2963,788,1620
$GC,8423,1.29,225.4,197.3,9.8,398,8428,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2208,1620
$GC,8739,1.29,225.4,167.0,9.7,413,8743,0.00,2.50,0.00,0.000,4,0.000,0.070,2963,794,1620
$GC,8796,1.29,225.4,161.4,9.6,415,8801,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2200,1620
$GC,9115,1.29,225.4,131.2,9.1,430,9119,0.00,2.50,0.00,0.000,4,0.000,0.070,2963,792,1621
$GC,9160,1.29,225.4,126.6,9.5,432,9164,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2200,1620
$GC,9482,1.29,225.4,97.9,9.2,448,9486,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,793,1620
$GC,9545,1.29,225.4,91.7,9.2,451,9549,0.00,2.42,0.00,0.000,6,0.000,0.059,2963,2200,1620
$GC,9873,1.29,225.4,61.1,8.6,467,9877,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,794,1620
$GC,9918,1.29,225.4,57.1,9.5,469,9922,0.00,2.42,0.00,0.000,6,0.000,0.059,2963,2200,1621
$GC,10241,1.33,249.1,32.4,7.1,485,10266,0.00,2.55,20.38,0.670,4,0.000,0.072,2963,793,1523
$GC,10357,1.33,249.1,21.5,10.5,490,10361,0.00,2.45,0.00,0.000,6,0.000,0.058,2963,2205,1522
$STATE,10567,end climb,SURFACE_DEPTH_REACHED
$STATE,10567,begin surface coast
$FINISH,0.6,1.013417
$STATE,10589,end surface coast,CONTROL_FINISHED_OK
$STATE,10589,begin surface
$SM_CCo,10615,182.62,0.634,0,0,186,576.95
$SM_GC,1.31,0.00,0.00,182.62,0.000,0.000,0.634,371,1590,186,-10.60,-0.28,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1843
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,501.2,45.5
$24V_AH,23.7,30.502
$10V_AH,10.2,16.420
$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,25.200,120.650,334.600,182.625,0.000,76.789,54.811,275.595,4.250,0.000,0.000,10.128,1010.762,7649.438,642.643,1404.165,689.985,0.000,1365.781,0.000,1369.355,0.000,28.216,0.000
$DEVICE_MAMPS,176.410,105.846,1033.149,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.100,340.230,356.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25445,501
$CAP_FILE_SIZE,93776,0
$CFSIZE,254472192,241233920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,031008,005001,6408.347,-1234.018,36,1.3,42,-12.2