version: 66.04
glider: 14
mission: 6
dive: 93
start: 9 18 108 9 25 36
data:
$ID,14
$MISSION,6
$DIVE,93
$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,300
$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,-651879.56
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$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,23
$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
$GPS1,092002,6424.426,-949.446,42,1.3,42,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.1
$GPS2,092515,6424.520,-949.149,12,1.0,12,-10.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$TGT_RADIUS,5000.000
$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,334.5,67652,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.28,0.000,2,0.000,0.000,377,1591,2710
$GC,83,-1.16,-146.6,3.9,-6.3,3,113,11.48,2.53,-10.38,0.000,4,0.175,0.091,2447,203,3137
$GC,382,-1.16,-146.6,40.9,-10.4,16,387,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1633,3140
$GC,705,-1.16,-146.6,71.0,-9.3,32,709,0.00,2.55,0.00,0.000,4,0.000,0.074,2446,211,3142
$GC,813,-1.16,-146.6,82.2,-10.4,37,817,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1606,3142
$GC,1140,-1.16,-146.6,116.4,-10.9,53,1145,0.00,2.53,0.00,0.000,4,0.000,0.075,2446,201,3144
$GC,1191,-1.16,-146.6,122.5,-11.7,55,1196,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1606,3144
$GC,1508,-1.16,-146.6,154.1,-9.1,70,1512,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,206,3145
$GC,1593,-1.16,-146.6,162.1,-8.9,74,1597,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1603,3145
$GC,1920,-1.16,-146.6,189.0,-7.8,90,1924,0.00,2.53,0.00,0.000,4,0.000,0.075,2446,205,3146
$GC,1994,-1.16,-146.6,196.3,-9.6,93,1998,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1602,3147
$GC,2316,-1.16,-146.6,227.9,-9.1,109,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1606,3149
$GC,2625,-1.16,-146.6,257.1,-9.5,124,2629,0.00,2.53,0.00,0.000,4,0.000,0.079,2446,211,3149
$GC,2675,-1.16,-146.6,262.2,-10.3,126,2680,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1593,3149
$GC,2992,-1.16,-146.6,291.8,-9.0,141,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3149
$GC,3302,-1.16,-146.6,320.3,-9.4,156,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3149
$GC,3611,-1.16,-146.6,350.2,-10.1,171,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3149
$GC,3920,-1.16,-146.6,381.9,-10.7,186,3924,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,212,3149
$GC,3993,-1.16,-146.6,390.2,-11.1,189,3997,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1593,3149
$GC,4309,-1.16,-146.6,422.1,-9.9,204,4314,0.00,2.55,0.00,0.000,4,0.000,0.086,2446,211,3149
$GC,4456,-1.16,-146.6,435.4,-8.3,210,4462,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1611,3149
$GC,4773,-1.16,-146.6,457.8,-7.1,226,4778,0.00,2.58,0.00,0.000,4,0.000,0.085,2446,212,3147
$GC,4910,-1.16,-146.6,470.5,-8.7,232,4914,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1601,3147
$GC,5232,-1.16,-146.6,496.6,-7.8,248,5236,0.00,2.58,0.00,0.000,4,0.000,0.085,2446,206,3145
$GC,5295,-1.16,-146.6,503.2,-8.8,251,5300,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1603,3145
$GC,5623,-1.16,-146.6,533.1,-8.3,267,5627,0.00,2.58,0.00,0.000,4,0.000,0.088,2446,213,3145
$STATE,5687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5687,begin apogee
$GC,5699,-0.32,0.0,539.1,8.8,270,5828,0.90,0.00,125.90,1.009,6,0.128,0.000,2629,2188,2539
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5833,1.16,146.6,540.4,0.0,276,5961,1.52,2.65,119.62,0.959,4,0.080,0.086,2956,793,1940
$GC,6234,1.49,351.8,540.2,0.2,294,6412,0.32,2.47,167.27,1.107,6,0.061,0.059,3034,2205,1104
$GC,6728,1.49,351.8,481.5,14.3,318,6733,0.00,2.60,0.00,0.000,4,0.000,0.081,3034,792,1101
$GC,6987,1.49,351.8,440.4,17.2,329,6993,0.00,2.45,0.00,0.000,6,0.000,0.057,3034,2202,1101
$GC,7303,1.49,351.8,392.3,15.3,345,7307,0.00,2.55,0.00,0.000,4,0.000,0.076,3034,789,1099
$GC,7426,1.49,351.8,374.3,13.8,350,7433,0.00,2.45,0.00,0.000,6,0.000,0.058,3034,2201,1099
$GC,7743,1.49,351.8,331.0,14.5,366,7747,0.00,2.55,0.00,0.000,4,0.000,0.076,3034,792,1097
$GC,7806,1.49,351.8,321.8,15.2,369,7810,0.00,2.45,0.00,0.000,6,0.000,0.058,3034,2204,1097
$GC,8133,1.49,351.8,278.4,12.6,385,8138,0.00,2.65,0.00,0.000,4,0.000,0.097,3034,3606,1096
$GC,8207,1.49,351.8,268.4,13.9,388,8211,0.00,2.47,0.00,0.000,6,0.000,0.064,3034,2194,1095
$GC,8523,1.49,351.8,227.5,12.3,403,8527,0.00,2.60,0.00,0.000,4,0.000,0.088,3034,3602,1094
$GC,8596,1.49,351.8,218.3,12.8,406,8600,0.00,2.47,0.00,0.000,6,0.000,0.064,3034,2200,1094
$GC,8913,1.49,351.8,179.9,14.2,421,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,1092
$GC,9222,1.49,351.8,133.6,14.9,436,9226,0.00,2.60,0.00,0.000,4,0.000,0.086,3034,3608,1091
$GC,9295,1.49,351.8,121.8,16.0,439,9299,0.00,2.47,0.00,0.000,6,0.000,0.064,3034,2196,1091
$GC,9613,1.49,351.8,71.5,15.6,454,9617,0.00,2.58,0.00,0.000,4,0.000,0.081,3034,3604,1091
$GC,9680,1.49,351.8,62.3,13.2,457,9684,0.00,2.45,0.00,0.000,6,0.000,0.064,3034,2200,1091
$GC,10003,1.49,351.8,18.5,13.9,473,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,1091
$STATE,10122,end climb,SURFACE_DEPTH_REACHED
$STATE,10122,begin surface coast
$FINISH,0.4,1.013420
$STATE,10144,end surface coast,CONTROL_FINISHED_OK
$STATE,10144,begin surface
$SM_CCo,10230,0.00,0.000,0,0,1091,355.19
$SM_GC,1.31,11.50,0.00,0.00,0.055,0.000,0.000,376,1604,1091,-10.64,0.08,355.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1965
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.0,98.8
$24V_AH,23.5,16.767
$10V_AH,10.1,9.855
$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,25.725,96.525,412.800,0.000,0.000,37.763,27.842,127.386,3.500,0.000,0.000,13.492,952.257,7351.502,461.677,1342.778,438.770,0.000,1163.112,0.000,1308.992,0.000,25.110,0.000
$DEVICE_MAMPS,174.876,97.409,1106.781,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.995,325.292,326.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25441,480
$CAP_FILE_SIZE,81301,0
$CFSIZE,254472192,246059008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,180908,121726,6426.946,-948.861,40,1.1,40,-10.8