version: 66.04
glider: 14
mission: 6
dive: 217
start: 10 3 108 0 59 34
data:
$ID,14
$MISSION,6
$DIVE,217
$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,-654218.12
$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
$GPS1,005001,6408.347,-1234.018,36,1.3,42,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.6
$GPS2,005909,6408.433,-1233.698,12,1.3,12,-12.2
$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,290.0,21424,-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,-101.20,0.000,2,0.000,0.000,371,1588,2710
$GC,123,-1.16,-146.6,3.9,-2.7,5,150,11.45,2.53,-9.25,0.000,4,0.179,0.082,2411,3013,3137
$GC,283,-1.16,-146.6,29.8,-13.7,12,287,0.00,2.45,0.00,0.000,6,0.000,0.061,2411,1593,3141
$GC,605,-1.16,-146.6,78.3,-14.7,28,609,0.00,2.50,0.00,0.000,4,0.000,0.081,2411,203,3141
$GC,781,-1.16,-146.6,102.4,-14.1,36,785,0.00,2.38,0.00,0.000,6,0.000,0.056,2411,1617,3142
$GC,1108,-1.16,-146.6,147.4,-14.0,52,1113,0.00,2.53,0.00,0.000,4,0.000,0.076,2411,212,3143
$GC,1172,-1.16,-146.6,156.4,-14.4,55,1176,0.00,2.33,0.00,0.000,6,0.000,0.056,2411,1599,3143
$GC,1500,-1.16,-146.6,199.8,-12.7,71,1504,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,206,3143
$GC,1600,-1.16,-146.6,213.9,-13.0,75,1605,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1602,3143
$GC,1917,-1.16,-146.6,253.1,-12.3,90,1921,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,207,3143
$GC,2003,-1.16,-146.6,264.3,-13.3,94,2007,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1604,3143
$GC,2330,-1.16,-146.6,305.4,-12.8,110,2335,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,212,3143
$GC,2398,-1.16,-146.6,314.6,-14.2,113,2402,0.00,2.33,0.00,0.000,6,0.000,0.056,2411,1598,3143
$GC,2725,-1.16,-146.6,353.9,-11.6,129,2729,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,210,3143
$GC,2839,-1.16,-146.6,367.6,-12.5,134,2843,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1600,3143
$GC,3160,-1.16,-146.6,405.0,-11.3,150,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3143
$GC,3470,-1.16,-146.6,441.1,-11.2,165,3474,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,205,3144
$GC,3520,-1.16,-146.6,447.7,-12.6,167,3524,0.00,2.38,0.00,0.000,6,0.000,0.057,2411,1604,3144
$GC,3836,-1.16,-146.6,486.6,-12.4,182,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3144
$STATE,4060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4060,begin apogee
$GC,4070,-0.32,0.0,515.0,12.6,193,4196,0.93,0.00,122.25,1.019,6,0.106,0.000,2602,2193,2539
$STATE,4196,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4200,1.16,146.6,522.1,0.0,199,4326,1.50,0.00,121.00,0.994,6,0.081,0.000,2926,2192,1941
$GC,4634,1.27,215.1,502.1,5.4,220,4698,0.12,2.60,56.65,0.976,4,0.067,0.073,2964,793,1661
$GC,4794,1.27,215.1,488.5,9.6,227,4798,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2199,1661
$GC,5116,1.27,215.1,458.9,8.9,243,5120,0.00,2.70,0.00,0.000,4,0.000,0.105,2964,3605,1660
$GC,5246,1.27,215.1,447.5,8.5,249,5250,0.00,2.47,0.00,0.000,6,0.000,0.067,2964,2197,1661
$GC,5573,1.27,215.1,417.8,8.9,265,5577,0.00,2.50,0.00,0.000,4,0.000,0.078,2964,797,1661
$GC,5680,1.27,215.1,408.0,9.9,269,5686,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2217,1660
$GC,5996,1.27,215.1,380.1,8.5,285,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2217,1660
$GC,6306,1.27,215.1,352.6,8.7,300,6310,0.00,2.58,0.00,0.000,4,0.000,0.094,2964,3602,1659
$GC,6356,1.27,215.1,347.9,9.6,302,6360,0.00,2.45,0.00,0.000,6,0.000,0.064,2964,2197,1659
$GC,6673,1.28,219.7,321.5,7.8,317,6682,0.00,2.55,4.05,0.611,4,0.000,0.077,2964,788,1643
$GC,6802,1.28,219.7,308.9,9.2,322,6808,0.00,2.45,0.00,0.000,6,0.000,0.058,2964,2209,1644
$GC,7118,1.28,219.7,280.6,9.0,338,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2209,1644
$GC,7427,1.28,219.7,250.2,10.0,353,7431,0.00,2.53,0.00,0.000,4,0.000,0.069,2964,786,1644
$GC,7506,1.28,219.7,241.7,11.3,356,7513,0.00,2.42,0.00,0.000,6,0.000,0.058,2964,2199,1644
$GC,7823,1.28,219.7,210.6,9.8,372,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2198,1644
$GC,8132,1.28,219.7,182.8,8.5,387,8136,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,786,1643
$GC,8183,1.28,219.7,178.3,8.6,389,8187,0.00,2.45,0.00,0.000,6,0.000,0.058,2964,2209,1643
$GC,8505,1.30,232.4,153.0,7.5,405,8527,0.00,2.60,12.20,0.723,4,0.000,0.071,2964,789,1591
$GC,8561,1.30,232.4,148.4,8.1,407,8565,0.00,2.45,0.00,0.000,6,0.000,0.058,2964,2199,1591
$GC,8880,1.31,236.7,123.7,7.8,422,8890,0.00,2.53,5.00,0.571,4,0.000,0.071,2964,791,1574
$GC,8924,1.31,236.7,119.7,8.7,424,8928,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2201,1574
$GC,9251,1.31,236.7,93.2,8.2,440,9256,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,790,1574
$GC,9342,1.31,236.7,85.5,8.5,444,9346,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2203,1574
$GC,9665,1.31,236.7,58.0,9.0,460,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2203,1574
$GC,9973,1.31,236.7,31.1,8.7,475,9977,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,788,1574
$GC,10074,1.31,236.7,20.8,10.1,479,10081,0.00,2.40,0.00,0.000,6,0.000,0.059,2964,2200,1574
$STATE,10286,end climb,SURFACE_DEPTH_REACHED
$STATE,10286,begin surface coast
$FINISH,0.7,1.012406
$STATE,10306,end surface coast,CONTROL_FINISHED_OK
$STATE,10306,begin surface
$SM_CCo,10332,182.93,0.627,1,0,186,576.95
$SM_GC,1.39,0.00,0.00,182.93,0.000,0.000,0.627,380,1589,186,-10.56,-0.31,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1837
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.1,72.4
$24V_AH,23.7,30.642
$10V_AH,10.2,16.478
$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,25.200,96.000,321.150,182.925,0.000,78.142,85.576,193.027,4.000,0.000,0.000,14.251,955.243,7607.220,639.271,1254.713,624.888,0.000,1279.976,0.000,1226.029,0.000,27.996,0.000
$DEVICE_MAMPS,179.478,105.079,1019.343,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.232,333.441,358.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25400,491
$CAP_FILE_SIZE,82437,0
$CFSIZE,254472192,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,031008,035607,6408.613,-1233.144,12,1.1,28,-12.2