version: 66.04
glider: 14
mission: 6
dive: 149
start: 9 26 108 1 21 27
data:
$ID,14
$MISSION,6
$DIVE,149
$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,-652873.44
$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,26
$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
$GPS1,011609,6430.491,-1129.226,11,1.8,11,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.3
$GPS2,012103,6430.435,-1129.262,12,1.7,12,-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,260.8,17744,-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,-60.47,0.000,2,0.000,0.000,381,1595,2630
$GC,83,-1.16,-146.6,3.3,-4.4,3,115,11.50,2.53,-14.25,0.000,4,0.183,0.094,2415,211,3138
$GC,230,-1.16,-146.6,24.2,-14.3,9,237,0.00,2.38,0.00,0.000,6,0.000,0.054,2415,1630,3139
$GC,548,-1.16,-146.6,63.6,-11.7,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1634,3140
$GC,856,-1.16,-146.6,95.7,-9.9,40,861,0.00,2.58,0.00,0.000,4,0.000,0.078,2415,216,3143
$GC,988,-1.16,-146.6,109.8,-10.6,46,992,0.00,2.33,0.00,0.000,6,0.000,0.054,2415,1604,3144
$GC,1317,-1.16,-146.6,144.1,-10.7,62,1321,0.00,2.55,0.00,0.000,4,0.000,0.079,2415,209,3146
$GC,1384,-1.16,-146.6,152.0,-10.6,65,1388,0.00,2.35,0.00,0.000,6,0.000,0.054,2415,1604,3146
$GC,1706,-1.16,-146.6,183.0,-9.7,81,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1608,3147
$GC,2015,-1.16,-146.6,220.6,-12.7,96,2019,0.00,2.55,0.00,0.000,4,0.000,0.082,2415,212,3147
$GC,2145,-1.16,-146.6,238.4,-13.7,102,2149,0.00,2.35,0.00,0.000,6,0.000,0.056,2415,1598,3148
$GC,2473,-1.16,-146.6,276.2,-10.9,118,2478,0.00,2.50,0.00,0.000,4,0.000,0.080,2415,2988,3148
$GC,2515,-1.16,-146.6,280.7,-10.4,120,2519,0.00,2.42,0.00,0.000,6,0.000,0.064,2415,1596,3148
$GC,2843,-1.16,-146.6,314.3,-10.1,136,2847,0.00,2.55,0.00,0.000,4,0.000,0.089,2415,211,3148
$GC,2915,-1.16,-146.6,322.4,-11.0,139,2920,0.00,2.38,0.00,0.000,6,0.000,0.055,2415,1612,3147
$GC,3232,-1.16,-146.6,354.0,-9.9,154,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1614,3147
$GC,3541,-1.16,-146.6,385.1,-10.4,169,3545,0.00,2.58,0.00,0.000,4,0.000,0.086,2415,220,3147
$GC,3642,-1.16,-146.6,396.3,-11.7,173,3648,0.00,2.35,0.00,0.000,6,0.000,0.056,2415,1595,3147
$STATE,3914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3914,begin apogee
$GC,3923,-0.32,0.0,424.7,10.0,187,4062,0.93,0.00,130.75,1.058,6,0.120,0.000,2599,2196,2539
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4067,1.16,146.6,430.2,0.0,194,4196,1.55,2.83,120.57,1.031,4,0.086,0.110,2926,3599,1941
$GC,4302,1.16,146.6,418.5,8.1,205,4307,0.00,2.50,0.00,0.000,6,0.000,0.067,2926,2200,1938
$GC,4631,1.22,182.0,395.3,6.7,221,4665,0.00,2.65,29.55,0.999,4,0.000,0.081,2926,801,1796
$GC,4718,1.23,186.1,388.7,7.8,225,4728,0.00,2.42,4.85,0.740,6,0.000,0.055,2924,2203,1780
$GC,5046,1.25,201.0,364.3,7.4,241,5067,0.00,2.62,13.73,0.953,4,0.000,0.074,2926,789,1718
$GC,5147,1.25,201.0,356.1,8.5,245,5151,0.00,2.47,0.00,0.000,6,0.000,0.056,2926,2201,1718
$GC,5463,1.25,201.7,332.2,8.0,260,5468,0.00,2.55,0.00,0.000,4,0.000,0.074,2926,792,1717
$GC,5522,1.27,215.9,327.4,7.5,262,5542,0.12,2.47,13.85,0.955,6,0.071,0.057,2959,2213,1657
$GC,5859,1.27,215.9,295.8,9.4,279,5863,0.00,2.58,0.00,0.000,4,0.000,0.073,2959,796,1655
$GC,5932,1.27,215.9,288.4,10.6,282,5936,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2201,1655
$GC,6254,1.27,215.9,258.9,9.3,298,6258,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,788,1654
$GC,6304,1.27,215.9,253.9,9.5,300,6308,0.00,2.47,0.00,0.000,6,0.000,0.057,2959,2209,1654
$GC,6621,1.27,215.9,225.5,9.1,315,6625,0.00,2.55,0.00,0.000,4,0.000,0.073,2959,797,1654
$GC,6672,1.27,215.9,220.5,10.0,317,6676,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2207,1654
$GC,6993,1.27,215.9,190.9,9.6,333,6997,0.00,2.58,0.00,0.000,4,0.000,0.074,2959,790,1653
$GC,7101,1.27,215.9,179.6,10.2,338,7105,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2205,1652
$GC,7435,1.27,215.9,147.9,9.8,354,7439,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,797,1652
$GC,7468,1.27,215.9,144.2,10.2,355,7475,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2209,1651
$GC,7785,1.27,215.9,115.0,8.8,371,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2208,1650
$GC,8094,1.27,215.9,85.8,10.3,386,8098,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,793,1650
$GC,8161,1.27,215.9,78.4,11.0,389,8165,0.00,2.42,0.00,0.000,6,0.000,0.056,2959,2200,1650
$GC,8483,1.27,215.9,48.5,9.1,405,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2200,1649
$GC,8792,1.29,224.6,23.7,7.7,420,8806,0.00,2.60,6.90,0.683,4,0.000,0.074,2959,789,1622
$GC,8884,1.30,232.9,16.5,7.7,424,8898,0.00,2.45,8.27,0.693,6,0.000,0.057,2959,2205,1588
$STATE,9070,end climb,SURFACE_DEPTH_REACHED
$STATE,9070,begin surface coast
$FINISH,0.7,1.026993
$STATE,9090,end surface coast,CONTROL_FINISHED_OK
$STATE,9090,begin surface
$SM_CCo,9117,42.85,0.701,2,0,1316,300.00
$SM_GC,1.62,0.00,0.00,42.85,0.000,0.000,0.701,379,1594,1316,-10.56,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1943
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.9,82.2
$24V_AH,23.5,23.095
$10V_AH,10.1,13.154
$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,25.525,92.175,328.475,42.850,0.000,37.759,31.045,112.141,2.500,0.000,0.000,14.086,864.225,6615.206,467.501,1118.958,412.306,0.000,1054.575,0.000,1096.155,0.000,21.443,0.000
$DEVICE_MAMPS,183.313,110.448,1057.693,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.634,294.477,350.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22268,434
$CAP_FILE_SIZE,73126,0
$CFSIZE,254472192,243662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,3,0
$GPS,260908,035537,6429.852,-1132.267,36,1.1,36,-11.8