version: 66.04
glider: 14
mission: 6
dive: 122
start: 9 22 108 23 0 30
data:
$ID,14
$MISSION,6
$DIVE,122
$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,-652392.31
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,225438,6452.126,-1040.278,33,1.5,33,-11.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-57.4
$GPS2,230009,6452.170,-1040.164,14,1.7,14,-11.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$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,241.5,72696,-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,-60.22,0.000,2,0.000,0.000,381,1592,2643
$GC,83,-1.16,-146.6,3.7,-4.7,3,113,11.57,0.00,-13.30,0.000,6,0.179,0.000,2447,1592,3139
$GC,437,-1.16,-146.6,42.6,-9.7,20,441,0.00,2.50,0.00,0.000,4,0.000,0.080,2447,219,3140
$GC,504,-1.16,-146.6,50.0,-10.7,23,508,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1614,3140
$GC,825,-1.16,-146.6,82.7,-10.3,39,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1619,3142
$GC,1135,-1.16,-146.6,111.7,-9.1,54,1139,0.00,2.55,0.00,0.000,4,0.000,0.078,2447,215,3145
$GC,1230,-1.16,-146.6,121.5,-10.2,58,1234,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1616,3145
$GC,1546,-1.16,-146.6,154.2,-10.5,73,1551,0.00,2.53,0.00,0.000,4,0.000,0.079,2447,221,3147
$GC,1587,-1.16,-146.6,158.7,-11.6,75,1592,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1603,3147
$GC,1915,-1.16,-146.6,195.3,-11.4,91,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1605,3147
$GC,2225,-1.16,-146.6,228.7,-9.5,106,2229,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,220,3147
$GC,2310,-1.16,-146.6,236.5,-8.7,110,2314,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1596,3148
$GC,2638,-1.16,-146.6,258.9,-6.1,126,2642,0.00,2.53,0.00,0.000,4,0.000,0.083,2447,221,3147
$GC,2701,-1.16,-146.6,263.0,-6.4,129,2705,0.00,2.33,0.00,0.000,6,0.000,0.056,2447,1601,3147
$GC,3035,-1.16,-146.6,280.3,-4.9,145,3039,0.00,2.55,0.00,0.000,4,0.000,0.084,2447,220,3147
$GC,3076,-1.16,-146.6,282.5,-5.8,147,3080,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1604,3147
$GC,3404,-1.16,-146.6,299.6,-5.8,163,3408,0.00,2.55,0.00,0.000,4,0.000,0.084,2447,222,3147
$GC,3467,-1.16,-146.6,303.7,-6.9,166,3471,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1606,3147
$GC,3801,-1.16,-146.6,327.0,-7.7,182,3805,0.00,2.58,0.00,0.000,4,0.000,0.084,2447,212,3147
$GC,3896,-1.16,-146.6,335.8,-9.2,186,3900,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1606,3147
$GC,4213,-1.16,-146.6,365.5,-9.9,201,4217,0.00,2.58,0.00,0.000,4,0.000,0.085,2446,213,3147
$GC,4299,-1.16,-146.6,374.7,-11.1,205,4304,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1598,3147
$GC,4633,-1.16,-146.6,407.6,-9.8,221,4637,0.00,2.55,0.00,0.000,4,0.000,0.085,2447,222,3146
$GC,4673,-1.16,-146.6,411.7,-10.5,223,4677,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1605,3146
$STATE,4749,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4749,begin apogee
$GC,4759,-0.32,0.0,419.3,9.6,227,4892,0.93,0.00,125.90,0.927,6,0.119,0.000,2633,2184,2538
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4893,begin climb
