version: 66.04
glider: 14
mission: 6
dive: 219
start: 10 3 108 6 55 58
data:
$ID,14
$MISSION,6
$DIVE,219
$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,-654248.69
$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,36
$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
$GPS1,065037,6408.495,-1235.021,34,0.9,34,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.4
$GPS2,065533,6408.511,-1234.937,13,1.6,13,-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,290.0,20413,-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,-146.6,0.0,0.0,0,114,0.00,0.00,-95.82,0.000,2,0.000,0.000,378,1619,2546
$GC,118,-1.16,-146.6,3.6,-2.5,5,150,11.38,2.45,-14.30,0.000,4,0.177,0.083,2412,2997,3139
$GC,320,-1.16,-146.6,34.6,-14.6,14,324,0.00,2.42,0.00,0.000,6,0.000,0.062,2412,1595,3142
$GC,642,-1.16,-146.6,84.1,-13.9,30,646,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,206,3143
$GC,750,-1.16,-146.6,100.9,-15.9,35,755,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1603,3144
$GC,1080,-1.16,-146.6,143.5,-12.8,51,1085,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,203,3144
$GC,1121,-1.16,-146.6,149.3,-13.4,53,1129,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1605,3144
$GC,1458,-1.16,-146.6,193.2,-13.2,69,1462,0.00,2.47,0.00,0.000,4,0.000,0.075,2411,205,3146
$GC,1594,-1.16,-146.6,212.6,-14.2,75,1598,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1601,3146
$GC,1921,-1.16,-146.6,255.7,-13.3,91,1926,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,204,3146
$GC,2007,-1.16,-146.6,267.7,-13.1,95,2012,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1599,3146
$GC,2335,-1.16,-146.6,307.2,-11.6,111,2340,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,211,3146
$GC,2399,-1.16,-146.6,315.0,-12.3,114,2403,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1600,3146
$GC,2732,-1.16,-146.6,356.6,-13.2,130,2736,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3146
$GC,2910,-1.16,-146.6,380.6,-12.8,137,2916,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1604,3146
$GC,3226,-1.16,-146.6,419.7,-12.4,153,3231,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,204,3146
$GC,3335,-1.16,-146.6,433.7,-12.7,158,3339,0.00,2.38,0.00,0.000,6,0.000,0.057,2412,1602,3147
$GC,3662,-1.16,-146.6,471.1,-11.3,174,3666,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,210,3147
$GC,3785,-1.16,-146.6,487.3,-12.8,179,3790,0.00,2.38,0.00,0.000,6,0.000,0.057,2412,1601,3147
$GC,4102,-1.16,-146.6,524.1,-11.4,194,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3147
$STATE,4119,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4119,begin apogee
$GC,4129,-0.32,0.0,526.4,11.2,195,4256,0.93,0.00,123.62,1.040,6,0.104,0.000,2604,2190,2539
$STATE,4257,end apogee,CONTROL_FINISHED_OK
$STATE,4257,begin climb
$GC,4260,1.16,146.6,532.3,0.0,201,4392,1.48,2.78,121.90,1.009,4,0.077,0.107,2926,3600,1941
$GC,4459,1.31,236.3,528.7,4.6,210,4538,0.15,2.50,73.47,0.995,6,0.064,0.068,2969,2194,1575
$GC,4847,1.31,236.3,492.9,9.4,229,4851,0.00,2.53,0.00,0.000,4,0.000,0.080,2969,797,1575
$GC,5003,1.31,236.3,475.8,11.3,236,5007,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2203,1575
$GC,5324,1.31,236.3,443.6,9.8,252,5329,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,796,1575
$GC,5426,1.31,236.3,431.4,12.3,256,5432,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2208,1575
$GC,5742,1.31,236.3,393.3,11.4,272,5746,0.00,2.55,0.00,0.000,4,0.000,0.072,2969,791,1575
$GC,5861,1.31,236.3,379.3,11.6,277,5865,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2203,1574
$GC,6183,1.31,236.3,346.7,9.5,293,6187,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,790,1574
$GC,6245,1.31,236.3,340.0,10.7,295,6251,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2209,1574
$GC,6562,1.31,236.3,308.2,10.3,311,6566,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,790,1573
$GC,6635,1.31,236.3,300.0,10.9,314,6639,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2206,1573
$GC,6951,1.31,236.3,269.0,9.5,329,6955,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,786,1573
$GC,6997,1.31,236.3,264.6,10.0,331,7002,0.00,2.45,0.00,0.000,6,0.000,0.060,2969,2204,1573
$GC,7325,1.31,236.3,236.0,8.6,347,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2204,1573
$GC,7634,1.31,236.3,208.8,9.3,362,7638,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,793,1573
$GC,7764,1.31,236.3,195.5,10.6,367,7770,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2204,1572
$GC,8080,1.31,236.3,166.6,8.6,383,8084,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,794,1573
$GC,8165,1.31,236.3,158.8,9.6,386,8171,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2206,1573
$GC,8482,1.31,236.3,132.4,8.6,402,8486,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,790,1572
$GC,8532,1.31,236.3,127.3,10.4,404,8537,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2203,1573
$GC,8849,1.31,236.3,98.8,9.0,419,8853,0.00,2.50,0.00,0.000,4,0.000,0.070,2969,789,1573
$GC,8899,1.31,236.3,94.3,8.9,421,8904,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2200,1573
$GC,9217,1.31,236.3,63.7,9.7,436,9221,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,793,1573
$GC,9352,1.31,236.3,50.3,11.0,442,9356,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2206,1573
$GC,9675,1.31,236.3,20.4,9.6,458,9679,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,790,1573
$GC,9764,1.31,236.3,10.7,10.9,462,9769,0.00,2.42,0.00,0.000,6,0.000,0.059,2969,2204,1573
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,0.5,1.023972
$STATE,9880,end surface coast,CONTROL_FINISHED_OK
$STATE,9881,begin surface
$SM_CCo,9906,185.25,0.640,0,0,186,576.95
$SM_GC,1.28,0.00,0.00,185.25,0.000,0.000,0.640,378,1589,186,-10.57,-0.28,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.1,109.4
$24V_AH,23.7,30.913
$10V_AH,10.2,16.589
$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,25.125,110.600,319.000,185.250,0.000,37.762,28.411,113.221,3.250,0.000,0.000,15.307,944.584,7063.617,624.688,1330.150,438.618,0.000,1314.314,0.000,1294.070,0.000,23.542,0.000
$DEVICE_MAMPS,177.177,107.380,1040.052,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.646,317.487,341.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25416,468
$CAP_FILE_SIZE,83061,0
$CFSIZE,254472192,241119232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,031008,094529,6410.054,-1234.742,14,2.9,33,-12.3