version: 66.04
glider: 14
mission: 6
dive: 226
start: 10 4 108 3 30 37
data:
$ID,14
$MISSION,6
$DIVE,226
$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,-654375.12
$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,22
$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
$GPS1,032458,6412.952,-1231.270,38,2.6,57,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-47.6
$GPS2,033015,6412.924,-1231.047,13,1.7,13,-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,269.1,23985,-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,-101.03,0.000,2,0.000,0.000,373,1585,2592
$GC,123,-1.16,-146.6,3.4,-2.7,5,154,11.43,2.55,-12.95,0.000,4,0.177,0.083,2414,2997,3139
$GC,313,-1.16,-146.6,29.2,-14.1,13,317,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1596,3143
$GC,630,-1.16,-146.6,74.1,-14.1,28,634,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,212,3143
$GC,742,-1.16,-146.6,90.2,-13.2,33,746,0.00,2.38,0.00,0.000,6,0.000,0.056,2414,1616,3143
$GC,1064,-1.16,-146.6,132.7,-13.5,49,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1620,3143
$GC,1373,-1.16,-146.6,172.4,-13.0,64,1377,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,213,3143
$GC,1519,-1.16,-146.6,191.8,-13.1,70,1525,0.00,2.38,0.00,0.000,6,0.000,0.056,2414,1627,3144
$GC,1836,-1.16,-146.6,233.6,-12.8,86,1840,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,208,3144
$GC,1931,-1.16,-146.6,246.1,-12.5,90,1935,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1601,3144
$GC,2248,-1.16,-146.6,285.0,-12.1,105,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3144
$GC,2556,-1.16,-146.6,323.3,-13.6,120,2561,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,214,3144
$GC,2613,-1.16,-146.6,331.4,-14.6,122,2619,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1599,3144
$GC,2930,-1.16,-146.6,372.2,-11.7,138,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3144
$GC,3238,-1.16,-146.6,405.7,-10.6,153,3243,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,209,3146
$GC,3317,-1.16,-146.6,414.6,-11.1,156,3323,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3146
$GC,3634,-1.16,-146.6,450.3,-12.0,172,3638,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,213,3146
$GC,3697,-1.16,-146.6,458.5,-13.4,175,3701,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1596,3146
$STATE,3918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3918,begin apogee
$GC,3928,-0.32,0.0,485.6,11.8,186,4059,0.90,0.00,124.05,1.007,6,0.104,0.000,2601,2203,2538
$STATE,4060,end apogee,CONTROL_FINISHED_OK
$STATE,4060,begin climb
$GC,4064,1.16,146.6,493.1,0.0,193,4192,1.48,2.78,120.43,0.979,4,0.074,0.109,2926,3600,1941
$GC,4232,1.26,204.1,491.5,5.8,201,4287,0.10,2.50,47.35,0.952,6,0.071,0.068,2957,2199,1707
$GC,4604,1.26,204.1,460.2,8.1,219,4608,0.00,2.55,0.00,0.000,4,0.000,0.078,2957,798,1707
$GC,4722,1.26,204.1,450.0,8.7,224,4726,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2203,1707
$GC,5038,1.26,204.1,423.5,8.8,239,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1707
$GC,5347,1.26,204.1,397.2,8.0,254,5351,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,791,1705
$GC,5439,1.26,204.1,389.5,8.4,258,5443,0.00,2.45,0.00,0.000,6,0.000,0.059,2957,2212,1705
$GC,5772,1.27,215.7,365.1,7.6,274,5784,0.00,0.00,10.50,0.870,6,0.000,0.000,2957,2212,1659
$GC,6080,1.27,215.7,340.7,8.4,289,6084,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,796,1659
$GC,6131,1.27,215.7,336.0,9.3,291,6136,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2201,1658
$GC,6453,1.27,215.7,304.9,10.1,307,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1659
$GC,6763,1.27,215.7,276.8,8.5,322,6767,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,790,1659
$GC,6848,1.27,215.7,268.8,9.6,325,6854,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2201,1659
$GC,7165,1.30,234.0,243.6,7.3,341,7187,0.00,2.58,15.80,0.817,4,0.000,0.070,2957,789,1583
$GC,7233,1.30,234.0,238.0,8.4,344,7238,0.00,2.47,0.00,0.000,6,0.000,0.059,2957,2212,1584
$GC,7561,1.30,234.0,209.1,8.8,360,7566,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,790,1583
$GC,7651,1.30,234.0,200.8,8.4,364,7656,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2209,1584
$GC,7973,1.30,234.0,171.2,9.6,380,7978,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,796,1584
$GC,8019,1.30,234.0,166.4,11.0,382,8023,0.00,2.42,0.00,0.000,6,0.000,0.060,2957,2203,1584
$GC,8347,1.30,234.0,134.9,9.3,398,8351,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,790,1584
$GC,8425,1.30,234.0,126.3,11.1,401,8432,0.00,2.42,0.00,0.000,6,0.000,0.059,2957,2204,1583
$GC,8743,1.30,234.0,94.6,9.8,417,8747,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,793,1584
$GC,8776,1.30,234.0,91.2,9.8,418,8782,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2209,1584
$GC,9094,1.37,277.7,63.8,6.3,434,9137,0.00,2.70,35.03,0.700,4,0.000,0.094,2958,3600,1406
$GC,9163,1.38,280.4,59.1,7.9,437,9172,0.00,2.47,3.92,0.475,6,0.000,0.063,2957,2193,1396
$GC,9495,1.38,280.4,28.3,10.3,453,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2194,1396
$GC,9805,1.38,280.4,2.2,8.6,468,9809,0.00,2.22,0.00,0.000,3,0.000,0.072,2957,932,1395
$STATE,9810,end climb,SURFACE_DEPTH_REACHED
$STATE,9810,begin surface coast
$FINISH,0.3,1.026358
$STATE,9848,end surface coast,CONTROL_FINISHED_OK
$STATE,9848,begin surface
$SM_CCo,9874,159.05,0.634,0,0,187,576.95
$SM_GC,0.64,0.00,0.00,159.05,0.000,0.000,0.634,381,1616,187,-10.55,0.45,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1874
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.3,67.1
$24V_AH,23.7,31.873
$10V_AH,10.2,16.984
$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,25.425,94.000,357.075,159.050,0.000,37.756,26.637,132.191,3.250,0.000,0.000,14.858,902.967,7191.006,635.525,1183.184,448.910,0.000,1259.104,0.000,1154.692,0.000,23.413,0.000
$DEVICE_MAMPS,177.177,108.914,1007.071,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.757,318.611,347.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25355,470
$CAP_FILE_SIZE,77254,0
$CFSIZE,254472192,240840704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,041008,061937,6412.178,-1231.634,51,1.8,62,-12.2