version: 66.04
glider: 14
mission: 6
dive: 229
start: 10 4 108 12 6 28
data:
$ID,14
$MISSION,6
$DIVE,229
$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,-654441.12
$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,26
$R_STBD_OVSHOOT,19
$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
$GPS1,114737,6414.548,-1230.185,25,1.5,25,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-44.5
$GPS2,120603,6414.850,-1229.531,12,1.4,12,-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,262.1,26179,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-100.32,0.000,2,0.000,0.000,373,1582,2575
$GC,122,-1.16,-146.6,3.1,-2.3,5,158,11.27,2.58,-17.45,0.000,4,0.172,0.084,2414,3002,3137
$GC,355,-1.16,-146.6,29.4,-12.5,15,360,0.00,2.42,0.00,0.000,6,0.000,0.063,2414,1602,3140
$GC,672,-1.16,-146.6,72.1,-14.5,30,676,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,212,3140
$GC,829,-1.16,-146.6,95.7,-14.6,37,833,0.00,2.40,0.00,0.000,6,0.000,0.057,2413,1626,3141
$GC,1151,-1.16,-146.6,139.7,-13.8,53,1155,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,210,3141
$GC,1202,-1.16,-146.6,147.6,-14.9,55,1206,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1600,3141
$GC,1524,-1.16,-146.6,192.0,-13.9,71,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3142
$GC,1834,-1.16,-146.6,234.9,-13.6,86,1838,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,211,3142
$GC,1896,-1.16,-146.6,243.9,-14.2,89,1900,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1600,3142
$GC,2230,-1.16,-146.6,286.7,-12.4,105,2234,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,212,3142
$GC,2280,-1.16,-146.6,293.7,-13.2,107,2284,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1605,3143
$GC,2602,-1.16,-146.6,333.9,-12.0,123,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3143
$GC,2911,-1.16,-146.6,371.0,-11.8,138,2915,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,208,3143
$GC,2946,-1.16,-146.6,375.2,-12.3,139,2950,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3143
$GC,3267,-1.16,-146.6,411.1,-11.0,155,3272,0.00,2.55,0.00,0.000,4,0.000,0.084,2414,209,3143
$GC,3331,-1.16,-146.6,418.5,-11.5,158,3335,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1608,3143
$GC,3658,-1.16,-146.6,453.3,-11.5,174,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1611,3143
$STATE,3716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3717,begin apogee
$GC,3726,-0.32,0.0,460.3,11.5,177,3853,0.90,0.00,124.05,0.989,6,0.104,0.000,2600,2193,2539
$STATE,3854,end apogee,CONTROL_FINISHED_OK
$STATE,3854,begin climb
$GC,3858,1.16,146.6,466.4,0.0,183,3988,1.50,2.83,121.30,0.961,4,0.077,0.116,2925,3597,1940
$GC,4261,1.24,193.9,450.7,6.2,201,4306,0.00,2.50,38.95,0.947,6,0.000,0.071,2926,2202,1748
$GC,4627,1.30,234.7,427.0,6.4,219,4670,0.15,2.75,33.97,0.956,4,0.066,0.100,2967,3596,1582
$GC,4942,1.30,234.7,397.9,9.6,233,4946,0.00,2.50,0.00,0.000,6,0.000,0.071,2967,2194,1581
$GC,5275,1.30,234.7,368.2,9.0,249,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2194,1579
$GC,5584,1.30,234.7,338.9,9.6,264,5589,0.00,2.65,0.00,0.000,4,0.000,0.094,2967,3604,1577
$GC,5657,1.30,234.7,331.1,10.6,267,5662,0.00,2.50,0.00,0.000,6,0.000,0.067,2967,2193,1575
$GC,5974,1.30,234.7,300.8,9.5,282,5978,0.00,2.62,0.00,0.000,4,0.000,0.093,2967,3605,1575
$GC,6092,1.30,234.7,288.5,10.9,287,6096,0.00,2.47,0.00,0.000,6,0.000,0.067,2967,2205,1575
$GC,6408,1.30,234.7,256.8,10.1,302,6412,0.00,2.60,0.00,0.000,4,0.000,0.092,2967,3601,1575
$GC,6459,1.30,234.7,251.5,10.5,304,6463,0.00,2.47,0.00,0.000,6,0.000,0.067,2967,2198,1575
$GC,6775,1.30,234.7,220.1,9.4,319,6779,0.00,2.55,0.00,0.000,4,0.000,0.081,2967,789,1574
$GC,6808,1.30,234.7,216.8,9.9,320,6815,0.00,2.42,0.00,0.000,6,0.000,0.059,2967,2200,1575
$GC,7125,1.30,234.7,189.8,8.2,336,7129,0.00,2.53,0.00,0.000,4,0.000,0.073,2967,784,1574
$GC,7188,1.30,234.7,184.2,9.1,338,7194,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2203,1574
$GC,7504,1.30,234.7,158.0,8.2,354,7508,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,781,1575
$GC,7562,1.30,234.7,153.0,9.2,356,7568,0.00,2.45,0.00,0.000,6,0.000,0.060,2967,2201,1575
$GC,7879,1.30,234.7,125.6,8.8,372,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2202,1575
$GC,8188,1.30,234.7,97.5,9.5,387,8192,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,790,1575
$GC,8334,1.30,234.7,83.1,9.7,393,8341,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2204,1575
$GC,8653,1.33,250.0,57.5,7.4,409,8675,0.00,2.58,12.40,0.681,4,0.000,0.071,2967,793,1519
$GC,8767,1.33,250.0,48.2,8.2,414,8772,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2207,1519
$GC,9097,1.33,250.0,18.8,11.0,430,9102,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,784,1518
$GC,9161,1.33,250.0,13.0,8.3,433,9166,0.00,2.42,0.00,0.000,6,0.000,0.058,2967,2204,1518
$STATE,9464,end climb,SURFACE_DEPTH_REACHED
$STATE,9464,begin surface coast
$FINISH,0.5,1.027201
$STATE,9488,end surface coast,CONTROL_FINISHED_OK
$STATE,9488,begin surface
$SM_CCo,9514,169.55,0.637,0,0,186,576.95
$SM_GC,1.03,0.00,0.00,169.55,0.000,0.000,0.637,378,1587,186,-10.56,-0.31,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1858
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,402.0,66.4
$24V_AH,23.7,32.317
$10V_AH,10.2,17.155
$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,25.100,92.250,330.675,169.550,0.000,195.598,164.754,353.836,4.000,0.000,0.000,14.059,896.074,7052.959,619.503,1237.709,998.201,0.000,1259.587,0.000,1209.265,0.000,21.798,0.000
$DEVICE_MAMPS,171.808,115.817,989.430,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.280,304.427,356.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22197,449
$CAP_FILE_SIZE,84255,0
$CFSIZE,254472192,240726016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,041008,144908,6415.511,-1227.495,31,2.0,31,-12.2