version: 66.04
glider: 14
mission: 6
dive: 155
start: 9 26 108 17 21 27
data:
$ID,14
$MISSION,6
$DIVE,155
$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,-652978.44
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,171603,6428.772,-1138.345,90,1.5,90,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-51.1
$GPS2,172103,6428.852,-1138.089,10,1.7,10,-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,262.0,10113,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.70,0.000,2,0.000,0.000,377,1594,2195
$GC,63,-1.16,-146.6,3.0,-5.1,2,116,11.60,0.00,-37.90,0.000,6,0.186,0.000,2416,1596,3138
$GC,418,-1.16,-146.6,49.7,-16.6,19,422,0.00,2.55,0.00,0.000,4,0.000,0.084,2416,210,3139
$GC,491,-1.16,-146.6,60.2,-13.9,22,495,0.00,2.40,0.00,0.000,6,0.000,0.054,2416,1629,3141
$GC,808,-1.16,-146.6,93.0,-10.0,37,812,0.00,2.60,0.00,0.000,4,0.000,0.078,2416,202,3142
$GC,948,-1.16,-146.6,109.8,-12.3,43,952,0.00,2.38,0.00,0.000,6,0.000,0.054,2416,1613,3141
$GC,1265,-1.16,-146.6,147.3,-11.7,58,1269,0.00,2.55,0.00,0.000,4,0.000,0.078,2416,214,3144
$GC,1395,-1.16,-146.6,162.7,-11.5,64,1399,0.00,2.33,0.00,0.000,6,0.000,0.055,2416,1602,3144
$GC,1728,-1.16,-146.6,197.3,-9.6,80,1732,0.00,2.55,0.00,0.000,4,0.000,0.079,2416,212,3145
$GC,1829,-1.16,-146.6,208.2,-11.3,84,1835,0.00,2.35,0.00,0.000,6,0.000,0.055,2415,1602,3145
$GC,2145,-1.16,-146.6,239.4,-10.5,100,2149,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,210,3145
$GC,2203,-1.16,-146.6,245.9,-11.8,102,2209,0.00,2.35,0.00,0.000,6,0.000,0.055,2416,1601,3145
$GC,2521,-1.16,-146.6,278.3,-9.6,118,2526,0.00,2.55,0.00,0.000,4,0.000,0.082,2416,213,3145
$GC,2572,-1.16,-146.6,283.7,-9.8,120,2577,0.00,2.35,0.00,0.000,6,0.000,0.056,2415,1595,3144
$GC,2889,-1.16,-146.6,312.6,-9.1,135,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1599,3145
$GC,3198,-1.16,-146.6,341.4,-9.8,150,3202,0.00,2.58,0.00,0.000,4,0.000,0.085,2416,206,3145
$GC,3254,-1.16,-146.6,347.2,-10.4,152,3260,0.00,2.38,0.00,0.000,6,0.000,0.056,2416,1597,3145
$GC,3570,-1.16,-146.6,377.8,-9.7,168,3575,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,213,3145
$GC,3644,-1.16,-146.6,385.9,-11.3,171,3648,0.00,2.38,0.00,0.000,6,0.000,0.055,2416,1596,3145
$GC,3961,-1.16,-146.6,420.5,-10.6,186,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1601,3146
$STATE,4019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4019,begin apogee
$GC,4028,-0.32,0.0,427.4,11.3,189,4167,0.95,0.00,130.43,1.045,6,0.136,0.000,2600,2198,2539
$STATE,4168,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4172,1.16,146.6,435.2,0.0,196,4301,1.58,2.83,121.25,1.022,4,0.097,0.111,2925,3604,1940
$GC,4521,1.16,146.6,412.8,8.5,212,4526,0.00,2.50,0.00,0.000,6,0.000,0.068,2925,2199,1939
$GC,4849,1.23,186.2,390.0,6.5,228,4891,0.00,2.75,32.83,0.996,4,0.000,0.094,2924,3596,1778
$GC,4920,1.23,186.2,384.8,8.5,231,4924,0.00,2.50,0.00,0.000,6,0.000,0.066,2925,2199,1777
