version: 66.04
glider: 14
mission: 6
dive: 221
start: 10 3 108 13 6 7
data:
$ID,14
$MISSION,6
$DIVE,221
$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,-654279.38
$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
$GPS1,130031,6412.217,-1231.307,38,1.9,43,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-54.4
$GPS2,130545,6412.273,-1231.102,13,1.9,13,-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,272.0,23698,-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,-101.07,0.000,2,0.000,0.000,381,1591,2705
$GC,124,-1.16,-146.6,4.7,-3.8,5,149,11.38,2.53,-9.02,0.000,4,0.178,0.082,2411,3006,3139
$GC,292,-1.16,-146.6,34.6,-14.9,12,298,0.00,2.42,0.00,0.000,6,0.000,0.062,2411,1594,3141
$GC,610,-1.16,-146.6,77.9,-13.9,28,614,0.00,2.47,0.00,0.000,4,0.000,0.080,2411,213,3142
$GC,763,-1.16,-146.6,101.2,-15.0,35,768,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1625,3142
$GC,1093,-1.16,-146.6,145.1,-13.4,51,1098,0.00,2.55,0.00,0.000,4,0.000,0.077,2411,210,3143
$GC,1183,-1.16,-146.6,157.9,-13.1,55,1188,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1602,3143
$GC,1506,-1.16,-146.6,198.4,-11.9,71,1510,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,211,3144
$GC,1556,-1.16,-146.6,204.9,-12.6,73,1560,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1603,3143
$GC,1878,-1.16,-146.6,244.3,-12.0,89,1882,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,210,3143
$GC,1979,-1.16,-146.6,257.3,-13.1,93,1985,0.00,2.35,0.00,0.000,6,0.000,0.056,2411,1604,3144
$GC,2295,-1.16,-146.6,294.8,-11.7,109,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3144
$GC,2605,-1.16,-146.6,331.4,-11.1,124,2609,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,212,3144
$GC,2690,-1.16,-146.6,341.6,-12.5,127,2696,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1597,3144
$GC,3006,-1.16,-146.6,377.8,-11.8,143,3010,0.00,2.50,0.00,0.000,4,0.000,0.081,2411,2994,3145
$GC,3034,-1.16,-146.6,381.2,-12.1,144,3038,0.00,2.42,0.00,0.000,6,0.000,0.065,2411,1594,3144
$GC,3350,-1.16,-146.6,419.3,-12.2,159,3355,0.00,2.53,0.00,0.000,4,0.000,0.087,2411,207,3145
$GC,3447,-1.16,-146.6,431.5,-12.4,163,3451,0.00,2.35,0.00,0.000,6,0.000,0.057,2411,1605,3145
$GC,3768,-1.16,-146.6,471.5,-13.2,179,3772,0.00,2.53,0.00,0.000,4,0.000,0.083,2411,215,3145
$GC,3802,-1.16,-146.6,476.6,-14.6,180,3809,0.00,2.35,0.00,0.000,6,0.000,0.058,2411,1596,3145
$STATE,3888,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3888,begin apogee
$GC,3898,-0.32,0.0,487.9,12.7,185,4024,0.95,0.00,122.88,1.025,6,0.121,0.000,2602,2200,2538
$STATE,4025,end apogee,CONTROL_FINISHED_OK
$STATE,4025,begin climb
$GC,4029,1.16,146.6,493.3,0.0,191,4158,1.50,2.78,120.40,0.985,4,0.079,0.109,2926,3602,1941
$GC,4184,1.19,161.7,490.8,7.4,198,4204,0.00,2.50,13.73,0.890,6,0.000,0.067,2926,2199,1878
$GC,4528,1.24,194.9,472.6,6.7,215,4562,0.00,2.67,27.77,0.962,4,0.000,0.080,2926,792,1744
$GC,4610,1.25,197.3,466.5,7.9,218,4619,0.00,2.47,3.92,0.620,6,0.000,0.060,2927,2210,1733
$GC,4949,1.29,226.9,439.5,6.9,235,4979,0.12,2.62,25.00,0.956,4,0.068,0.074,2964,788,1613
$GC,5160,1.30,228.8,425.3,7.9,244,5164,0.00,2.47,0.00,0.000,6,0.000,0.060,2964,2209,1613
$GC,5476,1.30,228.8,397.5,8.7,259,5480,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,793,1613
$GC,5550,1.30,228.8,390.9,9.0,262,5554,0.00,2.47,0.00,0.000,6,0.000,0.060,2964,2206,1613
$GC,5871,1.30,228.8,362.8,9.4,278,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2207,1613
$GC,6181,1.30,228.8,334.7,8.7,293,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2206,1612
$GC,6490,1.30,228.8,309.8,8.1,308,6494,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,794,1611
$GC,6597,1.30,228.8,300.2,9.2,313,6602,0.00,2.45,0.00,0.000,6,0.000,0.060,2964,2201,1611
$GC,6931,1.30,228.8,269.0,9.9,329,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2201,1610
$GC,7240,1.30,228.8,237.6,10.2,344,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2201,1610
$GC,7549,1.30,228.8,207.3,9.5,359,7553,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,794,1610
$GC,7685,1.30,228.8,193.9,10.1,365,7690,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2211,1610
$GC,8013,1.30,228.8,163.9,9.4,381,8018,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,793,1610
$GC,8115,1.30,228.8,154.0,9.9,385,8121,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2199,1610
$GC,8432,1.30,228.8,124.5,9.5,401,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2199,1610
$GC,8741,1.30,228.8,96.5,8.6,416,8745,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,785,1610
$GC,8808,1.30,228.8,90.5,9.2,419,8812,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2198,1610
$GC,9130,1.30,228.8,61.2,9.5,435,9134,0.00,2.47,0.00,0.000,4,0.000,0.071,2964,792,1610
$GC,9193,1.30,228.8,55.6,8.7,438,9197,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2199,1610
$GC,9521,1.30,228.8,29.3,8.2,454,9525,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,791,1611
$GC,9656,1.30,228.8,17.1,9.2,460,9660,0.00,2.42,0.00,0.000,6,0.000,0.059,2964,2199,1611
$STATE,9851,end climb,SURFACE_DEPTH_REACHED
$STATE,9851,begin surface coast
$FINISH,0.4,1.012088
$STATE,9873,end surface coast,CONTROL_FINISHED_OK
$STATE,9873,begin surface
$SM_CCo,9899,186.02,0.641,0,0,186,576.95
$SM_GC,1.32,0.00,0.00,186.02,0.000,0.000,0.641,381,1594,186,-10.55,-0.14,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1867
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.4,45.0
$24V_AH,23.7,31.194
$10V_AH,10.2,16.707
$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,25.200,96.175,313.700,186.025,0.000,38.806,30.449,116.634,3.750,0.000,0.000,14.812,926.276,7182.268,619.050,1239.334,442.391,0.000,1259.157,0.000,1209.351,0.000,27.879,0.000
$DEVICE_MAMPS,177.944,108.914,1024.712,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.334,319.756,349.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,471
$CAP_FILE_SIZE,79394,0
$CFSIZE,254472192,241037312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,031008,155537,6412.188,-1232.050,40,1.9,40,-12.2