version: 66.04
glider: 14
mission: 6
dive: 145
start: 9 25 108 14 42 26
data:
$ID,14
$MISSION,6
$DIVE,145
$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,-652812.38
$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,22
$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
$GPS1,143707,6435.957,-1123.558,36,0.9,41,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.1
$GPS2,144202,6435.946,-1123.618,9,0.9,14,-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,243.5,26806,-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,-60.42,0.000,2,0.000,0.000,373,1595,2658
$GC,83,-1.16,-146.6,4.1,-5.7,3,110,11.50,0.00,-12.70,0.000,6,0.181,0.000,2415,1595,3138
$GC,416,-1.16,-146.6,51.2,-13.4,19,421,0.00,2.53,0.00,0.000,4,0.000,0.081,2416,210,3140
$GC,580,-1.16,-146.6,73.0,-10.5,26,584,0.00,2.38,0.00,0.000,6,0.000,0.054,2415,1624,3141
$GC,897,-1.16,-146.6,107.9,-11.3,41,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1628,3144
$GC,1206,-1.16,-146.6,140.0,-10.7,56,1210,0.00,2.58,0.00,0.000,4,0.000,0.079,2415,203,3145
$GC,1273,-1.16,-146.6,147.8,-11.9,59,1278,0.00,2.35,0.00,0.000,6,0.000,0.054,2415,1602,3146
$GC,1595,-1.16,-146.6,184.6,-12.0,75,1599,0.00,2.53,0.00,0.000,4,0.000,0.080,2416,209,3148
$GC,1652,-1.16,-146.6,191.7,-12.6,77,1658,0.00,2.35,0.00,0.000,6,0.000,0.054,2416,1605,3148
$GC,1969,-1.16,-146.6,224.7,-9.2,93,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1605,3147
$GC,2278,-1.16,-146.6,254.1,-9.4,108,2282,0.00,2.55,0.00,0.000,4,0.000,0.082,2416,212,3148
$GC,2341,-1.16,-146.6,260.5,-10.7,111,2345,0.00,2.35,0.00,0.000,6,0.000,0.055,2415,1597,3148
$GC,2668,-1.16,-146.6,290.9,-8.7,127,2672,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,212,3148
$GC,2753,-1.16,-146.6,299.3,-9.9,131,2758,0.00,2.38,0.00,0.000,6,0.000,0.056,2415,1605,3148
$GC,3086,-1.16,-146.6,334.8,-10.5,147,3091,0.00,2.58,0.00,0.000,4,0.000,0.085,2415,212,3148
$GC,3143,-1.16,-146.6,341.4,-11.4,149,3149,0.00,2.38,0.00,0.000,6,0.000,0.056,2416,1600,3148
$GC,3459,-1.16,-146.6,374.5,-10.5,165,3464,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,212,3148
$GC,3521,-1.16,-146.6,381.6,-11.5,167,3527,0.00,2.38,0.00,0.000,6,0.000,0.055,2415,1602,3148
$GC,3837,-1.16,-146.6,413.8,-9.9,183,3842,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,212,3147
$GC,3927,-1.16,-146.6,423.7,-11.3,187,3932,0.00,2.38,0.00,0.000,6,0.000,0.055,2415,1599,3147
$STATE,3978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3978,begin apogee
$GC,3988,-0.32,0.0,429.4,10.7,190,4125,0.93,0.00,128.18,0.930,6,0.117,0.000,2601,2196,2539
$STATE,4125,end apogee,CONTROL_FINISHED_OK
$STATE,4125,begin climb
$GC,4129,1.16,146.6,435.3,0.0,197,4257,1.52,2.83,118.38,0.892,4,0.084,0.108,2925,3593,1940
$GC,4347,1.22,182.9,425.6,6.6,207,4383,0.00,2.50,30.25,0.996,6,0.000,0.067,2925,2197,1793
$GC,4697,1.23,190.0,398.6,7.7,223,4711,0.00,2.67,7.10,0.861,4,0.000,0.084,2925,799,1764
$GC,4791,1.23,190.0,390.2,8.6,227,4796,0.00,2.45,0.00,0.000,6,0.000,0.055,2925,2212,1763
