version: 66.04
glider: 14
mission: 6
dive: 241
start: 10 5 108 20 37 28
data:
$ID,14
$MISSION,6
$DIVE,241
$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,-654685.62
$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,21
$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
$GPS1,203202,6418.170,-1211.453,39,1.0,39,-12.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.1
$GPS2,203703,6418.223,-1211.265,10,1.5,10,-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,260.9,42175,-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,-101.15,0.000,2,0.000,0.000,373,1594,2685
$GC,123,-1.16,-146.6,3.7,-2.9,5,153,11.48,2.53,-9.85,0.000,4,0.179,0.092,2415,209,3137
$GC,261,-1.16,-146.6,27.7,-16.0,11,265,0.00,2.42,0.00,0.000,6,0.000,0.059,2415,1616,3140
$GC,583,-1.16,-146.6,74.5,-14.5,27,587,0.00,2.55,0.00,0.000,4,0.000,0.077,2415,208,3142
$GC,678,-1.16,-146.6,87.4,-12.8,31,683,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1608,3142
$GC,996,-1.16,-146.6,125.9,-12.2,46,1000,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,209,3143
$GC,1104,-1.16,-146.6,140.0,-12.6,51,1108,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1603,3144
$GC,1431,-1.16,-146.6,181.7,-12.8,67,1435,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,206,3144
$GC,1504,-1.16,-146.6,191.5,-12.8,70,1508,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1599,3144
$GC,1826,-1.16,-146.6,231.9,-12.7,86,1830,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,201,3144
$GC,1905,-1.16,-146.6,242.4,-12.9,89,1909,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1604,3144
$GC,2222,-1.16,-146.6,280.2,-11.6,104,2226,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,203,3144
$GC,2255,-1.16,-146.6,284.5,-12.6,105,2262,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1606,3144
$GC,2573,-1.16,-146.6,320.2,-11.3,121,2577,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,206,3144
$GC,2619,-1.16,-146.6,325.6,-11.7,123,2623,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1604,3144
$GC,2941,-1.16,-146.6,360.8,-11.3,139,2945,0.00,2.53,0.00,0.000,4,0.000,0.085,2415,3001,3144
$GC,2969,-1.16,-146.6,364.0,-11.1,140,2973,0.00,2.45,0.00,0.000,6,0.000,0.068,2415,1600,3144
$GC,3286,-1.16,-146.6,397.6,-11.3,155,3290,0.00,2.55,0.00,0.000,4,0.000,0.088,2415,201,3145
$GC,3482,-1.16,-146.6,421.6,-11.8,164,3487,0.00,2.40,0.00,0.000,6,0.000,0.061,2415,1603,3145
$STATE,3621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3622,begin apogee
$GC,3631,-0.32,0.0,438.5,12.0,171,3756,0.90,0.00,121.22,0.965,6,0.109,0.000,2600,2190,2539
$STATE,3757,end apogee,CONTROL_FINISHED_OK
$STATE,3757,begin climb
$GC,3761,1.16,146.6,443.3,0.0,177,3889,1.50,2.60,119.18,0.940,4,0.079,0.075,2925,798,1940
$GC,4070,1.21,174.1,431.9,7.0,191,4099,0.00,2.47,23.58,0.893,6,0.000,0.065,2925,2200,1829
$GC,4417,1.26,209.1,407.3,6.7,208,4453,0.10,2.60,29.23,0.915,4,0.071,0.075,2957,789,1686
$GC,4564,1.26,209.1,395.6,9.0,214,4568,0.00,2.53,0.00,0.000,6,0.000,0.065,2957,2210,1686
$GC,4880,1.31,235.3,371.2,7.0,229,4909,0.00,2.67,22.17,0.895,4,0.000,0.074,2957,785,1579
$GC,5014,1.31,235.3,360.4,8.5,235,5019,0.00,2.50,0.00,0.000,6,0.000,0.065,2957,2199,1578
$GC,5342,1.31,235.3,333.2,8.3,251,5346,0.00,2.72,0.00,0.000,4,0.000,0.110,2957,3610,1578
$GC,5432,1.31,235.3,324.7,9.5,255,5436,0.00,2.50,0.00,0.000,6,0.000,0.069,2957,2200,1579
$GC,5753,1.31,235.3,294.3,9.7,271,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1578
$GC,6063,1.31,235.3,264.8,9.6,286,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1577
$GC,6372,1.31,235.3,235.5,9.6,301,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1577
$GC,6681,1.31,235.3,204.6,10.0,316,6685,0.00,2.53,0.00,0.000,4,0.000,0.076,2957,791,1578
$GC,6722,1.31,235.3,200.3,10.7,318,6726,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2205,1577
$GC,7049,1.31,235.3,168.1,9.6,334,7054,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,786,1577
$GC,7135,1.31,235.3,159.3,10.6,338,7139,0.00,2.45,0.00,0.000,6,0.000,0.062,2957,2198,1577
$GC,7463,1.31,235.3,129.2,8.9,354,7468,0.00,2.53,0.00,0.000,4,0.000,0.075,2958,786,1577
$GC,7543,1.31,235.3,121.5,9.5,357,7549,0.00,2.45,0.00,0.000,6,0.000,0.063,2957,2201,1577
$GC,7859,1.31,235.3,93.9,8.6,373,7864,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,787,1577
$GC,7904,1.31,235.3,89.6,9.1,375,7909,0.00,2.45,0.00,0.000,6,0.000,0.063,2957,2198,1577
$GC,8227,1.31,235.3,61.3,8.7,391,8231,0.00,2.53,0.00,0.000,4,0.000,0.075,2957,786,1577
$GC,8384,1.31,235.3,46.9,8.8,398,8388,0.00,2.47,0.00,0.000,6,0.000,0.064,2957,2210,1577
$GC,8706,1.31,235.3,20.5,9.1,414,8710,0.00,2.55,0.00,0.000,4,0.000,0.076,2957,791,1577
$GC,8784,1.31,235.3,12.7,8.5,417,8791,0.00,2.45,0.00,0.000,6,0.000,0.063,2957,2198,1577
$STATE,8932,end climb,SURFACE_DEPTH_REACHED
$STATE,8933,begin surface coast
$FINISH,0.5,1.027053
$STATE,8954,end surface coast,CONTROL_FINISHED_OK
$STATE,8955,begin surface
$SM_CCo,8980,179.32,0.646,1,0,187,576.95
$SM_GC,1.11,0.00,0.00,179.32,0.000,0.000,0.646,382,1596,187,-10.55,-0.11,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1843
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.4,95.9
$24V_AH,23.7,33.930
$10V_AH,10.2,17.786
$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,25.225,97.025,315.375,179.325,0.000,37.759,36.844,113.135,2.500,0.000,0.000,12.054,850.574,6419.175,622.889,1160.686,428.353,0.000,1229.751,0.000,1138.298,0.000,18.638,0.000
$DEVICE_MAMPS,178.711,110.448,964.886,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.904,288.976,337.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22323,426
$CAP_FILE_SIZE,75029,0
$CFSIZE,254472192,240291840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,051008,231137,6418.789,-1207.477,39,2.0,39,-12.0