version: 66.04
glider: 14
mission: 6
dive: 215
start: 10 2 108 18 32 55
data:
$ID,14
$MISSION,6
$DIVE,215
$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,-654192.5
$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,27
$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
$GPS1,181748,6403.465,-1238.349,30,1.9,41,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-52.5
$GPS2,183233,6403.357,-1238.298,11,1.5,11,-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,317.3,21404,-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,-101.12,0.000,2,0.000,0.000,382,1585,2797
$GC,124,-1.16,-146.6,4.8,-4.0,5,147,11.40,2.58,-6.62,0.000,4,0.179,0.082,2413,3004,3139
$GC,226,-1.16,-146.6,27.9,-15.8,9,230,0.00,2.42,0.00,0.000,6,0.000,0.062,2413,1600,3142
$GC,549,-1.16,-146.6,77.9,-16.1,25,553,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,208,3144
$GC,628,-1.16,-146.6,91.0,-16.4,28,635,0.00,2.38,0.00,0.000,6,0.000,0.056,2413,1624,3145
$GC,945,-1.16,-146.6,134.9,-13.4,44,949,0.00,2.55,0.00,0.000,4,0.000,0.076,2413,209,3145
$GC,1053,-1.16,-146.6,149.4,-13.4,49,1061,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1613,3145
$GC,1390,-1.16,-146.6,193.8,-13.4,65,1394,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,206,3145
$GC,1452,-1.16,-146.6,202.6,-13.5,67,1458,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1604,3145
$GC,1768,-1.16,-146.6,244.1,-13.3,83,1773,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3145
$GC,1858,-1.16,-146.6,256.9,-13.3,87,1863,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1604,3145
$GC,2181,-1.16,-146.6,300.6,-13.8,103,2185,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,215,3145
$GC,2272,-1.16,-146.6,313.3,-13.4,107,2276,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1604,3146
$GC,2593,-1.16,-146.6,354.6,-12.7,123,2597,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,215,3146
$GC,2689,-1.16,-146.6,367.5,-13.7,127,2694,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1605,3146
$GC,3006,-1.16,-146.6,406.6,-12.5,142,3010,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,208,3146
$GC,3086,-1.16,-146.6,416.9,-12.9,145,3092,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1596,3145
$GC,3403,-1.16,-146.6,455.2,-11.0,161,3407,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,213,3146
$GC,3466,-1.16,-146.6,462.3,-12.0,164,3470,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1600,3145
$GC,3793,-1.16,-146.6,498.0,-11.3,180,3797,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,215,3146
$GC,3837,-1.16,-146.6,503.5,-12.2,182,3842,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1599,3145
$GC,4159,-1.16,-146.6,540.9,-11.5,198,4164,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,208,3147
$GC,4210,-1.16,-146.6,547.4,-12.2,200,4214,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3147
$STATE,4358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4358,begin apogee
$GC,4368,-0.32,0.0,564.3,11.3,207,4495,0.90,0.00,123.10,1.048,6,0.100,0.000,2602,2191,2539
$STATE,4495,end apogee,CONTROL_FINISHED_OK
$STATE,4496,begin climb
$GC,4499,1.16,146.6,570.3,0.0,213,4629,1.50,2.78,121.32,1.024,4,0.079,0.107,2928,3598,1940
$GC,4723,1.21,173.2,561.3,7.0,223,4755,0.00,2.47,23.12,0.969,6,0.000,0.069,2928,2205,1832
$GC,5065,1.27,211.5,537.8,6.5,240,5107,0.10,2.70,32.47,0.996,4,0.071,0.080,2960,785,1676
