version: 66.04
glider: 14
mission: 6
dive: 156
start: 9 26 108 20 7 16
data:
$ID,14
$MISSION,6
$DIVE,156
$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,-653019.81
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,195811,6429.522,-1135.938,8,3.7,27,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.4
$GPS2,200656,6429.605,-1135.239,39,2.0,39,-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,259.5,12739,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-80.62,0.000,2,0.000,0.000,383,1636,3018
$GC,106,-1.16,-146.6,5.5,-7.2,4,128,11.48,2.42,-2.47,0.000,4,0.183,0.081,2412,2979,3142
$GC,169,-1.16,-146.6,19.0,-8.0,6,176,0.00,2.38,0.00,0.000,6,0.000,0.061,2412,1609,3143
$GC,486,-1.16,-146.6,55.5,-10.8,22,490,0.00,2.55,0.00,0.000,4,0.000,0.083,2412,212,3145
$GC,536,-1.16,-146.6,62.8,-15.6,24,540,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1611,3144
$GC,853,-1.16,-146.6,99.2,-9.5,39,857,0.00,2.42,0.00,0.000,4,0.000,0.070,2412,2982,3145
$GC,910,-1.16,-146.6,105.4,-10.9,41,916,0.00,2.40,0.00,0.000,6,0.000,0.063,2412,1599,3146
$GC,1228,-1.16,-146.6,140.5,-10.7,57,1232,0.00,2.53,0.00,0.000,4,0.000,0.082,2412,212,3147
$GC,1307,-1.16,-146.6,149.8,-11.2,60,1318,0.00,2.33,0.00,0.000,6,0.000,0.054,2412,1604,3147
$GC,1624,-1.16,-146.6,183.2,-10.4,76,1629,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,212,3149
$GC,1733,-1.16,-146.6,194.4,-9.9,81,1737,0.00,2.33,0.00,0.000,6,0.000,0.055,2412,1602,3148
$GC,2066,-1.16,-146.6,228.4,-10.3,97,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3149
$GC,2375,-1.16,-146.6,260.1,-10.2,112,2379,0.00,2.55,0.00,0.000,4,0.000,0.083,2412,213,3149
$GC,2443,-1.16,-146.6,267.8,-11.6,115,2447,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1597,3149
$GC,2766,-1.16,-146.6,301.8,-10.8,131,2771,0.00,2.58,0.00,0.000,4,0.000,0.084,2412,205,3149
$GC,2807,-1.16,-146.6,306.5,-11.5,133,2811,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1601,3150
$GC,3140,-1.16,-146.6,342.6,-10.5,149,3144,0.00,2.55,0.00,0.000,4,0.000,0.085,2412,212,3149
$GC,3181,-1.16,-146.6,347.0,-11.4,151,3185,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1601,3149
$GC,3508,-1.16,-146.6,380.6,-9.4,167,3512,0.00,2.55,0.00,0.000,4,0.000,0.086,2412,214,3149
$GC,3576,-1.16,-146.6,388.1,-10.8,170,3580,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1598,3149
$GC,3898,-1.16,-146.6,421.8,-10.3,186,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1599,3149
$STATE,3914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3915,begin apogee
$GC,3924,-0.32,0.0,424.0,10.0,187,4064,0.95,0.00,131.52,1.038,6,0.125,0.000,2600,2196,2538
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4069,1.16,146.6,429.9,0.0,194,4199,1.55,2.83,121.55,1.012,4,0.086,0.110,2928,3605,1940
$GC,4355,1.25,201.4,415.0,5.9,207,4406,0.00,2.53,45.70,0.986,6,0.000,0.070,2928,2195,1717
$GC,4722,1.25,203.1,386.2,7.9,224,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2195,1714
$GC,5026,1.25,203.1,357.1,9.7,239,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2195,1713
$GC,5336,1.25,203.1,328.7,9.2,254,5340,0.00,2.58,0.00,0.000,4,0.000,0.084,2929,797,1712
$GC,5393,1.25,203.1,323.4,9.3,256,5399,0.00,2.45,0.00,0.000,6,0.000,0.056,2928,2216,1712
$GC,5709,1.25,203.1,295.7,8.6,272,5714,0.00,2.60,0.00,0.000,4,0.000,0.078,2928,789,1711
$GC,5783,1.25,203.1,289.2,9.0,275,5787,0.00,2.45,0.00,0.000,6,0.000,0.056,2928,2210,1711
$GC,6100,1.27,210.5,264.2,7.7,290,6114,0.10,2.62,7.95,0.844,4,0.074,0.077,2956,801,1679
$GC,6212,1.27,210.5,253.5,10.5,295,6216,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2200,1678
$GC,6545,1.27,210.5,222.5,9.2,311,6549,0.00,2.58,0.00,0.000,4,0.000,0.076,2956,789,1678
$GC,6590,1.27,210.5,218.2,9.5,313,6594,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2209,1677
$GC,6912,1.27,214.5,191.7,7.8,329,6921,0.00,2.58,4.35,0.665,4,0.000,0.075,2956,793,1664
$GC,7007,1.27,214.5,183.7,8.2,333,7012,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2201,1664
$GC,7330,1.27,214.5,158.2,8.6,349,7334,0.00,2.55,0.00,0.000,4,0.000,0.076,2956,796,1665
$GC,7476,1.27,214.5,144.6,9.3,355,7482,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2207,1664
$GC,7794,1.27,214.5,117.5,9.9,371,7799,0.00,2.55,0.00,0.000,4,0.000,0.076,2956,792,1664
$GC,7817,1.27,214.5,114.6,11.3,372,7822,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2211,1664
$GC,8140,1.33,252.8,86.9,6.5,388,8177,0.00,2.65,31.48,0.818,4,0.000,0.092,2956,3595,1507
$GC,8295,1.42,304.5,76.6,6.0,394,8342,0.12,2.45,41.78,0.799,6,0.069,0.063,2991,2196,1297
$GC,8665,1.42,304.5,35.1,9.8,412,8669,0.00,2.58,0.00,0.000,4,0.000,0.084,2991,3596,1294
$GC,8728,1.42,304.5,27.7,10.7,415,8733,0.00,2.45,0.00,0.000,6,0.000,0.063,2991,2203,1294
$STATE,8928,end climb,SURFACE_DEPTH_REACHED
$STATE,8928,begin surface coast
$FINISH,0.5,1.011740
$STATE,8950,end surface coast,CONTROL_FINISHED_OK
$STATE,8950,begin surface
$SM_CCo,9037,0.00,0.000,0,0,1291,305.89
$SM_GC,1.38,11.48,0.00,0.00,0.057,0.000,0.000,378,1602,1291,-10.51,0.06,305.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1947
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,402.0,31.8
$24V_AH,23.6,23.902
$10V_AH,10.1,13.513
$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,25.675,96.725,384.325,0.000,0.000,75.518,54.052,183.952,3.250,0.000,0.000,40.727,844.851,6545.337,470.693,1143.671,563.131,0.000,1072.133,0.000,1087.426,0.000,21.695,0.000
$DEVICE_MAMPS,182.546,110.448,1037.751,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.688,288.094,328.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22205,426
$CAP_FILE_SIZE,75813,0
$CFSIZE,254472192,243400704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,260908,223928,6428.703,-1134.045,35,2.5,54,-11.8