version: 66.04
glider: 14
mission: 6
dive: 128
start: 9 23 108 15 38 20
data:
$ID,14
$MISSION,6
$DIVE,128
$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,-652514.62
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,153256,6449.459,-1053.333,40,1.0,40,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.4
$GPS2,153757,6449.517,-1053.244,10,1.6,10,-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,238.9,61597,-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,-60.62,0.000,2,0.000,0.000,379,1592,2641
$GC,83,-1.16,-146.6,3.4,-4.7,3,111,11.68,0.00,-13.52,0.000,6,0.179,0.000,2447,1594,3139
$GC,409,-1.16,-146.6,44.0,-11.3,19,414,0.00,2.50,0.00,0.000,4,0.000,0.080,2448,220,3140
$GC,451,-1.16,-146.6,48.6,-11.5,21,455,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1622,3140
$GC,778,-1.16,-146.6,83.3,-10.9,37,782,0.00,2.55,0.00,0.000,4,0.000,0.077,2447,215,3143
$GC,1053,-1.16,-146.6,111.4,-8.6,49,1057,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1601,3144
$GC,1372,-1.16,-146.6,139.6,-9.8,64,1376,0.00,2.53,0.00,0.000,4,0.000,0.079,2447,215,3146
$GC,1450,-1.16,-146.6,148.5,-11.0,67,1456,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1602,3146
$GC,1766,-1.16,-146.6,179.4,-9.2,83,1771,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,209,3147
$GC,1817,-1.16,-146.6,184.5,-10.0,85,1821,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1598,3147
$GC,2133,-1.16,-146.6,212.9,-8.1,100,2138,0.00,2.53,0.00,0.000,4,0.000,0.081,2446,215,3148
$GC,2190,-1.16,-146.6,218.1,-9.9,102,2196,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1605,3147
$GC,2506,-1.16,-146.6,243.5,-8.4,118,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1608,3148
$GC,2816,-1.16,-146.6,269.3,-7.7,133,2820,0.00,2.58,0.00,0.000,4,0.000,0.086,2447,210,3148
$GC,2905,-1.16,-146.6,277.8,-9.7,137,2910,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1608,3147
$GC,3227,-1.16,-146.6,306.1,-8.9,153,3232,0.00,2.58,0.00,0.000,4,0.000,0.085,2447,215,3148
$GC,3307,-1.16,-146.6,314.1,-10.1,156,3313,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1600,3148
$GC,3623,-1.16,-146.6,341.2,-8.8,172,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1603,3148
$GC,3932,-1.16,-146.6,370.6,-9.6,187,3936,0.00,2.58,0.00,0.000,4,0.000,0.087,2447,212,3147
$GC,4027,-1.16,-146.6,380.4,-10.5,191,4031,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1608,3148
$GC,4348,-1.16,-146.6,410.3,-9.2,207,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3147
$STATE,4531,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4531,begin apogee
$GC,4541,-0.32,0.0,426.6,8.8,216,4673,0.90,0.00,126.70,0.937,6,0.111,0.000,2629,2183,2538
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4678,1.16,146.6,431.9,0.0,223,4806,1.55,2.88,118.80,0.890,4,0.087,0.110,2956,3597,1940
$GC,4961,1.19,163.9,417.1,7.3,236,4983,0.00,2.50,15.43,0.954,6,0.000,0.068,2955,2198,1869
$GC,5292,1.19,165.4,390.9,7.9,252,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2198,1868
$GC,5602,1.20,167.9,366.2,7.9,267,5608,0.00,0.00,4.28,0.713,6,0.000,0.000,2956,2198,1854
$GC,5911,1.20,167.9,341.4,8.4,282,5915,0.00,2.65,0.00,0.000,4,0.000,0.094,2955,3607,1853
$GC,5944,1.20,167.9,338.4,8.9,283,5951,0.00,2.50,0.00,0.000,6,0.000,0.065,2955,2195,1853
$GC,6261,1.20,167.9,307.6,10.6,299,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1852
$GC,6570,1.20,167.9,273.4,10.9,314,6574,0.00,2.58,0.00,0.000,4,0.000,0.085,2956,798,1852
$GC,6621,1.20,167.9,267.6,11.5,316,6625,0.00,2.40,0.00,0.000,6,0.000,0.055,2956,2205,1852
$GC,6942,1.20,167.9,235.6,10.0,332,6947,0.00,2.58,0.00,0.000,4,0.000,0.076,2956,795,1851
$GC,7033,1.20,167.9,226.2,10.6,336,7037,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2201,1851
$GC,7354,1.22,179.0,199.9,7.6,352,7369,0.00,2.60,10.10,0.854,4,0.000,0.076,2956,799,1808
$GC,7462,1.22,180.9,191.8,7.9,356,7466,0.00,2.42,0.00,0.000,6,0.000,0.057,2955,2199,1807
$GC,7789,1.24,194.6,165.8,7.5,372,7811,0.00,2.62,13.62,0.814,4,0.000,0.076,2955,794,1744
$GC,7925,1.28,218.6,156.6,7.1,378,7951,0.12,2.45,20.77,0.769,6,0.071,0.057,2988,2210,1647
$GC,8278,1.30,233.1,129.4,7.5,395,8293,0.00,0.00,12.70,0.815,6,0.000,0.000,2988,2210,1587
$GC,8605,1.30,233.1,104.6,8.3,411,8609,0.00,2.55,0.00,0.000,4,0.000,0.075,2988,795,1586
$GC,8691,1.30,233.1,96.0,10.5,415,8695,0.00,2.45,0.00,0.000,6,0.000,0.057,2988,2210,1586
$GC,9018,1.30,233.1,59.9,12.3,431,9023,0.00,2.55,0.00,0.000,4,0.000,0.074,2988,790,1586
$GC,9172,1.30,233.1,41.5,11.6,438,9176,0.00,2.42,0.00,0.000,6,0.000,0.057,2988,2201,1585
$GC,9499,1.30,233.1,7.0,10.8,454,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2201,1585
$STATE,9558,end climb,SURFACE_DEPTH_REACHED
$STATE,9558,begin surface coast
$FINISH,0.8,1.026952
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9607,42.58,0.691,2,0,1315,300.00
$SM_GC,1.32,0.00,0.00,42.58,0.000,0.000,0.691,378,1590,1315,-10.70,-0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1961
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.2,61.1
$24V_AH,23.6,20.788
$10V_AH,10.1,12.065
$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,25.700,81.825,322.400,42.575,0.000,39.108,41.756,108.475,3.000,0.000,0.000,15.109,897.315,7019.329,470.154,1165.301,422.148,0.000,1063.263,0.000,1142.089,0.000,23.070,0.000
$DEVICE_MAMPS,178.711,110.448,954.148,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.663,310.774,356.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22160,458
$CAP_FILE_SIZE,74394,0
$CFSIZE,254472192,244436992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,230908,182037,6448.591,-1052.458,32,1.5,32,-11.5