version: 66.04
glider: 14
mission: 6
dive: 120
start: 9 22 108 17 23 42
data:
$ID,14
$MISSION,6
$DIVE,120
$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,-652353.31
$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,23
$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
$GPS1,171808,6451.157,-1035.948,37,1.1,37,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.6
$GPS2,172321,6451.206,-1035.851,10,1.7,10,-11.4
$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,339.2,6116,-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,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,374,1595,2670
$GC,83,-1.16,-146.6,3.7,-5.3,3,114,11.55,2.55,-12.12,0.000,4,0.177,0.091,2445,209,3139
$GC,306,-1.16,-146.6,32.7,-10.9,13,310,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1621,3139
$GC,640,-1.16,-146.6,70.7,-10.8,29,644,0.00,2.55,0.00,0.000,4,0.000,0.076,2445,211,3141
$GC,905,-1.16,-146.6,99.7,-10.3,41,909,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1600,3142
$GC,1233,-1.16,-146.6,130.5,-9.1,57,1237,0.00,2.53,0.00,0.000,4,0.000,0.077,2445,209,3145
$GC,1296,-1.16,-146.6,136.5,-9.9,60,1300,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1612,3145
$GC,1624,-1.16,-146.6,165.4,-8.7,76,1628,0.00,2.53,0.00,0.000,4,0.000,0.079,2443,212,3147
$GC,1696,-1.16,-146.6,172.4,-9.3,79,1701,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1606,3148
$GC,2014,-1.16,-146.6,200.7,-9.3,94,2018,0.00,2.55,0.00,0.000,4,0.000,0.081,2444,212,3147
$GC,2098,-1.16,-146.6,209.1,-9.9,97,2105,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1602,3148
$GC,2415,-1.16,-146.6,237.6,-8.8,113,2419,0.00,2.55,0.00,0.000,4,0.000,0.082,2445,211,3147
$GC,2500,-1.16,-146.6,245.9,-10.4,117,2504,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1600,3147
$GC,2827,-1.16,-146.6,274.1,-9.1,133,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3147
$GC,3136,-1.16,-146.6,304.2,-9.7,148,3140,0.00,2.55,0.00,0.000,4,0.000,0.084,2445,213,3147
$GC,3215,-1.16,-146.6,312.2,-10.0,151,3222,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1595,3147
$GC,3532,-1.16,-146.6,338.5,-8.0,167,3536,0.00,2.50,0.00,0.000,4,0.000,0.081,2445,2988,3147
$GC,3601,-1.16,-146.6,344.0,-7.9,170,3605,0.00,2.42,0.00,0.000,6,0.000,0.066,2445,1598,3147
$GC,3928,-1.16,-146.6,371.3,-8.6,186,3933,0.00,2.58,0.00,0.000,4,0.000,0.091,2445,209,3147
$GC,4037,-1.16,-146.6,380.5,-8.8,191,4042,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1607,3147
$GC,4365,-1.16,-146.6,410.0,-9.3,207,4369,0.00,2.58,0.00,0.000,4,0.000,0.086,2445,213,3147
$GC,4432,-1.16,-146.6,416.7,-9.3,210,4436,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1595,3147
$GC,4755,-1.16,-146.6,429.1,0.0,226,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3146
$STATE,4771,end dive,NO_VERTICAL_VELOCITY
$STATE,4771,begin apogee
$GC,4780,-0.32,0.0,429.1,0.0,227,4918,0.88,0.00,129.90,1.040,6,0.086,0.000,2634,2189,2538
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4919,begin climb
