version: 66.04
glider: 14
mission: 6
dive: 151
start: 9 26 108 6 42 55
data:
$ID,14
$MISSION,6
$DIVE,151
$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,-652905.81
$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,24
$R_STBD_OVSHOOT,48
$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
$GPS1,063731,6430.386,-1132.825,36,1.1,41,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.7
$GPS2,064232,6430.458,-1132.801,9,1.3,14,-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,256.8,15158,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.88,0.000,2,0.000,0.000,380,1636,2760
$GC,88,-1.16,-146.6,3.5,-3.4,4,115,11.50,2.40,-9.65,0.000,4,0.181,0.082,2414,2983,3138
$GC,122,-1.16,-146.6,11.2,-18.7,5,128,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1599,3138
$GC,439,-1.16,-146.6,54.6,-13.5,21,443,0.00,2.42,0.00,0.000,4,0.000,0.067,2414,2979,3140
$GC,649,-1.16,-146.6,80.6,-12.5,30,653,0.00,2.38,0.00,0.000,6,0.000,0.061,2413,1601,3141
$GC,973,-1.16,-146.6,116.3,-10.6,46,977,0.00,2.53,0.00,0.000,4,0.000,0.084,2413,214,3145
$GC,1085,-1.16,-146.6,130.1,-11.5,51,1090,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1604,3145
$GC,1407,-1.16,-146.6,163.5,-10.1,67,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3146
$GC,1716,-1.16,-146.6,193.2,-9.3,82,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3147
$GC,2025,-1.16,-146.6,222.4,-10.3,97,2030,0.00,2.55,0.00,0.000,4,0.000,0.084,2414,215,3147
$GC,2088,-1.16,-146.6,229.3,-10.6,100,2093,0.00,2.33,0.00,0.000,6,0.000,0.055,2413,1592,3148
$GC,2417,-1.16,-146.6,264.3,-10.4,116,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1595,3148
$GC,2726,-1.16,-146.6,297.4,-10.9,131,2730,0.00,2.55,0.00,0.000,4,0.000,0.086,2414,212,3148
$GC,2770,-1.16,-146.6,302.8,-11.8,133,2774,0.00,2.35,0.00,0.000,6,0.000,0.055,2414,1600,3148
$GC,3098,-1.16,-146.6,339.8,-11.8,149,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3148
$GC,3407,-1.16,-146.6,373.6,-10.8,164,3411,0.00,2.58,0.00,0.000,4,0.000,0.086,2414,211,3147
$GC,3480,-1.16,-146.6,381.7,-11.3,167,3484,0.00,2.38,0.00,0.000,6,0.000,0.055,2414,1609,3147
$GC,3797,-1.16,-146.6,414.2,-10.4,182,3801,0.00,2.58,0.00,0.000,4,0.000,0.086,2413,212,3146
$GC,3841,-1.16,-146.6,419.3,-11.5,184,3845,0.00,2.38,0.00,0.000,6,0.000,0.055,2414,1608,3146
$STATE,3912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3912,begin apogee
$GC,3922,-0.32,0.0,427.3,10.9,188,4061,0.93,0.00,130.70,1.058,6,0.118,0.000,2599,2185,2539
$STATE,4062,end apogee,CONTROL_FINISHED_OK
$STATE,4062,begin climb
$GC,4065,1.16,146.6,433.9,0.0,195,4194,1.58,2.80,120.82,1.029,4,0.091,0.105,2927,3593,1941
$GC,4301,1.17,152.8,422.7,7.8,206,4314,0.00,2.47,6.53,0.819,6,0.000,0.067,2928,2199,1916
$GC,4633,1.21,177.1,399.8,7.1,222,4656,0.00,0.00,21.42,0.983,6,0.000,0.000,2928,2199,1816
$GC,4962,1.25,199.0,375.8,7.2,238,4988,0.00,2.70,19.10,0.975,4,0.000,0.086,2927,800,1726
$GC,5031,1.25,199.0,370.3,8.6,241,5035,0.00,2.45,0.00,0.000,6,0.000,0.056,2928,2207,1726
$GC,5364,1.30,234.2,346.5,6.7,257,5400,0.15,2.65,29.80,0.993,4,0.067,0.076,2967,791,1583
$GC,5474,1.30,234.2,336.2,9.9,261,5478,0.00,2.47,0.00,0.000,6,0.000,0.056,2967,2203,1582
$GC,5795,1.30,234.2,306.3,9.0,277,5800,0.00,2.55,0.00,0.000,4,0.000,0.076,2967,791,1580
$GC,5842,1.30,234.2,301.9,10.2,279,5846,0.00,2.47,0.00,0.000,6,0.000,0.057,2967,2211,1580
$GC,6164,1.30,234.2,272.3,9.0,295,6168,0.00,2.58,0.00,0.000,4,0.000,0.074,2967,793,1579
$GC,6204,1.30,234.2,268.3,9.8,297,6208,0.00,2.45,0.00,0.000,6,0.000,0.056,2967,2204,1579
$GC,6531,1.30,234.2,238.8,9.0,313,6535,0.00,2.55,0.00,0.000,4,0.000,0.074,2967,789,1579
$GC,6587,1.30,234.2,233.3,8.9,315,6594,0.00,2.45,0.00,0.000,6,0.000,0.056,2967,2201,1579
$GC,6904,1.30,234.2,202.9,10.0,331,6908,0.00,2.53,0.00,0.000,4,0.000,0.075,2967,795,1578
$GC,6960,1.30,234.2,197.1,10.0,333,6966,0.00,2.45,0.00,0.000,6,0.000,0.056,2967,2205,1578
$GC,7276,1.30,234.2,165.1,10.6,349,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2205,1578
$GC,7587,1.30,234.2,132.0,10.5,364,7592,0.00,2.55,0.00,0.000,4,0.000,0.077,2967,796,1577
$GC,7666,1.30,234.2,123.0,11.2,367,7673,0.00,2.45,0.00,0.000,6,0.000,0.056,2967,2213,1577
$GC,7985,1.30,234.2,90.9,9.9,383,7989,0.00,2.55,0.00,0.000,4,0.000,0.075,2967,794,1576
$GC,8093,1.30,234.2,79.7,9.9,388,8097,0.00,2.42,0.00,0.000,6,0.000,0.057,2967,2197,1576
$GC,8422,1.30,234.2,48.2,9.4,404,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,1575
$GC,8730,1.30,234.2,20.6,9.9,419,8734,0.00,2.53,0.00,0.000,4,0.000,0.074,2967,788,1574
$GC,8838,1.30,234.2,8.6,9.0,424,8842,0.00,2.42,0.00,0.000,6,0.000,0.056,2967,2201,1575
$STATE,8914,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.7,1.002009
$STATE,8936,end surface coast,CONTROL_FINISHED_OK
$STATE,8936,begin surface
$SM_CCo,8962,35.22,0.731,0,0,1315,300.00
$SM_GC,1.55,0.00,0.00,35.22,0.000,0.000,0.731,380,1590,1315,-10.56,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1950
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.4,60.4
$24V_AH,23.5,23.310
$10V_AH,10.1,13.255
$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,25.550,86.700,328.375,35.225,0.000,37.761,26.986,122.534,2.750,0.000,0.000,15.454,841.222,6532.015,451.637,1071.051,416.476,0.000,1015.869,0.000,1046.487,0.000,20.143,0.000
$DEVICE_MAMPS,181.012,105.079,1058.460,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.411,290.559,332.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22237,429
$CAP_FILE_SIZE,71047,0
$CFSIZE,254472192,243589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,260908,091345,6430.293,-1132.587,8,1.5,8,-11.8