version: 66.04
glider: 14
mission: 6
dive: 162
start: 9 27 108 12 0 51
data:
$ID,14
$MISSION,6
$DIVE,162
$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,-653107
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,115537,6426.292,-1138.743,30,1.1,30,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.9
$GPS2,120027,6426.211,-1138.631,13,1.1,13,-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,290.9,9198,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.28,0.000,2,0.000,0.000,380,1591,2649
$GC,83,-1.16,-146.6,3.2,-3.6,3,114,11.40,2.53,-14.40,0.000,4,0.178,0.081,2414,3005,3138
$GC,244,-1.16,-146.6,23.0,-11.9,10,248,0.00,2.45,0.00,0.000,6,0.000,0.062,2415,1599,3140
$GC,561,-1.16,-146.6,60.9,-12.3,25,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1599,3141
$GC,871,-1.16,-146.6,97.4,-12.0,40,875,0.00,2.53,0.00,0.000,4,0.000,0.082,2415,208,3141
$GC,1017,-1.16,-146.6,116.4,-12.8,46,1024,0.00,2.35,0.00,0.000,6,0.000,0.054,2414,1627,3141
$GC,1335,-1.16,-146.6,151.8,-11.4,62,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1627,3142
$GC,1643,-1.16,-146.6,185.5,-10.8,77,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1627,3145
$GC,1952,-1.16,-146.6,220.6,-11.8,92,1957,0.00,2.58,0.00,0.000,4,0.000,0.080,2415,210,3146
$GC,1981,-1.16,-146.6,224.3,-12.7,93,1986,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1599,3146
$GC,2302,-1.16,-146.6,262.1,-11.8,109,2307,0.00,2.55,0.00,0.000,4,0.000,0.081,2414,204,3146
$GC,2366,-1.16,-146.6,270.0,-12.6,112,2370,0.00,2.35,0.00,0.000,6,0.000,0.055,2415,1596,3147
$GC,2693,-1.16,-146.6,307.1,-10.9,128,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3147
$GC,3002,-1.16,-146.6,339.3,-10.4,143,3006,0.00,2.55,0.00,0.000,4,0.000,0.084,2414,210,3147
$GC,3036,-1.16,-146.6,343.2,-11.0,144,3043,0.00,2.38,0.00,0.000,6,0.000,0.056,2415,1604,3147
$GC,3356,-1.16,-146.6,375.6,-10.7,160,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3147
$GC,3662,-1.16,-146.6,411.0,-13.2,175,3666,0.00,2.58,0.00,0.000,4,0.000,0.087,2415,213,3146
$STATE,3709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3709,begin apogee
$GC,3721,-0.32,0.0,417.3,11.2,177,3860,0.93,0.00,130.43,1.016,6,0.130,0.000,2601,2187,2539
$STATE,3861,end apogee,CONTROL_FINISHED_OK
$STATE,3861,begin climb
$GC,3865,1.16,146.6,423.5,0.0,184,3994,1.55,2.88,121.05,0.999,4,0.087,0.121,2927,3601,1940
$GC,4257,1.24,195.1,419.4,6.2,202,4302,0.00,2.53,40.10,0.995,6,0.000,0.072,2927,2195,1742
$GC,4633,1.24,195.1,388.9,10.0,220,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2195,1740
$GC,4940,1.26,205.1,365.0,7.6,235,4954,0.00,2.72,9.18,0.896,4,0.000,0.096,2927,3608,1702
$GC,4995,1.29,225.9,360.8,7.2,237,5020,0.12,2.53,18.67,0.964,6,0.070,0.069,2963,2196,1617
$GC,5337,1.29,225.9,328.9,9.2,254,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2197,1615
$GC,5646,1.29,225.9,298.4,10.2,269,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2196,1613
$GC,5955,1.29,225.9,266.2,10.7,284,5959,0.00,2.58,0.00,0.000,4,0.000,0.084,2963,797,1612
$GC,6006,1.29,225.9,260.4,10.8,286,6010,0.00,2.45,0.00,0.000,6,0.000,0.056,2963,2219,1612
$GC,6328,1.29,225.9,227.4,10.2,302,6332,0.00,2.58,0.00,0.000,4,0.000,0.076,2963,796,1610
$GC,6368,1.29,225.9,223.2,11.4,304,6372,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2203,1610
$GC,6695,1.29,225.9,192.2,8.9,320,6699,0.00,2.55,0.00,0.000,4,0.000,0.076,2963,796,1610
$GC,6745,1.29,225.9,187.6,8.6,322,6750,0.00,2.45,0.00,0.000,6,0.000,0.056,2963,2211,1610
$GC,7067,1.29,225.9,158.4,9.7,338,7072,0.00,2.58,0.00,0.000,4,0.000,0.077,2963,788,1609
$GC,7108,1.29,225.9,154.1,10.7,340,7112,0.00,2.45,0.00,0.000,6,0.000,0.056,2963,2207,1609
$GC,7438,1.29,225.9,117.7,10.5,356,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2208,1607
$GC,7745,1.29,225.9,88.0,9.6,371,7750,0.00,2.55,0.00,0.000,4,0.000,0.075,2963,791,1607
$GC,7842,1.29,225.9,78.0,10.4,375,7846,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2199,1606
$GC,8159,1.29,225.9,49.8,8.7,390,8163,0.00,2.53,0.00,0.000,4,0.000,0.075,2963,793,1607
$GC,8277,1.29,225.9,38.5,9.6,395,8281,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2201,1607
$GC,8595,1.29,225.9,9.6,9.5,410,8599,0.00,2.53,0.00,0.000,4,0.000,0.075,2963,795,1607
$GC,8658,1.29,225.9,3.5,9.8,413,8662,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2206,1607
$STATE,8673,end climb,SURFACE_DEPTH_REACHED
$STATE,8673,begin surface coast
$FINISH,0.6,1.009403
$STATE,8695,end surface coast,CONTROL_FINISHED_OK
$STATE,8695,begin surface
$SM_CCo,8721,41.70,0.720,0,0,1315,300.00
$SM_GC,1.40,0.00,0.00,41.70,0.000,0.000,0.720,379,1601,1315,-10.56,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1930
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.6,51.4
$24V_AH,23.6,24.592
$10V_AH,10.2,13.819
$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,25.225,77.275,319.425,41.700,0.000,37.760,29.554,108.951,2.750,0.000,0.000,14.535,809.816,6378.415,441.281,1034.844,402.703,0.000,980.390,0.000,1012.120,0.000,23.022,0.000
$DEVICE_MAMPS,177.944,121.186,1016.275,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.715,281.305,327.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22267,415
$CAP_FILE_SIZE,67264,0
$CFSIZE,254472192,243187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,270908,142808,6424.873,-1143.554,30,2.0,30,-11.9