version: 66.04
glider: 14
mission: 6
dive: 223
start: 10 3 108 18 47 58
data:
$ID,14
$MISSION,6
$DIVE,223
$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,-654329.44
$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,22
$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
$GPS1,184232,6411.436,-1235.200,40,1.7,40,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-56.6
$GPS2,184733,6411.442,-1235.176,11,1.3,11,-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,274.7,20211,-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,-101.10,0.000,2,0.000,0.000,380,1592,2618
$GC,123,-1.16,-146.6,3.4,-2.9,5,154,11.45,2.55,-12.57,0.000,4,0.180,0.082,2412,3001,3139
$GC,261,-1.16,-146.6,24.4,-14.0,11,266,0.00,2.42,0.00,0.000,6,0.000,0.062,2413,1598,3142
$GC,584,-1.16,-146.6,71.1,-14.6,27,589,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,213,3142
$GC,697,-1.16,-146.6,87.8,-14.5,32,701,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1620,3142
$GC,1019,-1.16,-146.6,129.4,-12.9,48,1023,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,213,3143
$GC,1097,-1.16,-146.6,140.4,-13.4,51,1104,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1609,3143
$GC,1414,-1.16,-146.6,185.7,-15.6,67,1418,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,212,3144
$GC,1500,-1.16,-146.6,199.0,-15.2,71,1508,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1612,3143
$GC,1836,-1.16,-146.6,247.0,-13.5,87,1840,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,211,3144
$GC,1915,-1.16,-146.6,258.7,-14.0,90,1921,0.00,2.33,0.00,0.000,6,0.000,0.056,2412,1592,3144
$GC,2232,-1.16,-146.6,304.6,-14.8,106,2236,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,206,3144
$GC,2397,-1.16,-146.6,326.9,-12.7,113,2401,0.00,2.38,0.00,0.000,6,0.000,0.061,2413,1593,3144
$GC,2719,-1.16,-146.6,361.3,-9.7,129,2723,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,213,3145
$GC,2769,-1.16,-146.6,366.4,-9.6,131,2773,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1602,3146
$GC,3091,-1.16,-146.6,396.3,-9.0,147,3095,0.00,2.53,0.00,0.000,4,0.000,0.083,2412,215,3145
$GC,3192,-1.16,-146.6,406.1,-9.7,151,3198,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1603,3145
$GC,3509,-1.16,-146.6,438.2,-11.1,167,3513,0.00,2.55,0.00,0.000,4,0.000,0.084,2412,206,3145
$GC,3577,-1.16,-146.6,447.2,-13.7,170,3581,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1605,3145
$GC,3898,-1.16,-146.6,487.3,-11.5,186,3902,0.00,2.55,0.00,0.000,4,0.000,0.086,2412,208,3145
$STATE,3919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3919,begin apogee
$GC,3931,-0.32,0.0,490.2,11.7,187,4062,0.93,0.00,123.88,1.017,6,0.113,0.000,2601,2197,2539
$STATE,4062,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4067,1.16,146.6,496.4,0.0,194,4195,1.48,2.80,120.38,0.991,4,0.070,0.110,2928,3605,1941
$GC,4256,1.29,223.1,491.3,5.1,203,4327,0.12,2.50,62.53,0.969,6,0.067,0.069,2964,2199,1629
$GC,4649,1.29,223.1,459.5,10.1,222,4654,0.00,2.58,0.00,0.000,4,0.000,0.081,2964,788,1629
$GC,4840,1.29,223.1,440.7,10.1,230,4846,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2203,1629
$GC,5157,1.29,223.1,411.0,9.8,246,5161,0.00,2.55,0.00,0.000,4,0.000,0.075,2964,787,1627
$GC,5196,1.29,223.1,406.8,10.8,247,5202,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2205,1627
$GC,5512,1.29,223.1,377.2,9.0,263,5517,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,793,1626
$GC,5576,1.29,223.1,371.5,9.4,266,5580,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2207,1626
$GC,5910,1.29,223.1,343.0,8.4,282,5914,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,788,1625
$GC,5965,1.29,223.1,338.0,9.0,284,5972,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2198,1624
$GC,6282,1.29,223.1,312.2,8.2,300,6287,0.00,2.53,0.00,0.000,4,0.000,0.072,2964,790,1624
$GC,6368,1.29,223.1,304.8,8.5,304,6372,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2207,1624
$GC,6696,1.30,229.4,278.7,7.8,320,6706,0.00,2.55,5.22,0.701,4,0.000,0.071,2964,793,1602
$GC,6752,1.30,232.1,274.0,7.9,322,6761,0.00,2.45,3.95,0.598,6,0.000,0.060,2964,2201,1593
$GC,7090,1.30,235.0,247.8,7.9,339,7096,0.00,0.00,4.45,0.630,6,0.000,0.000,2964,2201,1580
$GC,7400,1.31,236.8,224.0,7.9,354,7404,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,791,1580
$GC,7507,1.31,236.8,214.9,8.3,358,7513,0.00,2.45,0.00,0.000,6,0.000,0.060,2964,2211,1580
$GC,7823,1.31,236.8,190.6,8.3,374,7827,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,786,1580
$GC,7953,1.31,236.8,178.8,9.9,380,7958,0.00,2.42,0.00,0.000,6,0.000,0.060,2964,2197,1580
$GC,8282,1.31,236.8,148.3,8.8,396,8286,0.00,2.47,0.00,0.000,4,0.000,0.071,2964,793,1580
$GC,8338,1.31,236.8,143.1,8.9,398,8345,0.00,2.45,0.00,0.000,6,0.000,0.060,2964,2211,1580
$GC,8655,1.31,236.8,115.5,9.0,414,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2211,1580
$GC,8964,1.31,236.8,88.6,8.7,429,8968,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,791,1580
$GC,9165,1.31,236.8,69.6,8.9,438,9170,0.00,2.45,0.00,0.000,6,0.000,0.060,2964,2208,1580
$GC,9490,1.31,237.5,45.1,8.0,454,9499,0.00,2.53,4.50,0.521,4,0.000,0.071,2964,790,1569
$GC,9529,1.31,237.5,41.2,9.6,455,9535,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2199,1569
$GC,9846,1.31,237.5,12.8,9.5,471,9850,0.00,2.47,0.00,0.000,4,0.000,0.071,2964,793,1569
$GC,9896,1.34,255.2,8.3,7.3,473,9916,0.00,2.42,15.20,0.640,6,0.000,0.059,2964,2203,1498
$STATE,9964,end climb,SURFACE_DEPTH_REACHED
$STATE,9964,begin surface coast
$FINISH,0.5,1.027472
$STATE,9984,end surface coast,CONTROL_FINISHED_OK
$STATE,9984,begin surface
$SM_CCo,10011,175.05,0.637,0,0,186,576.95
$SM_GC,1.35,0.00,0.00,175.05,0.000,0.000,0.637,377,1594,186,-10.57,-0.17,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1850
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.8,47.7
$24V_AH,23.7,31.464
$10V_AH,10.2,16.818
$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,25.200,116.250,340.100,175.050,0.000,37.760,39.194,109.465,3.500,0.000,0.000,13.427,948.643,7138.849,652.867,1307.164,453.790,0.000,1339.769,0.000,1278.245,0.000,24.992,0.000
$DEVICE_MAMPS,180.245,109.681,1017.042,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.723,323.781,354.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25394,478
$CAP_FILE_SIZE,84182,0
$CFSIZE,254472192,240959488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,031008,213908,6411.915,-1236.340,40,1.1,40,-12.3