version: 66.04
glider: 14
mission: 6
dive: 147
start: 9 25 108 20 10 5
data:
$ID,14
$MISSION,6
$DIVE,147
$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,-652840.81
$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,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
$GPS1,200138,6434.329,-1124.637,30,1.1,30,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.0
$GPS2,200944,6434.308,-1124.499,11,1.0,11,-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,248.1,24456,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.38,0.000,2,0.000,0.000,375,1595,2668
$GC,86,-1.16,-146.6,3.7,-5.2,3,117,11.45,2.55,-12.35,0.000,4,0.179,0.094,2412,221,3139
$GC,191,-1.16,-146.6,20.1,-14.5,7,197,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1620,3140
$GC,507,-1.16,-146.6,63.3,-12.6,23,512,0.00,2.58,0.00,0.000,4,0.000,0.077,2412,204,3141
$GC,575,-1.16,-146.6,72.1,-12.0,26,579,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1605,3142
$GC,898,-1.16,-146.6,106.1,-11.5,42,902,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,207,3145
$GC,1021,-1.16,-146.6,122.1,-12.9,47,1028,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1603,3145
$GC,1338,-1.16,-146.6,157.2,-11.0,63,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3147
$GC,1647,-1.16,-146.6,189.5,-10.3,78,1651,0.00,2.55,0.00,0.000,4,0.000,0.081,2412,203,3148
$GC,1687,-1.16,-146.6,193.9,-11.2,80,1691,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1606,3148
$GC,2015,-1.16,-146.6,230.1,-11.1,96,2019,0.00,2.58,0.00,0.000,4,0.000,0.081,2412,202,3148
$GC,2042,-1.16,-146.6,233.7,-12.4,97,2046,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1604,3148
$GC,2359,-1.16,-146.6,267.2,-10.2,112,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3148
$GC,2668,-1.16,-146.6,298.7,-10.3,127,2673,0.00,2.58,0.00,0.000,4,0.000,0.084,2412,212,3148
$GC,2770,-1.16,-146.6,310.4,-12.0,131,2776,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1603,3148
$GC,3086,-1.16,-146.6,344.1,-10.3,147,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3148
$GC,3398,-1.16,-146.6,375.9,-10.3,162,3402,0.00,2.58,0.00,0.000,4,0.000,0.085,2412,212,3148
$GC,3438,-1.16,-146.6,380.6,-10.9,163,3444,0.00,2.38,0.00,0.000,6,0.000,0.055,2412,1602,3148
$GC,3754,-1.16,-146.6,413.6,-11.0,179,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3147
$STATE,3874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3875,begin apogee
$GC,3884,-0.32,0.0,426.7,10.7,185,4021,0.95,0.00,128.43,0.930,6,0.123,0.000,2601,2193,2539
$STATE,4022,end apogee,CONTROL_FINISHED_OK
$STATE,4022,begin climb
$GC,4026,1.16,146.6,430.3,0.0,192,4154,1.52,2.83,118.80,0.894,4,0.084,0.108,2925,3592,1940
$GC,4244,1.24,191.6,424.0,6.3,202,4286,0.00,2.50,37.55,1.003,6,0.000,0.068,2925,2196,1757
$GC,4596,1.27,213.5,399.9,7.2,219,4621,0.12,2.65,19.00,0.980,4,0.070,0.081,2960,805,1668
$GC,4656,1.27,213.5,394.4,10.2,221,4662,0.00,2.45,0.00,0.000,6,0.000,0.055,2958,2213,1668
$GC,4972,1.27,213.5,366.0,8.9,237,4976,0.00,2.60,0.00,0.000,4,0.000,0.077,2960,797,1667
$GC,5023,1.27,213.5,361.2,9.0,239,5027,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2200,1667
$GC,5339,1.27,213.5,334.5,8.5,254,5343,0.00,2.58,0.00,0.000,4,0.000,0.075,2960,792,1666
$GC,5396,1.27,213.5,329.1,10.2,256,5403,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2206,1666
$GC,5713,1.27,213.5,299.5,9.4,272,5717,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,793,1664
$GC,5808,1.27,213.5,289.8,9.8,276,5813,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2210,1664
$GC,6125,1.27,213.5,260.5,9.0,291,6129,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,796,1664
$GC,6176,1.27,213.5,255.7,9.0,293,6180,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2209,1664
$GC,6492,1.27,213.5,226.7,9.3,308,6496,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,790,1663
$GC,6565,1.27,213.5,219.6,9.5,311,6569,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2204,1663
$GC,6882,1.27,213.5,190.9,9.2,326,6886,0.00,2.58,0.00,0.000,4,0.000,0.075,2960,788,1662
$GC,6922,1.27,213.5,187.0,10.3,328,6926,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2203,1663
$GC,7249,1.32,246.2,162.1,6.8,344,7281,0.00,2.62,26.20,0.812,4,0.000,0.074,2960,794,1534
$GC,7349,1.36,269.2,155.1,7.1,348,7376,0.00,2.45,19.17,0.785,6,0.000,0.056,2960,2201,1441
$GC,7687,1.40,293.0,131.3,7.1,365,7713,0.00,2.62,20.48,0.863,4,0.000,0.077,2960,793,1343
$GC,7798,1.40,293.0,122.5,8.6,370,7802,0.00,2.47,0.00,0.000,6,0.000,0.057,2960,2209,1341
$GC,8121,1.40,293.0,93.2,10.1,386,8126,0.00,2.58,0.00,0.000,4,0.000,0.076,2960,796,1340
$GC,8185,1.40,293.0,86.3,10.9,389,8189,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2207,1339
$GC,8514,1.40,293.0,53.9,9.5,405,8518,0.00,2.55,0.00,0.000,4,0.000,0.076,2960,793,1338
$GC,8548,1.40,293.0,50.1,9.9,406,8554,0.00,2.42,0.00,0.000,6,0.000,0.057,2959,2200,1338
$GC,8866,1.40,293.0,19.4,10.2,422,8870,0.00,2.55,0.00,0.000,4,0.000,0.076,2960,792,1338
$GC,8952,1.40,293.0,10.6,11.6,426,8956,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2199,1338
$STATE,9049,end climb,SURFACE_DEPTH_REACHED
$STATE,9049,begin surface coast
$FINISH,0.7,1.013670
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9071,begin surface
$SM_CCo,9098,3.95,0.536,0,0,1316,300.00
$SM_GC,2.51,0.00,0.00,3.95,0.000,0.000,0.536,376,1604,1316,-10.58,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1991
$TCM_TEMP,14.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.9,60.2
$24V_AH,23.6,22.876
$10V_AH,10.1,13.055
$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,25.300,102.300,369.625,3.950,0.000,76.756,59.013,170.850,3.000,0.000,0.000,12.939,846.939,6647.459,458.345,1094.708,551.281,0.000,1051.719,0.000,1069.772,0.000,20.143,0.000
$DEVICE_MAMPS,178.711,108.147,1003.236,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.699,292.209,340.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22295,432
$CAP_FILE_SIZE,76372,0
$CFSIZE,254472192,243732480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,250908,224308,6432.455,-1125.892,37,1.6,37,-11.7