$GC,5113,1.23,190.0,364.5,8.1,243,5117,0.00,2.60,0.00,0.000,4,0.000,0.077,2925,794,1762
$GC,5209,1.23,190.0,356.4,8.3,247,5213,0.00,2.45,0.00,0.000,6,0.000,0.056,2925,2201,1761
$GC,5525,1.23,190.0,330.3,8.4,262,5529,0.00,2.58,0.00,0.000,4,0.000,0.075,2925,793,1761
$GC,5575,1.23,190.0,325.8,9.2,264,5579,0.00,2.45,0.00,0.000,6,0.000,0.056,2925,2200,1761
$GC,5892,1.23,190.0,299.7,8.3,279,5896,0.00,2.55,0.00,0.000,4,0.000,0.076,2925,795,1760
$GC,5999,1.23,190.0,289.9,9.6,283,6005,0.00,2.45,0.00,0.000,6,0.000,0.056,2925,2204,1760
$GC,6315,1.23,190.0,263.6,8.0,299,6319,0.00,2.58,0.00,0.000,4,0.000,0.074,2925,790,1760
$GC,6429,1.23,190.0,254.5,8.2,304,6433,0.00,2.45,0.00,0.000,6,0.000,0.056,2925,2201,1759
$GC,6750,1.26,208.9,231.1,7.3,320,6773,0.12,2.60,16.02,0.853,4,0.071,0.074,2959,796,1686
$GC,6859,1.26,208.9,221.3,9.1,324,6865,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2202,1686
$GC,7175,1.26,208.9,192.5,8.8,340,7179,0.00,2.55,0.00,0.000,4,0.000,0.076,2959,792,1685
$GC,7248,1.26,208.9,185.8,9.1,343,7252,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2205,1685
$GC,7564,1.26,208.9,158.2,9.1,358,7568,0.00,2.58,0.00,0.000,4,0.000,0.075,2959,787,1684
$GC,7643,1.26,208.9,150.1,10.5,361,7647,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2200,1684
$GC,7961,1.26,208.9,120.8,8.8,376,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2201,1683
$GC,8269,1.26,208.9,93.8,8.6,391,8274,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,792,1684
$GC,8360,1.26,208.9,85.5,9.0,395,8364,0.00,2.42,0.00,0.000,6,0.000,0.057,2958,2205,1684
$GC,8688,1.27,213.8,59.2,7.8,411,8698,0.00,2.58,4.93,0.632,4,0.000,0.075,2959,792,1666
$GC,8805,1.27,213.8,49.7,8.4,416,8810,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2205,1667
$GC,9124,1.28,218.0,25.7,7.8,431,9134,0.00,2.55,4.88,0.611,4,0.000,0.073,2959,793,1650
$GC,9196,1.28,218.0,19.4,9.3,434,9201,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2210,1649
$STATE,9406,end climb,SURFACE_DEPTH_REACHED
$STATE,9407,begin surface coast
$FINISH,0.7,1.007652
$STATE,9428,end surface coast,CONTROL_FINISHED_OK
$STATE,9429,begin surface
$SM_CCo,9454,52.62,0.724,1,0,1316,300.00
$SM_GC,1.81,0.00,0.00,52.62,0.000,0.000,0.724,379,1593,1316,-10.56,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1963
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.2,36.1
$24V_AH,23.6,22.660
$10V_AH,10.1,12.953
$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,25.475,102.125,309.725,52.625,0.000,37.760,33.690,108.857,3.000,0.000,0.000,16.076,895.360,6854.085,466.249,1185.181,420.380,0.000,1083.841,0.000,1157.567,0.000,24.532,0.000
$DEVICE_MAMPS,181.012,108.147,995.566,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.298,301.905,352.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22249,445
$CAP_FILE_SIZE,77529,0
$CFSIZE,254472192,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,250908,172207,6435.241,-1124.828,25,1.4,25,-11.7