version: 66.04
glider: 14
mission: 6
dive: 160
start: 9 27 108 6 46 22
data:
$ID,14
$MISSION,6
$DIVE,160
$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,-653074.88
$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,23
$R_STBD_OVSHOOT,41
$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
$GPS1,064107,6426.966,-1138.037,35,0.9,35,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.6
$GPS2,064558,6427.037,-1137.805,9,2.0,10,-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,281.4,9741,-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,-65.43,0.000,2,0.000,0.000,380,1630,2773
$GC,88,-1.16,-146.6,4.1,-4.5,4,114,11.43,2.42,-9.07,0.000,4,0.179,0.081,2412,2993,3139
$GC,195,-1.16,-146.6,20.2,-12.6,9,199,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1594,3140
$GC,524,-1.16,-146.6,60.1,-11.8,25,529,0.00,2.53,0.00,0.000,4,0.000,0.083,2412,207,3140
$GC,682,-1.16,-146.6,79.8,-12.9,32,686,0.00,2.35,0.00,0.000,6,0.000,0.054,2411,1612,3141
$GC,1004,-1.16,-146.6,118.6,-12.0,48,1008,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,206,3142
$GC,1045,-1.16,-146.6,123.7,-12.8,50,1049,0.00,2.33,0.00,0.000,6,0.000,0.054,2412,1599,3142
$GC,1372,-1.16,-146.6,165.1,-13.8,66,1376,0.00,2.47,0.00,0.000,4,0.000,0.077,2411,213,3145
$GC,1441,-1.16,-146.6,174.0,-12.2,69,1445,0.00,2.30,0.00,0.000,6,0.000,0.054,2412,1596,3145
$GC,1767,-1.16,-146.6,216.1,-12.9,85,1772,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,208,3146
$GC,1869,-1.16,-146.6,230.2,-13.8,89,1875,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1605,3146
$GC,2186,-1.16,-146.6,269.0,-11.1,105,2190,0.00,2.55,0.00,0.000,4,0.000,0.081,2412,212,3146
$GC,2230,-1.16,-146.6,274.2,-11.1,107,2234,0.00,2.35,0.00,0.000,6,0.000,0.054,2412,1602,3146
$GC,2551,-1.16,-146.6,307.0,-9.8,123,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1606,3147
$GC,2861,-1.16,-146.6,335.4,-9.2,138,2865,0.00,2.55,0.00,0.000,4,0.000,0.083,2412,212,3147
$GC,2934,-1.16,-146.6,343.6,-11.2,141,2938,0.00,2.35,0.00,0.000,6,0.000,0.055,2412,1597,3147
$GC,3251,-1.16,-146.6,374.8,-9.9,156,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1601,3147
$GC,3560,-1.16,-146.6,406.8,-10.4,171,3564,0.00,2.55,0.00,0.000,4,0.000,0.084,2411,208,3147
$GC,3651,-1.16,-146.6,417.4,-10.9,175,3655,0.00,2.38,0.00,0.000,6,0.000,0.056,2412,1596,3147
$STATE,3659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3659,begin apogee
$GC,3669,-0.32,0.0,418.7,11.6,175,3808,0.93,0.00,130.50,1.016,6,0.122,0.000,2600,2197,2538
$STATE,3809,end apogee,CONTROL_FINISHED_OK
$STATE,3809,begin climb
$GC,3812,1.16,146.6,424.6,0.0,182,3942,1.58,2.80,120.82,0.996,4,0.094,0.108,2927,3601,1940
$GC,3981,1.18,155.6,418.4,7.7,190,3995,0.00,2.53,8.95,0.846,6,0.000,0.068,2927,2196,1903
$GC,4313,1.22,183.3,395.3,6.9,206,4342,0.00,2.70,23.55,0.961,4,0.000,0.086,2927,797,1791
$GC,4472,1.22,183.3,382.8,8.0,213,4476,0.00,2.45,0.00,0.000,6,0.000,0.057,2927,2209,1789
$GC,4799,1.26,208.6,358.9,7.0,229,4823,0.00,0.00,21.90,0.962,6,0.000,0.000,2927,2209,1688
$GC,5128,1.27,210.2,333.6,7.9,245,5133,0.10,2.60,0.00,0.000,4,0.072,0.075,2956,789,1686
$GC,5220,1.27,210.2,325.2,9.7,249,5224,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2201,1685
$GC,5541,1.27,210.2,295.9,9.0,265,5545,0.00,2.58,0.00,0.000,4,0.000,0.074,2956,786,1684
$GC,5591,1.27,210.2,291.3,9.1,267,5595,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2201,1684
$GC,5914,1.27,210.2,263.2,8.6,283,5918,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,791,1682
$GC,5977,1.27,210.2,257.4,9.4,286,5981,0.00,2.45,0.00,0.000,6,0.000,0.058,2958,2210,1682
$GC,6304,1.27,210.2,227.2,9.2,302,6308,0.00,2.58,0.00,0.000,4,0.000,0.074,2956,791,1681
$GC,6467,1.27,210.2,210.0,10.7,309,6471,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2207,1681
$GC,6788,1.27,210.2,178.9,9.7,325,6793,0.00,2.58,0.00,0.000,4,0.000,0.075,2956,790,1681
$GC,6868,1.27,210.2,170.9,10.1,328,6874,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2204,1682
$GC,7185,1.27,210.2,139.9,10.0,344,7189,0.00,2.55,0.00,0.000,4,0.000,0.076,2956,790,1680
$GC,7308,1.27,210.2,127.1,10.7,349,7314,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2200,1679
$GC,7626,1.27,210.2,97.5,9.6,365,7631,0.00,2.53,0.00,0.000,4,0.000,0.074,2956,794,1679
$GC,7728,1.27,210.2,86.6,10.4,369,7734,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2202,1678
$GC,8045,1.27,214.4,59.5,7.8,385,8051,0.00,0.00,4.28,0.579,6,0.000,0.000,2956,2203,1665
$GC,8356,1.29,227.9,37.4,7.5,400,8378,0.00,2.58,12.65,0.708,4,0.000,0.071,2956,797,1609
$GC,8497,1.29,227.9,24.6,9.5,406,8501,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2206,1609
$STATE,8759,end climb,SURFACE_DEPTH_REACHED
$STATE,8759,begin surface coast
$FINISH,0.4,1.027207
$STATE,8782,end surface coast,CONTROL_FINISHED_OK
$STATE,8782,begin surface
$SM_CCo,8809,43.58,0.680,1,0,1315,300.00
$SM_GC,1.38,0.00,0.00,43.58,0.000,0.000,0.680,373,1592,1315,-10.59,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1902
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.5,78.2
$24V_AH,23.6,24.375
$10V_AH,10.1,13.721
$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,25.250,91.650,322.650,43.575,0.000,37.761,32.048,110.814,2.500,0.000,0.000,11.736,845.855,6323.247,463.051,1121.885,408.537,0.000,1048.594,0.000,1098.828,0.000,21.465,0.000
$DEVICE_MAMPS,179.478,108.147,1015.508,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.356,284.149,337.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22248,420
$CAP_FILE_SIZE,72512,0
$CFSIZE,254472192,243257344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,270908,091507,6427.510,-1136.882,23,1.5,23,-11.8