$GC,4896,1.16,146.6,425.0,0.0,234,5023,1.50,2.88,118.53,0.883,4,0.080,0.108,2955,3599,1940
$GC,5147,1.16,146.6,412.0,8.3,245,5152,0.00,2.50,0.00,0.000,6,0.000,0.067,2954,2197,1938
$GC,5464,1.16,146.6,387.4,8.0,260,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1938
$GC,5773,1.17,151.7,364.2,7.8,275,5783,0.00,2.60,5.35,0.775,4,0.000,0.084,2954,796,1920
$GC,5852,1.17,151.7,357.6,8.3,278,5858,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2204,1919
$GC,6168,1.17,151.7,331.0,8.6,294,6172,0.00,2.55,0.00,0.000,4,0.000,0.075,2954,795,1919
$GC,6280,1.17,151.7,320.3,9.8,299,6285,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2200,1919
$GC,6602,1.17,151.7,290.0,9.2,315,6607,0.00,2.55,0.00,0.000,4,0.000,0.077,2955,791,1917
$GC,6653,1.17,151.7,285.3,8.6,317,6657,0.00,2.45,0.00,0.000,6,0.000,0.055,2954,2206,1917
$GC,6970,1.24,193.9,262.4,6.4,332,7012,0.00,2.62,34.10,0.860,4,0.000,0.076,2954,796,1747
$GC,7065,1.26,209.6,255.9,7.4,336,7085,0.12,2.45,14.15,0.811,6,0.072,0.056,2986,2199,1683
$GC,7413,1.26,209.6,225.9,9.2,353,7417,0.00,2.55,0.00,0.000,4,0.000,0.075,2986,796,1681
$GC,7491,1.26,209.6,217.7,10.5,356,7497,0.00,2.45,0.00,0.000,6,0.000,0.057,2986,2206,1680
$GC,7808,1.26,209.6,185.1,10.9,372,7812,0.00,2.58,0.00,0.000,4,0.000,0.075,2986,790,1680
$GC,7863,1.26,209.6,178.4,12.0,374,7870,0.00,2.45,0.00,0.000,6,0.000,0.057,2986,2203,1680
$GC,8181,1.26,209.6,143.4,11.5,390,8185,0.00,2.55,0.00,0.000,4,0.000,0.074,2986,795,1679
$GC,8231,1.26,209.6,137.5,10.9,392,8235,0.00,2.42,0.00,0.000,6,0.000,0.056,2986,2201,1679
$GC,8548,1.26,209.6,108.9,8.1,407,8552,0.00,2.53,0.00,0.000,4,0.000,0.074,2986,794,1677
$GC,8612,1.27,210.3,103.8,8.0,410,8616,0.00,2.42,0.00,0.000,6,0.000,0.057,2986,2202,1677
$GC,8939,1.27,210.3,70.8,12.1,426,8943,0.00,2.53,0.00,0.000,4,0.000,0.074,2986,793,1678
$GC,8995,1.27,210.3,62.6,14.8,428,9001,0.00,2.42,0.00,0.000,6,0.000,0.057,2986,2203,1677
$GC,9312,1.27,210.3,25.1,11.8,444,9316,0.00,2.60,0.00,0.000,4,0.000,0.095,2986,3597,1678
$GC,9465,1.27,210.3,7.6,11.9,451,9470,0.00,2.42,0.00,0.000,6,0.000,0.062,2986,2196,1678
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9521,begin surface coast
$FINISH,0.7,1.015861
$STATE,9544,end surface coast,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$SM_CCo,9571,52.95,0.705,1,0,1315,300.00
$SM_GC,1.35,0.00,0.00,52.95,0.000,0.000,0.705,379,1606,1315,-10.70,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1952
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.6,27.0
$24V_AH,23.6,20.149
$10V_AH,10.1,11.754
$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,25.625,106.325,298.025,52.950,0.000,37.760,31.520,146.272,3.000,0.000,0.000,16.406,908.810,6960.504,455.712,1189.104,456.076,0.000,1076.997,0.000,1157.348,0.000,21.679,0.000
$DEVICE_MAMPS,179.478,108.147,927.303,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.427,308.868,347.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22218,455
$CAP_FILE_SIZE,80265,0
$CFSIZE,254472192,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,230908,014209,6452.626,-1042.327,25,1.5,26,-11.4