version: 66.04
glider: 14
mission: 6
dive: 135
start: 9 24 108 11 31 54
data:
$ID,14
$MISSION,6
$DIVE,135
$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,-652620.31
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,112638,6444.546,-1059.346,27,1.9,27,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.8
$GPS2,113133,6444.547,-1059.430,13,1.5,13,-11.6
$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,242.8,51843,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-70.43,0.000,2,0.000,0.000,383,1618,2866
$GC,93,-1.16,-146.6,4.1,-3.9,4,117,11.68,2.60,-6.20,0.000,4,0.183,0.092,2442,222,3140
$GC,190,-1.16,-146.6,23.5,-13.3,8,195,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1608,3142
$GC,514,-1.16,-146.6,55.8,-7.6,24,518,0.00,2.45,0.00,0.000,4,0.000,0.071,2442,2991,3144
$GC,735,-1.16,-146.6,71.3,-7.4,34,739,0.00,2.40,0.00,0.000,6,0.000,0.062,2442,1607,3146
$GC,1063,-1.16,-146.6,94.8,-7.3,50,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1608,3148
$GC,1371,-1.16,-146.6,119.7,-8.4,65,1376,0.00,2.58,0.00,0.000,4,0.000,0.086,2442,205,3149
$GC,1422,-1.16,-146.6,124.4,-9.6,67,1426,0.00,2.38,0.00,0.000,6,0.000,0.055,2442,1614,3149
$GC,1738,-1.16,-146.6,152.1,-9.2,82,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1618,3150
$GC,2047,-1.16,-146.6,182.6,-10.4,97,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1618,3150
$GC,2357,-1.16,-146.6,216.8,-10.8,112,2361,0.00,2.58,0.00,0.000,4,0.000,0.082,2442,212,3150
$GC,2402,-1.16,-146.6,222.0,-11.5,114,2406,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1604,3149
$GC,2723,-1.16,-146.6,254.1,-9.7,130,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1608,3149
$GC,3033,-1.16,-146.6,283.3,-9.2,145,3037,0.00,2.58,0.00,0.000,4,0.000,0.084,2442,204,3149
$GC,3173,-1.16,-146.6,297.3,-9.2,151,3177,0.00,2.38,0.00,0.000,6,0.000,0.055,2442,1604,3149
$GC,3490,-1.16,-146.6,324.4,-8.7,166,3494,0.00,2.50,0.00,0.000,4,0.000,0.082,2442,2985,3150
$GC,3531,-1.16,-146.6,327.9,-8.2,168,3536,0.00,2.42,0.00,0.000,6,0.000,0.065,2442,1599,3149
$GC,3859,-1.16,-146.6,355.9,-8.3,184,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1599,3149
$GC,4168,-1.16,-146.6,381.0,-8.7,199,4172,0.00,2.58,0.00,0.000,4,0.000,0.094,2442,212,3149
$GC,4264,-1.16,-146.6,389.8,-9.5,203,4268,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1604,3150
$GC,4580,-1.16,-146.6,419.2,-9.6,218,4584,0.00,2.58,0.00,0.000,4,0.000,0.086,2442,212,3149
$GC,4643,-1.16,-146.6,425.5,-9.6,221,4647,0.00,2.35,0.00,0.000,4,0.000,0.055,2442,1602,3149
$STATE,4648,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4648,begin apogee
$GC,4657,-0.32,0.0,426.1,9.3,221,4797,0.90,0.00,131.27,1.055,6,0.118,0.000,2628,2186,2539
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4802,1.16,146.6,431.8,0.0,228,4932,1.60,2.80,121.60,1.033,4,0.101,0.104,2955,3599,1940
$GC,4988,1.16,146.6,423.9,8.1,236,4994,0.00,2.53,0.00,0.000,6,0.000,0.066,2955,2188,1939
$GC,5304,1.18,159.0,399.4,7.5,252,5325,0.00,2.60,11.43,0.931,4,0.000,0.083,2955,800,1889
