version: 66.04
glider: 14
mission: 6
dive: 84
start: 9 16 108 23 30 57
data:
$ID,14
$MISSION,6
$DIVE,84
$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,-651706.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$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,22
$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
$GPS1,232408,6420.531,-923.981,25,1.7,25,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.8
$GPS2,233034,6420.569,-923.878,16,1.7,35,-10.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$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,326.5,86080,-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,-60.70,0.000,2,0.000,0.000,379,1596,2771
$GC,83,-1.16,-146.6,3.7,-5.4,3,109,11.52,2.53,-8.45,0.000,4,0.175,0.089,2444,202,3138
$GC,379,-1.16,-146.6,44.6,-11.3,16,383,0.00,2.38,0.00,0.000,6,0.000,0.054,2444,1619,3140
$GC,701,-1.16,-146.6,72.8,-9.6,32,705,0.00,2.55,0.00,0.000,4,0.000,0.074,2444,201,3140
$GC,831,-1.16,-146.6,85.0,-10.1,38,836,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1611,3141
$GC,1159,-1.16,-146.6,118.0,-10.7,54,1163,0.00,2.53,0.00,0.000,4,0.000,0.075,2444,209,3143
$GC,1238,-1.16,-146.6,127.1,-11.0,57,1245,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1615,3143
$GC,1555,-1.16,-146.6,158.5,-10.1,73,1559,0.00,2.53,0.00,0.000,4,0.000,0.075,2444,203,3144
$GC,1601,-1.16,-146.6,163.4,-10.9,75,1605,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1608,3144
$GC,1923,-1.16,-146.6,195.1,-9.5,91,1927,0.00,2.53,0.00,0.000,4,0.000,0.075,2443,207,3144
$GC,2002,-1.16,-146.6,203.3,-9.5,94,2006,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1608,3144
$GC,2319,-1.16,-146.6,230.4,-7.9,109,2323,0.00,2.53,0.00,0.000,4,0.000,0.076,2444,210,3144
$GC,2392,-1.16,-146.6,237.3,-9.5,112,2396,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1604,3144
$GC,2714,-1.16,-146.6,267.4,-10.3,128,2718,0.00,2.53,0.00,0.000,4,0.000,0.077,2444,206,3144
$GC,2787,-1.16,-146.6,275.6,-10.7,131,2791,0.00,2.35,0.00,0.000,6,0.000,0.054,2444,1611,3144
$GC,3103,-1.16,-146.6,304.9,-8.5,146,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1613,3144
$GC,3413,-1.16,-146.6,334.6,-10.5,161,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1613,3145
$GC,3722,-1.16,-146.6,365.7,-9.4,176,3726,0.00,2.55,0.00,0.000,4,0.000,0.081,2444,210,3146
$GC,3991,-1.16,-146.6,394.8,-11.1,188,3996,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1604,3146
$GC,4314,-1.16,-146.6,428.3,-10.9,204,4318,0.00,2.55,0.00,0.000,4,0.000,0.082,2444,209,3146
$GC,4444,-1.16,-146.6,444.1,-12.7,210,4448,0.00,2.35,0.00,0.000,6,0.000,0.056,2444,1609,3146
$GC,4777,-1.16,-146.6,480.3,-10.3,226,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1610,3147
$GC,5087,-1.16,-146.6,511.7,-9.5,241,5092,0.00,2.55,0.00,0.000,4,0.000,0.085,2444,213,3146
$GC,5160,-1.16,-146.6,519.3,-10.7,244,5165,0.00,2.35,0.00,0.000,6,0.000,0.056,2444,1597,3147
$GC,5483,-1.16,-146.6,548.5,-9.0,260,5487,0.00,2.55,0.00,0.000,4,0.000,0.086,2444,213,3146
$GC,5523,-1.16,-146.6,552.4,-10.2,262,5527,0.00,2.35,0.00,0.000,6,0.000,0.057,2444,1602,3146
$GC,5856,-1.16,-146.6,585.1,-10.3,278,5860,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,205,3145
$GC,5919,-1.16,-146.6,591.9,-10.7,281,5924,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1596,3145
$GC,6250,-1.16,-146.6,625.8,-11.5,297,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1598,3144
$GC,6556,-1.16,-146.6,658.1,-9.8,312,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1598,3142
$STATE,6718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6718,begin apogee
$GC,6727,-0.32,0.0,674.7,10.4,320,6860,0.95,0.00,127.18,1.101,6,0.125,0.000,2633,2195,2538
$STATE,6861,end apogee,CONTROL_FINISHED_OK
$STATE,6861,begin climb
$GC,6865,1.16,146.6,681.9,0.0,327,6994,1.50,2.83,120.75,1.065,4,0.074,0.110,2960,3604,1941
$GC,7200,1.22,180.6,664.6,6.7,342,7236,0.00,2.53,29.25,1.160,6,0.000,0.070,2960,2192,1801
$GC,7567,1.23,188.8,635.0,7.7,360,7581,0.00,2.72,8.02,0.999,4,0.000,0.095,2960,3594,1768
