version: 66.04
glider: 14
mission: 6
dive: 133
start: 9 24 108 5 46 54
data:
$ID,14
$MISSION,6
$DIVE,133
$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,-652588.56
$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,17
$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
$GPS1,054138,6446.229,-1054.653,36,1.9,36,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-59.1
$GPS2,054633,6446.282,-1054.454,10,1.7,10,-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,242.7,56954,-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,-60.22,0.000,2,0.000,0.000,378,1604,2629
$GC,83,-1.16,-146.6,3.6,-5.2,3,115,11.65,2.58,-14.05,0.000,4,0.182,0.094,2444,203,3138
$GC,145,-1.16,-146.6,12.9,-12.2,6,149,0.00,2.40,0.00,0.000,6,0.000,0.054,2444,1619,3139
$GC,479,-1.16,-146.6,59.6,-14.3,22,483,0.00,2.40,0.00,0.000,4,0.000,0.070,2444,2982,3140
$GC,548,-1.16,-146.6,68.4,-12.4,25,552,0.00,2.40,0.00,0.000,6,0.000,0.062,2444,1593,3140
$GC,881,-1.16,-146.6,97.5,-7.6,41,886,0.00,2.53,0.00,0.000,4,0.000,0.083,2444,206,3144
$GC,1039,-1.16,-146.6,111.7,-9.1,48,1044,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1608,3145
$GC,1362,-1.16,-146.6,138.6,-7.8,64,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1611,3147
$GC,1671,-1.16,-146.6,159.6,-6.5,79,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1611,3148
$GC,1980,-1.16,-146.6,180.2,-6.8,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1611,3148
$GC,2289,-1.16,-146.6,202.6,-8.2,109,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1611,3148
$GC,2599,-1.16,-146.6,228.7,-8.1,124,2603,0.00,2.58,0.00,0.000,4,0.000,0.082,2444,205,3146
$GC,2643,-1.16,-146.6,232.8,-9.0,126,2648,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1596,3148
$GC,2965,-1.16,-146.6,260.5,-9.1,142,2969,0.00,2.47,0.00,0.000,4,0.000,0.077,2444,2981,3148
$GC,3016,-1.16,-146.6,265.5,-10.3,144,3021,0.00,2.42,0.00,0.000,6,0.000,0.064,2444,1593,3148
$GC,3333,-1.16,-146.6,295.9,-9.6,159,3337,0.00,2.55,0.00,0.000,4,0.000,0.089,2444,208,3148
$GC,3505,-1.16,-146.6,312.6,-9.6,166,3512,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1611,3148
$GC,3822,-1.16,-146.6,343.5,-9.6,182,3826,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,220,3148
$GC,3873,-1.16,-146.6,348.9,-10.4,184,3878,0.00,2.33,0.00,0.000,6,0.000,0.055,2444,1588,3148
$GC,4196,-1.16,-146.6,378.3,-8.9,200,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1592,3148
$GC,4505,-1.16,-146.6,405.6,-8.7,215,4509,0.00,2.53,0.00,0.000,4,0.000,0.084,2444,2981,3147
$GC,4538,-1.16,-146.6,408.7,-8.8,216,4544,0.00,2.42,0.00,0.000,6,0.000,0.065,2444,1600,3147
$GC,4855,-1.16,-146.6,426.8,0.1,232,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1600,3146
$STATE,4934,end dive,NO_VERTICAL_VELOCITY
$STATE,4934,begin apogee
$GC,4943,-0.32,0.0,427.0,0.0,236,5080,0.90,0.00,128.38,0.926,6,0.098,0.000,2633,2193,2539
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5085,1.16,146.6,427.1,0.0,243,5209,1.58,0.00,120.05,0.887,6,0.094,0.000,2957,2193,1941
$GC,5506,1.19,161.3,403.1,7.4,264,5528,0.00,2.65,13.18,0.943,4,0.000,0.079,2957,793,1881
$GC,5581,1.19,161.3,397.2,9.0,267,5585,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2192,1881
$GC,5902,1.19,161.3,368.8,8.6,283,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2192,1879
$GC,6211,1.19,161.3,340.9,9.1,298,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2192,1879
$GC,6520,1.19,161.3,310.6,9.8,313,6525,0.00,2.53,0.00,0.000,4,0.000,0.073,2957,791,1878
$GC,6690,1.19,161.3,292.5,10.6,320,6696,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2201,1878
$GC,7006,1.19,161.3,260.5,9.7,336,7011,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,792,1877
$GC,7119,1.19,161.3,249.0,11.2,341,7123,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2205,1877
$GC,7441,1.19,161.3,221.0,8.3,357,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2205,1876
$GC,7750,1.19,161.3,195.4,8.4,372,7754,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,791,1875
$GC,7851,1.19,161.3,186.7,8.8,376,7857,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2203,1875
$GC,8168,1.22,182.0,162.3,7.2,392,8190,0.00,2.65,17.12,0.887,4,0.000,0.074,2957,792,1795
$GC,8247,1.24,196.0,156.1,7.5,395,8267,0.00,2.45,12.62,0.853,6,0.000,0.056,2957,2209,1739
$GC,8591,1.28,221.3,131.4,7.0,412,8621,0.12,2.62,21.85,0.859,4,0.071,0.074,2991,793,1636
$GC,8705,1.28,221.3,121.3,9.5,417,8709,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2197,1635
$GC,9029,1.28,221.5,95.0,8.0,433,9033,0.00,2.55,0.00,0.000,4,0.000,0.075,2991,785,1635
$GC,9114,1.28,221.5,86.8,9.8,437,9119,0.00,2.47,0.00,0.000,6,0.000,0.058,2991,2209,1635
$GC,9442,1.28,221.5,53.8,9.7,453,9447,0.00,2.62,0.00,0.000,4,0.000,0.097,2991,3599,1633
$GC,9499,1.28,221.5,47.7,10.7,455,9506,0.00,2.45,0.00,0.000,6,0.000,0.061,2990,2186,1633
$GC,9817,1.28,221.5,16.8,10.0,471,9821,0.00,2.50,0.00,0.000,4,0.000,0.075,2991,796,1632
$GC,9873,1.28,221.5,10.6,10.3,473,9880,0.00,2.40,0.00,0.000,6,0.000,0.056,2991,2204,1632
$STATE,9961,end climb,SURFACE_DEPTH_REACHED
$STATE,9961,begin surface coast
$FINISH,0.8,1.002944
$STATE,9981,end surface coast,CONTROL_FINISHED_OK
$STATE,9981,begin surface
$SM_CCo,10008,53.88,0.751,0,0,1316,300.00
$SM_GC,1.28,0.00,0.00,53.88,0.000,0.000,0.751,377,1612,1316,-10.71,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1980
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.6,21.302
$10V_AH,10.1,12.329
$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,25.725,86.475,313.200,53.875,0.000,37.760,27.651,116.889,3.250,0.000,0.000,14.747,927.692,7383.011,487.718,1150.100,419.643,0.000,1070.698,0.000,1127.627,0.000,23.140,0.000
$DEVICE_MAMPS,181.779,97.409,943.410,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.701,324.777,371.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25404,479
$CAP_FILE_SIZE,75992,0
$CFSIZE,254472192,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,240908,083602,6445.484,-1056.052,42,1.4,42,-11.5