version: 66.04
glider: 14
mission: 6
dive: 124
start: 9 23 108 4 28 44
data:
$ID,14
$MISSION,6
$DIVE,124
$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,-652424.5
$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,27
$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
$GPS1,042332,6452.834,-1044.211,37,1.4,37,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-57.8
$GPS2,042821,6452.875,-1044.171,13,1.5,13,-11.5
$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,239.2,71142,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.53,0.000,2,0.000,0.000,372,1603,3058
$GC,103,-1.16,-146.6,5.5,-6.8,4,119,11.73,0.00,-1.58,0.000,6,0.179,0.000,2448,1603,3139
$GC,430,-1.16,-146.6,57.3,-12.2,20,434,0.00,2.45,0.00,0.000,4,0.000,0.067,2448,2998,3143
$GC,475,-1.16,-146.6,63.5,-13.2,22,479,0.00,2.42,0.00,0.000,6,0.000,0.061,2448,1598,3144
$GC,797,-1.16,-146.6,101.5,-11.9,38,801,0.00,2.53,0.00,0.000,4,0.000,0.083,2448,213,3145
$GC,920,-1.16,-146.6,117.5,-13.7,43,927,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1629,3146
$GC,1237,-1.16,-146.6,144.3,-6.4,59,1242,0.00,2.55,0.00,0.000,4,0.000,0.079,2448,212,3147
$GC,1317,-1.16,-146.6,150.3,-7.6,62,1323,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1602,3147
$GC,1634,-1.16,-146.6,174.1,-8.5,78,1638,0.00,2.53,0.00,0.000,4,0.000,0.079,2448,212,3148
$GC,1684,-1.16,-146.6,179.1,-10.2,80,1688,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1599,3148
$GC,2000,-1.16,-146.6,211.9,-11.1,95,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3148
$GC,2310,-1.16,-146.6,247.7,-11.4,110,2314,0.00,2.55,0.00,0.000,4,0.000,0.081,2447,208,3149
$GC,2372,-1.16,-146.6,254.9,-11.8,113,2376,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1602,3149
$GC,2699,-1.16,-146.6,289.3,-9.9,129,2703,0.00,2.55,0.00,0.000,4,0.000,0.083,2448,212,3149
$GC,2762,-1.16,-146.6,295.9,-11.3,132,2766,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1604,3149
$GC,3089,-1.16,-146.6,329.1,-10.2,148,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3149
$GC,3398,-1.16,-146.6,358.9,-9.5,163,3403,0.00,2.55,0.00,0.000,4,0.000,0.085,2448,213,3149
$GC,3450,-1.16,-146.6,364.1,-10.6,165,3454,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1598,3149
$GC,3766,-1.16,-146.6,392.3,-9.1,180,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1602,3149
$GC,4075,-1.16,-146.6,419.0,-8.6,195,4079,0.00,2.58,0.00,0.000,4,0.000,0.085,2447,209,3149
$GC,4132,-1.16,-146.6,424.7,-10.3,197,4142,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1609,3149
$STATE,4383,end dive,NO_VERTICAL_VELOCITY
$STATE,4383,begin apogee
$GC,4392,-0.32,0.0,428.4,0.0,210,4526,0.85,0.00,128.80,1.063,6,0.081,0.000,2635,2183,2539
$STATE,4527,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4531,1.16,146.6,428.3,0.0,217,4660,1.48,2.62,121.35,1.021,4,0.072,0.078,2958,792,1940
$GC,4754,1.16,146.6,419.7,8.1,227,4758,0.00,2.45,0.00,0.000,6,0.000,0.058,2958,2198,1939
$GC,5070,1.19,161.0,394.8,7.5,242,5092,0.00,2.62,12.85,0.940,4,0.000,0.075,2958,795,1881
$GC,5126,1.19,161.0,389.8,9.4,244,5131,0.00,2.47,0.00,0.000,6,0.000,0.057,2958,2207,1881
$GC,5442,1.19,161.0,363.2,8.6,259,5447,0.00,2.58,0.00,0.000,4,0.000,0.075,2958,787,1880
$GC,5488,1.19,161.0,359.0,9.2,261,5492,0.00,2.47,0.00,0.000,6,0.000,0.056,2958,2210,1880
$GC,5809,1.19,161.0,329.2,9.9,277,5814,0.00,2.58,0.00,0.000,4,0.000,0.074,2958,793,1879
$GC,5872,1.19,161.0,322.5,11.1,280,5876,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2203,1879
$GC,6206,1.19,161.0,286.1,11.1,296,6211,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,790,1878
$GC,6269,1.19,161.0,279.2,11.2,299,6274,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2205,1878
$GC,6597,1.19,161.0,247.5,9.2,315,6601,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,791,1877
$GC,6682,1.19,161.0,239.6,9.9,319,6686,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2203,1877
$GC,7016,1.19,161.0,210.5,8.2,335,7020,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,793,1875
$GC,7101,1.19,161.0,203.2,8.4,339,7105,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2209,1874
$GC,7429,1.26,207.0,179.2,6.3,355,7472,0.00,2.62,36.22,0.808,4,0.000,0.074,2958,793,1694
$GC,7512,1.29,227.2,173.7,7.2,358,7539,0.12,2.47,17.42,0.762,6,0.071,0.056,2991,2209,1611
$GC,7849,1.29,227.2,142.8,10.2,375,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2209,1609
$GC,8158,1.29,227.2,108.1,11.1,390,8163,0.00,2.58,0.00,0.000,4,0.000,0.074,2991,788,1607
$GC,8204,1.29,227.2,102.9,11.3,392,8208,0.00,2.45,0.00,0.000,6,0.000,0.056,2991,2204,1608
$GC,8526,1.31,235.1,75.5,7.7,408,8535,0.00,0.00,7.22,0.701,6,0.000,0.000,2991,2204,1580
$GC,8836,1.31,235.1,44.1,10.3,423,8841,0.00,2.55,0.00,0.000,4,0.000,0.074,2991,787,1579
$GC,8887,1.31,235.1,38.3,11.6,425,8891,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2204,1579
$GC,9205,1.31,235.1,5.1,11.1,440,9210,0.00,2.53,0.00,0.000,4,0.000,0.074,2991,793,1579
$STATE,9225,end climb,SURFACE_DEPTH_REACHED
$STATE,9225,begin surface coast
$FINISH,0.9,1.026962
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9232,begin surface
$SM_CCo,9258,39.65,0.703,1,0,1315,300.00
$SM_GC,1.34,0.00,0.00,39.65,0.000,0.000,0.703,378,1610,1315,-10.70,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1975
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,23.6,20.381
$10V_AH,10.1,11.853
$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,25.725,94.425,323.875,39.650,0.000,37.760,28.566,109.839,3.250,0.000,0.000,18.071,857.974,6796.366,474.812,1068.574,407.932,0.000,1042.985,0.000,1042.688,0.000,23.264,0.000
$DEVICE_MAMPS,178.711,85.137,1063.062,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.689,299.175,333.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22207,441
$CAP_FILE_SIZE,73461,0
$CFSIZE,254472192,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,230908,070508,6452.114,-1047.409,37,0.9,37,-11.5