version: 66.04
glider: 14
mission: 6
dive: 234
start: 10 5 108 1 38 4
data:
$ID,14
$MISSION,6
$DIVE,234
$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,-654554.19
$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,25
$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
$GPS1,013238,6416.691,-1224.871,40,1.6,40,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-50.7
$GPS2,013739,6416.724,-1224.675,10,1.5,16,-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,258.6,31109,-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,-146.6,0.0,0.0,0,129,0.00,0.00,-110.97,0.000,2,0.000,0.000,381,1616,2938
$GC,134,-1.16,-146.6,4.4,-3.7,6,156,11.48,2.47,-3.70,0.000,4,0.181,0.085,2413,3003,3138
$GC,258,-1.16,-146.6,29.8,-12.1,11,262,0.00,2.45,0.00,0.000,6,0.000,0.063,2413,1595,3139
$GC,575,-1.16,-146.6,70.2,-11.1,26,579,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,208,3141
$GC,682,-1.16,-146.6,86.2,-14.8,30,688,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1618,3141
$GC,998,-1.16,-146.6,130.6,-13.9,46,1003,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,209,3141
$GC,1085,-1.16,-146.6,142.4,-13.6,50,1089,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3141
$GC,1413,-1.16,-146.6,185.1,-12.5,66,1417,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,203,3142
$GC,1458,-1.16,-146.6,190.9,-12.0,68,1462,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3141
$GC,1780,-1.16,-146.6,231.0,-12.5,84,1784,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,212,3143
$GC,1824,-1.16,-146.6,236.9,-12.7,86,1829,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1598,3143
$GC,2147,-1.16,-146.6,279.6,-13.6,102,2151,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,202,3143
$GC,2203,-1.16,-146.6,287.5,-14.0,104,2209,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1600,3143
$GC,2519,-1.16,-146.6,327.6,-12.6,120,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3143
$GC,2829,-1.16,-146.6,367.0,-13.1,135,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3143
$GC,3137,-1.16,-146.6,406.5,-12.7,150,3142,0.00,2.55,0.00,0.000,4,0.000,0.084,2413,208,3143
$GC,3239,-1.16,-146.6,420.1,-13.0,154,3245,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1597,3143
$GC,3556,-1.16,-146.6,455.7,-10.2,170,3560,0.00,2.55,0.00,0.000,4,0.000,0.091,2413,2994,3143
$STATE,3599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3599,begin apogee
$GC,3609,-0.32,0.0,460.6,10.8,172,3741,0.93,0.00,124.82,0.985,6,0.110,0.000,2602,2189,2539
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3742,begin climb
$GC,3746,1.16,146.6,467.1,0.0,179,3874,1.52,2.60,120.20,0.960,4,0.087,0.080,2928,795,1941
$GC,3906,1.32,247.4,465.2,4.2,186,3996,0.15,2.47,81.70,0.943,6,0.066,0.064,2969,2193,1530
$GC,4305,1.32,247.4,425.5,9.7,206,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2194,1528
$GC,4614,1.32,247.4,394.8,10.3,221,4618,0.00,2.55,0.00,0.000,4,0.000,0.077,2969,800,1527
$GC,4670,1.32,247.4,388.3,11.9,223,4676,0.00,2.47,0.00,0.000,6,0.000,0.064,2969,2197,1526
$GC,4986,1.32,247.4,355.7,10.2,239,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2198,1525
$GC,5295,1.32,247.4,323.3,10.8,254,5299,0.00,2.53,0.00,0.000,4,0.000,0.075,2969,796,1523
$GC,5397,1.32,247.4,312.2,11.4,258,5403,0.00,2.47,0.00,0.000,6,0.000,0.064,2969,2207,1522
$GC,5713,1.32,247.4,281.3,9.3,274,5718,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,790,1522
$GC,5771,1.32,247.4,275.6,10.0,276,5777,0.00,2.47,0.00,0.000,6,0.000,0.064,2969,2202,1522
$GC,6088,1.32,247.4,248.4,8.1,292,6092,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,795,1522
$GC,6116,1.32,247.4,246.0,8.9,293,6120,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2203,1521
$GC,6432,1.32,247.4,219.5,8.7,308,6436,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,794,1521
$GC,6517,1.32,247.4,211.4,9.9,312,6521,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2202,1522
$GC,6845,1.32,247.4,181.8,9.3,328,6849,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,792,1522
$GC,6875,1.32,247.4,178.8,10.4,329,6879,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2207,1521
$GC,7192,1.32,247.4,147.8,10.1,344,7196,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,796,1521
$GC,7233,1.32,247.4,143.2,11.6,346,7237,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2208,1521
$GC,7566,1.32,247.4,108.4,10.7,362,7570,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,795,1522
$GC,7656,1.32,247.4,97.5,11.6,366,7660,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2208,1521
$GC,7980,1.32,247.4,63.9,9.5,382,7984,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,795,1522
$GC,8075,1.32,247.4,55.3,8.0,386,8079,0.00,2.42,0.00,0.000,6,0.000,0.062,2969,2200,1522
$GC,8397,1.32,247.4,24.3,12.1,402,8402,0.00,2.50,0.00,0.000,4,0.000,0.073,2969,795,1522
$GC,8471,1.32,247.4,15.6,10.2,405,8475,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2208,1522
$STATE,8619,end climb,SURFACE_DEPTH_REACHED
$STATE,8619,begin surface coast
$FINISH,0.6,1.027049
$STATE,8641,end surface coast,CONTROL_FINISHED_OK
$STATE,8641,begin surface
$SM_CCo,8667,175.75,0.634,1,0,186,576.95
$SM_GC,1.15,0.00,0.00,175.75,0.000,0.000,0.634,378,1594,186,-10.56,-0.20,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1849
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.2,69.3
$24V_AH,23.7,33.013
$10V_AH,10.2,17.415
$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,25.425,94.450,326.725,175.750,0.000,37.759,32.113,111.370,3.000,0.000,0.000,18.181,805.184,6258.588,635.901,1046.737,416.368,0.000,1193.576,0.000,1016.972,0.000,21.801,0.000
$DEVICE_MAMPS,181.012,91.273,984.828,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.850,279.070,311.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22313,413
$CAP_FILE_SIZE,70761,0
$CFSIZE,254472192,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,051008,040701,6416.647,-1222.932,38,1.3,44,-12.2