version: 66.04
glider: 14
mission: 6
dive: 90
start: 9 17 108 22 49 6
data:
$ID,14
$MISSION,6
$DIVE,90
$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,-651804.56
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,223740,6424.771,-936.348,30,1.6,31,-10.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-56.3
$GPS2,224845,6424.795,-935.878,10,1.8,10,-10.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$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,327.6,73914,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.42,0.000,2,0.000,0.000,374,1579,2706
$GC,86,-1.16,-146.6,3.3,-3.9,3,117,11.45,2.47,-10.98,0.000,4,0.171,0.089,2444,220,3139
$GC,370,-1.16,-146.6,40.3,-16.1,15,376,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1614,3141
$GC,688,-1.16,-146.6,76.5,-11.0,31,692,0.00,2.50,0.00,0.000,4,0.000,0.073,2444,220,3141
$GC,889,-1.16,-146.6,97.4,-10.0,40,893,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1612,3142
$GC,1218,-1.16,-146.6,128.4,-9.6,56,1222,0.00,2.50,0.00,0.000,4,0.000,0.073,2444,216,3144
$GC,1296,-1.16,-146.6,136.7,-10.8,59,1303,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1619,3144
$GC,1613,-1.16,-146.6,171.1,-11.3,75,1617,0.00,2.50,0.00,0.000,4,0.000,0.074,2444,213,3145
$GC,1669,-1.16,-146.6,178.1,-12.7,77,1675,0.00,2.30,0.00,0.000,6,0.000,0.054,2444,1599,3146
$GC,1985,-1.16,-146.6,215.4,-11.8,93,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1600,3145
$GC,2294,-1.16,-146.6,249.2,-10.8,108,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1599,3145
$GC,2603,-1.16,-146.6,279.9,-8.7,123,2608,0.00,2.50,0.00,0.000,4,0.000,0.076,2444,209,3146
$GC,2693,-1.16,-146.6,288.5,-9.6,127,2698,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1602,3145
$GC,3016,-1.16,-146.6,316.3,-8.7,143,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1606,3147
$GC,3325,-1.16,-146.6,342.8,-8.4,158,3329,0.00,2.45,0.00,0.000,4,0.000,0.079,2444,2976,3148
$GC,3353,-1.16,-146.6,345.0,-7.7,159,3358,0.00,2.38,0.00,0.000,6,0.000,0.064,2444,1602,3148
$GC,3670,-1.16,-146.6,373.3,-9.6,174,3674,0.00,2.45,0.00,0.000,4,0.000,0.076,2445,2978,3148
$GC,3703,-1.16,-146.6,377.1,-10.7,175,3707,0.00,2.40,0.00,0.000,6,0.000,0.066,2445,1602,3148
$GC,4025,-1.16,-146.6,407.0,-8.9,191,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1602,3148
$GC,4334,-1.16,-146.6,436.7,-9.6,206,4339,0.00,2.47,0.00,0.000,4,0.000,0.078,2444,2980,3147
$GC,4380,-1.16,-146.6,440.8,-8.9,208,4384,0.00,2.42,0.00,0.000,6,0.000,0.066,2444,1593,3147
$GC,4702,-1.16,-146.6,470.4,-9.9,224,4706,0.00,2.55,0.00,0.000,4,0.000,0.091,2444,209,3147
$GC,4864,-1.16,-146.6,487.9,-9.9,231,4869,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1605,3147
$GC,5186,-1.16,-146.6,517.9,-9.9,247,5191,0.00,2.58,0.00,0.000,4,0.000,0.087,2444,209,3145
$GC,5237,-1.16,-146.6,522.9,-10.8,249,5242,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1594,3145
$GC,5554,-1.16,-146.6,549.1,-8.3,264,5558,0.00,2.55,0.00,0.000,4,0.000,0.085,2444,211,3144
$GC,5594,-1.16,-146.6,552.4,-8.9,266,5598,0.00,2.38,0.00,0.000,6,0.000,0.055,2444,1611,3143
$GC,5921,-1.16,-146.6,578.0,-8.0,282,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1611,3141
$STATE,6001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6001,begin apogee
