version: 66.04
glider: 14
mission: 6
dive: 142
start: 9 25 108 6 37 42
data:
$ID,14
$MISSION,6
$DIVE,142
$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,-652767.44
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,063202,6441.180,-1114.620,40,1.6,40,-11.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.6
$GPS2,063721,6441.189,-1114.575,13,1.9,13,-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,238.8,38617,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.05,0.000,2,0.000,0.000,375,1594,3084
$GC,103,-1.16,-146.6,5.4,-6.1,4,125,11.50,2.55,-1.02,0.000,4,0.181,0.080,2412,3004,3141
$GC,218,-1.16,-146.6,30.5,-12.8,9,222,0.00,2.45,0.00,0.000,6,0.000,0.060,2412,1591,3142
$GC,547,-1.16,-146.6,63.9,-9.2,25,551,0.00,2.53,0.00,0.000,4,0.000,0.083,2412,203,3145
$GC,722,-1.16,-146.6,82.5,-11.9,33,727,0.00,2.38,0.00,0.000,6,0.000,0.054,2412,1625,3146
$GC,1051,-1.16,-146.6,120.4,-12.0,49,1055,0.00,2.55,0.00,0.000,4,0.000,0.078,2412,211,3148
$GC,1137,-1.16,-146.6,131.0,-12.3,53,1141,0.00,2.33,0.00,0.000,6,0.000,0.054,2412,1603,3148
$GC,1463,-1.16,-146.6,166.8,-10.9,69,1468,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,206,3150
$GC,1505,-1.16,-146.6,171.5,-11.8,71,1509,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1601,3149
$GC,1832,-1.16,-146.6,206.4,-10.6,87,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3150
$GC,2141,-1.16,-146.6,241.9,-11.7,102,2145,0.00,2.55,0.00,0.000,4,0.000,0.082,2412,210,3150
$GC,2204,-1.16,-146.6,249.5,-13.1,105,2209,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1605,3149
$GC,2538,-1.16,-146.6,289.5,-12.0,121,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1610,3149
$GC,2847,-1.16,-146.6,321.6,-9.7,136,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1610,3149
$GC,3157,-1.16,-146.6,350.7,-9.4,151,3161,0.00,2.55,0.00,0.000,4,0.000,0.085,2412,213,3149
$GC,3226,-1.16,-146.6,357.7,-10.3,154,3230,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1593,3150
$GC,3553,-1.16,-146.6,388.4,-9.4,170,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1596,3150
$GC,3862,-1.16,-146.6,419.2,-10.2,185,3866,0.00,2.55,0.00,0.000,4,0.000,0.086,2412,212,3149
$GC,3912,-1.16,-146.6,424.6,-11.2,187,3916,0.00,2.35,0.00,0.000,6,0.000,0.056,2412,1599,3149
$STATE,3921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3921,begin apogee
$GC,3930,-0.32,0.0,425.9,11.0,188,4071,0.93,0.00,131.68,1.051,6,0.116,0.000,2598,2192,2539
$STATE,4071,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4075,1.16,146.6,431.9,0.0,195,4204,1.55,2.83,120.97,1.027,4,0.091,0.110,2924,3599,1940
$GC,4254,1.21,173.1,424.8,7.0,203,4286,0.00,2.53,22.85,0.967,6,0.000,0.067,2924,2193,1832
$GC,4596,1.21,173.9,398.6,8.0,220,4600,0.00,2.55,0.00,0.000,4,0.000,0.081,2924,796,1831
$GC,4629,1.21,173.9,395.7,8.8,221,4635,0.00,2.45,0.00,0.000,6,0.000,0.055,2924,2205,1830
$GC,4946,1.21,173.9,369.6,8.3,237,4950,0.00,2.58,0.00,0.000,4,0.000,0.075,2924,797,1829
