version: 66.04
glider: 14
mission: 6
dive: 138
start: 9 24 108 19 34 25
data:
$ID,14
$MISSION,6
$DIVE,138
$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,-652688.88
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,192908,6444.689,-1103.974,24,1.7,25,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.2
$GPS2,193402,6444.698,-1103.889,10,1.5,14,-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,239.9,49305,-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,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,383,1599,2646
$GC,83,-1.16,-146.6,3.6,-4.7,3,114,11.57,2.58,-13.77,0.000,4,0.180,0.094,2447,209,3139
$GC,154,-1.16,-146.6,14.2,-13.8,6,158,0.00,2.40,0.00,0.000,6,0.000,0.054,2449,1629,3139
$GC,476,-1.16,-146.6,49.2,-10.8,22,481,0.00,2.58,0.00,0.000,4,0.000,0.077,2447,210,3140
$GC,617,-1.16,-146.6,63.4,-7.9,28,622,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1608,3140
$GC,936,-1.16,-146.6,85.5,-7.8,43,940,0.00,2.40,0.00,0.000,4,0.000,0.071,2447,2973,3144
$GC,1022,-1.16,-146.6,93.0,-8.6,47,1026,0.00,2.38,0.00,0.000,6,0.000,0.062,2448,1599,3144
$GC,1349,-1.16,-146.6,117.5,-7.7,63,1354,0.00,2.53,0.00,0.000,4,0.000,0.083,2447,213,3147
$GC,1481,-1.16,-146.6,129.2,-9.1,69,1485,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1602,3148
$GC,1809,-1.16,-146.6,155.1,-7.4,85,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3148
$GC,2118,-1.16,-146.6,177.3,-7.3,100,2122,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,211,3149
$GC,2163,-1.16,-146.6,181.2,-8.9,102,2167,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1594,3149
$GC,2484,-1.16,-146.6,209.3,-9.2,118,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1597,3149
$GC,2794,-1.16,-146.6,240.6,-10.4,133,2798,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,215,3149
$GC,2883,-1.16,-146.6,250.8,-10.9,137,2888,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1602,3149
$GC,3205,-1.16,-146.6,282.7,-10.0,153,3209,0.00,2.55,0.00,0.000,4,0.000,0.082,2447,214,3149
$GC,3256,-1.16,-146.6,288.1,-10.8,155,3260,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1603,3149
$GC,3573,-1.16,-146.6,316.8,-8.9,170,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3149
$GC,3882,-1.16,-146.6,344.4,-8.7,185,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1607,3149
$GC,4191,-1.16,-146.6,370.0,-8.2,200,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3149
$GC,4501,-1.16,-146.6,395.2,-7.8,215,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3149
$GC,4810,-1.16,-146.6,421.2,-8.4,230,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3148
$STATE,4868,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4868,begin apogee
$GC,4878,-0.32,0.0,426.4,8.3,233,5017,0.93,0.00,130.62,1.057,6,0.117,0.000,2633,2181,2538
$STATE,5018,end apogee,CONTROL_FINISHED_OK
$STATE,5018,begin climb
$GC,5022,1.16,146.6,431.3,0.0,240,5151,1.50,2.85,120.90,1.029,4,0.081,0.107,2954,3590,1940
$GC,5234,1.21,173.5,421.5,7.0,249,5262,0.00,2.50,23.25,0.973,6,0.000,0.067,2954,2196,1830
$GC,5572,1.21,173.5,391.4,9.2,266,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2196,1828
$GC,5881,1.21,173.5,362.4,9.3,281,5886,0.00,2.65,0.00,0.000,4,0.000,0.094,2954,3601,1827
$GC,5926,1.21,173.5,357.9,10.0,283,5930,0.00,2.50,0.00,0.000,6,0.000,0.066,2954,2197,1827
$GC,6247,1.21,173.5,328.7,9.1,299,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1826
$GC,6557,1.21,173.5,300.3,9.0,314,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1825
$GC,6866,1.21,173.5,272.8,8.8,329,6870,0.00,2.60,0.00,0.000,4,0.000,0.087,2954,792,1825
$GC,6899,1.21,173.5,269.5,9.7,330,6906,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2202,1825
$GC,7216,1.21,173.5,242.0,8.5,346,7220,0.00,2.55,0.00,0.000,4,0.000,0.076,2954,794,1822
$GC,7284,1.21,173.5,235.9,9.3,349,7288,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2204,1822
$GC,7605,1.23,187.6,210.6,7.5,365,7621,0.00,2.62,11.18,0.890,4,0.000,0.076,2954,788,1773
$GC,7701,1.23,187.6,202.6,8.5,368,7705,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2201,1773
$GC,8017,1.27,210.4,179.1,7.1,383,8043,0.12,2.62,19.98,0.900,4,0.071,0.075,2987,791,1681
$GC,8117,1.27,210.4,169.8,10.1,387,8123,0.00,2.45,0.00,0.000,6,0.000,0.057,2988,2201,1680
$GC,8434,1.27,210.4,140.4,9.5,403,8438,0.00,2.58,0.00,0.000,4,0.000,0.075,2988,788,1680
$GC,8468,1.27,210.4,136.8,9.8,404,8475,0.00,2.45,0.00,0.000,6,0.000,0.057,2988,2204,1680
$GC,8785,1.27,210.4,104.7,10.5,420,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2204,1680
$GC,9094,1.27,210.4,71.1,11.2,435,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,1678
$GC,9403,1.27,210.4,37.5,10.4,450,9408,0.00,2.55,0.00,0.000,4,0.000,0.076,2987,789,1678
$GC,9477,1.27,210.4,29.5,10.4,453,9481,0.00,2.45,0.00,0.000,6,0.000,0.057,2988,2205,1678
$STATE,9748,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.8,1.026638
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9797,50.83,0.748,0,0,1316,300.00
$SM_GC,1.34,0.00,0.00,50.83,0.000,0.000,0.748,373,1594,1316,-10.73,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1997
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.4,34.8
$24V_AH,23.5,21.871
$10V_AH,10.1,12.588
$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,25.475,76.925,305.925,50.825,0.000,38.832,26.672,111.749,3.250,0.000,0.000,18.762,887.490,7326.027,440.722,1092.056,408.340,0.000,1004.185,0.000,1067.439,0.000,24.616,0.000
$DEVICE_MAMPS,180.245,107.380,1056.926,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.618,316.720,366.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22211,467
$CAP_FILE_SIZE,72484,0
$CFSIZE,254472192,244068352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,240908,221955,6443.446,-1106.847,38,1.8,38,-11.6