version: 66.04
glider: 14
mission: 6
dive: 123
start: 9 23 108 1 48 18
data:
$ID,14
$MISSION,6
$DIVE,123
$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,-652405.81
$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,25
$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
$GPS1,014209,6452.626,-1042.327,25,1.5,26,-11.4
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.4
$GPS2,014757,6452.672,-1042.339,11,1.6,11,-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,240.1,71983,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.50,0.000,2,0.000,0.000,380,1596,2657
$GC,86,-1.16,-146.6,3.4,-4.3,3,117,11.55,2.53,-12.90,0.000,4,0.178,0.080,2447,3001,3140
$GC,191,-1.16,-146.6,17.7,-13.3,7,197,0.00,2.42,0.00,0.000,6,0.000,0.061,2447,1593,3140
$GC,508,-1.16,-146.6,54.8,-10.4,23,512,0.00,2.53,0.00,0.000,4,0.000,0.083,2447,205,3141
$GC,571,-1.16,-146.6,62.6,-12.6,26,575,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1626,3141
$GC,899,-1.16,-146.6,102.5,-11.6,42,903,0.00,2.58,0.00,0.000,4,0.000,0.078,2447,211,3143
$GC,1135,-1.16,-146.6,127.8,-10.6,52,1142,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1606,3144
$GC,1452,-1.16,-146.6,152.5,-6.7,68,1456,0.00,2.50,0.00,0.000,4,0.000,0.078,2447,213,3146
$GC,1486,-1.16,-146.6,155.2,-8.0,69,1492,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1609,3146
$GC,1802,-1.16,-146.6,174.6,-5.9,85,1807,0.00,2.55,0.00,0.000,4,0.000,0.078,2447,207,3147
$GC,1889,-1.16,-146.6,180.9,-7.8,89,1893,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1593,3147
$GC,2216,-1.16,-146.6,204.5,-7.5,105,2221,0.00,2.53,0.00,0.000,4,0.000,0.080,2447,210,3147
$GC,2251,-1.16,-146.6,207.4,-8.3,106,2257,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1612,3147
$GC,2567,-1.16,-146.6,236.0,-9.7,122,2571,0.00,2.55,0.00,0.000,4,0.000,0.081,2447,215,3147
$GC,2612,-1.16,-146.6,241.0,-11.1,124,2616,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1599,3148
$GC,2934,-1.16,-146.6,274.0,-9.9,140,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1601,3147
$GC,3243,-1.16,-146.6,310.9,-12.7,155,3247,0.00,2.45,0.00,0.000,4,0.000,0.078,2447,2974,3148
$GC,3293,-1.16,-146.6,317.2,-12.5,157,3297,0.00,2.40,0.00,0.000,6,0.000,0.066,2447,1601,3149
$GC,3610,-1.16,-146.6,352.3,-10.3,172,3614,0.00,2.58,0.00,0.000,4,0.000,0.091,2447,209,3149
$GC,3650,-1.16,-146.6,356.6,-11.0,174,3654,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1600,3149
$GC,3977,-1.16,-146.6,387.8,-9.3,190,3981,0.00,2.58,0.00,0.000,4,0.000,0.086,2447,207,3149
$GC,4023,-1.16,-146.6,392.2,-8.9,192,4027,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1595,3148
$GC,4344,-1.16,-146.6,419.6,-8.8,208,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1600,3148
$STATE,4361,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4361,begin apogee
$GC,4371,-0.32,0.0,421.5,8.9,209,4510,0.90,0.00,130.68,1.031,6,0.114,0.000,2630,2189,2538
$STATE,4511,end apogee,CONTROL_FINISHED_OK
$STATE,4511,begin climb
$GC,4515,1.16,146.6,426.8,0.0,216,4644,1.52,2.80,120.85,1.012,4,0.081,0.107,2956,3595,1940
$GC,4687,1.17,151.0,421.4,7.8,224,4697,0.00,2.53,5.22,0.739,6,0.000,0.068,2956,2193,1923
$GC,5008,1.17,151.0,394.0,8.8,239,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2193,1922
$GC,5318,1.17,151.0,366.7,8.9,254,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2193,1920
$GC,5627,1.17,151.0,340.0,8.8,269,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2193,1919
$GC,5937,1.19,163.9,314.9,7.5,284,5954,0.00,0.00,11.30,0.922,6,0.000,0.000,2956,2193,1869
$GC,6265,1.22,183.7,290.2,7.2,300,6284,0.00,0.00,17.10,0.957,6,0.000,0.000,2956,2193,1789
$GC,6594,1.27,212.2,266.2,6.9,316,6621,0.12,0.00,24.48,0.884,6,0.071,0.000,2988,2193,1673
$GC,6923,1.27,212.2,236.7,10.1,332,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2193,1670
$GC,7232,1.27,212.2,203.8,10.7,347,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2192,1668
$GC,7542,1.27,212.2,171.5,10.0,362,7545,0.00,2.55,0.00,0.000,4,0.000,0.080,2988,790,1668
$GC,7611,1.27,212.2,164.1,11.2,365,7615,0.00,2.42,0.00,0.000,6,0.000,0.055,2989,2208,1668
$GC,7938,1.27,212.2,132.9,9.5,381,7942,0.00,2.58,0.00,0.000,4,0.000,0.074,2986,789,1667
$GC,8034,1.27,212.2,122.7,10.6,385,8038,0.00,2.42,0.00,0.000,6,0.000,0.056,2988,2203,1666
$GC,8351,1.30,229.5,91.3,7.3,400,8373,0.00,2.60,13.85,0.779,4,0.000,0.074,2988,801,1602
$GC,8497,1.46,332.7,83.0,4.1,406,8586,0.15,2.42,81.93,0.805,6,0.067,0.056,3029,2202,1181
$GC,8903,1.46,332.7,33.0,13.8,426,8907,0.00,2.62,0.00,0.000,4,0.000,0.094,3029,3601,1177
$GC,8959,1.46,332.7,24.9,14.3,428,8965,0.00,2.45,0.00,0.000,6,0.000,0.061,3029,2186,1177
$STATE,9127,end climb,SURFACE_DEPTH_REACHED
$STATE,9128,begin surface coast
$FINISH,0.6,1.021427
$STATE,9151,end surface coast,CONTROL_FINISHED_OK
$STATE,9151,begin surface
$SM_CCo,9237,0.00,0.000,0,0,1176,334.59
$SM_GC,1.41,11.65,0.00,0.00,0.057,0.000,0.000,372,1613,1176,-10.65,0.28,334.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1958
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.3,29.6
$24V_AH,23.6,20.272
$10V_AH,10.1,11.803
$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,25.900,76.375,405.400,0.000,0.000,39.110,31.664,164.981,3.000,0.000,0.000,12.871,837.372,6763.101,477.658,1051.061,461.839,0.000,1040.280,0.000,1030.051,0.000,21.683,0.000
$DEVICE_MAMPS,177.944,107.380,1030.848,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.894,296.399,334.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22309,438
$CAP_FILE_SIZE,71805,0
$CFSIZE,254472192,244629504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,230908,042332,6452.834,-1044.211,37,1.4,37,-11.5