$GC,5207,1.27,211.5,526.9,9.2,246,5211,0.00,2.47,0.00,0.000,6,0.000,0.060,2960,2207,1676
$GC,5534,1.27,211.5,498.5,9.1,262,5538,0.00,2.62,0.00,0.000,4,0.000,0.097,2959,3602,1675
$GC,5669,1.27,211.5,485.1,10.7,268,5673,0.00,2.47,0.00,0.000,6,0.000,0.066,2960,2198,1676
$GC,5990,1.27,211.5,455.1,9.6,284,5994,0.00,2.53,0.00,0.000,4,0.000,0.079,2960,797,1675
$GC,6075,1.27,211.5,446.0,11.0,287,6082,0.00,2.42,0.00,0.000,6,0.000,0.059,2960,2203,1676
$GC,6392,1.27,211.5,414.4,9.8,303,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2203,1674
$GC,6701,1.27,211.5,382.2,10.7,318,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2203,1674
$GC,7011,1.27,211.5,350.3,10.1,333,7015,0.00,2.50,0.00,0.000,4,0.000,0.070,2960,793,1674
$GC,7124,1.27,211.5,338.7,10.3,338,7129,0.00,2.42,0.00,0.000,6,0.000,0.058,2960,2210,1674
$GC,7452,1.27,211.5,307.1,10.1,354,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2210,1674
$GC,7762,1.27,211.5,273.6,10.9,369,7765,0.00,2.53,0.00,0.000,4,0.000,0.070,2960,786,1675
$GC,7857,1.27,211.5,262.5,11.6,373,7861,0.00,2.42,0.00,0.000,6,0.000,0.058,2960,2206,1674
$GC,8185,1.27,211.5,228.2,10.2,389,8189,0.00,2.53,0.00,0.000,4,0.000,0.070,2960,786,1674
$GC,8236,1.27,211.5,222.7,11.0,391,8240,0.00,2.42,0.00,0.000,6,0.000,0.058,2960,2198,1674
$GC,8558,1.27,211.5,191.2,9.6,407,8562,0.00,2.50,0.00,0.000,4,0.000,0.070,2960,791,1674
$GC,8608,1.27,211.5,186.0,10.4,409,8613,0.00,2.42,0.00,0.000,6,0.000,0.058,2960,2201,1674
$GC,8925,1.27,211.5,157.8,8.6,424,8929,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,787,1674
$GC,8987,1.27,211.5,151.8,9.6,426,8993,0.00,2.45,0.00,0.000,6,0.000,0.058,2960,2208,1674
$GC,9303,1.27,211.5,125.4,8.2,442,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2208,1674
$GC,9613,1.31,237.8,102.4,7.0,457,9640,0.00,2.58,21.23,0.724,4,0.000,0.071,2960,795,1569
$GC,9686,1.31,239.8,97.1,7.9,460,9690,0.00,2.42,0.00,0.000,6,0.000,0.059,2960,2198,1569
$GC,10002,1.35,263.2,74.1,7.1,475,10028,0.00,2.55,20.62,0.691,4,0.000,0.071,2960,794,1466
$GC,10097,1.35,263.2,66.8,8.5,479,10101,0.00,2.45,0.00,0.000,6,0.000,0.058,2960,2200,1466
$GC,10415,1.35,263.2,36.1,10.9,494,10419,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,786,1466
$GC,10471,1.35,263.2,30.5,9.5,496,10477,0.00,2.45,0.00,0.000,6,0.000,0.059,2960,2209,1466
$GC,10788,1.35,265.7,4.6,7.9,512,10794,0.00,0.00,3.88,0.453,6,0.000,0.000,2960,2209,1453
$STATE,10825,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,0.9,1.026950
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10875,170.85,0.630,0,0,186,576.95
$SM_GC,1.36,0.00,0.00,170.85,0.000,0.000,0.630,371,1598,186,-10.59,-0.03,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1842
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.6,22.0
$24V_AH,23.7,30.353
$10V_AH,10.2,16.357
$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,25.075,115.925,345.750,170.850,0.000,114.858,97.359,418.443,5.250,0.000,0.000,12.765,1007.105,8038.336,645.025,1332.392,919.232,0.000,1344.840,0.000,1298.198,0.000,34.277,0.000
$DEVICE_MAMPS,179.478,107.380,1047.722,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.713,349.280,366.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25425,515
$CAP_FILE_SIZE,95078,0
$CFSIZE,254472192,241274880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,021008,213825,6405.710,-1238.034,39,1.5,39,-12.3