version: 66.04
glider: 14
mission: 6
dive: 166
start: 9 27 108 22 21 34
data:
$ID,14
$MISSION,6
$DIVE,166
$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,-653177.75
$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,26
$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
$GPS1,221558,6424.756,-1145.293,31,2.4,50,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.9
$GPS2,222111,6424.747,-1144.854,10,2.1,29,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,2BT
$TGT_LATLONG,6405.000,-1245.000
$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,245.0,60890,-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,-60.65,0.000,2,0.000,0.000,373,1597,2659
$GC,83,-1.16,-146.6,3.3,-3.8,3,113,11.45,0.00,-13.65,0.000,6,0.178,0.000,2414,1598,3139
$GC,436,-1.16,-146.6,48.3,-12.4,20,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3141
$GC,746,-1.16,-146.6,84.4,-11.1,35,750,0.00,2.47,0.00,0.000,4,0.000,0.069,2414,2998,3143
$GC,796,-1.16,-146.6,90.3,-10.7,37,800,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1594,3144
$GC,1113,-1.16,-146.6,128.5,-12.4,52,1117,0.00,2.50,0.00,0.000,4,0.000,0.068,2414,3001,3145
$GC,1141,-1.16,-146.6,131.9,-11.7,53,1145,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1600,3145
$GC,1457,-1.16,-146.6,171.4,-12.8,68,1462,0.00,2.53,0.00,0.000,4,0.000,0.084,2414,215,3146
$GC,1503,-1.16,-146.6,178.1,-14.5,70,1507,0.00,2.38,0.00,0.000,6,0.000,0.054,2414,1626,3146
$GC,1825,-1.16,-146.6,216.0,-11.7,86,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1630,3146
$GC,2135,-1.16,-146.6,250.6,-10.2,101,2139,0.00,2.58,0.00,0.000,4,0.000,0.081,2414,215,3147
$GC,2230,-1.16,-146.6,260.9,-10.5,105,2234,0.00,2.30,0.00,0.000,6,0.000,0.054,2414,1600,3147
$GC,2553,-1.16,-146.6,292.3,-10.1,121,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3148
$GC,2866,-1.16,-146.6,326.2,-11.1,136,2871,0.00,2.55,0.00,0.000,4,0.000,0.083,2414,211,3148
$GC,2907,-1.16,-146.6,331.3,-11.4,138,2911,0.00,2.35,0.00,0.000,6,0.000,0.055,2413,1605,3148
$GC,3234,-1.16,-146.6,366.9,-10.5,154,3238,0.00,2.55,0.00,0.000,4,0.000,0.084,2413,220,3148
$GC,3296,-1.16,-146.6,374.3,-11.5,156,3303,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1598,3148
$GC,3613,-1.16,-146.6,407.0,-10.7,172,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3148
$STATE,3671,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3671,begin apogee
$GC,3681,-0.32,0.0,414.4,11.6,175,3820,0.93,0.00,130.60,1.007,6,0.107,0.000,2603,2187,2539
$STATE,3821,end apogee,CONTROL_FINISHED_OK
$STATE,3821,begin climb
$GC,3825,1.16,146.6,420.6,0.0,182,3955,1.50,2.85,121.32,0.987,4,0.080,0.105,2925,3602,1940
$GC,3996,1.28,219.4,416.3,5.2,190,4063,0.12,2.53,60.17,0.965,6,0.069,0.069,2960,2200,1643
$GC,4385,1.28,219.4,380.9,9.3,209,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2201,1641
$GC,4694,1.28,219.4,352.2,9.2,224,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2200,1640
$GC,5004,1.28,219.4,322.9,9.8,239,5008,0.00,2.58,0.00,0.000,4,0.000,0.081,2960,794,1638
$GC,5037,1.28,219.4,319.3,10.0,240,5044,0.00,2.45,0.00,0.000,6,0.000,0.056,2961,2215,1638
$GC,5354,1.28,219.4,289.9,8.7,256,5358,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,790,1636
$GC,5394,1.28,219.4,286.0,10.3,258,5399,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2203,1636
$GC,5728,1.28,219.4,254.1,9.3,274,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2203,1634
$GC,6037,1.28,219.4,223.3,10.2,289,6041,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,791,1633
$GC,6087,1.28,219.4,217.8,10.7,291,6092,0.00,2.45,0.00,0.000,6,0.000,0.057,2961,2215,1633
$GC,6409,1.28,219.4,185.6,9.5,307,6414,0.00,2.60,0.00,0.000,4,0.000,0.093,2960,3601,1632
$GC,6443,1.28,219.4,182.3,10.0,308,6449,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2200,1632
$GC,6760,1.28,219.4,151.0,10.2,324,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2201,1632
$GC,7069,1.28,219.4,119.5,10.1,339,7074,0.00,2.60,0.00,0.000,4,0.000,0.087,2960,3601,1632
$GC,7187,1.28,219.4,107.2,9.2,344,7191,0.00,2.42,0.00,0.000,6,0.000,0.064,2961,2201,1633
$GC,7510,1.28,219.4,79.8,8.1,360,7514,0.00,2.58,0.00,0.000,4,0.000,0.084,2960,3599,1632
$GC,7577,1.28,219.4,72.9,10.4,363,7581,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2200,1632
$GC,7899,1.28,219.4,38.7,11.0,379,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2200,1633
$GC,8209,1.28,219.4,9.6,8.0,394,8213,0.00,2.58,0.00,0.000,4,0.000,0.081,2960,3605,1632
$STATE,8291,end climb,SURFACE_DEPTH_REACHED
$STATE,8291,begin surface coast
$FINISH,0.6,1.027057
$STATE,8314,end surface coast,CONTROL_FINISHED_OK
$STATE,8314,begin surface
$SM_CCo,8343,42.45,0.710,0,0,1316,300.00
$SM_GC,1.32,0.00,0.00,42.45,0.000,0.000,0.710,373,1600,1316,-10.59,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1932
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,326.2,96.9
$24V_AH,23.6,25.022
$10V_AH,10.2,14.012
$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,25.225,72.150,312.100,42.450,0.000,37.759,35.457,109.382,2.250,0.000,0.000,31.477,756.864,6180.371,450.948,929.053,395.483,0.000,928.037,0.000,893.269,0.000,19.896,0.000
$DEVICE_MAMPS,177.944,105.079,1007.071,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,298.773,270.272,322.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19084,399
$CAP_FILE_SIZE,61669,0
$CFSIZE,254472192,243048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,280908,004238,6422.537,-1145.746,34,1.4,34,-11.9