version: 66.04
glider: 14
mission: 6
dive: 220
start: 10 3 108 9 57 54
data:
$ID,14
$MISSION,6
$DIVE,220
$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,-654263.94
$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,21
$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
$GPS1,094529,6410.054,-1234.742,14,2.9,33,-12.3
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.6
$GPS2,095732,6410.273,-1234.229,8,1.3,13,-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,280.9,20804,-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,-100.97,0.000,2,0.000,0.000,378,1588,2710
$GC,123,-1.16,-146.6,4.6,-3.7,5,149,11.40,2.55,-8.93,0.000,4,0.177,0.084,2414,3010,3138
$GC,281,-1.16,-146.6,30.1,-14.0,12,285,0.00,2.45,0.00,0.000,6,0.000,0.061,2414,1594,3141
$GC,603,-1.16,-146.6,76.4,-14.5,28,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1595,3142
$GC,912,-1.16,-146.6,117.0,-12.1,43,916,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,206,3143
$GC,1106,-1.16,-146.6,141.2,-12.4,51,1113,0.00,2.38,0.00,0.000,6,0.000,0.056,2414,1622,3143
$GC,1422,-1.16,-146.6,179.2,-11.9,67,1426,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,203,3143
$GC,1479,-1.16,-146.6,186.4,-12.4,69,1483,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1598,3144
$GC,1796,-1.16,-146.6,227.3,-13.1,84,1800,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,209,3144
$GC,1858,-1.16,-146.6,235.9,-13.8,86,1864,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1603,3144
$GC,2177,-1.16,-146.6,276.2,-12.2,102,2181,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3144
$GC,2285,-1.16,-146.6,290.3,-12.3,107,2289,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1602,3144
$GC,2613,-1.16,-146.6,329.4,-11.8,123,2617,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,205,3144
$GC,2703,-1.16,-146.6,340.2,-11.3,127,2707,0.00,2.38,0.00,0.000,6,0.000,0.056,2414,1604,3144
$GC,3025,-1.16,-146.6,376.1,-11.4,143,3029,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,213,3144
$GC,3121,-1.16,-146.6,388.4,-12.6,147,3125,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3145
$GC,3438,-1.16,-146.6,425.2,-11.3,162,3442,0.00,2.55,0.00,0.000,4,0.000,0.083,2413,209,3144
$GC,3494,-1.16,-146.6,432.4,-12.6,164,3500,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3145
$GC,3811,-1.16,-146.6,467.0,-10.6,180,3815,0.00,2.53,0.00,0.000,4,0.000,0.084,2414,213,3145
$GC,3861,-1.16,-146.6,472.8,-11.1,182,3865,0.00,2.38,0.00,0.000,6,0.000,0.060,2413,1600,3145
$STATE,4159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4159,begin apogee
$GC,4169,-0.32,0.0,503.8,10.6,197,4296,0.93,0.00,123.85,1.028,6,0.116,0.000,2600,2200,2539
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,1.16,146.6,509.5,0.0,203,4429,1.50,2.80,120.20,1.000,4,0.080,0.111,2926,3603,1941
$GC,4455,1.21,174.3,508.0,6.9,210,4486,0.00,2.53,23.55,0.944,6,0.000,0.069,2925,2193,1828
$GC,4803,1.21,174.3,483.3,8.1,227,4808,0.00,2.55,0.00,0.000,4,0.000,0.080,2926,792,1828
$GC,5079,1.21,174.3,466.5,8.1,239,5083,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2212,1827
$GC,5395,1.26,204.5,444.1,6.9,254,5426,0.10,2.65,25.08,0.977,4,0.071,0.074,2957,790,1705
$GC,5527,1.26,204.5,433.0,9.3,260,5531,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2199,1705
$GC,5860,1.26,204.5,402.4,9.4,276,5864,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,792,1705
$GC,5916,1.26,204.5,396.7,10.2,278,5920,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2200,1705
$GC,6233,1.26,204.5,368.4,8.7,293,6237,0.00,2.65,0.00,0.000,4,0.000,0.099,2957,3606,1703
$GC,6266,1.26,204.5,365.6,8.5,294,6272,0.00,2.47,0.00,0.000,6,0.000,0.065,2957,2198,1703
$GC,6582,1.27,211.7,340.1,7.7,310,6596,0.00,2.62,6.75,0.790,4,0.000,0.079,2957,790,1675
$GC,6705,1.27,211.7,329.2,9.3,315,6709,0.00,2.45,0.00,0.000,6,0.000,0.058,2957,2211,1675
$GC,7021,1.27,211.7,301.6,8.8,330,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2211,1675
$GC,7330,1.27,211.7,274.9,8.6,345,7335,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,793,1675
$GC,7462,1.27,211.7,262.6,9.6,351,7467,0.00,2.42,0.00,0.000,6,0.000,0.059,2955,2206,1676
$GC,7790,1.27,211.7,234.7,8.2,367,7794,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,790,1675
$GC,7834,1.27,211.7,230.6,8.8,369,7839,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2203,1676
$GC,8157,1.27,211.7,205.2,8.1,385,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1676
$GC,8466,1.27,212.2,180.0,8.0,400,8470,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,789,1675
$GC,8534,1.27,212.2,174.1,8.8,403,8538,0.00,2.45,0.00,0.000,6,0.000,0.059,2957,2210,1675
$GC,8862,1.28,216.3,147.7,7.8,419,8873,0.00,2.55,5.68,0.627,4,0.000,0.070,2957,789,1657
$GC,8926,1.28,216.3,142.7,8.0,422,8930,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2200,1656
$GC,9254,1.30,233.1,118.3,7.4,438,9276,0.00,2.55,15.07,0.723,4,0.000,0.070,2957,790,1588
$GC,9346,1.30,233.1,111.1,8.2,442,9350,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2197,1588
$GC,9673,1.30,233.1,84.0,8.7,458,9678,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,785,1588
$GC,9753,1.30,233.1,76.9,9.0,461,9759,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2200,1588
$GC,10070,1.35,260.4,52.9,7.0,477,10099,0.00,2.60,22.20,0.690,4,0.000,0.071,2957,793,1477
$GC,10191,1.35,260.4,43.1,8.5,482,10195,0.00,2.45,0.00,0.000,6,0.000,0.059,2957,2211,1477
$GC,10507,1.35,260.4,14.0,9.8,497,10512,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,786,1477
$GC,10571,1.35,260.4,7.6,10.3,500,10575,0.00,2.45,0.00,0.000,6,0.000,0.059,2957,2202,1477
$STATE,10647,end climb,SURFACE_DEPTH_REACHED
$STATE,10647,begin surface coast
$FINISH,0.6,1.013208
$STATE,10669,end surface coast,CONTROL_FINISHED_OK
$STATE,10669,begin surface
$SM_CCo,10696,168.90,0.644,1,0,187,576.95
$SM_GC,1.18,0.00,0.00,168.90,0.000,0.000,0.644,380,1592,187,-10.55,-0.23,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1851
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.7,60.1
$24V_AH,23.7,31.062
$10V_AH,10.2,16.652
$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,25.200,116.675,342.375,168.900,0.000,115.818,105.825,254.462,4.000,0.000,0.000,14.613,1003.767,7828.140,639.968,1373.120,758.570,0.000,1352.801,0.000,1341.247,0.000,25.014,0.000
$DEVICE_MAMPS,177.177,111.215,1027.780,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.167,343.148,370.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25458,505
$CAP_FILE_SIZE,92922,0
$CFSIZE,254472192,241070080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,031008,130031,6412.217,-1231.307,38,1.9,43,-12.2