$GC,7650,1.23,188.8,627.7,8.4,363,7656,0.00,2.47,0.00,0.000,6,0.000,0.067,2960,2201,1767
$GC,7966,1.23,188.8,602.2,8.4,379,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2202,1767
$GC,8276,1.23,188.8,577.0,8.0,394,8280,0.00,2.55,0.00,0.000,4,0.000,0.081,2960,797,1765
$GC,8320,1.23,188.8,573.2,8.5,396,8325,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2204,1765
$GC,8641,1.23,188.8,547.9,8.1,412,8646,0.00,2.58,0.00,0.000,4,0.000,0.074,2960,791,1764
$GC,8710,1.23,188.8,541.8,9.0,415,8714,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2210,1764
$GC,9032,1.23,188.8,513.0,8.9,431,9036,0.00,2.58,0.00,0.000,4,0.000,0.073,2960,794,1763
$GC,9121,1.23,188.8,504.6,8.6,435,9126,0.00,2.42,0.00,0.000,6,0.000,0.055,2960,2203,1763
$GC,9444,1.23,188.8,475.5,9.2,451,9449,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,799,1761
$GC,9512,1.23,188.8,469.4,9.3,454,9516,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2199,1761
$GC,9833,1.23,188.8,443.2,9.5,470,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2199,1761
$GC,10143,1.23,188.8,409.1,11.4,485,10147,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,798,1760
$GC,10238,1.23,188.8,398.2,10.7,489,10242,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2209,1760
$GC,10554,1.23,188.8,368.1,9.4,504,10558,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,798,1760
$GC,10639,1.23,188.8,359.6,10.2,507,10645,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2200,1760
$GC,10955,1.23,188.8,327.9,10.6,523,10959,0.00,2.50,0.00,0.000,4,0.000,0.073,2960,797,1759
$GC,11096,1.23,188.8,312.1,11.3,529,11100,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2200,1759
$GC,11417,1.23,188.8,279.9,9.5,545,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2200,1759
$GC,11727,1.23,188.8,249.3,9.7,560,11731,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,790,1758
$GC,11790,1.23,188.8,243.2,9.7,563,11794,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2199,1758
$GC,12123,1.27,212.3,216.6,7.1,579,12148,0.00,2.60,18.83,0.882,4,0.000,0.072,2960,798,1672
$GC,12206,1.27,212.3,210.1,8.1,582,12212,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2201,1672
$GC,12523,1.28,216.5,184.0,7.8,598,12534,0.10,2.55,5.28,0.683,4,0.072,0.071,2991,793,1655
$GC,12602,1.28,216.5,176.2,9.5,601,12608,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2208,1655
$GC,12919,1.28,216.5,144.3,10.7,617,12923,0.00,2.53,0.00,0.000,4,0.000,0.071,2991,797,1655
$GC,12975,1.28,216.5,137.4,11.4,619,12979,0.00,2.40,0.00,0.000,6,0.000,0.056,2991,2201,1655
$GC,13293,1.28,216.5,103.4,10.1,634,13297,0.00,2.50,0.00,0.000,4,0.000,0.070,2991,790,1655
$GC,13327,1.28,216.5,99.3,10.9,635,13334,0.00,2.40,0.00,0.000,6,0.000,0.056,2991,2200,1655
$GC,13646,1.28,216.5,66.5,10.6,651,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2200,1655
$GC,13953,1.28,216.5,33.2,10.0,666,13958,0.00,2.60,0.00,0.000,4,0.000,0.092,2991,3604,1655
$GC,14010,1.28,216.5,27.0,11.3,668,14017,0.00,2.40,0.00,0.000,6,0.000,0.060,2991,2197,1655
$STATE,14241,end climb,SURFACE_DEPTH_REACHED
$STATE,14241,begin surface coast
$FINISH,0.6,1.012991
$STATE,14263,end surface coast,CONTROL_FINISHED_OK
$STATE,14263,begin surface
$SM_CCo,14289,46.15,0.680,0,0,1316,300.00
$SM_GC,1.25,0.00,0.00,46.15,0.000,0.000,0.680,373,1594,1316,-10.73,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,57.2
$24V_AH,23.5,15.719
$10V_AH,10.1,9.274
$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,25.400,135.900,309.300,46.150,0.000,37.765,27.973,159.147,5.500,0.000,0.000,36.799,1317.558,10624.235,467.654,1763.130,553.277,0.000,1341.455,0.000,1696.454,0.000,42.000,0.000
$DEVICE_MAMPS,174.876,110.448,1159.704,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.339,463.397,419.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34908,681
$CAP_FILE_SIZE,110223,0
$CFSIZE,254472192,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,170908,033108,6420.083,-928.052,32,1.0,32,-10.5