version: 66.04
glider: 14
mission: 6
dive: 129
start: 9 23 108 18 25 50
data:
$ID,14
$MISSION,6
$DIVE,129
$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,-652531.31
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,182037,6448.591,-1052.458,32,1.5,32,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.9
$GPS2,182527,6448.583,-1052.317,11,1.5,11,-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,240.6,60997,-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,-60.55,0.000,2,0.000,0.000,378,1586,2661
$GC,83,-1.16,-146.6,3.9,-5.8,3,110,11.73,0.00,-12.68,0.000,6,0.180,0.000,2446,1586,3139
$GC,409,-1.16,-146.6,43.7,-12.6,19,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1585,3140
$GC,718,-1.16,-146.6,73.9,-8.9,34,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1585,3141
$GC,1026,-1.16,-146.6,104.3,-10.0,49,1031,0.00,2.50,0.00,0.000,4,0.000,0.081,2447,210,3144
$GC,1285,-1.16,-146.6,133.5,-11.5,60,1291,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1631,3145
$GC,1602,-1.16,-146.6,165.5,-10.2,76,1606,0.00,2.58,0.00,0.000,4,0.000,0.078,2446,212,3148
$GC,1680,-1.16,-146.6,174.2,-10.7,79,1686,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1600,3148
$GC,1997,-1.16,-146.6,203.1,-8.6,95,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3148
$GC,2306,-1.16,-146.6,228.4,-7.9,110,2310,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,220,3149
$GC,2407,-1.16,-146.6,236.6,-8.3,114,2413,0.00,2.33,0.00,0.000,6,0.000,0.056,2446,1598,3148
$GC,2724,-1.16,-146.6,258.3,-6.9,130,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3149
$GC,3033,-1.16,-146.6,281.0,-7.9,145,3037,0.00,2.55,0.00,0.000,4,0.000,0.085,2447,212,3149
$GC,3089,-1.16,-146.6,286.3,-9.8,147,3095,0.00,2.35,0.00,0.000,6,0.000,0.057,2446,1592,3148
$GC,3405,-1.16,-146.6,315.9,-10.1,163,3410,0.00,2.55,0.00,0.000,4,0.000,0.085,2447,211,3149
$GC,3450,-1.16,-146.6,321.0,-11.1,165,3455,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1608,3148
$GC,3773,-1.16,-146.6,352.9,-9.5,181,3777,0.00,2.58,0.00,0.000,4,0.000,0.087,2447,220,3148
$GC,3823,-1.16,-146.6,358.0,-9.4,183,3828,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1598,3148
$GC,4140,-1.16,-146.6,385.0,-8.6,198,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3148
$GC,4449,-1.16,-146.6,414.5,-9.4,213,4453,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,222,3147
$GC,4500,-1.16,-146.6,419.6,-9.9,215,4504,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1598,3147
$STATE,4792,end dive,NO_VERTICAL_VELOCITY
$STATE,4792,begin apogee
$GC,4802,-0.32,0.0,428.3,0.0,229,4938,0.90,0.00,128.18,0.927,6,0.105,0.000,2633,2197,2539
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4943,1.16,146.6,428.2,0.0,236,5072,1.52,2.83,118.93,0.890,4,0.081,0.110,2958,3592,1940
$GC,5236,1.16,146.6,413.5,8.3,249,5240,0.00,2.47,0.00,0.000,6,0.000,0.067,2958,2202,1939
$GC,5552,1.17,151.4,387.8,7.8,264,5559,0.00,0.00,5.32,0.777,6,0.000,0.000,2958,2202,1921
$GC,5861,1.24,193.4,366.6,6.4,279,5901,0.00,0.00,35.45,1.016,6,0.000,0.000,2958,2202,1749
$GC,6211,1.24,193.4,340.2,8.0,296,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2202,1747
$GC,6520,1.24,193.4,314.7,8.3,311,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2202,1746
$GC,6829,1.24,193.4,287.0,9.5,326,6834,0.00,2.55,0.00,0.000,4,0.000,0.082,2958,796,1745
$GC,6897,1.24,193.4,280.1,9.9,329,6902,0.00,2.42,0.00,0.000,6,0.000,0.054,2958,2214,1745
$GC,7219,1.24,193.4,249.8,9.9,345,7224,0.00,2.58,0.00,0.000,4,0.000,0.074,2958,789,1744
$GC,7311,1.24,193.4,240.9,9.3,349,7315,0.00,2.42,0.00,0.000,6,0.000,0.055,2958,2199,1744
$GC,7633,1.26,204.5,214.7,7.6,365,7647,0.00,2.58,9.55,0.845,4,0.000,0.075,2958,795,1704
$GC,7688,1.26,204.5,210.0,8.8,366,7694,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2208,1704
$GC,8004,1.26,204.5,184.1,8.1,382,8008,0.00,2.58,0.00,0.000,4,0.000,0.075,2958,791,1703
$GC,8084,1.26,204.5,176.9,8.6,385,8090,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2203,1703
$GC,8401,1.26,204.5,147.4,9.8,401,8405,0.00,2.55,0.00,0.000,4,0.000,0.075,2958,788,1702
$GC,8487,1.26,204.5,138.4,10.7,405,8491,0.00,2.42,0.00,0.000,6,0.000,0.057,2958,2199,1703
$GC,8816,1.26,204.5,107.4,9.1,421,8820,0.00,2.53,0.00,0.000,4,0.000,0.076,2958,794,1702
$GC,8883,1.26,209.3,101.1,7.8,424,8894,0.10,2.42,5.18,0.630,6,0.074,0.057,2985,2200,1685
$GC,9207,1.26,209.3,73.5,8.3,439,9211,0.00,2.53,0.00,0.000,4,0.000,0.075,2985,794,1684
$GC,9330,1.26,209.3,61.8,9.8,444,9337,0.00,2.42,0.00,0.000,6,0.000,0.057,2985,2200,1684
$GC,9649,1.27,213.6,36.5,7.8,460,9659,0.00,2.55,5.00,0.616,4,0.000,0.074,2985,794,1667
$GC,9693,1.27,216.1,32.3,7.9,462,9702,0.00,2.42,3.85,0.550,6,0.000,0.057,2985,2202,1657
$GC,10021,1.27,216.1,3.1,9.2,478,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2202,1657
$STATE,10038,end climb,SURFACE_DEPTH_REACHED
$STATE,10038,begin surface coast
$FINISH,0.8,1.026952
$STATE,10060,end surface coast,CONTROL_FINISHED_OK
$STATE,10060,begin surface
$SM_CCo,10086,55.35,0.749,0,0,1315,300.00
$SM_GC,1.58,0.00,0.00,55.35,0.000,0.000,0.749,378,1601,1315,-10.70,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1973
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.6,20.890
$10V_AH,10.1,12.119
$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,25.800,81.550,311.450,55.350,0.000,37.760,27.335,112.607,3.250,0.000,0.000,16.063,929.593,7470.398,475.525,1153.282,415.491,0.000,1061.537,0.000,1132.682,0.000,23.282,0.000
$DEVICE_MAMPS,180.245,109.681,1015.508,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.705,325.783,369.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25389,480
$CAP_FILE_SIZE,75753,0
$CFSIZE,254472192,244396032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,230908,211607,6447.202,-1053.030,31,1.0,31,-11.5