version: 66.04
glider: 14
mission: 6
dive: 157
start: 9 26 108 22 58 12
data:
$ID,14
$MISSION,6
$DIVE,157
$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,-653035.25
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,223928,6428.703,-1134.045,35,2.5,54,-11.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-58.8
$GPS2,225751,6428.383,-1132.886,13,2.0,13,-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,271.2,13908,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.12,0.000,2,0.000,0.000,379,1595,3132
$GC,103,-1.16,-146.6,6.1,-7.6,4,125,11.52,2.50,0.00,0.000,4,0.183,0.071,2410,3000,3137
$GC,176,-1.16,-146.6,27.4,-14.5,7,181,0.00,2.45,0.00,0.000,6,0.000,0.063,2410,1599,3138
$GC,500,-1.16,-146.6,72.2,-14.6,23,504,0.00,2.53,0.00,0.000,4,0.000,0.081,2410,207,3139
$GC,568,-1.16,-146.6,82.0,-14.3,26,572,0.00,2.38,0.00,0.000,6,0.000,0.054,2411,1624,3139
$GC,891,-1.16,-146.6,122.2,-12.2,42,895,0.00,2.40,0.00,0.000,4,0.000,0.071,2410,2980,3140
$GC,959,-1.16,-146.6,131.1,-13.5,45,964,0.00,2.42,0.00,0.000,6,0.000,0.064,2411,1590,3140
$GC,1282,-1.16,-146.6,168.5,-11.5,61,1286,0.00,2.47,0.00,0.000,4,0.000,0.071,2412,2981,3141
$GC,1316,-1.16,-146.6,172.5,-10.8,62,1322,0.00,2.42,0.00,0.000,6,0.000,0.067,2410,1601,3141
$GC,1632,-1.16,-146.6,208.9,-11.7,78,1636,0.00,2.53,0.00,0.000,4,0.000,0.084,2410,215,3142
$GC,1701,-1.16,-146.6,217.5,-12.0,81,1706,0.00,2.33,0.00,0.000,6,0.000,0.055,2410,1596,3141
$GC,2029,-1.16,-146.6,256.3,-11.7,97,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1599,3142
$GC,2338,-1.16,-146.6,290.4,-10.9,112,2343,0.00,2.55,0.00,0.000,4,0.000,0.084,2410,213,3141
$GC,2395,-1.16,-146.6,297.3,-12.4,114,2401,0.00,2.35,0.00,0.000,6,0.000,0.055,2411,1598,3142
$GC,2711,-1.16,-146.6,331.2,-10.3,130,2716,0.00,2.50,0.00,0.000,4,0.000,0.081,2411,2984,3142
$GC,2740,-1.16,-146.6,334.3,-11.0,131,2744,0.00,2.42,0.00,0.000,6,0.000,0.067,2411,1601,3142
$GC,3057,-1.16,-146.6,365.0,-9.5,146,3061,0.00,2.58,0.00,0.000,4,0.000,0.091,2410,209,3142
$GC,3146,-1.16,-146.6,374.6,-10.0,150,3151,0.00,2.38,0.00,0.000,6,0.000,0.055,2410,1609,3143
$GC,3469,-1.16,-146.6,408.5,-11.0,166,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1614,3142
$STATE,3547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3547,begin apogee
$GC,3557,-0.32,0.0,417.9,11.5,170,3695,0.95,0.00,130.00,1.028,6,0.116,0.000,2601,2190,2538
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3700,1.16,146.6,422.9,0.0,177,3827,1.52,0.00,121.75,1.008,6,0.083,0.000,2926,2190,1940
$GC,4138,1.20,169.2,399.5,7.1,198,4163,0.00,2.62,19.15,0.958,4,0.000,0.077,2926,797,1849
$GC,4254,1.20,169.2,389.6,8.3,203,4259,0.00,2.45,0.00,0.000,6,0.000,0.057,2926,2200,1849
$GC,4576,1.20,170.0,364.0,8.0,219,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2200,1848
