version: 66.04
glider: 14
mission: 6
dive: 230
start: 10 4 108 14 55 7
data:
$ID,14
$MISSION,6
$DIVE,230
$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,-654455.06
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,144908,6415.511,-1227.495,31,2.0,31,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-43.4
$GPS2,145445,6415.505,-1227.290,11,2.0,11,-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,261.1,28298,-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,-101.20,0.000,2,0.000,0.000,380,1589,2621
$GC,124,-1.16,-146.6,3.3,-2.6,5,155,11.43,2.53,-14.40,0.000,4,0.179,0.084,2413,3005,3137
$GC,358,-1.16,-146.6,31.3,-17.5,15,364,0.00,2.45,0.00,0.000,6,0.000,0.065,2413,1597,3141
$GC,676,-1.16,-146.6,77.5,-13.5,31,680,0.00,2.53,0.00,0.000,4,0.000,0.082,2413,203,3141
$GC,772,-1.16,-146.6,91.2,-13.9,35,776,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1611,3142
$GC,1094,-1.16,-146.6,132.7,-12.9,51,1098,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3142
$GC,1183,-1.16,-146.6,145.8,-13.8,55,1188,0.00,2.38,0.00,0.000,6,0.000,0.057,2413,1611,3143
$GC,1506,-1.16,-146.6,187.3,-13.2,71,1510,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,208,3142
$GC,1614,-1.16,-146.6,202.3,-13.4,76,1618,0.00,2.35,0.00,0.000,6,0.000,0.057,2413,1597,3143
$GC,1942,-1.16,-146.6,244.0,-12.4,92,1945,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,203,3143
$GC,1988,-1.16,-146.6,249.8,-12.8,94,1993,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1606,3143
$GC,2321,-1.16,-146.6,289.1,-11.7,110,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3143
$GC,2630,-1.16,-146.6,323.4,-11.1,125,2634,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,205,3143
$GC,2716,-1.16,-146.6,333.0,-10.5,129,2720,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1598,3143
$GC,3043,-1.16,-146.6,366.4,-10.6,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3144
$GC,3353,-1.16,-146.6,398.8,-10.5,160,3357,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,208,3143
$GC,3442,-1.16,-146.6,409.5,-11.5,164,3447,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1604,3144
$GC,3764,-1.16,-146.6,445.6,-10.4,180,3769,0.00,2.55,0.00,0.000,4,0.000,0.084,2412,208,3144
$GC,3805,-1.16,-146.6,450.2,-11.4,182,3810,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1603,3144
$STATE,3965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3965,begin apogee
$GC,3974,-0.32,0.0,470.1,12.1,190,4101,0.93,0.00,123.70,0.996,6,0.117,0.000,2600,2198,2539
$STATE,4102,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4106,1.16,146.6,475.3,0.0,196,4232,1.50,0.00,122.03,0.969,6,0.074,0.000,2928,2198,1941
$GC,4538,1.50,357.5,474.8,-0.0,217,4713,0.32,0.00,171.48,0.984,6,0.059,0.000,3014,2197,1081
$GC,5014,1.50,357.5,424.5,12.8,240,5018,0.00,2.55,0.00,0.000,4,0.000,0.077,3013,791,1079
$GC,5081,1.50,357.5,413.9,15.6,243,5085,0.00,2.50,0.00,0.000,6,0.000,0.063,3014,2209,1081
$GC,5408,1.50,357.5,367.7,14.7,259,5412,0.00,2.58,0.00,0.000,4,0.000,0.074,3013,791,1078
$GC,5471,1.50,357.5,358.4,14.3,262,5475,0.00,2.47,0.00,0.000,6,0.000,0.062,3013,2204,1078
$GC,5798,1.50,357.5,314.9,13.3,278,5802,0.00,2.55,0.00,0.000,4,0.000,0.074,3013,783,1077
$GC,5838,1.50,357.5,309.3,15.1,280,5842,0.00,2.50,0.00,0.000,6,0.000,0.061,3013,2204,1076
$GC,6166,1.50,357.5,265.6,13.1,296,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2204,1075
$GC,6475,1.50,357.5,225.2,13.1,311,6479,0.00,2.55,0.00,0.000,4,0.000,0.073,3014,788,1075
$GC,6531,1.50,357.5,217.0,14.8,313,6537,0.00,2.47,0.00,0.000,6,0.000,0.061,3013,2202,1075
$GC,6847,1.50,357.5,173.8,13.6,329,6852,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,782,1075
$GC,6921,1.50,357.5,163.5,14.2,332,6925,0.00,2.47,0.00,0.000,6,0.000,0.061,3013,2200,1075
$GC,7238,1.50,357.5,122.0,13.0,347,7242,0.00,2.53,0.00,0.000,4,0.000,0.071,3014,786,1075
$GC,7265,1.50,357.5,117.8,14.5,348,7270,0.00,2.47,0.00,0.000,6,0.000,0.061,3014,2206,1075
$GC,7583,1.50,357.5,75.0,13.9,363,7587,0.00,2.53,0.00,0.000,4,0.000,0.071,3013,784,1075
$GC,7650,1.50,357.5,65.2,14.2,366,7654,0.00,2.47,0.00,0.000,6,0.000,0.061,3013,2202,1075
$GC,7972,1.50,357.5,23.1,13.9,382,7976,0.00,2.50,0.00,0.000,4,0.000,0.069,3013,783,1075
$GC,8012,1.50,357.5,18.4,11.6,384,8017,0.00,2.47,0.00,0.000,6,0.000,0.061,3013,2207,1075
$STATE,8131,end climb,SURFACE_DEPTH_REACHED
$STATE,8131,begin surface coast
$FINISH,0.5,1.014552
$STATE,8153,end surface coast,CONTROL_FINISHED_OK
$STATE,8153,begin surface
$SM_CCo,8179,113.82,0.650,0,0,186,576.95
$SM_GC,1.17,0.00,0.00,113.82,0.000,0.000,0.650,380,1584,186,-10.56,-0.45,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1894
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.1,102.9
$24V_AH,23.7,32.466
$10V_AH,10.2,17.202
$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,25.600,81.600,417.200,113.825,0.000,37.758,26.865,154.562,2.750,0.000,0.000,13.341,762.161,5814.468,659.531,963.485,441.092,0.000,1168.830,0.000,943.853,0.000,20.287,0.000
$DEVICE_MAMPS,179.478,84.370,995.566,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.902,264.222,289.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19158,391
$CAP_FILE_SIZE,66333,0
$CFSIZE,254472192,240705536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041008,171438,6414.888,-1228.150,34,1.0,34,-12.2