version: 66.04
glider: 14
mission: 6
dive: 126
start: 9 23 108 9 59 57
data:
$ID,14
$MISSION,6
$DIVE,126
$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,-652486.25
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,095403,6450.820,-1051.376,12,1.5,12,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.2
$GPS2,095937,6450.840,-1051.486,37,0.9,42,-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,238.1,64295,-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,-60.42,0.000,2,0.000,0.000,374,1583,2669
$GC,83,-1.16,-146.6,3.4,-3.1,3,113,11.70,2.50,-12.45,0.000,4,0.179,0.094,2444,221,3139
$GC,164,-1.16,-146.6,15.9,-12.4,6,169,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1615,3139
$GC,488,-1.16,-146.6,54.4,-11.4,22,492,0.00,2.55,0.00,0.000,4,0.000,0.077,2445,212,3140
$GC,641,-1.16,-146.6,72.5,-11.9,29,645,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1606,3141
$GC,971,-1.16,-146.6,108.6,-9.6,45,975,0.00,2.53,0.00,0.000,4,0.000,0.078,2445,215,3144
$GC,1111,-1.16,-146.6,124.2,-10.9,51,1115,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1599,3144
$GC,1428,-1.16,-146.6,157.7,-9.9,66,1432,0.00,2.50,0.00,0.000,4,0.000,0.079,2445,220,3144
$GC,1524,-1.16,-146.6,168.0,-11.1,70,1528,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1604,3146
$GC,1840,-1.16,-146.6,199.6,-10.1,85,1845,0.00,2.55,0.00,0.000,4,0.000,0.081,2444,214,3147
$GC,1890,-1.16,-146.6,205.1,-11.0,87,1895,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1593,3147
$GC,2213,-1.16,-146.6,236.0,-9.1,103,2217,0.00,2.47,0.00,0.000,4,0.000,0.076,2444,2983,3147
$GC,2258,-1.16,-146.6,239.9,-7.6,105,2262,0.00,2.40,0.00,0.000,6,0.000,0.065,2445,1606,3147
$GC,2580,-1.16,-146.6,265.8,-7.7,121,2585,0.00,2.55,0.00,0.000,4,0.000,0.087,2445,212,3148
$GC,2676,-1.16,-146.6,274.7,-9.6,125,2681,0.00,2.35,0.00,0.000,6,0.000,0.056,2444,1609,3148
$GC,2998,-1.16,-146.6,302.8,-9.1,141,3002,0.00,2.58,0.00,0.000,4,0.000,0.085,2445,210,3148
$GC,3094,-1.16,-146.6,312.7,-10.2,145,3098,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1598,3148
$GC,3410,-1.16,-146.6,341.7,-8.7,160,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1603,3148
$GC,3719,-1.16,-146.6,369.4,-9.0,175,3724,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,210,3148
$GC,3770,-1.16,-146.6,374.3,-9.2,177,3774,0.00,2.38,0.00,0.000,6,0.000,0.055,2445,1609,3148
$GC,4087,-1.16,-146.6,402.2,-9.2,192,4091,0.00,2.60,0.00,0.000,4,0.000,0.087,2445,209,3147
$GC,4160,-1.16,-146.6,409.3,-8.9,195,4164,0.00,2.38,0.00,0.000,6,0.000,0.055,2445,1603,3147
$STATE,4390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4391,begin apogee
$GC,4400,-0.32,0.0,430.1,9.3,206,4539,0.93,0.00,130.88,1.058,6,0.115,0.000,2631,2191,2538
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4544,1.16,146.6,436.2,0.0,213,4674,1.55,2.80,121.95,1.029,4,0.088,0.109,2957,3598,1941
$GC,4893,1.16,146.6,414.6,8.3,229,4897,0.00,2.50,0.00,0.000,6,0.000,0.068,2957,2195,1938
$GC,5220,1.20,166.7,389.0,7.2,245,5243,0.00,2.67,17.20,0.975,4,0.000,0.082,2957,800,1859
$GC,5283,1.20,166.7,383.6,8.9,247,5289,0.00,2.45,0.00,0.000,6,0.000,0.055,2957,2210,1859
$GC,5599,1.20,166.7,355.1,8.8,263,5604,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,791,1857
$GC,5663,1.20,166.7,349.1,9.3,266,5667,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2201,1857
$GC,5990,1.20,166.7,320.0,8.9,282,5994,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,797,1856
$GC,6046,1.20,166.7,314.9,9.6,284,6052,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2209,1856
$GC,6363,1.20,166.7,288.3,8.2,300,6366,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,797,1855
$GC,6436,1.20,166.7,282.0,8.8,303,6440,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2209,1855
$GC,6757,1.20,166.7,255.3,8.6,319,6761,0.00,2.58,0.00,0.000,4,0.000,0.075,2957,793,1854
$GC,6842,1.20,166.7,248.0,8.6,323,6847,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2210,1854
$GC,7170,1.21,173.9,222.7,7.7,339,7179,0.00,0.00,6.65,0.818,6,0.000,0.000,2957,2210,1828
$GC,7480,1.21,173.9,197.1,8.5,354,7484,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,788,1827
$GC,7576,1.21,173.9,188.1,9.7,358,7580,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2201,1827
$GC,7903,1.21,173.9,160.4,8.2,374,7907,0.00,2.55,0.00,0.000,4,0.000,0.075,2957,795,1826
$GC,7937,1.21,173.9,157.3,8.2,375,7944,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2201,1826
$GC,8254,1.21,173.9,132.2,8.1,391,8258,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,793,1826
$GC,8340,1.21,173.9,125.1,8.5,395,8343,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2200,1826
$GC,8674,1.21,176.0,98.7,7.9,411,8678,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,791,1826
$GC,8741,1.21,176.0,92.8,9.2,414,8745,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2201,1826
$GC,9069,1.21,176.0,64.1,8.9,430,9073,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,790,1826
$GC,9164,1.21,176.0,55.4,9.0,434,9168,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2201,1826
$GC,9481,1.23,190.1,31.1,7.5,449,9503,0.00,2.58,13.60,0.739,4,0.000,0.074,2957,803,1762
$GC,9699,1.24,194.8,13.2,7.8,458,9710,0.00,2.40,5.53,0.617,6,0.000,0.057,2957,2201,1744
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FINISH,0.6,1.001858
$STATE,9872,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9898,64.10,0.700,2,0,1315,300.00
$SM_GC,1.67,0.00,0.00,64.10,0.000,0.000,0.700,376,1600,1315,-10.71,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1924
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.2,38.2
$24V_AH,23.6,20.589
$10V_AH,10.1,11.961
$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,25.550,111.300,295.800,64.100,0.000,39.097,28.070,120.820,3.250,0.000,0.000,43.720,942.799,7146.493,476.387,1316.410,434.136,0.000,1132.686,0.000,1255.119,0.000,24.620,0.000
$DEVICE_MAMPS,179.478,108.914,1058.460,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.823,317.333,366.229,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22313,467
$CAP_FILE_SIZE,82294,0
$CFSIZE,254472192,244510720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,3,0
$GPS,230908,124732,6449.963,-1053.554,38,1.4,38,-11.5