version: 66.04
glider: 14
mission: 6
dive: 146
start: 9 25 108 17 27 27
data:
$ID,14
$MISSION,6
$DIVE,146
$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,-652827.25
$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,24
$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
$GPS1,172207,6435.241,-1124.828,25,1.4,25,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-62.6
$GPS2,172703,6435.264,-1124.792,12,1.4,12,-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,244.5,25292,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.35,0.000,2,0.000,0.000,379,1588,2644
$GC,83,-1.16,-146.6,3.4,-3.4,3,114,11.48,2.53,-13.80,0.000,4,0.181,0.093,2411,204,3139
$GC,172,-1.16,-146.6,17.0,-15.3,7,176,0.00,2.40,0.00,0.000,6,0.000,0.054,2412,1626,3140
$GC,500,-1.16,-146.6,60.4,-12.6,23,504,0.00,2.58,0.00,0.000,4,0.000,0.077,2411,207,3141
$GC,601,-1.16,-146.6,74.2,-13.4,27,607,0.00,2.35,0.00,0.000,6,0.000,0.054,2411,1609,3142
$GC,919,-1.16,-146.6,112.0,-12.2,43,923,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,209,3145
$GC,1154,-1.16,-146.6,141.3,-12.3,53,1160,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1612,3146
$GC,1471,-1.16,-146.6,175.8,-11.2,69,1475,0.00,2.55,0.00,0.000,4,0.000,0.080,2411,203,3147
$GC,1505,-1.16,-146.6,179.8,-11.7,70,1511,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1604,3147
$GC,1822,-1.16,-146.6,215.5,-11.8,86,1826,0.00,2.55,0.00,0.000,4,0.000,0.081,2411,207,3148
$GC,1866,-1.16,-146.6,221.3,-12.4,88,1871,0.00,2.35,0.00,0.000,6,0.000,0.055,2411,1596,3148
$GC,2189,-1.16,-146.6,259.5,-11.9,104,2193,0.00,2.55,0.00,0.000,4,0.000,0.083,2411,211,3148
$GC,2274,-1.16,-146.6,269.2,-11.1,108,2278,0.00,2.35,0.00,0.000,6,0.000,0.055,2411,1600,3148
$GC,2604,-1.16,-146.6,301.7,-10.0,124,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3148
$GC,2910,-1.16,-146.6,334.2,-10.4,139,2915,0.00,2.58,0.00,0.000,4,0.000,0.084,2412,209,3148
$GC,2968,-1.16,-146.6,340.5,-11.4,141,2975,0.00,2.38,0.00,0.000,6,0.000,0.055,2411,1602,3148
$GC,3285,-1.16,-146.6,372.2,-10.5,157,3289,0.00,2.58,0.00,0.000,4,0.000,0.084,2411,206,3148
$GC,3326,-1.16,-146.6,376.8,-11.3,159,3330,0.00,2.38,0.00,0.000,6,0.000,0.055,2411,1599,3148
$GC,3653,-1.16,-146.6,409.1,-9.5,175,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1602,3148
$STATE,3794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3794,begin apogee
$GC,3804,-0.32,0.0,424.2,10.4,182,3941,0.95,0.00,128.65,0.929,6,0.114,0.000,2603,2186,2538
$STATE,3942,end apogee,CONTROL_FINISHED_OK
$STATE,3942,begin climb
$GC,3945,1.16,146.6,429.6,0.0,189,4074,1.52,2.88,118.72,0.890,4,0.087,0.111,2926,3599,1940
$GC,4163,1.19,163.1,421.2,7.4,199,4185,0.00,2.50,14.68,0.946,6,0.000,0.067,2926,2199,1873
$GC,4495,1.23,185.4,398.0,7.2,215,4520,0.00,2.70,19.35,0.983,4,0.000,0.084,2926,796,1782
$GC,4555,1.23,185.4,393.3,8.4,217,4562,0.00,2.45,0.00,0.000,6,0.000,0.055,2924,2203,1781
$GC,4872,1.26,207.0,369.3,7.2,233,4897,0.12,2.65,19.02,0.987,4,0.070,0.077,2959,802,1694
$GC,4984,1.26,207.0,359.1,9.5,238,4988,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2201,1693
$GC,5311,1.26,207.0,328.2,9.7,254,5315,0.00,2.55,0.00,0.000,4,0.000,0.076,2959,797,1692
$GC,5367,1.26,207.0,322.5,10.4,256,5373,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2203,1692
$GC,5683,1.26,207.0,293.1,8.7,272,5687,0.00,2.58,0.00,0.000,4,0.000,0.074,2959,790,1691
$GC,5751,1.26,207.0,286.6,9.2,275,5755,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2201,1691
$GC,6073,1.26,207.0,259.0,8.8,291,6077,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,795,1690
$GC,6124,1.26,207.0,254.0,10.2,293,6128,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2209,1690
$GC,6441,1.26,207.0,223.8,9.7,308,6445,0.00,2.58,0.00,0.000,4,0.000,0.074,2959,791,1690
$GC,6537,1.26,207.0,214.3,10.0,312,6542,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2207,1689
$GC,6854,1.26,207.0,188.8,8.1,327,6858,0.00,2.58,0.00,0.000,4,0.000,0.075,2959,790,1689
$GC,6944,1.26,207.0,180.6,8.5,331,6948,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2209,1688
$GC,7266,1.28,221.7,155.4,7.4,347,7284,0.00,0.00,12.32,0.856,6,0.000,0.000,2959,2209,1634
$GC,7596,1.32,244.6,132.3,7.1,363,7621,0.00,2.62,19.67,0.868,4,0.000,0.075,2959,793,1541
$GC,7709,1.32,244.6,123.7,8.2,368,7713,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2200,1540
$GC,8038,1.32,244.6,96.5,9.0,384,8042,0.00,2.58,0.00,0.000,4,0.000,0.077,2959,788,1539
$GC,8111,1.32,244.6,89.6,9.3,387,8115,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2200,1538
$GC,8428,1.32,244.6,61.8,9.7,402,8432,0.00,2.53,0.00,0.000,4,0.000,0.075,2959,795,1537
$GC,8495,1.32,244.6,54.8,9.7,405,8499,0.00,2.42,0.00,0.000,6,0.000,0.057,2959,2198,1537
$GC,8817,1.32,244.6,26.1,8.6,421,8821,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,792,1536
$GC,8862,1.32,244.6,21.9,10.1,423,8866,0.00,2.42,0.00,0.000,6,0.000,0.056,2959,2203,1536
$STATE,9099,end climb,SURFACE_DEPTH_REACHED
$STATE,9099,begin surface coast
$FINISH,0.9,1.015443
$STATE,9119,end surface coast,CONTROL_FINISHED_OK
$STATE,9119,begin surface
$SM_CCo,9146,31.25,0.738,0,0,1316,300.00
$SM_GC,1.71,0.00,0.00,31.25,0.000,0.000,0.738,375,1598,1316,-10.58,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1992
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.3,32.5
$24V_AH,23.6,22.764
$10V_AH,10.1,13.003
$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,25.350,102.125,332.425,31.250,0.000,37.759,27.577,117.833,3.250,0.000,0.000,14.251,868.760,6595.321,462.234,1140.355,420.074,0.000,1062.190,0.000,1109.123,0.000,24.578,0.000
$DEVICE_MAMPS,181.012,111.215,987.129,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.836,295.303,347.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22291,436
$CAP_FILE_SIZE,75443,0
$CFSIZE,254472192,243773440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,250908,200138,6434.329,-1124.637,30,1.1,30,-11.7