$GC,4885,1.20,170.0,339.0,8.2,234,4889,0.00,2.58,0.00,0.000,4,0.000,0.074,2926,787,1847
$GC,5015,1.20,170.0,327.8,9.0,240,5019,0.00,2.45,0.00,0.000,6,0.000,0.057,2926,2201,1846
$GC,5342,1.20,170.0,300.4,8.3,256,5346,0.00,2.55,0.00,0.000,4,0.000,0.074,2926,796,1845
$GC,5427,1.20,170.0,292.8,9.3,259,5433,0.00,2.45,0.00,0.000,6,0.000,0.056,2925,2204,1845
$GC,5743,1.20,170.0,267.3,8.1,275,5748,0.00,2.53,0.00,0.000,4,0.000,0.074,2926,791,1844
$GC,5811,1.20,170.0,261.7,8.1,278,5816,0.00,2.45,0.00,0.000,6,0.000,0.057,2926,2201,1844
$GC,6134,1.25,202.1,238.0,6.8,294,6168,0.00,2.65,26.90,0.943,4,0.000,0.074,2926,794,1715
$GC,6272,1.25,202.1,226.9,8.7,300,6277,0.00,2.47,0.00,0.000,6,0.000,0.057,2926,2213,1712
$GC,6595,1.26,207.1,201.4,7.8,316,6606,0.10,2.60,5.57,0.735,4,0.073,0.075,2955,794,1693
$GC,6708,1.26,207.1,189.9,10.4,321,6712,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2203,1693
$GC,7036,1.26,207.1,157.6,9.6,337,7040,0.00,2.67,0.00,0.000,4,0.000,0.104,2955,3602,1692
$GC,7131,1.26,207.1,147.1,11.4,341,7136,0.00,2.47,0.00,0.000,6,0.000,0.065,2955,2194,1692
$GC,7450,1.26,207.1,113.5,9.5,356,7454,0.00,2.62,0.00,0.000,4,0.000,0.091,2955,3598,1692
$GC,7603,1.26,207.1,98.2,9.5,363,7607,0.00,2.45,0.00,0.000,6,0.000,0.064,2955,2200,1692
$GC,7930,1.26,207.1,67.4,8.8,379,7935,0.00,2.53,0.00,0.000,4,0.000,0.076,2955,796,1691
$GC,7981,1.26,207.1,63.0,8.2,381,7985,0.00,2.40,0.00,0.000,6,0.000,0.055,2955,2207,1691
$GC,8303,1.26,207.1,36.2,9.1,397,8307,0.00,2.55,0.00,0.000,4,0.000,0.073,2955,793,1690
$GC,8348,1.26,207.1,31.9,9.6,399,8352,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2199,1690
$GC,8670,1.26,207.1,5.5,10.0,415,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1690
$STATE,8707,end climb,SURFACE_DEPTH_REACHED
$STATE,8707,begin surface coast
$FINISH,0.6,1.027276
$STATE,8731,end surface coast,CONTROL_FINISHED_OK
$STATE,8731,begin surface
$SM_CCo,8757,50.65,0.729,0,0,1316,300.00
$SM_GC,1.28,0.00,0.00,50.65,0.000,0.000,0.729,379,1593,1316,-10.56,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1917
$TCM_TEMP,15.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,351.3,74.7
$24V_AH,23.6,24.034
$10V_AH,10.2,13.569
$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,25.400,91.650,303.375,50.650,0.000,192.392,219.442,316.746,3.500,0.000,0.000,14.787,831.367,6587.506,474.417,1053.785,974.627,0.000,1019.304,0.000,1031.177,0.000,18.572,0.000
$DEVICE_MAMPS,183.313,103.545,1027.780,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.409,283.176,325.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,418
$CAP_FILE_SIZE,77798,0
$CFSIZE,254472192,243363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,270908,012625,6426.812,-1135.158,23,1.3,41,-11.8