version: 66.04
glider: 14
mission: 6
dive: 130
start: 9 23 108 21 21 29
data:
$ID,14
$MISSION,6
$DIVE,130
$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,-652542.88
$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
$GPS1,211607,6447.202,-1053.030,31,1.0,31,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.7
$GPS2,212108,6447.164,-1053.027,9,1.3,9,-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,242.1,58869,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,378,1597,2636
$GC,83,-1.16,-146.6,3.9,-5.6,3,114,11.65,2.53,-13.65,0.000,4,0.177,0.091,2444,212,3138
$GC,139,-1.16,-146.6,12.4,-13.1,5,143,0.00,2.38,0.00,0.000,6,0.000,0.054,2444,1623,3139
$GC,466,-1.16,-146.6,55.1,-12.9,21,471,0.00,2.58,0.00,0.000,4,0.000,0.077,2444,204,3140
$GC,741,-1.16,-146.6,88.2,-9.2,33,746,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1604,3142
$GC,1060,-1.16,-146.6,110.9,-6.9,48,1064,0.00,2.55,0.00,0.000,4,0.000,0.078,2444,203,3145
$GC,1195,-1.16,-146.6,122.0,-8.1,54,1199,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1605,3145
$GC,1522,-1.16,-146.6,149.0,-8.8,70,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1610,3147
$GC,1831,-1.16,-146.6,181.2,-11.4,85,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1610,3147
$GC,2140,-1.16,-146.6,216.1,-11.2,100,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1609,3147
$GC,2451,-1.16,-146.6,250.3,-10.6,115,2454,0.00,2.58,0.00,0.000,4,0.000,0.084,2443,203,3147
$GC,2535,-1.16,-146.6,259.3,-10.0,118,2542,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1608,3147
$GC,2852,-1.16,-146.6,286.1,-7.7,134,2856,0.00,2.58,0.00,0.000,4,0.000,0.084,2444,204,3147
$GC,2909,-1.16,-146.6,291.0,-9.4,136,2916,0.00,2.38,0.00,0.000,6,0.000,0.055,2444,1603,3147
$GC,3226,-1.16,-146.6,319.7,-9.2,152,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1608,3147
$GC,3535,-1.16,-146.6,347.8,-9.3,167,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1608,3147
$GC,3845,-1.16,-146.6,374.1,-8.6,182,3849,0.00,2.58,0.00,0.000,4,0.000,0.087,2444,212,3147
$GC,3895,-1.16,-146.6,378.9,-10.1,184,3899,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1606,3147
$GC,4217,-1.16,-146.6,408.2,-8.6,200,4221,0.00,2.50,0.00,0.000,4,0.000,0.084,2444,2983,3147
$GC,4257,-1.16,-146.6,411.6,-8.2,202,4262,0.00,2.42,0.00,0.000,6,0.000,0.065,2444,1598,3146
$GC,4584,-1.16,-146.6,427.2,0.0,218,4589,0.00,2.58,0.00,0.000,4,0.000,0.095,2444,214,3146
$STATE,4622,end dive,NO_VERTICAL_VELOCITY
$STATE,4622,begin apogee
$GC,4634,-0.32,0.0,427.2,0.0,220,4770,0.93,0.00,127.90,0.930,6,0.105,0.000,2636,2194,2539
$STATE,4771,end apogee,CONTROL_FINISHED_OK
$STATE,4771,begin climb
$GC,4775,1.16,146.6,427.3,0.0,227,4902,1.52,2.60,118.97,0.889,4,0.078,0.075,2960,796,1940
$GC,5010,1.20,166.7,415.9,7.2,237,5038,0.00,2.45,17.83,0.960,6,0.000,0.057,2960,2202,1858
$GC,5347,1.20,166.7,387.4,8.5,254,5351,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,793,1856
$GC,5392,1.20,166.7,383.3,9.4,256,5396,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2205,1856
$GC,5713,1.20,166.7,356.3,8.4,272,5717,0.00,2.58,0.00,0.000,4,0.000,0.073,2960,787,1855
$GC,5770,1.20,166.7,351.3,9.1,274,5774,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2200,1855
$GC,6086,1.20,168.5,325.4,7.9,289,6091,0.00,2.55,0.00,0.000,4,0.000,0.072,2960,792,1853
$GC,6128,1.20,168.5,321.9,9.3,291,6132,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2203,1854
$GC,6455,1.20,168.5,293.7,9.0,307,6459,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,793,1853
$GC,6533,1.20,168.5,286.3,9.2,310,6539,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2201,1853
$GC,6850,1.20,168.5,258.8,9.5,326,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2202,1852
$GC,7159,1.20,168.5,230.8,8.4,341,7163,0.00,2.58,0.00,0.000,4,0.000,0.076,2960,789,1852
$GC,7210,1.21,174.2,226.4,7.8,343,7222,0.00,2.47,6.50,0.817,6,0.000,0.057,2960,2213,1827
$GC,7531,1.22,183.6,200.9,7.6,359,7546,0.00,2.60,9.02,0.853,4,0.000,0.075,2961,793,1789
$GC,7637,1.22,183.6,192.1,8.6,363,7643,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2200,1789
$GC,7954,1.22,184.5,167.6,8.0,379,7958,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,789,1788
$GC,8010,1.22,184.5,162.7,9.8,381,8014,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2200,1788
$GC,8327,1.22,184.5,133.8,9.7,396,8331,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,792,1788
$GC,8390,1.22,184.5,127.1,10.7,399,8394,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2205,1788
$GC,8717,1.22,184.5,93.0,11.0,415,8722,0.00,2.58,0.00,0.000,4,0.000,0.075,2960,786,1788
$GC,8796,1.22,184.5,82.9,11.6,418,8803,0.00,2.45,0.00,0.000,6,0.000,0.058,2960,2201,1788
$GC,9113,1.22,184.5,48.7,10.5,434,9118,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,785,1788
$GC,9237,1.25,201.3,38.7,7.4,439,9258,0.00,2.42,15.45,0.762,6,0.000,0.058,2960,2202,1718
$GC,9572,1.25,201.3,14.7,8.0,455,9576,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,791,1716
$STATE,9714,end climb,SURFACE_DEPTH_REACHED
$STATE,9714,begin surface coast
$FINISH,1.3,1.026950
$STATE,9725,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9752,65.88,0.749,0,0,1315,300.00
$SM_GC,1.56,0.00,0.00,65.88,0.000,0.000,0.749,377,1628,1315,-10.70,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1961
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.6,20.991
$10V_AH,10.1,12.171
$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,25.425,99.625,295.675,65.875,0.000,37.765,28.461,118.805,3.000,0.000,0.000,10.924,910.531,7128.002,474.549,1185.148,431.582,0.000,1082.539,0.000,1163.972,0.000,20.404,0.000
$DEVICE_MAMPS,177.177,95.108,960.284,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.344,313.377,357.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22249,462
$CAP_FILE_SIZE,77609,0
$CFSIZE,254472192,244359168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,240908,000631,6446.382,-1054.453,35,1.2,40,-11.5