version: 66.04
glider: 14
mission: 6
dive: 86
start: 9 17 108 7 33 24
data:
$ID,14
$MISSION,6
$DIVE,86
$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,-651753.06
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,072730,6420.869,-935.353,35,1.7,39,-10.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-52.2
$GPS2,073303,6420.916,-935.165,13,1.7,13,-10.6
$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,330.9,79679,-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,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-57.53,0.000,2,0.000,0.000,382,1591,2677
$GC,83,-1.16,-146.6,3.4,-5.1,3,114,11.40,2.55,-11.73,0.000,4,0.172,0.094,2443,215,3138
$GC,383,-1.16,-146.6,43.7,-12.5,16,387,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1622,3140
$GC,706,-1.16,-146.6,83.1,-11.9,32,710,0.00,2.53,0.00,0.000,4,0.000,0.074,2443,214,3141
$GC,807,-1.16,-146.6,94.4,-10.3,36,813,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1609,3142
$GC,1125,-1.16,-146.6,125.6,-9.9,52,1129,0.00,2.50,0.00,0.000,4,0.000,0.075,2443,210,3145
$GC,1188,-1.16,-146.6,132.7,-10.6,55,1192,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1607,3145
$GC,1516,-1.16,-146.6,164.8,-9.3,71,1520,0.00,2.50,0.00,0.000,4,0.000,0.075,2443,209,3146
$GC,1578,-1.16,-146.6,171.8,-10.4,74,1582,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1606,3146
$GC,1906,-1.16,-146.6,206.9,-10.9,90,1910,0.00,2.53,0.00,0.000,4,0.000,0.076,2443,207,3146
$GC,1951,-1.16,-146.6,212.1,-11.7,92,1955,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1605,3147
$GC,2278,-1.16,-146.6,245.2,-9.3,108,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3147
$GC,2587,-1.16,-146.6,271.2,-8.4,123,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3149
$GC,2896,-1.16,-146.6,295.9,-8.3,138,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3149
$GC,3206,-1.16,-146.6,322.0,-8.8,153,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3149
$GC,3515,-1.16,-146.6,347.8,-8.4,168,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3149
$GC,3825,-1.16,-146.6,372.7,-7.7,183,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1609,3149
$GC,4134,-1.16,-146.6,398.0,-8.8,198,4138,0.00,2.58,0.00,0.000,4,0.000,0.087,2443,213,3149
$GC,4167,-1.16,-146.6,401.5,-10.7,199,4173,0.00,2.35,0.00,0.000,6,0.000,0.057,2442,1596,3149
$GC,4483,-1.16,-146.6,434.9,-10.4,215,4488,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,210,3148
$GC,4534,-1.16,-146.6,440.2,-9.8,217,4539,0.00,2.38,0.00,0.000,6,0.000,0.055,2443,1603,3148
$GC,4851,-1.16,-146.6,471.8,-10.5,232,4855,0.00,2.55,0.00,0.000,4,0.000,0.085,2443,215,3148
$GC,4936,-1.16,-146.6,479.9,-10.3,236,4941,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1616,3147
$GC,5264,-1.16,-146.6,516.2,-13.5,252,5268,0.00,2.60,0.00,0.000,4,0.000,0.087,2443,212,3145
$GC,5342,-1.16,-146.6,525.6,-9.8,255,5349,0.00,2.35,0.00,0.000,6,0.000,0.056,2443,1596,3145
$GC,5659,-1.16,-146.6,554.1,-8.8,271,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1600,3144
$GC,5969,-1.16,-146.6,581.3,-8.9,286,5973,0.00,2.55,0.00,0.000,4,0.000,0.086,2443,215,3142
$GC,6093,-1.16,-146.6,592.5,-8.9,291,6099,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1599,3142
$STATE,6241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6241,begin apogee
$GC,6250,-0.32,0.0,604.8,8.3,299,6387,0.95,0.00,128.25,1.043,6,0.128,0.000,2631,2186,2539
$STATE,6388,end apogee,CONTROL_FINISHED_OK
$STATE,6388,begin climb
$GC,6392,1.16,146.6,609.9,0.0,306,6521,1.52,2.83,121.15,1.010,4,0.087,0.110,2954,3598,1940
$GC,6650,1.16,146.6,597.0,9.1,318,6654,0.00,2.50,0.00,0.000,6,0.000,0.067,2954,2193,1939
