version: 66.04
glider: 14
mission: 6
dive: 127
start: 9 23 108 12 53 5
data:
$ID,14
$MISSION,6
$DIVE,127
$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,-652498.88
$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,23
$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
$GPS1,124732,6449.963,-1053.554,38,1.4,38,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.9
$GPS2,125244,6450.036,-1053.498,10,1.2,10,-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,238.1,62105,-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,-60.25,0.000,2,0.000,0.000,377,1596,2667
$GC,83,-1.16,-146.6,3.6,-4.9,3,112,11.55,0.00,-12.57,0.000,6,0.177,0.000,2444,1596,3139
$GC,435,-1.16,-146.6,45.2,-10.6,20,440,0.00,2.53,0.00,0.000,4,0.000,0.081,2444,210,3140
$GC,544,-1.16,-146.6,56.8,-10.3,25,549,0.00,2.38,0.00,0.000,6,0.000,0.054,2444,1621,3141
$GC,872,-1.16,-146.6,89.5,-11.0,41,877,0.00,2.55,0.00,0.000,4,0.000,0.077,2444,212,3142
$GC,960,-1.16,-146.6,99.3,-11.9,45,964,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1613,3143
$GC,1289,-1.16,-146.6,133.6,-9.5,61,1293,0.00,2.53,0.00,0.000,4,0.000,0.078,2444,212,3145
$GC,1452,-1.16,-146.6,149.6,-10.4,68,1459,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1613,3145
$GC,1776,-1.16,-146.6,181.8,-9.9,84,1781,0.00,2.55,0.00,0.000,4,0.000,0.081,2444,203,3146
$GC,1855,-1.16,-146.6,191.0,-11.3,87,1861,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1598,3146
$GC,2173,-1.16,-146.6,225.2,-10.0,103,2177,0.00,2.55,0.00,0.000,4,0.000,0.082,2444,209,3146
$GC,2274,-1.16,-146.6,236.7,-10.8,107,2280,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1601,3146
$GC,2590,-1.16,-146.6,267.4,-9.3,123,2594,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,212,3147
$GC,2663,-1.16,-146.6,274.8,-10.3,126,2668,0.00,2.35,0.00,0.000,6,0.000,0.056,2444,1597,3147
$GC,2985,-1.16,-146.6,303.4,-8.7,142,2989,0.00,2.55,0.00,0.000,4,0.000,0.085,2444,212,3146
$GC,3041,-1.16,-146.6,308.6,-9.4,144,3047,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1606,3146
$GC,3358,-1.16,-146.6,334.5,-8.0,160,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3147
$GC,3667,-1.16,-146.6,360.5,-8.5,175,3671,0.00,2.58,0.00,0.000,4,0.000,0.087,2444,213,3147
$GC,3707,-1.16,-146.6,364.1,-9.5,177,3711,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1608,3147
$GC,4034,-1.16,-146.6,392.3,-9.1,193,4038,0.00,2.58,0.00,0.000,4,0.000,0.087,2444,214,3147
$GC,4097,-1.16,-146.6,398.1,-9.4,196,4101,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1610,3147
$GC,4425,-1.16,-146.6,427.6,-9.2,212,4429,0.00,2.60,0.00,0.000,4,0.000,0.087,2443,209,3146
$STATE,4433,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4433,begin apogee
$GC,4444,-0.32,0.0,428.7,9.4,212,4580,0.88,0.00,127.68,0.930,6,0.113,0.000,2626,2183,2539
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4585,1.16,146.6,433.5,0.0,219,4713,1.55,2.85,119.05,0.889,4,0.083,0.110,2956,3591,1940
$GC,4792,1.16,146.6,423.6,8.5,228,4798,0.00,2.50,0.00,0.000,6,0.000,0.068,2957,2197,1939
$GC,5108,1.16,146.6,398.3,8.0,244,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2197,1939
$GC,5418,1.16,146.6,373.1,8.0,259,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2197,1937
$GC,5727,1.16,146.8,347.8,8.0,274,5731,0.00,2.65,0.00,0.000,4,0.000,0.094,2955,3602,1936
$GC,5760,1.16,146.8,345.0,8.3,275,5767,0.00,2.47,0.00,0.000,6,0.000,0.066,2956,2197,1935
$GC,6077,1.16,146.8,318.5,8.4,291,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2197,1935
$GC,6387,1.17,149.0,293.6,7.9,306,6391,0.00,2.62,0.00,0.000,4,0.000,0.091,2956,3603,1935
$GC,6427,1.17,149.0,290.2,8.8,308,6431,0.00,2.47,0.00,0.000,6,0.000,0.065,2956,2195,1933
$GC,6760,1.24,195.3,267.8,6.2,324,6806,0.00,2.70,38.95,0.858,4,0.000,0.086,2955,796,1741
$GC,6837,1.27,212.6,262.8,7.3,327,6858,0.12,2.45,15.05,0.799,6,0.072,0.054,2987,2207,1672
$GC,7177,1.27,212.6,231.6,10.0,344,7181,0.00,2.60,0.00,0.000,4,0.000,0.077,2987,790,1669
$GC,7218,1.27,212.6,227.0,11.3,346,7222,0.00,2.45,0.00,0.000,6,0.000,0.056,2987,2209,1670
$GC,7545,1.27,212.6,194.9,9.6,362,7549,0.00,2.58,0.00,0.000,4,0.000,0.077,2987,798,1668
$GC,7652,1.27,212.6,183.3,11.1,367,7657,0.00,2.42,0.00,0.000,6,0.000,0.057,2987,2202,1668
$GC,7979,1.27,212.6,147.9,10.8,383,7984,0.00,2.58,0.00,0.000,4,0.000,0.076,2987,789,1666
$GC,8036,1.27,212.6,141.4,11.4,385,8042,0.00,2.45,0.00,0.000,6,0.000,0.057,2987,2209,1667
$GC,8353,1.27,212.6,108.3,10.5,401,8357,0.00,2.58,0.00,0.000,4,0.000,0.074,2987,791,1666
$GC,8420,1.27,212.6,100.6,10.9,404,8424,0.00,2.45,0.00,0.000,6,0.000,0.056,2987,2205,1666
$GC,8742,1.27,212.6,67.5,9.7,420,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,1666
$GC,9051,1.27,212.6,38.0,8.9,435,9056,0.00,2.55,0.00,0.000,4,0.000,0.074,2987,787,1666
$GC,9271,1.27,212.6,17.4,9.4,445,9276,0.00,2.42,0.00,0.000,6,0.000,0.057,2987,2202,1665
$STATE,9410,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FINISH,0.7,1.026903
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9458,48.20,0.732,0,0,1316,300.00
$SM_GC,1.41,0.00,0.00,48.20,0.000,0.000,0.732,378,1595,1316,-10.70,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1976
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.7,36.4
$24V_AH,23.6,20.688
$10V_AH,10.1,12.013
$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,25.575,97.175,300.725,48.200,0.000,37.760,37.685,122.440,3.000,0.000,0.000,12.019,884.079,6902.772,449.180,1155.553,436.755,0.000,1050.311,0.000,1128.070,0.000,21.721,0.000
$DEVICE_MAMPS,177.177,110.448,930.371,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.023,307.452,347.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22281,453
$CAP_FILE_SIZE,75381,0
$CFSIZE,254472192,244473856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,230908,153256,6449.459,-1053.333,40,1.0,40,-11.5