version: 66.04
glider: 14
mission: 6
dive: 134
start: 9 24 108 8 42 0
data:
$ID,14
$MISSION,6
$DIVE,134
$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,-652604.38
$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,21
$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
$GPS1,083602,6445.484,-1056.052,42,1.4,42,-11.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.8
$GPS2,084139,6445.472,-1056.016,13,1.5,13,-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,243.1,55042,-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,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,378,1608,2635
$GC,83,-1.16,-146.6,3.3,-4.4,3,115,11.55,2.58,-14.07,0.000,4,0.177,0.093,2444,204,3139
$GC,194,-1.16,-146.6,18.5,-12.2,8,199,0.00,2.38,0.00,0.000,6,0.000,0.054,2444,1614,3139
$GC,517,-1.16,-146.6,53.2,-10.6,24,521,0.00,2.42,0.00,0.000,4,0.000,0.071,2445,2988,3141
$GC,730,-1.16,-146.6,75.3,-11.2,33,736,0.00,2.40,0.00,0.000,6,0.000,0.061,2445,1598,3144
$GC,1046,-1.16,-146.6,103.2,-8.2,49,1051,0.00,2.53,0.00,0.000,4,0.000,0.084,2444,213,3147
$GC,1133,-1.16,-146.6,110.9,-8.7,53,1137,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1612,3146
$GC,1462,-1.16,-146.6,139.1,-8.8,69,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1616,3148
$GC,1769,-1.16,-146.6,167.4,-9.4,84,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1616,3148
$GC,2078,-1.16,-146.6,195.7,-8.8,99,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1616,3148
$GC,2388,-1.16,-146.6,223.9,-9.3,114,2392,0.00,2.58,0.00,0.000,4,0.000,0.083,2443,210,3148
$GC,2466,-1.16,-146.6,232.1,-10.8,117,2472,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1607,3148
$GC,2782,-1.16,-146.6,263.0,-9.8,133,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1606,3148
$GC,3092,-1.16,-146.6,292.9,-9.2,148,3096,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,215,3148
$GC,3153,-1.16,-146.6,299.2,-9.9,150,3160,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1603,3148
$GC,3470,-1.16,-146.6,327.0,-8.7,166,3474,0.00,2.47,0.00,0.000,4,0.000,0.081,2444,2975,3148
$GC,3505,-1.16,-146.6,330.3,-9.8,167,3511,0.00,2.40,0.00,0.000,6,0.000,0.065,2444,1602,3148
$GC,3821,-1.16,-146.6,358.7,-8.9,183,3825,0.00,2.58,0.00,0.000,4,0.000,0.092,2444,206,3148
$GC,3860,-1.16,-146.6,362.8,-9.8,184,3867,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1603,3148
$GC,4177,-1.16,-146.6,391.7,-9.1,200,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3148
$GC,4486,-1.16,-146.6,419.8,-8.8,215,4490,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,212,3147
$GC,4587,-1.16,-146.6,428.3,-2.0,219,4593,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1612,3147
$STATE,4715,end dive,NO_VERTICAL_VELOCITY
$STATE,4715,begin apogee
$GC,4725,-0.32,0.0,428.3,0.0,226,4857,0.90,0.00,126.75,0.940,6,0.100,0.000,2634,2172,2539
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4862,1.16,146.6,428.6,0.0,233,4986,1.52,0.00,120.00,0.893,6,0.080,0.000,2957,2172,1940
$GC,5288,1.17,149.4,406.9,7.9,254,5297,0.00,2.55,3.60,0.627,4,0.000,0.073,2957,789,1929
$GC,5389,1.18,154.7,399.3,7.8,258,5401,0.00,2.45,5.97,0.805,6,0.000,0.057,2957,2199,1908
$GC,5711,1.20,171.8,375.0,7.4,274,5733,0.00,2.62,15.80,0.966,4,0.000,0.073,2957,787,1836
$GC,5780,1.20,171.8,369.1,9.0,277,5784,0.00,2.47,0.00,0.000,6,0.000,0.056,2957,2204,1837
$GC,6113,1.23,187.8,343.7,7.4,293,6134,0.00,2.60,13.85,0.962,4,0.000,0.072,2957,791,1772
$GC,6169,1.23,187.8,338.9,8.1,295,6173,0.00,2.47,0.00,0.000,6,0.000,0.056,2957,2209,1772
$GC,6485,1.23,187.8,310.2,9.5,310,6490,0.00,2.55,0.00,0.000,4,0.000,0.072,2957,791,1771
$GC,6593,1.23,187.8,298.5,11.5,315,6598,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2199,1771
$GC,6922,1.23,187.8,267.0,9.2,331,6926,0.00,2.58,0.00,0.000,4,0.000,0.075,2957,786,1769
$GC,7000,1.23,187.8,259.1,9.8,334,7006,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2205,1769
$GC,7317,1.23,187.8,232.0,8.3,350,7321,0.00,2.58,0.00,0.000,4,0.000,0.076,2957,791,1768
$GC,7407,1.23,187.8,224.2,8.4,354,7411,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2201,1768
$GC,7729,1.24,197.1,199.2,7.6,370,7743,0.00,2.62,8.52,0.831,4,0.000,0.077,2957,790,1735
$GC,7812,1.24,197.1,192.3,8.1,373,7819,0.00,2.47,0.00,0.000,6,0.000,0.057,2957,2210,1734
$GC,8129,1.27,215.3,169.2,7.3,389,8152,0.12,2.67,16.38,0.868,4,0.070,0.074,2991,785,1660
$GC,8214,1.27,215.3,161.8,9.1,392,8221,0.00,2.47,0.00,0.000,6,0.000,0.057,2991,2198,1659
$GC,8532,1.31,235.4,138.6,7.2,408,8554,0.00,2.65,17.25,0.851,4,0.000,0.075,2991,790,1579
$GC,8589,1.31,235.4,133.7,9.1,410,8593,0.00,2.47,0.00,0.000,6,0.000,0.056,2991,2202,1578
$GC,8907,1.31,235.4,103.5,11.5,425,8911,0.00,2.55,0.00,0.000,4,0.000,0.075,2991,788,1577
$GC,8935,1.31,235.4,99.7,13.1,426,8939,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2201,1577
$GC,9252,1.31,235.4,54.0,14.3,441,9256,0.00,2.65,0.00,0.000,4,0.000,0.097,2991,3605,1577
$GC,9302,1.31,235.4,47.5,11.6,443,9306,0.00,2.47,0.00,0.000,6,0.000,0.062,2991,2188,1576
$GC,9619,1.31,235.4,14.1,10.1,458,9623,0.00,2.50,0.00,0.000,4,0.000,0.075,2991,796,1575
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,0.9,1.027016
$STATE,9734,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9761,45.70,0.754,0,0,1314,300.00
$SM_GC,1.25,0.00,0.00,45.70,0.000,0.000,0.754,383,1620,1314,-10.68,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1986
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,23.6,21.410
$10V_AH,10.1,12.382
$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,25.650,99.750,328.125,45.700,0.000,37.766,25.536,159.298,3.500,0.000,0.000,15.163,906.544,7130.654,502.115,1155.473,460.265,0.000,1093.223,0.000,1127.284,0.000,26.165,0.000
$DEVICE_MAMPS,177.177,97.409,966.420,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.033,313.422,349.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22196,463
$CAP_FILE_SIZE,78430,0
$CFSIZE,254472192,244207616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,240908,112638,6444.546,-1059.346,27,1.9,27,-11.6