$GC,4923,1.16,146.6,429.3,0.0,234,5053,1.55,2.62,121.50,1.016,4,0.084,0.077,2959,795,1940
$GC,5240,1.16,146.6,410.6,8.5,248,5244,0.00,2.45,0.00,0.000,6,0.000,0.058,2959,2201,1939
$GC,5561,1.16,146.6,386.2,9.0,264,5565,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,793,1937
$GC,5612,1.18,158.7,382.1,7.5,266,5628,0.00,2.47,10.85,0.910,6,0.000,0.057,2959,2212,1893
$GC,5950,1.19,165.8,357.4,7.7,283,5964,0.00,2.65,7.20,0.847,4,0.000,0.075,2959,793,1862
$GC,6000,1.20,166.0,353.3,8.0,285,6005,0.00,2.47,0.00,0.000,6,0.000,0.057,2959,2207,1862
$GC,6323,1.22,182.5,328.9,7.4,301,6344,0.00,0.00,15.23,0.948,6,0.000,0.000,2959,2207,1794
$GC,6655,1.25,201.7,304.6,7.3,317,6676,0.00,0.00,16.65,0.952,6,0.000,0.000,2959,2207,1715
$GC,6987,1.29,226.8,280.1,7.0,333,7016,0.12,2.67,21.60,0.894,4,0.071,0.075,2993,791,1612
$GC,7101,1.29,226.8,268.9,9.7,338,7105,0.00,2.47,0.00,0.000,6,0.000,0.058,2993,2203,1611
$GC,7423,1.29,226.8,240.0,9.2,354,7427,0.00,2.55,0.00,0.000,4,0.000,0.075,2994,794,1610
$GC,7473,1.29,226.8,234.6,10.7,356,7477,0.00,2.45,0.00,0.000,6,0.000,0.057,2994,2202,1610
$GC,7790,1.29,226.8,201.6,11.3,371,7794,0.00,2.55,0.00,0.000,4,0.000,0.076,2993,792,1610
$GC,7853,1.29,226.8,193.7,12.4,374,7857,0.00,2.45,0.00,0.000,6,0.000,0.058,2993,2203,1610
$GC,8179,1.29,226.8,151.8,13.0,390,8184,0.00,2.53,0.00,0.000,4,0.000,0.076,2993,793,1609
$GC,8247,1.29,226.8,142.7,13.3,393,8251,0.00,2.45,0.00,0.000,6,0.000,0.057,2993,2205,1609
$GC,8575,1.29,226.8,105.5,10.4,409,8579,0.00,2.62,0.00,0.000,4,0.000,0.097,2994,3600,1608
$GC,8615,1.29,226.8,101.6,10.2,411,8620,0.00,2.45,0.00,0.000,6,0.000,0.064,2994,2193,1608
$GC,8949,1.29,226.8,67.1,11.1,427,8953,0.00,2.50,0.00,0.000,4,0.000,0.076,2994,801,1607
$GC,9072,1.29,226.8,52.0,12.6,432,9079,0.00,2.40,0.00,0.000,6,0.000,0.056,2994,2204,1607
$GC,9389,1.29,226.8,13.3,11.1,448,9393,0.00,2.53,0.00,0.000,4,0.000,0.073,2993,800,1607
$GC,9440,1.29,226.8,7.1,12.4,450,9444,0.00,2.40,0.00,0.000,6,0.000,0.056,2994,2200,1607
$STATE,9506,end climb,SURFACE_DEPTH_REACHED
$STATE,9506,begin surface coast
$FINISH,0.7,1.009129
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9555,40.28,0.717,0,0,1316,300.00
$SM_GC,1.50,0.00,0.00,40.28,0.000,0.000,0.717,376,1601,1316,-10.71,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,1960
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.6,19.940
$10V_AH,10.1,11.647
$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,25.625,101.400,322.925,40.275,0.000,37.764,29.404,128.004,3.000,0.000,0.000,12.239,912.081,6872.560,459.740,1233.559,440.856,0.000,1100.708,0.000,1206.634,0.000,20.410,0.000
$DEVICE_MAMPS,177.177,97.409,1040.052,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.011,307.885,337.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,454
$CAP_FILE_SIZE,80041,0
$CFSIZE,254472192,244731904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,220908,200455,6452.274,-1038.078,33,1.5,33,-11.4