version: 66.04
glider: 14
mission: 6
dive: 218
start: 10 3 108 4 1 21
data:
$ID,14
$MISSION,6
$DIVE,218
$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,-654232.75
$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
$GPS1,035607,6408.613,-1233.144,12,1.1,28,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.6
$GPS2,040056,6408.599,-1233.077,12,1.2,12,-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,289.0,21882,-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,-101.15,0.000,2,0.000,0.000,380,1588,2761
$GC,124,-1.16,-146.6,4.6,-3.7,5,149,11.40,2.55,-7.75,0.000,4,0.179,0.082,2411,3001,3140
$GC,271,-1.16,-146.6,29.4,-13.2,11,275,0.00,2.42,0.00,0.000,6,0.000,0.062,2411,1594,3143
$GC,593,-1.16,-146.6,78.1,-15.4,27,598,0.00,2.50,0.00,0.000,4,0.000,0.080,2411,210,3145
$GC,695,-1.16,-146.6,95.7,-17.4,31,701,0.00,2.38,0.00,0.000,6,0.000,0.056,2411,1623,3145
$GC,1013,-1.16,-146.6,140.3,-13.9,47,1017,0.00,2.55,0.00,0.000,4,0.000,0.076,2411,209,3147
$GC,1121,-1.16,-146.6,156.2,-14.1,52,1125,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1605,3147
$GC,1448,-1.16,-146.6,203.4,-14.4,68,1452,0.00,2.50,0.00,0.000,4,0.000,0.075,2411,207,3147
$GC,1516,-1.16,-146.6,213.5,-14.4,71,1520,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1605,3147
$GC,1843,-1.16,-146.6,257.3,-12.9,87,1847,0.00,2.47,0.00,0.000,4,0.000,0.074,2411,210,3148
$GC,1950,-1.16,-146.6,271.4,-12.9,91,1956,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1605,3148
$GC,2267,-1.16,-146.6,310.3,-12.4,107,2271,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,209,3147
$GC,2385,-1.16,-146.6,326.0,-13.0,112,2389,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1598,3148
$GC,2707,-1.16,-146.6,366.4,-12.9,128,2711,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,210,3148
$GC,2757,-1.16,-146.6,373.3,-13.0,130,2762,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1599,3148
$GC,3074,-1.16,-146.6,412.0,-12.1,145,3078,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,209,3149
$GC,3164,-1.16,-146.6,424.0,-13.1,149,3168,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1598,3149
$GC,3485,-1.16,-146.6,461.4,-11.2,165,3489,0.00,2.50,0.00,0.000,4,0.000,0.079,2411,213,3149
$GC,3530,-1.16,-146.6,466.7,-11.7,167,3534,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1598,3149
$GC,3851,-1.16,-146.6,499.0,-9.8,183,3855,0.00,2.53,0.00,0.000,4,0.000,0.082,2411,208,3149
$GC,3891,-1.16,-146.6,503.3,-10.9,184,3897,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1601,3149
$STATE,4101,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4101,begin apogee
$GC,4111,-0.32,0.0,525.3,10.7,195,4237,0.98,0.00,123.32,1.029,6,0.133,0.000,2602,2193,2539
$STATE,4238,end apogee,CONTROL_FINISHED_OK
$STATE,4238,begin climb
$GC,4242,1.16,146.6,530.8,0.0,201,4373,1.50,2.78,121.43,1.005,4,0.077,0.107,2928,3601,1941
$GC,4646,1.16,146.6,508.8,9.0,219,4650,0.00,2.47,0.00,0.000,6,0.000,0.068,2928,2199,1941
$GC,4967,1.22,179.1,484.5,6.8,235,5002,0.00,2.67,27.27,0.968,4,0.000,0.079,2928,787,1808
$GC,5043,1.22,179.1,479.1,8.0,238,5047,0.00,2.47,0.00,0.000,6,0.000,0.059,2928,2213,1808
$GC,5359,1.32,244.9,458.3,5.5,253,5423,0.15,2.62,54.03,0.981,4,0.066,0.072,2970,801,1540
$GC,5451,1.32,244.9,451.4,9.4,257,5456,0.00,2.45,0.00,0.000,6,0.000,0.059,2970,2200,1540
$GC,5774,1.32,244.9,421.6,9.4,273,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2201,1539
$GC,6083,1.32,244.9,392.3,9.4,288,6087,0.00,2.55,0.00,0.000,4,0.000,0.072,2970,788,1540
$GC,6162,1.32,244.9,384.2,10.1,291,6166,0.00,2.45,0.00,0.000,6,0.000,0.059,2970,2201,1540
$GC,6479,1.32,244.9,355.3,10.5,306,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2201,1539
$GC,6788,1.32,244.9,323.0,10.1,321,6792,0.00,2.47,0.00,0.000,4,0.000,0.070,2970,793,1539
$GC,6866,1.32,244.9,314.4,11.0,324,6871,0.00,2.42,0.00,0.000,6,0.000,0.059,2968,2200,1539
$GC,7183,1.32,244.9,282.3,10.5,339,7187,0.00,2.50,0.00,0.000,4,0.000,0.070,2970,795,1539
$GC,7230,1.32,244.9,277.0,11.6,341,7234,0.00,2.42,0.00,0.000,6,0.000,0.059,2970,2201,1539
$GC,7557,1.32,244.9,241.8,10.6,357,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2201,1539
$GC,7866,1.32,244.9,208.8,11.0,372,7870,0.00,2.47,0.00,0.000,4,0.000,0.071,2970,793,1539
$GC,8018,1.32,244.9,191.8,11.7,378,8025,0.00,2.42,0.00,0.000,6,0.000,0.060,2970,2203,1539
$GC,8335,1.32,244.9,158.1,10.1,394,8339,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,785,1539
$GC,8391,1.32,244.9,152.0,11.2,396,8397,0.00,2.42,0.00,0.000,6,0.000,0.059,2970,2200,1539
$GC,8708,1.32,244.9,118.5,10.5,412,8712,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,786,1539
$GC,8753,1.32,244.9,113.3,12.3,414,8757,0.00,2.42,0.00,0.000,6,0.000,0.059,2970,2200,1539
$GC,9075,1.32,244.9,79.9,9.9,430,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2200,1539
$GC,9384,1.32,244.9,48.9,8.4,445,9388,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,793,1539
$GC,9525,1.32,244.9,33.8,10.6,451,9529,0.00,2.42,0.00,0.000,6,0.000,0.059,2970,2208,1539
$GC,9841,1.32,244.9,3.6,10.3,466,9846,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,789,1539
$STATE,9857,end climb,SURFACE_DEPTH_REACHED
$STATE,9857,begin surface coast
$FINISH,1.0,1.027014
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9889,183.07,0.635,1,0,187,576.95
$SM_GC,1.32,0.00,0.00,183.07,0.000,0.000,0.635,376,1618,187,-10.57,0.51,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1860
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.4,109.3
$24V_AH,23.7,30.778
$10V_AH,10.2,16.533
$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,25.275,103.675,326.050,183.075,0.000,37.765,25.008,109.977,3.250,0.000,0.000,13.988,923.982,7153.011,634.013,1243.782,425.190,0.000,1285.325,0.000,1212.207,0.000,23.528,0.000
$DEVICE_MAMPS,179.478,107.380,1028.547,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.253,316.779,325.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22258,467
$CAP_FILE_SIZE,79543,0
$CFSIZE,254472192,241164288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,031008,065037,6408.495,-1235.021,34,0.9,34,-12.2