version: 66.04
glider: 14
mission: 6
dive: 150
start: 9 26 108 4 0 56
data:
$ID,14
$MISSION,6
$DIVE,150
$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,-652889.75
$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
$GPS1,035537,6429.852,-1132.267,36,1.1,36,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.6
$GPS2,040032,6429.872,-1132.322,9,1.7,14,-11.8
$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,261.2,15090,-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,-60.55,0.000,2,0.000,0.000,380,1590,2634
$GC,83,-1.16,-146.6,3.4,-4.6,3,115,11.50,2.50,-14.30,0.000,4,0.181,0.092,2415,215,3138
$GC,279,-1.16,-146.6,31.9,-14.6,12,283,0.00,2.38,0.00,0.000,6,0.000,0.054,2415,1621,3138
$GC,607,-1.16,-146.6,75.5,-12.9,28,612,0.00,2.58,0.00,0.000,4,0.000,0.077,2415,206,3140
$GC,832,-1.16,-146.6,103.0,-11.5,38,836,0.00,2.38,0.00,0.000,6,0.000,0.054,2415,1613,3142
$GC,1156,-1.16,-146.6,137.3,-10.8,54,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1617,3144
$GC,1463,-1.16,-146.6,167.7,-9.4,69,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1617,3145
$GC,1772,-1.16,-146.6,197.7,-10.3,84,1776,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,212,3146
$GC,1835,-1.16,-146.6,204.7,-10.6,87,1839,0.00,2.35,0.00,0.000,6,0.000,0.055,2415,1597,3146
$GC,2162,-1.16,-146.6,239.3,-10.4,103,2166,0.00,2.55,0.00,0.000,4,0.000,0.082,2413,212,3146
$GC,2274,-1.16,-146.6,251.3,-10.8,108,2279,0.00,2.38,0.00,0.000,6,0.000,0.055,2415,1605,3147
$GC,2596,-1.16,-146.6,282.6,-10.0,124,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1609,3147
$GC,2906,-1.16,-146.6,315.7,-10.9,139,2910,0.00,2.58,0.00,0.000,4,0.000,0.084,2415,213,3147
$GC,2979,-1.16,-146.6,324.2,-11.6,142,2984,0.00,2.38,0.00,0.000,6,0.000,0.056,2415,1600,3147
$GC,3301,-1.16,-146.6,359.8,-10.9,158,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3147
$GC,3610,-1.16,-146.6,393.4,-10.5,173,3615,0.00,2.55,0.00,0.000,4,0.000,0.085,2414,214,3147
$GC,3651,-1.16,-146.6,398.0,-11.3,175,3655,0.00,2.38,0.00,0.000,6,0.000,0.056,2415,1598,3147
$STATE,3933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3933,begin apogee
$GC,3943,-0.32,0.0,427.7,10.1,189,4079,0.93,0.00,127.93,0.933,6,0.121,0.000,2599,2194,2539
$STATE,4080,end apogee,CONTROL_FINISHED_OK
$STATE,4080,begin climb
$GC,4084,1.16,146.6,433.7,0.0,196,4212,1.55,2.65,118.97,0.890,4,0.086,0.074,2927,792,1940
$GC,4460,1.23,189.4,417.3,6.4,213,4501,0.00,2.47,35.58,1.007,6,0.000,0.058,2926,2200,1766
$GC,4827,1.27,210.7,391.5,7.2,231,4852,0.12,2.62,18.70,0.979,4,0.069,0.074,2960,801,1680
$GC,4957,1.27,210.7,379.7,8.8,236,4964,0.00,2.47,0.00,0.000,6,0.000,0.058,2960,2209,1679
$GC,5274,1.27,210.7,353.2,8.1,252,5278,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,793,1678
$GC,5324,1.27,210.7,348.2,10.6,254,5328,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2201,1677
$GC,5641,1.27,210.7,318.0,9.5,269,5644,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,796,1677
$GC,5714,1.27,210.7,310.6,9.0,272,5718,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2201,1676
$GC,6035,1.27,210.7,283.4,8.3,288,6039,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,795,1676
$GC,6103,1.27,210.7,277.4,8.7,291,6107,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2206,1676
$GC,6430,1.27,210.7,250.6,8.4,307,6434,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,787,1675
$GC,6497,1.27,210.7,244.4,9.3,310,6501,0.00,2.47,0.00,0.000,6,0.000,0.057,2960,2210,1675
$GC,6819,1.27,210.7,216.6,8.9,326,6823,0.00,2.58,0.00,0.000,4,0.000,0.073,2960,788,1675
$GC,6921,1.27,210.7,206.4,11.0,330,6925,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2200,1674
$GC,7243,1.27,210.7,175.0,9.8,346,7248,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,791,1674
$GC,7316,1.27,210.7,167.4,10.0,349,7321,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2204,1674
$GC,7633,1.27,210.7,137.4,9.7,364,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2204,1673
$GC,7943,1.27,210.7,108.9,8.9,379,7947,0.00,2.58,0.00,0.000,4,0.000,0.076,2960,788,1673
$GC,8032,1.27,210.7,100.2,9.7,383,8037,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2201,1672
$GC,8356,1.29,225.4,71.9,7.4,399,8373,0.00,0.00,11.88,0.791,6,0.000,0.000,2960,2201,1620
$GC,8686,1.29,225.4,46.1,8.2,415,8690,0.00,2.55,0.00,0.000,4,0.000,0.076,2960,789,1618
$GC,8854,1.29,225.4,31.3,8.3,422,8861,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2201,1618
$GC,9171,1.29,225.4,4.8,9.1,438,9175,0.00,2.53,0.00,0.000,4,0.000,0.075,2960,794,1618
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,0.9,1.027063
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9251,47.55,0.705,2,0,1315,300.00
$SM_GC,1.63,0.00,0.00,47.55,0.000,0.000,0.705,379,1636,1315,-10.56,0.99,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1941
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.0,34.7
$24V_AH,23.6,23.197
$10V_AH,10.1,13.205
$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,25.500,84.850,313.050,47.550,0.000,37.761,26.535,115.779,3.000,0.000,0.000,15.657,873.630,6680.966,456.922,1192.597,414.435,0.000,1063.898,0.000,1163.496,0.000,24.524,0.000
$DEVICE_MAMPS,181.012,92.040,1007.071,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.026,298.486,347.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22246,440
$CAP_FILE_SIZE,72880,0
$CFSIZE,254472192,243625984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,3,0
$GPS,260908,063731,6430.386,-1132.825,36,1.1,41,-11.8