version: 66.04
glider: 14
mission: 6
dive: 141
start: 9 25 108 3 56 45
data:
$ID,14
$MISSION,6
$DIVE,141
$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,-652751.62
$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,21
$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
$GPS1,035125,6441.719,-1113.356,19,1.6,38,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.1
$GPS2,035621,6441.743,-1113.321,12,1.6,12,-11.7
$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,238.7,40048,-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,-60.47,0.000,2,0.000,0.000,382,1595,2636
$GC,83,-1.16,-146.6,3.8,-5.3,3,114,11.43,2.55,-13.23,0.000,4,0.179,0.094,2412,213,3140
$GC,204,-1.16,-146.6,22.7,-14.5,8,209,0.00,2.38,0.00,0.000,6,0.000,0.054,2412,1623,3141
$GC,521,-1.16,-146.6,58.8,-11.9,23,526,0.00,2.58,0.00,0.000,4,0.000,0.077,2413,203,3143
$GC,656,-1.16,-146.6,74.6,-10.3,29,661,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1603,3143
$GC,981,-1.16,-146.6,101.3,-8.3,45,985,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,203,3146
$GC,1112,-1.16,-146.6,114.7,-10.3,51,1116,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1603,3146
$GC,1445,-1.16,-146.6,145.2,-8.7,67,1449,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,209,3149
$GC,1508,-1.16,-146.6,151.5,-10.4,70,1512,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1603,3149
$GC,1835,-1.16,-146.6,183.2,-9.6,86,1840,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,210,3149
$GC,1925,-1.16,-146.6,192.5,-10.2,90,1930,0.00,2.35,0.00,0.000,6,0.000,0.054,2413,1601,3149
$GC,2248,-1.16,-146.6,222.1,-9.6,106,2252,0.00,2.47,0.00,0.000,4,0.000,0.075,2412,2988,3149
$GC,2293,-1.16,-146.6,226.8,-10.0,108,2298,0.00,2.42,0.00,0.000,6,0.000,0.065,2412,1598,3150
$GC,2616,-1.16,-146.6,260.1,-10.4,124,2620,0.00,2.55,0.00,0.000,4,0.000,0.087,2412,209,3149
$GC,2711,-1.16,-146.6,270.7,-10.9,128,2715,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1606,3149
$GC,3027,-1.16,-146.6,302.3,-10.3,143,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1611,3149
$GC,3337,-1.16,-146.6,333.8,-10.1,158,3341,0.00,2.58,0.00,0.000,4,0.000,0.084,2412,210,3149
$GC,3387,-1.16,-146.6,339.2,-11.7,160,3391,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1606,3149
$GC,3703,-1.16,-146.6,371.6,-10.6,175,3708,0.00,2.58,0.00,0.000,4,0.000,0.084,2412,212,3149
$GC,3799,-1.16,-146.6,382.8,-11.6,179,3804,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1606,3150
$GC,4116,-1.16,-146.6,416.9,-10.0,194,4120,0.00,2.55,0.00,0.000,4,0.000,0.085,2412,214,3149
$GC,4156,-1.16,-146.6,421.6,-12.2,196,4160,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1600,3149
$STATE,4232,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4232,begin apogee
$GC,4242,-0.32,0.0,430.1,10.6,200,4382,0.95,0.00,131.40,1.058,6,0.130,0.000,2599,2189,2538
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4387,1.16,146.6,436.6,0.0,207,4516,1.55,2.83,121.45,1.029,4,0.087,0.110,2925,3601,1939
$GC,4571,1.23,190.3,429.0,6.3,215,4613,0.00,2.50,36.30,0.989,6,0.000,0.067,2925,2199,1762
$GC,4924,1.25,199.9,402.5,7.6,232,4939,0.00,2.65,9.50,0.899,4,0.000,0.087,2925,797,1723
$GC,4968,1.27,214.1,399.1,7.5,233,4988,0.12,2.45,13.68,0.938,6,0.070,0.055,2959,2207,1665
$GC,5317,1.27,214.1,365.2,9.9,250,5321,0.00,2.60,0.00,0.000,4,0.000,0.077,2959,792,1663
$GC,5390,1.27,214.1,357.5,10.9,253,5394,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2200,1662
$GC,5706,1.27,214.1,328.2,9.4,268,5710,0.00,2.58,0.00,0.000,4,0.000,0.074,2959,792,1661
$GC,5784,1.27,214.1,320.7,9.6,271,5791,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2207,1662
$GC,6101,1.27,214.1,292.6,8.9,287,6105,0.00,2.58,0.00,0.000,4,0.000,0.074,2959,795,1661
$GC,6147,1.27,214.1,288.4,9.4,289,6151,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2198,1661
$GC,6468,1.27,214.1,258.2,10.1,305,6473,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,788,1660
$GC,6520,1.27,214.1,252.9,10.7,307,6524,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2201,1659
$GC,6841,1.27,214.1,224.1,8.4,323,6846,0.00,2.55,0.00,0.000,4,0.000,0.076,2959,793,1659
$GC,6898,1.27,214.1,219.1,8.7,325,6905,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2207,1658
$GC,7215,1.27,214.1,192.2,8.9,341,7219,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,793,1658
$GC,7277,1.27,214.1,186.2,9.3,344,7282,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2205,1658
$GC,7605,1.27,214.1,154.4,9.8,360,7609,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,794,1657
$GC,7661,1.27,214.1,148.6,10.2,362,7667,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2207,1657
$GC,7979,1.27,214.1,117.4,9.3,378,7984,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,792,1657
$GC,8013,1.27,214.1,113.9,9.5,379,8020,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2206,1657
$GC,8332,1.34,259.4,87.7,6.3,395,8375,0.00,2.62,35.47,0.837,4,0.000,0.075,2959,796,1480
$GC,8449,1.42,309.0,81.2,6.1,400,8495,0.12,2.45,40.20,0.812,6,0.069,0.057,2994,2199,1279
$GC,8821,1.42,309.0,39.3,13.6,418,8826,0.00,2.55,0.00,0.000,4,0.000,0.076,2994,796,1275
$GC,8878,1.42,309.0,31.0,13.6,420,8884,0.00,2.42,0.00,0.000,6,0.000,0.057,2994,2198,1275
$STATE,9130,end climb,SURFACE_DEPTH_REACHED
$STATE,9131,begin surface coast
$FINISH,0.7,1.025807
$STATE,9151,end surface coast,CONTROL_FINISHED_OK
$STATE,9151,begin surface
$SM_CCo,9237,0.00,0.000,0,0,1271,311.04
$SM_GC,1.44,11.50,0.00,0.00,0.057,0.000,0.000,375,1598,1271,-10.52,-0.06,311.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1988
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.7,12.9
$24V_AH,23.5,22.221
$10V_AH,10.1,12.747
$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,25.675,111.825,388.000,0.000,0.000,39.109,34.941,108.973,3.500,0.000,0.000,13.441,870.727,6620.377,465.035,1163.003,424.169,0.000,1094.203,0.000,1131.192,0.000,28.924,0.000
$DEVICE_MAMPS,179.478,109.681,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.041,293.497,344.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,434
$CAP_FILE_SIZE,78041,0
$CFSIZE,254472192,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,250908,063202,6441.180,-1114.620,40,1.6,40,-11.7