version: 66.04
glider: 14
mission: 6
dive: 118
start: 9 22 108 11 37 30
data:
$ID,14
$MISSION,6
$DIVE,118
$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,-652330.19
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,113157,6446.863,-1034.241,7,1.5,7,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.0
$GPS2,113707,6446.889,-1034.280,36,1.5,36,-11.3
$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,352.5,13916,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,373,1598,2681
$GC,83,-1.16,-146.6,3.4,-5.0,3,114,11.55,2.58,-12.10,0.000,4,0.176,0.092,2448,212,3139
$GC,316,-1.16,-146.6,36.8,-13.0,13,321,0.00,2.38,0.00,0.000,6,0.000,0.054,2448,1627,3139
$GC,633,-1.16,-146.6,75.4,-14.3,28,637,0.00,2.38,0.00,0.000,4,0.000,0.070,2448,2982,3140
$GC,673,-1.16,-146.6,80.8,-12.9,30,678,0.00,2.40,0.00,0.000,6,0.000,0.061,2448,1589,3140
$GC,1008,-1.16,-146.6,103.8,-4.8,46,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1589,3142
$GC,1318,-1.16,-146.6,122.2,-6.3,61,1322,0.00,2.45,0.00,0.000,4,0.000,0.069,2448,2982,3143
$GC,1397,-1.16,-146.6,127.9,-7.0,64,1403,0.00,2.40,0.00,0.000,6,0.000,0.063,2448,1592,3144
$GC,1713,-1.16,-146.6,154.8,-9.5,80,1717,0.00,2.53,0.00,0.000,4,0.000,0.083,2448,207,3147
$GC,1798,-1.16,-146.6,165.0,-12.8,83,1804,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1616,3147
$GC,2114,-1.16,-146.6,204.2,-11.3,99,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1615,3147
$GC,2424,-1.16,-146.6,229.3,-6.1,114,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1616,3147
$GC,2733,-1.16,-146.6,249.3,-7.1,129,2737,0.00,2.55,0.00,0.000,4,0.000,0.083,2448,212,3147
$GC,2789,-1.16,-146.6,254.1,-9.2,131,2795,0.00,2.33,0.00,0.000,6,0.000,0.056,2448,1594,3147
$GC,3105,-1.16,-146.6,281.6,-9.0,147,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1596,3147
$GC,3414,-1.16,-146.6,308.5,-8.3,162,3419,0.00,2.47,0.00,0.000,4,0.000,0.080,2449,2976,3147
$GC,3465,-1.16,-146.6,312.8,-8.5,164,3470,0.00,2.40,0.00,0.000,6,0.000,0.065,2448,1600,3147
$GC,3782,-1.16,-146.6,339.8,-9.0,179,3786,0.00,2.55,0.00,0.000,4,0.000,0.090,2448,213,3147
$GC,3856,-1.16,-146.6,346.6,-9.6,182,3860,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1605,3147
$GC,4173,-1.16,-146.6,373.1,-8.4,197,4177,0.00,2.47,0.00,0.000,4,0.000,0.079,2448,2983,3147
$GC,4223,-1.16,-146.6,377.9,-8.5,199,4228,0.00,2.42,0.00,0.000,6,0.000,0.065,2448,1597,3146
$GC,4545,-1.16,-146.6,406.0,-8.7,215,4550,0.00,2.58,0.00,0.000,4,0.000,0.093,2448,209,3146
$GC,4636,-1.16,-146.6,416.0,-11.1,219,4640,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1605,3146
$STATE,4686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4686,begin apogee
$GC,4695,-0.32,0.0,421.4,10.2,222,4829,0.90,0.00,128.30,1.044,6,0.107,0.000,2633,2176,2538
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4833,1.16,146.6,425.5,0.0,229,4963,1.50,2.80,121.22,1.009,4,0.077,0.100,2956,3602,1940
$GC,5069,1.16,146.6,412.5,8.4,240,5073,0.00,2.50,0.00,0.000,6,0.000,0.067,2955,2198,1939
$GC,5402,1.17,147.0,387.4,8.0,256,5407,0.00,2.60,0.00,0.000,4,0.000,0.087,2956,795,1938
$GC,5521,1.22,179.4,378.2,6.8,261,5553,0.00,2.42,27.17,1.002,6,0.000,0.056,2955,2200,1807
$GC,5863,1.22,179.4,349.2,9.0,278,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2199,1804
$GC,6172,1.22,179.4,320.7,8.6,293,6177,0.00,2.58,0.00,0.000,4,0.000,0.077,2955,794,1803
$GC,6236,1.22,179.4,315.3,8.4,296,6240,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2207,1803
$GC,6563,1.22,184.3,288.4,7.8,312,6573,0.00,2.58,4.60,0.723,4,0.000,0.076,2955,796,1787
$GC,6664,1.22,184.3,280.5,8.6,316,6670,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2204,1786
$GC,6980,1.22,184.3,253.9,9.2,332,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2204,1785
$GC,7289,1.22,184.3,222.7,10.6,347,7293,0.00,2.55,0.00,0.000,4,0.000,0.076,2955,789,1785
$GC,7368,1.22,184.3,214.0,10.7,350,7373,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2203,1785
$GC,7685,1.22,184.3,179.1,11.9,365,7689,0.00,2.53,0.00,0.000,4,0.000,0.075,2956,792,1785
$GC,7770,1.22,184.3,168.5,12.5,369,7774,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2208,1785
$GC,8103,1.22,184.3,134.8,8.4,385,8107,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,789,1785
$GC,8204,1.25,201.9,127.3,7.3,389,8224,0.00,2.45,15.23,0.828,6,0.000,0.057,2956,2210,1714
$GC,8542,1.32,246.2,106.5,6.3,406,8586,0.17,2.62,36.53,0.837,4,0.066,0.073,3006,794,1534
$GC,8685,1.32,246.2,92.1,10.8,412,8689,0.00,2.45,0.00,0.000,6,0.000,0.057,3006,2199,1532
$GC,9007,1.32,246.2,62.7,8.3,428,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1529
$GC,9316,1.32,246.2,29.6,11.5,443,9320,0.00,2.60,0.00,0.000,4,0.000,0.093,3007,3597,1528
$GC,9469,1.32,246.2,11.1,13.5,450,9473,0.00,2.45,0.00,0.000,6,0.000,0.062,3006,2188,1528
$STATE,9566,end climb,SURFACE_DEPTH_REACHED
$STATE,9566,begin surface coast
$FINISH,0.8,1.026219
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9614,34.12,0.697,1,0,1316,300.00
$SM_GC,1.87,0.00,0.00,34.12,0.000,0.000,0.697,382,1596,1316,-10.69,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1974
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.6,30.7
$24V_AH,23.6,19.719
$10V_AH,10.1,11.539
$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,25.775,91.450,333.050,34.125,0.000,37.759,26.075,110.520,3.000,0.000,0.000,41.112,897.513,6993.296,450.543,1224.068,412.976,0.000,1072.362,0.000,1174.070,0.000,21.684,0.000
$DEVICE_MAMPS,176.410,100.477,1043.887,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.362,308.921,373.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22214,456
$CAP_FILE_SIZE,76680,0
$CFSIZE,254472192,244813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,220908,141938,6449.189,-1035.108,30,1.6,30,-11.3