version: 66.04
glider: 14
mission: 6
dive: 139
start: 9 24 108 22 31 46
data:
$ID,14
$MISSION,6
$DIVE,139
$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,-652723.81
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,221955,6443.446,-1106.847,38,1.8,38,-11.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-57.7
$GPS2,223126,6443.418,-1106.888,15,1.7,32,-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,240.2,45940,-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,-60.67,0.000,2,0.000,0.000,374,1590,2660
$GC,86,-1.16,-146.6,3.4,-4.7,3,113,11.50,0.00,-13.12,0.000,6,0.180,0.000,2419,1590,3138
$GC,419,-1.16,-146.6,45.7,-11.3,19,424,0.00,2.53,0.00,0.000,4,0.000,0.081,2419,209,3141
$GC,677,-1.16,-146.6,75.1,-11.2,30,684,0.00,2.38,0.00,0.000,6,0.000,0.054,2419,1618,3144
$GC,994,-1.16,-146.6,109.9,-11.8,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1622,3144
$GC,1303,-1.16,-146.6,144.2,-10.8,61,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1622,3146
$GC,1614,-1.16,-146.6,175.9,-9.8,76,1618,0.00,2.55,0.00,0.000,4,0.000,0.081,2419,214,3146
$GC,1647,-1.16,-146.6,179.7,-10.3,77,1653,0.00,2.35,0.00,0.000,6,0.000,0.055,2419,1604,3146
$GC,1963,-1.16,-146.6,209.4,-8.8,93,1968,0.00,2.55,0.00,0.000,4,0.000,0.081,2419,209,3146
$GC,2020,-1.16,-146.6,215.0,-9.5,95,2027,0.00,2.35,0.00,0.000,6,0.000,0.055,2419,1608,3146
$GC,2337,-1.16,-146.6,244.6,-9.8,111,2341,0.00,2.55,0.00,0.000,4,0.000,0.082,2419,215,3146
$GC,2394,-1.16,-146.6,250.4,-10.2,113,2401,0.00,2.35,0.00,0.000,6,0.000,0.055,2419,1601,3146
$GC,2711,-1.16,-146.6,279.8,-9.6,129,2715,0.00,2.55,0.00,0.000,4,0.000,0.083,2419,216,3145
$GC,2778,-1.16,-146.6,286.8,-10.2,132,2782,0.00,2.33,0.00,0.000,6,0.000,0.055,2419,1599,3146
$GC,3106,-1.16,-146.6,316.9,-9.1,148,3110,0.00,2.55,0.00,0.000,4,0.000,0.084,2419,216,3146
$GC,3151,-1.16,-146.6,321.3,-9.3,150,3155,0.00,2.35,0.00,0.000,6,0.000,0.055,2419,1596,3146
$GC,3472,-1.16,-146.6,353.3,-10.3,166,3477,0.00,2.53,0.00,0.000,4,0.000,0.083,2419,2989,3146
$GC,3524,-1.16,-146.6,358.9,-9.9,168,3528,0.00,2.42,0.00,0.000,6,0.000,0.065,2419,1603,3146
$GC,3840,-1.16,-146.6,391.7,-10.4,183,3844,0.00,2.58,0.00,0.000,4,0.000,0.092,2419,213,3146
$GC,3958,-1.16,-146.6,405.0,-11.8,188,3962,0.00,2.38,0.00,0.000,6,0.000,0.055,2419,1613,3146
$STATE,4147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4147,begin apogee
$GC,4157,-0.32,0.0,425.4,10.6,197,4296,0.90,0.00,130.32,1.048,6,0.120,0.000,2599,2192,2539
$STATE,4296,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,1.16,146.6,431.2,0.0,204,4430,1.55,2.80,121.25,1.023,4,0.087,0.107,2926,3595,1941
$GC,4518,1.16,146.6,420.9,8.3,214,4522,0.00,2.50,0.00,0.000,6,0.000,0.067,2926,2197,1939
$GC,4839,1.20,169.6,397.9,7.1,230,4865,0.00,2.70,19.83,0.975,4,0.000,0.086,2926,797,1847
$GC,4912,1.23,188.6,392.4,7.3,233,4936,0.00,2.47,17.10,0.956,6,0.000,0.055,2926,2211,1768
$GC,5259,1.23,188.6,365.0,8.1,250,5263,0.00,2.60,0.00,0.000,4,0.000,0.076,2926,792,1766
$GC,5337,1.23,188.6,358.1,8.4,253,5344,0.00,2.45,0.00,0.000,6,0.000,0.055,2926,2201,1766
$GC,5654,1.24,194.2,331.5,7.8,269,5665,0.00,2.60,5.47,0.788,4,0.000,0.076,2925,794,1747
$GC,5717,1.24,194.2,326.4,8.6,272,5721,0.00,2.45,0.00,0.000,6,0.000,0.057,2925,2205,1747
$GC,6045,1.24,194.8,300.1,8.0,288,6049,0.00,2.58,0.00,0.000,4,0.000,0.075,2926,793,1746
$GC,6134,1.24,194.8,292.6,8.1,292,6138,0.00,2.45,0.00,0.000,6,0.000,0.057,2926,2209,1746
$GC,6462,1.28,219.0,268.8,7.1,308,6491,0.12,2.67,21.58,0.876,4,0.071,0.074,2960,791,1644
$GC,6565,1.28,219.0,259.5,9.3,312,6572,0.00,2.47,0.00,0.000,6,0.000,0.056,2960,2204,1644
$GC,6882,1.28,219.0,233.7,8.1,328,6886,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,788,1643
$GC,6954,1.28,219.0,227.1,8.5,331,6959,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2205,1642
$GC,7271,1.28,219.0,200.1,8.6,346,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2205,1641
$GC,7580,1.28,219.0,172.4,9.0,361,7584,0.00,2.58,0.00,0.000,4,0.000,0.075,2960,790,1640
$GC,7676,1.28,219.0,162.6,10.4,365,7681,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2204,1640
$GC,8004,1.28,219.0,130.7,10.1,381,8009,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,791,1640
$GC,8050,1.28,219.0,125.7,11.2,383,8054,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2204,1640
$GC,8372,1.28,219.0,94.3,9.7,399,8376,0.00,2.55,0.00,0.000,4,0.000,0.076,2960,791,1640
$GC,8405,1.28,219.0,90.8,9.7,400,8412,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2206,1640
$GC,8722,1.28,219.0,60.6,9.8,416,8726,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,790,1639
$GC,8885,1.28,219.0,45.2,10.0,423,8889,0.00,2.45,0.00,0.000,6,0.000,0.058,2960,2207,1639
$GC,9207,1.29,223.9,19.7,7.8,439,9213,0.00,0.00,4.07,0.565,6,0.000,0.000,2960,2206,1626
$STATE,9410,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,0.9,1.005827
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9458,50.58,0.746,0,0,1316,300.00
$SM_GC,1.56,0.00,0.00,50.58,0.000,0.000,0.746,381,1602,1316,-10.55,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1972
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,376.6,57.1
$24V_AH,23.5,21.995
$10V_AH,10.1,12.644
$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,25.400,97.200,319.625,50.575,0.000,115.976,85.422,219.195,3.250,0.000,0.000,34.317,882.685,7003.059,467.583,1182.905,673.252,0.000,1072.810,0.000,1137.250,0.000,20.138,0.000
$DEVICE_MAMPS,180.245,107.380,1048.489,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.283,304.727,350.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22288,450
$CAP_FILE_SIZE,79162,0
$CFSIZE,254472192,244023296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,250908,011138,6442.206,-1110.822,39,1.3,39,-11.7