version: 66.04
glider: 14
mission: 6
dive: 144
start: 9 25 108 12 1 41
data:
$ID,14
$MISSION,6
$DIVE,144
$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,-652795.69
$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,27
$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
$GPS1,115538,6437.629,-1119.948,27,0.9,27,-11.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.8
$GPS2,120120,6437.558,-1120.001,13,1.0,13,-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,242.5,30927,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.03,0.000,2,0.000,0.000,382,1587,2638
$GC,83,-1.16,-146.6,3.3,-4.0,3,113,11.48,0.00,-14.10,0.000,6,0.180,0.000,2413,1587,3138
$GC,437,-1.16,-146.6,49.6,-11.6,20,441,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,212,3140
$GC,560,-1.16,-146.6,65.6,-11.9,25,566,0.00,2.35,0.00,0.000,6,0.000,0.054,2413,1623,3141
$GC,877,-1.16,-146.6,99.4,-11.2,41,881,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,217,3144
$GC,967,-1.16,-146.6,110.0,-11.0,45,971,0.00,2.33,0.00,0.000,6,0.000,0.054,2413,1602,3144
$GC,1289,-1.16,-146.6,145.4,-11.2,61,1293,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,220,3147
$GC,1322,-1.16,-146.6,149.5,-12.0,62,1330,0.00,2.35,0.00,0.000,6,0.000,0.055,2414,1619,3147
$GC,1639,-1.16,-146.6,187.4,-12.4,78,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1619,3148
$GC,1947,-1.16,-146.6,223.2,-11.4,93,1952,0.00,2.55,0.00,0.000,4,0.000,0.081,2413,220,3148
$GC,2026,-1.16,-146.6,233.5,-13.0,96,2033,0.00,2.33,0.00,0.000,6,0.000,0.055,2414,1594,3148
$GC,2343,-1.16,-146.6,268.6,-10.5,112,2347,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,2984,3148
$GC,2388,-1.16,-146.6,273.3,-10.8,114,2392,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1594,3148
$GC,2709,-1.16,-146.6,304.9,-9.6,130,2713,0.00,2.55,0.00,0.000,4,0.000,0.087,2414,209,3148
$GC,2804,-1.16,-146.6,315.1,-10.9,134,2809,0.00,2.38,0.00,0.000,6,0.000,0.055,2413,1610,3148
$GC,3121,-1.16,-146.6,348.3,-10.8,149,3125,0.00,2.58,0.00,0.000,4,0.000,0.084,2413,212,3148
$GC,3165,-1.16,-146.6,353.6,-12.0,151,3170,0.00,2.35,0.00,0.000,6,0.000,0.055,2414,1594,3148
$GC,3487,-1.16,-146.6,388.2,-10.7,167,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1595,3148
$GC,3797,-1.16,-146.6,420.9,-10.2,182,3801,0.00,2.55,0.00,0.000,4,0.000,0.086,2414,215,3147
$STATE,3844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3844,begin apogee
$GC,3856,-0.32,0.0,426.6,11.3,184,3995,0.90,0.00,130.50,1.055,6,0.122,0.000,2596,2182,2539
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3999,1.16,146.6,433.1,0.0,191,4128,1.58,2.85,120.45,1.031,4,0.087,0.109,2928,3605,1941
$GC,4261,1.16,146.6,419.7,8.8,203,4266,0.00,2.53,0.00,0.000,6,0.000,0.068,2928,2193,1939
$GC,4583,1.22,179.6,397.8,6.7,219,4618,0.00,2.67,27.65,0.997,4,0.000,0.084,2927,800,1806
$GC,4681,1.22,179.6,389.6,8.2,223,4686,0.00,2.45,0.00,0.000,6,0.000,0.055,2928,2212,1804
$GC,4998,1.25,201.8,366.4,7.2,238,5023,0.00,2.67,19.17,0.976,4,0.000,0.077,2928,803,1716
$GC,5092,1.25,201.8,358.8,8.3,242,5096,0.00,2.42,0.00,0.000,6,0.000,0.056,2928,2198,1715
$GC,5414,1.27,210.3,334.3,7.7,258,5428,0.10,2.60,8.55,0.881,4,0.074,0.076,2956,807,1681
$GC,5513,1.27,210.3,324.9,9.5,262,5518,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2200,1680
$GC,5830,1.27,210.3,297.2,9.0,277,5834,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,798,1679
$GC,5927,1.27,210.3,287.6,10.3,281,5931,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2201,1679
$GC,6248,1.27,210.3,256.7,9.8,297,6252,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,793,1678
$GC,6289,1.27,210.3,252.5,10.7,299,6293,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2206,1678
$GC,6616,1.27,210.3,221.8,8.8,315,6620,0.00,2.58,0.00,0.000,4,0.000,0.076,2956,793,1677
$GC,6683,1.27,210.3,215.4,9.6,318,6687,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2204,1677
$GC,7011,1.28,221.1,188.9,7.6,334,7025,0.00,2.58,9.52,0.848,4,0.000,0.076,2956,797,1637
$GC,7094,1.28,221.1,182.3,8.2,337,7100,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2201,1636
$GC,7412,1.28,221.1,158.0,8.6,353,7417,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,788,1635
$GC,7463,1.28,221.1,152.5,10.4,355,7468,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2201,1635
$GC,7780,1.28,221.1,120.4,9.5,370,7784,0.00,2.53,0.00,0.000,4,0.000,0.074,2956,797,1635
$GC,7808,1.28,221.1,117.8,9.0,371,7812,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2200,1634
$GC,8126,1.28,221.1,89.3,9.7,386,8131,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,791,1634
$GC,8171,1.28,221.1,84.9,9.2,388,8176,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2206,1634
$GC,8494,1.28,221.1,57.3,8.0,404,8498,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,788,1633
$GC,8606,1.28,221.1,46.7,8.6,409,8610,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2205,1633
$GC,8928,1.28,221.1,20.1,8.0,425,8932,0.00,2.53,0.00,0.000,4,0.000,0.074,2956,796,1632
$GC,8972,1.28,221.1,15.8,8.9,427,8977,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2203,1632
$STATE,9148,end climb,SURFACE_DEPTH_REACHED
$STATE,9148,begin surface coast
$FINISH,0.7,1.026956
$STATE,9169,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9195,45.53,0.739,0,0,1315,300.00
$SM_GC,1.59,0.00,0.00,45.53,0.000,0.000,0.739,373,1598,1315,-10.59,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1968
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,377.1,59.0
$24V_AH,23.5,22.559
$10V_AH,10.1,12.900
$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,25.350,106.925,315.850,45.525,0.000,37.760,28.333,163.622,2.750,0.000,0.000,14.964,875.998,6660.429,455.435,1139.265,463.224,0.000,1058.916,0.000,1111.400,0.000,20.152,0.000
$DEVICE_MAMPS,180.245,108.914,1054.625,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.953,296.497,349.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22284,437
$CAP_FILE_SIZE,76917,0
$CFSIZE,254472192,243843072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,250908,143707,6435.957,-1123.558,36,0.9,41,-11.7