version: 66.04
glider: 14
mission: 6
dive: 163
start: 9 27 108 14 33 27
data:
$ID,14
$MISSION,6
$DIVE,163
$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,-653119.12
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,142808,6424.873,-1143.554,30,2.0,30,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.2
$GPS2,143303,6424.839,-1143.612,10,2.0,10,-11.9
$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,320.0,6485,-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,-60.30,0.000,2,0.000,0.000,380,1598,2640
$GC,83,-1.16,-146.6,3.8,-5.2,3,111,11.57,0.00,-13.77,0.000,6,0.182,0.000,2414,1599,3138
$GC,409,-1.16,-146.6,47.2,-13.0,19,414,0.00,2.55,0.00,0.000,4,0.000,0.083,2416,209,3140
$GC,615,-1.16,-146.6,75.2,-14.0,28,619,0.00,2.40,0.00,0.000,6,0.000,0.054,2416,1630,3141
$GC,937,-1.16,-146.6,113.0,-11.0,44,941,0.00,2.60,0.00,0.000,4,0.000,0.079,2416,205,3142
$GC,1055,-1.16,-146.6,126.8,-11.0,49,1059,0.00,2.35,0.00,0.000,6,0.000,0.054,2415,1604,3141
$GC,1371,-1.16,-146.6,161.0,-10.7,64,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1609,3142
$GC,1680,-1.16,-146.6,194.3,-9.8,79,1685,0.00,2.55,0.00,0.000,4,0.000,0.078,2416,202,3143
$GC,1782,-1.16,-146.6,205.8,-11.5,83,1788,0.00,2.35,0.00,0.000,6,0.000,0.055,2416,1604,3143
$GC,2098,-1.16,-146.6,240.5,-10.8,99,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1604,3145
$GC,2408,-1.16,-146.6,274.7,-10.9,114,2415,0.00,2.55,0.00,0.000,4,0.000,0.082,2416,212,3145
$GC,2467,-1.16,-146.6,281.6,-11.6,116,2471,0.00,2.35,0.00,0.000,6,0.000,0.055,2416,1599,3145
$GC,2784,-1.16,-146.6,315.7,-10.9,131,2788,0.00,2.53,0.00,0.000,4,0.000,0.083,2415,212,3146
$GC,2875,-1.16,-146.6,326.4,-11.3,135,2879,0.00,2.35,0.00,0.000,6,0.000,0.056,2416,1599,3145
$GC,3202,-1.16,-146.6,361.6,-11.1,151,3207,0.00,2.55,0.00,0.000,4,0.000,0.083,2416,211,3145
$GC,3270,-1.16,-146.6,369.5,-11.2,154,3274,0.00,2.38,0.00,0.000,6,0.000,0.056,2415,1607,3145
$GC,3595,-1.16,-146.6,400.9,-9.9,170,3599,0.00,2.58,0.00,0.000,4,0.000,0.085,2416,212,3145
$GC,3657,-1.16,-146.6,408.6,-12.8,173,3661,0.00,2.38,0.00,0.000,6,0.000,0.057,2416,1602,3146
$STATE,3713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3713,begin apogee
$GC,3723,-0.32,0.0,415.3,11.4,176,3861,0.90,0.00,130.27,1.015,6,0.109,0.000,2599,2196,2538
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3866,1.16,146.6,421.3,0.0,183,3996,1.52,2.78,121.18,0.992,4,0.081,0.107,2927,3593,1940
$GC,4089,1.16,146.6,408.4,8.6,193,4094,0.00,2.50,0.00,0.000,6,0.000,0.069,2927,2193,1939
$GC,4406,1.16,146.6,386.6,8.5,208,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2193,1938
$GC,4715,1.24,196.1,368.6,6.1,223,4761,0.00,2.75,41.10,0.985,4,0.000,0.094,2927,3601,1738
$GC,4802,1.25,201.3,362.4,7.8,227,4813,0.00,2.50,5.43,0.759,6,0.000,0.067,2927,2200,1718
$GC,5124,1.26,209.0,337.3,7.7,242,5138,0.10,2.65,7.90,0.851,4,0.072,0.084,2956,798,1686
$GC,5197,1.26,209.0,331.1,9.4,245,5201,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2201,1686
$GC,5519,1.26,209.0,300.1,9.5,261,5523,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,797,1685
$GC,5603,1.26,209.0,290.7,10.9,264,5609,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2208,1685
$GC,5920,1.26,209.0,256.3,11.1,280,5924,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,797,1683
$GC,5998,1.26,209.0,247.0,11.5,283,6005,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2201,1683
$GC,6315,1.26,209.0,212.6,10.0,299,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2202,1682
$GC,6624,1.26,209.0,183.1,9.6,314,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1681
$GC,6934,1.26,209.0,154.7,9.1,329,6938,0.00,2.55,0.00,0.000,4,0.000,0.075,2956,794,1681
$GC,7006,1.26,209.0,147.9,8.8,332,7011,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2198,1681
$GC,7323,1.27,212.0,122.4,7.9,347,7328,0.00,2.53,0.00,0.000,4,0.000,0.075,2956,794,1681
$GC,7396,1.27,212.0,116.2,8.8,350,7401,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2214,1681
$GC,7715,1.27,212.0,89.3,8.7,365,7719,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,790,1681
$GC,7810,1.27,212.0,80.1,9.2,369,7814,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2198,1681
$GC,8132,1.27,212.0,50.5,9.1,385,8136,0.00,2.53,0.00,0.000,4,0.000,0.075,2956,790,1681
$GC,8314,1.27,212.0,32.7,9.7,393,8318,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2200,1681
$GC,8638,1.27,212.0,4.1,8.6,409,8642,0.00,2.53,0.00,0.000,4,0.000,0.074,2956,794,1681
$STATE,8657,end climb,SURFACE_DEPTH_REACHED
$STATE,8657,begin surface coast
$FINISH,0.7,1.002631
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8680,begin surface
$SM_CCo,8707,53.28,0.736,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,53.28,0.000,0.000,0.736,381,1626,1315,-10.55,0.74,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1909
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.9,22.6
$24V_AH,23.6,24.700
$10V_AH,10.1,13.867
$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,25.425,84.875,305.875,53.275,0.000,39.112,30.834,115.828,3.500,0.000,0.000,11.492,822.414,6298.728,458.640,1077.322,413.722,0.000,1012.835,0.000,1052.913,0.000,30.416,0.000
$DEVICE_MAMPS,181.779,106.613,1014.741,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,310.881,278.384,332.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,411
$CAP_FILE_SIZE,69971,0
$CFSIZE,254472192,243146752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,270908,170038,6425.228,-1147.350,26,1.7,26,-11.9