$GC,6977,1.16,146.6,570.4,11.1,334,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2194,1938
$GC,7286,1.16,146.6,544.2,8.0,349,7290,0.00,2.55,0.00,0.000,4,0.000,0.081,2954,799,1937
$GC,7355,1.19,159.8,539.0,7.5,352,7376,0.00,2.42,11.82,1.044,6,0.000,0.057,2954,2202,1888
$GC,7686,1.19,159.8,509.6,9.3,368,7690,0.00,2.58,0.00,0.000,4,0.000,0.077,2954,797,1885
$GC,7749,1.19,159.8,503.7,8.7,371,7753,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2202,1885
$GC,8076,1.19,159.8,475.1,9.5,387,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2202,1885
$GC,8385,1.19,159.8,444.4,9.7,402,8389,0.00,2.55,0.00,0.000,4,0.000,0.076,2953,792,1885
$GC,8542,1.19,159.8,431.1,8.2,409,8546,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2203,1885
$GC,8864,1.19,160.6,406.7,8.0,425,8868,0.00,2.53,0.00,0.000,4,0.000,0.073,2954,798,1883
$GC,8920,1.19,160.6,401.9,8.4,427,8926,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2209,1883
$GC,9236,1.19,160.6,377.5,8.0,443,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2209,1882
$GC,9546,1.21,176.5,354.0,7.4,458,9567,0.00,2.60,13.95,0.928,4,0.000,0.073,2954,792,1818
$GC,9659,1.21,176.5,345.1,8.2,463,9663,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2199,1818
$GC,9986,1.22,183.5,320.0,7.7,479,9995,0.00,0.00,7.28,0.871,6,0.000,0.000,2954,2199,1790
$GC,10295,1.23,186.4,294.6,7.9,494,10304,0.00,2.70,3.65,0.608,4,0.000,0.097,2954,3599,1779
$GC,10368,1.23,186.4,288.3,8.3,497,10372,0.00,2.45,0.00,0.000,6,0.000,0.061,2954,2198,1779
$GC,10690,1.23,186.4,261.4,8.2,513,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2198,1779
$GC,10999,1.23,186.4,234.9,8.6,528,11003,0.00,2.60,0.00,0.000,4,0.000,0.087,2954,3604,1778
$GC,11084,1.23,186.4,227.4,9.2,532,11088,0.00,2.45,0.00,0.000,6,0.000,0.064,2955,2197,1779
$GC,11417,1.23,186.4,199.0,8.6,548,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1777
$GC,11725,1.23,186.4,172.0,8.6,563,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2198,1777
$GC,12035,1.23,186.4,144.8,9.0,578,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1778
$GC,12345,1.23,186.4,116.3,9.4,593,12349,0.00,2.53,0.00,0.000,4,0.000,0.077,2954,790,1778
$GC,12395,1.23,186.4,111.1,10.5,595,12400,0.00,2.40,0.00,0.000,6,0.000,0.055,2954,2205,1778
$GC,12712,1.23,186.4,80.0,9.6,610,12716,0.00,2.53,0.00,0.000,4,0.000,0.071,2954,793,1778
$GC,12798,1.23,186.4,71.9,9.2,614,12803,0.00,2.40,0.00,0.000,6,0.000,0.055,2954,2198,1777
$GC,13128,1.23,186.9,41.8,8.0,630,13132,0.00,2.47,0.00,0.000,4,0.000,0.069,2954,794,1778
$GC,13195,1.23,186.9,33.1,12.0,633,13200,0.00,2.40,0.00,0.000,6,0.000,0.056,2954,2200,1778
$STATE,13494,end climb,SURFACE_DEPTH_REACHED
$STATE,13494,begin surface coast
$FINISH,0.5,1.013726
$STATE,13517,end surface coast,CONTROL_FINISHED_OK
$STATE,13517,begin surface
$SM_CCo,13543,61.33,0.672,0,0,1315,300.00
$SM_GC,1.38,0.00,0.00,61.33,0.000,0.000,0.672,381,1593,1315,-10.69,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1906
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.3,12.4
$24V_AH,23.6,15.944
$10V_AH,10.1,9.407
$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,25.050,106.175,286.100,61.325,0.000,37.763,27.417,146.843,5.000,0.000,0.000,14.456,1225.707,10227.336,460.137,1529.603,502.057,0.000,1225.935,0.000,1493.146,0.000,34.581,0.000
$DEVICE_MAMPS,171.808,110.448,1043.887,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.237,441.932,413.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31753,649
$CAP_FILE_SIZE,98413,0
$CFSIZE,254472192,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,170908,112201,6423.446,-934.789,69,1.4,69,-10.6