$GC,5242,1.24,194.8,359.5,7.7,247,5256,0.00,2.67,7.97,0.870,4,0.000,0.087,2924,799,1746
$GC,5303,1.24,194.8,354.4,8.6,249,5309,0.00,2.42,0.00,0.000,6,0.000,0.055,2925,2201,1747
$GC,5620,1.25,201.0,329.7,7.8,265,5634,0.10,2.65,6.95,0.840,4,0.074,0.075,2953,789,1719
$GC,5703,1.25,201.0,322.0,9.1,268,5709,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2201,1718
$GC,6019,1.25,201.0,294.0,8.8,284,6023,0.00,2.53,0.00,0.000,4,0.000,0.074,2953,795,1718
$GC,6069,1.25,201.0,289.3,9.2,286,6073,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2203,1718
$GC,6386,1.25,201.0,263.0,8.1,301,6390,0.00,2.58,0.00,0.000,4,0.000,0.074,2953,787,1717
$GC,6454,1.25,201.0,256.9,9.0,304,6458,0.00,2.47,0.00,0.000,6,0.000,0.057,2953,2206,1717
$GC,6775,1.25,201.0,231.1,8.1,320,6780,0.00,2.58,0.00,0.000,4,0.000,0.075,2953,789,1717
$GC,6855,1.25,201.0,224.0,8.8,323,6861,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2201,1717
$GC,7171,1.25,201.0,197.7,8.3,339,7175,0.00,2.55,0.00,0.000,4,0.000,0.076,2953,792,1716
$GC,7221,1.25,201.0,193.2,9.2,341,7226,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2203,1716
$GC,7538,1.25,202.0,167.8,8.0,356,7543,0.00,2.58,0.00,0.000,4,0.000,0.076,2953,786,1715
$GC,7606,1.25,202.0,161.8,9.4,359,7611,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2200,1715
$GC,7929,1.28,219.7,136.9,7.3,375,7951,0.00,2.60,15.98,0.846,4,0.000,0.075,2953,795,1642
$GC,8048,1.29,223.3,127.4,7.9,380,8057,0.00,2.45,4.32,0.633,6,0.000,0.057,2953,2200,1627
$GC,8376,1.29,223.3,94.7,10.8,396,8380,0.00,2.55,0.00,0.000,4,0.000,0.076,2953,795,1627
$GC,8572,1.29,223.3,76.6,9.4,404,8578,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2208,1626
$GC,8888,1.29,223.3,42.5,8.5,420,8893,0.00,2.60,0.00,0.000,4,0.000,0.094,2953,3599,1626
$GC,8922,1.29,223.3,38.7,10.5,421,8929,0.00,2.42,0.00,0.000,6,0.000,0.061,2954,2192,1626
$GC,9239,1.29,223.3,3.0,10.6,437,9243,0.00,2.47,0.00,0.000,4,0.000,0.072,2953,801,1626
$STATE,9247,end climb,SURFACE_DEPTH_REACHED
$STATE,9247,begin surface coast
$FINISH,0.5,1.027204
$STATE,9256,end surface coast,CONTROL_FINISHED_OK
$STATE,9256,begin surface
$SM_CCo,9282,48.90,0.737,0,0,1315,300.00
$SM_GC,1.56,0.00,0.00,48.90,0.000,0.000,0.737,382,1636,1315,-10.55,1.02,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1938
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.1,12.1
$24V_AH,23.5,23.779
$10V_AH,10.1,13.461
$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,25.600,105.250,319.725,48.900,0.000,37.762,26.848,123.751,3.750,0.000,0.000,11.900,882.086,6678.564,477.805,1177.901,429.156,0.000,1098.837,0.000,1149.583,0.000,31.802,0.000
$DEVICE_MAMPS,186.381,111.215,1045.421,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.971,296.371,332.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22248,438
$CAP_FILE_SIZE,77483,0
$CFSIZE,254472192,243441664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,260908,195811,6429.522,-1135.938,8,3.7,27,-11.8