$GC,5013,1.21,173.9,363.2,9.6,240,5017,0.00,2.45,0.00,0.000,6,0.000,0.055,2924,2205,1829
$GC,5341,1.21,173.9,331.6,9.8,256,5345,0.00,2.58,0.00,0.000,4,0.000,0.074,2924,795,1828
$GC,5391,1.21,173.9,326.2,10.4,258,5396,0.00,2.45,0.00,0.000,6,0.000,0.055,2924,2205,1828
$GC,5708,1.21,173.9,296.3,8.8,273,5712,0.00,2.58,0.00,0.000,4,0.000,0.075,2924,794,1827
$GC,5793,1.21,173.9,288.8,8.9,277,5797,0.00,2.45,0.00,0.000,6,0.000,0.056,2924,2208,1827
$GC,6126,1.21,173.9,260.6,8.3,293,6131,0.00,2.58,0.00,0.000,4,0.000,0.074,2924,789,1826
$GC,6216,1.21,173.9,253.0,8.1,297,6221,0.00,2.45,0.00,0.000,6,0.000,0.056,2924,2211,1826
$GC,6539,1.25,198.7,228.3,7.1,313,6565,0.10,2.62,20.75,0.857,4,0.074,0.073,2953,797,1727
$GC,6671,1.25,198.7,217.5,8.2,319,6675,0.00,2.45,0.00,0.000,6,0.000,0.056,2952,2209,1726
$GC,7004,1.28,221.1,193.3,7.1,335,7029,0.00,2.65,18.85,0.802,4,0.000,0.074,2952,793,1636
$GC,7094,1.28,221.1,186.1,8.4,339,7098,0.00,2.45,0.00,0.000,6,0.000,0.056,2952,2200,1635
$GC,7422,1.28,221.1,159.9,8.7,355,7426,0.00,2.55,0.00,0.000,4,0.000,0.076,2952,796,1634
$GC,7485,1.28,221.1,153.8,10.3,358,7489,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2209,1634
$GC,7812,1.28,221.1,125.0,8.4,374,7817,0.00,2.55,0.00,0.000,4,0.000,0.075,2952,793,1633
$GC,7880,1.28,221.1,118.4,9.6,377,7884,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2209,1633
$GC,8202,1.28,221.1,87.3,9.5,393,8206,0.00,2.58,0.00,0.000,4,0.000,0.076,2952,791,1633
$GC,8275,1.28,221.1,79.8,10.8,396,8279,0.00,2.45,0.00,0.000,6,0.000,0.057,2952,2205,1633
$GC,8593,1.28,221.1,52.9,8.3,411,8597,0.00,2.55,0.00,0.000,4,0.000,0.076,2952,791,1632
$GC,8627,1.28,221.1,49.6,9.4,412,8633,0.00,2.42,0.00,0.000,6,0.000,0.057,2952,2199,1632
$GC,8945,1.28,221.1,23.1,8.7,428,8949,0.00,2.53,0.00,0.000,4,0.000,0.075,2953,793,1630
$GC,8995,1.28,221.1,18.4,8.1,430,8999,0.00,2.42,0.00,0.000,6,0.000,0.056,2952,2201,1630
$STATE,9205,end climb,SURFACE_DEPTH_REACHED
$STATE,9205,begin surface coast
$FINISH,0.6,1.024740
$STATE,9227,end surface coast,CONTROL_FINISHED_OK
$STATE,9227,begin surface
$SM_CCo,9253,44.17,0.732,0,0,1316,300.00
$SM_GC,1.38,0.00,0.00,44.17,0.000,0.000,0.732,373,1600,1316,-10.59,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1963
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.5,35.1
$24V_AH,23.5,22.332
$10V_AH,10.1,12.798
$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,25.275,102.050,315.100,44.175,0.000,37.756,33.828,130.186,3.000,0.000,0.000,15.194,877.769,6710.022,463.677,1134.615,441.761,0.000,1060.731,0.000,1107.660,0.000,21.706,0.000
$DEVICE_MAMPS,181.012,109.681,1050.790,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.790,299.040,347.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22296,441
$CAP_FILE_SIZE,75858,0
$CFSIZE,254472192,243916800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,250908,091406,6439.847,-1116.437,38,1.1,42,-11.7