$GC,6010,-0.32,0.0,584.4,7.9,286,6147,0.98,0.00,127.93,1.030,6,0.138,0.000,2633,2189,2539
$STATE,6148,end apogee,CONTROL_FINISHED_OK
$STATE,6148,begin climb
$GC,6151,1.16,146.6,589.4,0.0,293,6280,1.50,2.83,119.90,0.992,4,0.079,0.107,2957,3593,1940
$GC,6555,1.16,146.6,554.1,8.7,311,6559,0.00,2.47,0.00,0.000,6,0.000,0.068,2957,2194,1937
$GC,6876,1.20,169.6,528.4,7.1,327,6898,0.00,0.00,19.85,1.075,6,0.000,0.000,2957,2195,1846
$GC,7205,1.20,169.6,500.6,8.9,343,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1844
$GC,7517,1.20,169.6,472.5,8.5,358,7521,0.00,2.53,0.00,0.000,4,0.000,0.081,2957,800,1844
$GC,7607,1.20,171.8,465.0,7.9,362,7611,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2209,1844
$GC,7928,1.23,185.8,439.5,7.5,378,7947,0.00,0.00,14.00,0.969,6,0.000,0.000,2957,2209,1780
$GC,8258,1.24,195.0,414.4,7.6,394,8269,0.00,0.00,8.95,0.920,6,0.000,0.000,2957,2210,1743
$GC,8567,1.27,213.5,391.3,7.3,409,8590,0.12,2.72,16.38,0.922,4,0.073,0.095,2990,3597,1668
$GC,8686,1.27,213.5,377.9,12.3,414,8690,0.00,2.45,0.00,0.000,6,0.000,0.063,2990,2203,1667
$GC,9007,1.27,213.5,343.8,10.6,430,9012,0.00,2.60,0.00,0.000,4,0.000,0.088,2990,3598,1665
$GC,9080,1.27,213.5,335.8,10.4,433,9085,0.00,2.45,0.00,0.000,6,0.000,0.063,2990,2193,1665
$GC,9397,1.27,213.5,304.1,9.7,448,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2193,1664
$GC,9706,1.27,213.5,272.5,11.0,463,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2193,1662
$GC,10015,1.27,213.5,237.7,11.4,478,10020,0.00,2.60,0.00,0.000,4,0.000,0.084,2989,3606,1661
$GC,10124,1.27,213.5,224.3,12.5,483,10128,0.00,2.45,0.00,0.000,6,0.000,0.064,2990,2204,1660
$GC,10456,1.27,213.5,182.4,13.3,499,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,1659
$GC,10766,1.27,213.5,144.9,10.5,514,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,1659
$GC,11075,1.27,213.5,106.6,13.3,529,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,1659
$GC,11384,1.27,213.5,71.9,10.5,544,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,1659
$GC,11694,1.27,213.5,39.0,10.9,559,11698,0.00,2.53,0.00,0.000,4,0.000,0.080,2989,3600,1659
$GC,11784,1.27,213.5,27.5,13.9,563,11788,0.00,2.42,0.00,0.000,6,0.000,0.060,2990,2192,1660
$STATE,12020,end climb,SURFACE_DEPTH_REACHED
$STATE,12020,begin surface coast
$FINISH,0.6,1.027023
$STATE,12043,end surface coast,CONTROL_FINISHED_OK
$STATE,12043,begin surface
$SM_CCo,12069,45.72,0.660,0,0,1315,300.00
$SM_GC,1.24,0.00,0.00,45.72,0.000,0.000,0.660,378,1613,1315,-10.70,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1898
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.3,68.5
$24V_AH,23.6,16.412
$10V_AH,10.1,9.674
$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,25.300,85.925,307.000,45.725,0.000,75.524,56.299,295.339,4.500,0.000,0.000,12.334,1099.721,9094.029,454.240,1385.351,754.893,0.000,1144.703,0.000,1355.841,0.000,29.888,0.000
$DEVICE_MAMPS,171.041,106.613,1075.334,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.514,391.803,376.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28461,576
$CAP_FILE_SIZE,91029,0
$CFSIZE,254472192,246181888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,180908,021225,6423.684,-936.553,40,1.4,40,-10.6