$GC,5360,1.18,159.0,394.8,8.4,254,5364,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2200,1889
$GC,5676,1.18,159.0,369.6,8.1,269,5680,0.00,2.55,0.00,0.000,4,0.000,0.077,2955,799,1888
$GC,5739,1.19,165.6,364.4,7.7,272,5752,0.00,2.42,6.72,0.836,6,0.000,0.056,2955,2199,1862
$GC,6070,1.20,166.1,338.1,8.0,288,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2199,1861
$GC,6379,1.20,166.1,312.0,8.4,303,6383,0.00,2.58,0.00,0.000,4,0.000,0.077,2955,791,1861
$GC,6423,1.20,166.1,308.1,8.2,305,6427,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2208,1861
$GC,6746,1.20,166.1,281.1,8.9,321,6750,0.00,2.58,0.00,0.000,4,0.000,0.074,2955,790,1861
$GC,6809,1.20,166.1,275.3,8.8,324,6814,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2196,1860
$GC,7137,1.21,175.1,249.0,7.7,340,7151,0.00,2.60,8.68,0.859,4,0.000,0.074,2955,795,1824
$GC,7238,1.22,179.6,241.2,7.8,344,7250,0.00,2.45,5.45,0.773,6,0.000,0.056,2956,2201,1806
$GC,7560,1.22,184.7,216.8,7.8,360,7570,0.00,2.58,5.45,0.762,4,0.000,0.074,2955,797,1785
$GC,7616,1.22,184.7,211.8,8.8,362,7622,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2203,1785
$GC,7932,1.22,184.7,184.7,8.9,378,7936,0.00,2.55,0.00,0.000,4,0.000,0.074,2955,796,1784
$GC,7977,1.22,184.7,180.5,9.9,380,7981,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2210,1784
$GC,8299,1.22,184.7,151.4,9.3,396,8303,0.00,2.58,0.00,0.000,4,0.000,0.073,2955,789,1784
$GC,8366,1.22,184.7,144.5,10.1,399,8371,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2204,1784
$GC,8689,1.22,184.7,114.7,9.1,415,8693,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,796,1783
$GC,8745,1.22,184.7,109.3,9.8,417,8751,0.00,2.42,0.00,0.000,6,0.000,0.057,2955,2201,1784
$GC,9063,1.22,184.7,82.4,8.4,433,9067,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,796,1784
$GC,9091,1.22,184.7,79.8,8.6,434,9095,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2201,1784
$GC,9408,1.25,203.5,55.3,7.3,449,9427,0.10,0.00,16.75,0.788,6,0.072,0.000,2984,2201,1708
$GC,9739,1.28,216.4,28.5,7.5,465,9761,0.00,2.62,11.95,0.745,4,0.000,0.074,2984,793,1656
$STATE,10021,end climb,SURFACE_DEPTH_REACHED
$STATE,10022,begin surface coast
$FINISH,0.9,1.026986
$STATE,10031,end surface coast,CONTROL_FINISHED_OK
$STATE,10031,begin surface
$SM_CCo,10058,56.38,0.752,0,0,1316,300.00
$SM_GC,1.40,0.00,0.00,56.38,0.000,0.000,0.752,379,1622,1316,-10.70,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1971
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.6,60.0
$24V_AH,23.5,21.522
$10V_AH,10.1,12.436
$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,25.650,99.800,319.300,56.375,0.000,39.113,30.541,107.761,2.750,0.000,0.000,15.301,942.791,7344.401,479.295,1225.691,428.018,0.000,1112.635,0.000,1199.654,0.000,20.144,0.000
$DEVICE_MAMPS,183.313,103.545,1055.392,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.870,324.244,387.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25473,478
$CAP_FILE_SIZE,80582,0
$CFSIZE,254472192,244166656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,240908,142138,6444.430,-1102.298,25,1.6,25,-11.6