version: 66.04
glider: 14
mission: 6
dive: 143
start: 9 25 108 9 19 15
data:
$ID,14
$MISSION,6
$DIVE,143
$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,-652780.12
$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
$GPS1,091406,6439.847,-1116.437,38,1.1,42,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.5
$GPS2,091851,6439.781,-1116.406,10,1.2,10,-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,240.3,35782,-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,-60.45,0.000,2,0.000,0.000,373,1597,2636
$GC,83,-1.16,-146.6,3.2,-4.1,3,114,11.50,2.50,-14.12,0.000,4,0.180,0.082,2420,3001,3139
$GC,237,-1.16,-146.6,24.3,-13.6,10,242,0.00,2.42,0.00,0.000,6,0.000,0.060,2420,1599,3140
$GC,566,-1.16,-146.6,66.6,-11.6,26,570,0.00,2.53,0.00,0.000,4,0.000,0.082,2420,209,3140
$GC,634,-1.16,-146.6,74.0,-10.1,29,638,0.00,2.38,0.00,0.000,6,0.000,0.054,2420,1628,3141
$GC,957,-1.16,-146.6,104.0,-9.6,45,961,0.00,2.58,0.00,0.000,4,0.000,0.078,2420,211,3144
$GC,1024,-1.16,-146.6,111.1,-10.8,48,1029,0.00,2.33,0.00,0.000,6,0.000,0.054,2420,1598,3145
$GC,1348,-1.16,-146.6,142.1,-9.9,64,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1602,3147
$GC,1655,-1.16,-146.6,173.5,-10.4,79,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1602,3148
$GC,1965,-1.16,-146.6,206.2,-10.2,94,1969,0.00,2.55,0.00,0.000,4,0.000,0.081,2420,206,3148
$GC,2050,-1.16,-146.6,215.6,-10.7,98,2054,0.00,2.35,0.00,0.000,6,0.000,0.055,2420,1599,3148
$GC,2377,-1.16,-146.6,248.8,-10.1,114,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1603,3148
$GC,2686,-1.16,-146.6,279.5,-10.3,129,2690,0.00,2.55,0.00,0.000,4,0.000,0.084,2420,212,3148
$GC,2764,-1.16,-146.6,288.5,-11.1,132,2770,0.00,2.35,0.00,0.000,6,0.000,0.056,2420,1599,3148
$GC,3081,-1.16,-146.6,322.2,-10.5,148,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1602,3148
$GC,3390,-1.16,-146.6,354.4,-10.6,163,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1602,3148
$GC,3699,-1.16,-146.6,386.1,-10.3,178,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1602,3147
$GC,4009,-1.16,-146.6,417.0,-9.9,193,4013,0.00,2.55,0.00,0.000,4,0.000,0.084,2419,212,3148
$GC,4078,-1.16,-146.6,424.9,-11.2,196,4082,0.00,2.35,0.00,0.000,6,0.000,0.055,2420,1594,3148
$STATE,4086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4086,begin apogee
$GC,4095,-0.32,0.0,426.2,11.5,196,4234,0.88,0.00,130.62,1.055,6,0.128,0.000,2596,2189,2539
$STATE,4235,end apogee,CONTROL_FINISHED_OK
$STATE,4235,begin climb
$GC,4239,1.16,146.6,432.3,0.0,203,4369,1.55,2.80,120.90,1.029,4,0.084,0.107,2926,3594,1941
$GC,4412,1.21,173.0,426.0,7.0,211,4441,0.00,2.47,22.92,0.967,6,0.000,0.065,2926,2194,1832
$GC,4760,1.23,187.2,400.9,7.5,228,4781,0.00,2.65,12.45,0.935,4,0.000,0.083,2926,804,1776
$GC,4822,1.24,192.3,396.0,7.8,230,4832,0.00,2.42,6.07,0.806,6,0.000,0.055,2926,2201,1755
$GC,5155,1.26,206.6,370.9,7.5,247,5177,0.10,2.62,13.30,0.945,4,0.074,0.075,2954,804,1696
$GC,5247,1.26,206.6,362.6,9.0,251,5251,0.00,2.42,0.00,0.000,6,0.000,0.056,2952,2198,1695
$GC,5574,1.26,206.6,333.1,9.2,267,5578,0.00,2.55,0.00,0.000,4,0.000,0.074,2955,799,1694
$GC,5608,1.26,206.6,329.6,9.8,268,5613,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2199,1693
$GC,5924,1.26,206.6,300.2,9.0,283,5928,0.00,2.53,0.00,0.000,4,0.000,0.075,2954,797,1693
$GC,5986,1.26,206.6,294.2,9.1,285,5993,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2211,1693
$GC,6304,1.26,206.6,266.0,9.2,301,6308,0.00,2.58,0.00,0.000,4,0.000,0.074,2954,793,1691
$GC,6416,1.26,206.6,255.0,9.8,306,6420,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2204,1691
$GC,6738,1.26,206.6,226.8,8.8,322,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2204,1691
$GC,7047,1.26,206.6,199.2,9.2,337,7051,0.00,2.55,0.00,0.000,4,0.000,0.074,2954,794,1690
$GC,7154,1.26,206.6,188.3,9.8,341,7160,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2208,1689
$GC,7471,1.26,206.6,157.0,9.7,357,7475,0.00,2.55,0.00,0.000,4,0.000,0.074,2954,797,1689
$GC,7527,1.26,206.6,151.1,10.8,359,7533,0.00,2.42,0.00,0.000,6,0.000,0.057,2954,2198,1689
$GC,7843,1.26,206.6,122.2,9.2,375,7848,0.00,2.55,0.00,0.000,4,0.000,0.075,2954,791,1689
$GC,7907,1.26,206.6,115.9,10.1,378,7912,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2209,1689
$GC,8235,1.26,206.6,83.8,10.1,394,8239,0.00,2.55,0.00,0.000,4,0.000,0.074,2955,799,1689
$GC,8292,1.26,206.6,77.7,10.8,396,8298,0.00,2.42,0.00,0.000,6,0.000,0.057,2954,2200,1688
$GC,8609,1.26,206.6,50.2,8.2,412,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2200,1688
$GC,8918,1.26,209.3,25.9,7.9,427,8922,0.00,2.55,0.00,0.000,4,0.000,0.075,2954,791,1687
$GC,9013,1.28,217.6,17.5,7.7,431,9028,0.00,2.42,8.85,0.703,6,0.000,0.057,2954,2201,1650
$STATE,9209,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,0.9,1.026966
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9231,begin surface
$SM_CCo,9257,54.33,0.743,0,0,1315,300.00
$SM_GC,1.57,0.00,0.00,54.33,0.000,0.000,0.743,380,1592,1315,-10.55,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1975
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.6,35.0
$24V_AH,23.5,22.444
$10V_AH,10.1,12.849
$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,25.325,86.850,315.125,54.325,0.000,37.763,27.124,109.627,3.250,0.000,0.000,12.052,858.521,6787.634,463.541,1094.162,407.353,0.000,1035.011,0.000,1069.120,0.000,27.402,0.000
$DEVICE_MAMPS,180.245,107.380,1054.625,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.394,299.418,358.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22310,442
$CAP_FILE_SIZE,72237,0
$CFSIZE,254472192,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,250908,115538,6437.629,-1119.948,27,0.9,27,-11.7