version: 66.04
glider: 14
mission: 6
dive: 239
start: 10 5 108 15 17 36
data:
$ID,14
$MISSION,6
$DIVE,239
$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,-654641.19
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,150908,6418.808,-1215.415,28,1.2,28,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.7
$GPS2,151714,6418.851,-1215.084,11,1.5,16,-12.1
$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,257.8,39782,-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,-101.12,0.000,2,0.000,0.000,379,1595,2690
$GC,124,-1.16,-146.6,3.8,-2.9,5,151,11.45,2.53,-9.65,0.000,4,0.180,0.093,2410,208,3137
$GC,389,-1.16,-146.6,48.0,-15.5,17,394,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1611,3140
$GC,719,-1.16,-146.6,95.5,-14.5,33,723,0.00,2.55,0.00,0.000,4,0.000,0.077,2411,201,3142
$GC,831,-1.16,-146.6,112.1,-13.7,38,835,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1601,3143
$GC,1153,-1.16,-146.6,153.7,-12.9,54,1157,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,201,3144
$GC,1198,-1.16,-146.6,159.6,-12.9,56,1203,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1605,3144
$GC,1521,-1.16,-146.6,200.2,-12.4,72,1525,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,205,3144
$GC,1589,-1.16,-146.6,209.0,-12.8,75,1593,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1607,3144
$GC,1912,-1.16,-146.6,249.1,-12.6,91,1916,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,203,3144
$GC,1958,-1.16,-146.6,255.2,-12.6,93,1963,0.00,2.38,0.00,0.000,6,0.000,0.060,2411,1595,3144
$GC,2286,-1.16,-146.6,296.0,-12.2,109,2290,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,201,3144
$GC,2328,-1.16,-146.6,301.3,-12.9,110,2334,0.00,2.42,0.00,0.000,6,0.000,0.060,2411,1606,3144
$GC,2644,-1.16,-146.6,340.6,-12.2,126,2649,0.00,2.55,0.00,0.000,4,0.000,0.082,2411,203,3144
$GC,2713,-1.16,-146.6,349.6,-13.2,129,2718,0.00,2.40,0.00,0.000,6,0.000,0.061,2411,1598,3144
$GC,3040,-1.16,-146.6,387.6,-11.2,145,3044,0.00,2.55,0.00,0.000,4,0.000,0.087,2411,3001,3145
$GC,3097,-1.16,-146.6,394.0,-11.6,147,3103,0.00,2.47,0.00,0.000,6,0.000,0.069,2411,1591,3145
$GC,3414,-1.16,-146.6,431.0,-11.6,163,3418,0.00,2.53,0.00,0.000,4,0.000,0.089,2411,209,3146
$GC,3537,-1.16,-146.6,446.6,-12.4,168,3543,0.00,2.40,0.00,0.000,6,0.000,0.062,2411,1602,3145
$STATE,3604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3604,begin apogee
$GC,3614,-0.32,0.0,454.4,11.9,172,3745,0.95,0.00,123.35,0.981,6,0.115,0.000,2604,2197,2539
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3750,1.16,146.6,460.3,0.0,179,3878,1.48,2.80,120.40,0.953,4,0.077,0.110,2927,3603,1941
$GC,3917,1.25,199.9,457.2,6.0,187,3967,0.00,2.53,43.90,0.924,6,0.000,0.072,2926,2199,1723
$GC,4293,1.28,218.5,428.9,7.3,205,4312,0.12,0.00,16.25,0.898,6,0.067,0.000,2965,2199,1648
$GC,4620,1.28,218.5,399.2,9.5,221,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2199,1648
$GC,4929,1.28,218.5,371.0,9.1,236,4933,0.00,2.65,0.00,0.000,4,0.000,0.100,2965,3601,1647
$GC,5100,1.28,218.5,355.2,9.4,243,5106,0.00,2.50,0.00,0.000,6,0.000,0.070,2965,2197,1647
$GC,5417,1.28,218.5,324.8,10.1,259,5421,0.00,2.65,0.00,0.000,4,0.000,0.097,2965,3602,1646
$GC,5618,1.28,218.5,304.4,9.8,268,5622,0.00,2.50,0.00,0.000,6,0.000,0.070,2963,2196,1646
$GC,5940,1.28,218.5,277.1,8.1,284,5944,0.00,2.65,0.00,0.000,4,0.000,0.096,2965,3607,1645
$GC,5997,1.28,218.5,272.4,8.4,286,6003,0.00,2.50,0.00,0.000,6,0.000,0.070,2965,2198,1645
$GC,6314,1.28,218.5,244.1,9.3,302,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,1645
$GC,6623,1.28,218.5,215.4,9.2,317,6627,0.00,2.62,0.00,0.000,4,0.000,0.093,2965,3602,1645
$GC,6668,1.28,218.5,211.2,9.0,319,6672,0.00,2.47,0.00,0.000,6,0.000,0.068,2965,2200,1645
$GC,6989,1.28,218.5,183.4,8.6,335,6994,0.00,2.55,0.00,0.000,4,0.000,0.079,2965,784,1645
$GC,7030,1.28,218.5,179.9,9.1,337,7035,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2210,1645
$GC,7357,1.28,218.5,153.0,8.1,353,7361,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,791,1645
$GC,7403,1.28,218.5,149.1,8.9,355,7407,0.00,2.42,0.00,0.000,6,0.000,0.062,2965,2202,1645
$GC,7736,1.28,218.5,121.5,8.3,371,7741,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,783,1645
$GC,7782,1.28,218.5,117.3,9.2,373,7787,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2206,1645
$GC,8105,1.28,218.5,88.7,8.8,389,8109,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,788,1645
$GC,8145,1.28,218.5,84.9,9.5,391,8149,0.00,2.45,0.00,0.000,6,0.000,0.064,2965,2200,1645
$GC,8479,1.28,218.5,56.1,8.1,407,8483,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,785,1645
$GC,8558,1.28,218.5,49.1,9.0,410,8563,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2208,1645
$GC,8875,1.28,219.4,23.3,8.0,425,8880,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,788,1645
$GC,8927,1.28,219.4,18.6,9.1,427,8931,0.00,2.45,0.00,0.000,6,0.000,0.063,2965,2201,1645
$STATE,9138,end climb,SURFACE_DEPTH_REACHED
$STATE,9138,begin surface coast
$FINISH,0.5,1.001975
$STATE,9159,end surface coast,CONTROL_FINISHED_OK
$STATE,9159,begin surface
$SM_CCo,9185,189.50,0.640,0,0,186,576.95
$SM_GC,1.08,0.00,0.00,189.50,0.000,0.000,0.640,374,1600,186,-10.58,0.00,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1859
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,401.7,62.1
$24V_AH,23.7,33.675
$10V_AH,10.2,17.683
$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,25.200,102.400,303.900,189.500,0.000,75.520,59.887,164.318,3.500,0.000,0.000,17.765,871.236,6658.290,622.876,1164.455,556.159,0.000,1227.392,0.000,1129.924,0.000,24.721,0.000
$DEVICE_MAMPS,180.245,109.681,980.993,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.847,296.945,337.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22218,438
$CAP_FILE_SIZE,78426,0
$CFSIZE,254472192,240361472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,051008,175505,6418.391,-1213.348,10,2.5,29,-12.1