version: 66.04
glider: 14
mission: 6
dive: 232
start: 10 4 108 20 6 22
data:
$ID,14
$MISSION,6
$DIVE,232
$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,-654501.5
$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,24
$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
$GPS1,195707,6414.514,-1229.472,31,1.9,41,-12.2
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-46.2
$GPS2,200559,6414.515,-1229.336,11,2.5,30,-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,263.5,26121,-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,-100.70,0.000,2,0.000,0.000,383,1585,2675
$GC,123,-1.16,-146.6,4.8,-4.3,5,150,11.45,2.50,-9.75,0.000,4,0.181,0.090,2413,209,3138
$GC,422,-1.16,-146.6,53.3,-16.8,18,426,0.00,2.40,0.00,0.000,6,0.000,0.057,2414,1619,3142
$GC,744,-1.16,-146.6,98.0,-13.2,34,749,0.00,2.55,0.00,0.000,4,0.000,0.075,2413,203,3144
$GC,831,-1.16,-146.6,110.1,-13.5,38,835,0.00,2.38,0.00,0.000,6,0.000,0.057,2414,1599,3144
$GC,1160,-1.16,-146.6,148.9,-10.9,54,1164,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3144
$GC,1268,-1.16,-146.6,162.0,-11.6,59,1272,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1603,3144
$GC,1602,-1.16,-146.6,200.4,-12.2,75,1606,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3145
$GC,1658,-1.16,-146.6,208.0,-12.9,77,1662,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1607,3145
$GC,1975,-1.16,-146.6,250.0,-13.5,92,1980,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,201,3145
$GC,2037,-1.16,-146.6,259.4,-15.5,94,2043,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3146
$GC,2354,-1.16,-146.6,306.3,-15.5,110,2358,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,209,3146
$GC,2477,-1.16,-146.6,326.1,-15.6,115,2484,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1604,3147
$GC,2794,-1.16,-146.6,369.7,-12.6,131,2798,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,203,3147
$GC,2863,-1.16,-146.6,379.5,-14.2,134,2868,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1606,3146
$GC,3185,-1.16,-146.6,417.2,-10.7,150,3189,0.00,2.53,0.00,0.000,4,0.000,0.082,2415,212,3147
$GC,3294,-1.16,-146.6,429.0,-10.4,155,3298,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1601,3147
$GC,3621,-1.16,-146.6,462.5,-11.2,171,3625,0.00,2.55,0.00,0.000,4,0.000,0.084,2414,205,3147
$STATE,3681,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3681,begin apogee
$GC,3693,-0.32,0.0,470.0,11.5,174,3824,0.93,0.00,122.20,0.998,6,0.116,0.000,2600,2196,2539
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3829,1.16,146.6,477.0,0.0,181,3958,1.50,2.83,121.20,0.973,4,0.077,0.114,2928,3606,1940
$GC,4110,1.21,174.6,467.3,6.9,194,4139,0.00,2.50,23.83,0.928,6,0.000,0.071,2927,2201,1827
$GC,4463,1.24,191.3,439.9,7.4,211,4484,0.00,2.65,14.85,0.910,4,0.000,0.084,2928,796,1759
$GC,4733,1.24,191.3,415.9,9.2,223,4737,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2207,1759
$GC,5060,1.33,251.6,393.9,5.7,239,5116,0.17,2.65,48.78,0.970,4,0.065,0.077,2975,804,1513
$GC,5175,1.33,251.6,384.9,8.2,244,5179,0.00,2.47,0.00,0.000,6,0.000,0.062,2975,2207,1513
$GC,5496,1.33,251.6,356.1,9.0,260,5501,0.00,2.58,0.00,0.000,4,0.000,0.077,2975,788,1513
$GC,5559,1.33,251.6,350.1,9.6,263,5564,0.00,2.47,0.00,0.000,6,0.000,0.063,2975,2198,1513
$GC,5887,1.33,251.6,320.5,8.6,279,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2198,1513
$GC,6196,1.33,251.6,292.3,9.7,294,6200,0.00,2.53,0.00,0.000,4,0.000,0.074,2975,795,1512
$GC,6314,1.33,251.6,280.0,10.2,299,6318,0.00,2.47,0.00,0.000,6,0.000,0.061,2975,2207,1512
$GC,6636,1.33,251.6,248.2,9.8,315,6640,0.00,2.55,0.00,0.000,4,0.000,0.074,2974,792,1512
$GC,6682,1.33,251.6,243.4,10.8,317,6686,0.00,2.47,0.00,0.000,6,0.000,0.061,2975,2206,1512
$GC,7009,1.33,251.6,208.8,11.0,333,7013,0.00,2.53,0.00,0.000,4,0.000,0.074,2974,794,1512
$GC,7082,1.33,251.6,200.1,11.6,336,7086,0.00,2.45,0.00,0.000,6,0.000,0.061,2975,2200,1512
$GC,7399,1.33,251.6,168.2,9.4,351,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2200,1512
$GC,7708,1.33,251.6,140.0,9.3,366,7712,0.00,2.53,0.00,0.000,4,0.000,0.073,2975,790,1512
$GC,7833,1.33,251.6,128.6,9.3,371,7839,0.00,2.42,0.00,0.000,6,0.000,0.061,2975,2200,1512
$GC,8149,1.33,251.6,100.0,9.3,387,8154,0.00,2.53,0.00,0.000,4,0.000,0.072,2975,789,1512
$GC,8217,1.33,251.6,93.2,10.4,390,8222,0.00,2.45,0.00,0.000,6,0.000,0.061,2975,2200,1512
$GC,8540,1.33,251.6,64.0,8.4,406,8544,0.00,2.53,0.00,0.000,4,0.000,0.073,2975,789,1512
$GC,8618,1.33,251.6,57.1,9.4,409,8624,0.00,2.45,0.00,0.000,6,0.000,0.061,2975,2204,1513
$GC,8937,1.33,251.6,32.3,10.2,425,8941,0.00,2.50,0.00,0.000,4,0.000,0.073,2975,794,1512
$GC,9032,1.33,251.6,19.2,15.5,429,9036,0.00,2.45,0.00,0.000,6,0.000,0.061,2975,2202,1512
$STATE,9206,end climb,SURFACE_DEPTH_REACHED
$STATE,9206,begin surface coast
$FINISH,0.5,1.025156
$STATE,9228,end surface coast,CONTROL_FINISHED_OK
$STATE,9228,begin surface
$SM_CCo,9254,182.55,0.639,1,0,186,576.95
$SM_GC,1.16,0.00,0.00,182.55,0.000,0.000,0.639,379,1590,186,-10.56,-0.28,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.3,104.6
$24V_AH,23.7,32.747
$10V_AH,10.2,17.311
$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,25.450,102.000,330.850,182.550,0.000,76.873,54.595,198.938,3.000,0.000,0.000,33.170,885.343,6611.051,636.052,1273.479,580.618,0.000,1287.175,0.000,1222.829,0.000,20.292,0.000
$DEVICE_MAMPS,181.012,114.283,997.867,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.576,297.427,336.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22242,439
$CAP_FILE_SIZE,79399,0
$CFSIZE,254472192,240619520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,041008,224507,6415.462,-1228.192,38,1.9,38,-12.2