version: 66.04
glider: 14
mission: 6
dive: 88
start: 9 17 108 15 14 48
data:
$ID,14
$MISSION,6
$DIVE,88
$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,-651780.94
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,150207,6423.284,-935.114,81,1.3,86,-10.6
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-51.6
$GPS2,151427,6423.303,-934.871,10,1.3,10,-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,328.6,76485,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,2,0.000,0.000,380,1584,2761
$GC,83,-1.16,-146.6,3.6,-5.3,3,110,11.57,2.50,-9.50,0.000,4,0.179,0.077,2445,3011,3138
$GC,357,-1.16,-146.6,45.5,-15.3,15,361,0.00,2.40,0.00,0.000,6,0.000,0.058,2445,1599,3141
$GC,674,-1.16,-146.6,82.0,-10.5,30,678,0.00,2.47,0.00,0.000,4,0.000,0.078,2445,221,3141
$GC,747,-1.16,-146.6,90.0,-11.1,33,751,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1630,3141
$GC,1065,-1.16,-146.6,124.7,-11.1,48,1070,0.00,2.55,0.00,0.000,4,0.000,0.076,2445,213,3143
$GC,1133,-1.16,-146.6,133.0,-12.1,51,1137,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1609,3143
$GC,1455,-1.16,-146.6,168.9,-11.3,67,1459,0.00,2.50,0.00,0.000,4,0.000,0.075,2446,221,3143
$GC,1550,-1.16,-146.6,181.0,-12.2,71,1554,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1605,3143
$GC,1867,-1.16,-146.6,214.1,-9.4,86,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3145
$GC,2176,-1.16,-146.6,241.6,-8.8,101,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3145
$GC,2485,-1.16,-146.6,269.4,-9.3,116,2490,0.00,2.53,0.00,0.000,4,0.000,0.077,2445,212,3147
$GC,2609,-1.16,-146.6,281.1,-9.3,121,2615,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1599,3147
$GC,2926,-1.16,-146.6,307.3,-8.1,137,2929,0.00,2.47,0.00,0.000,4,0.000,0.079,2445,221,3146
$GC,2977,-1.16,-146.6,312.1,-9.1,139,2981,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1599,3146
$GC,3299,-1.16,-146.6,341.2,-8.8,155,3303,0.00,2.53,0.00,0.000,4,0.000,0.081,2445,213,3146
$GC,3501,-1.16,-146.6,361.0,-9.7,164,3505,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1600,3146
$GC,3822,-1.16,-146.6,390.9,-9.0,180,3827,0.00,2.53,0.00,0.000,4,0.000,0.083,2445,222,3146
$GC,3994,-1.16,-146.6,407.7,-9.8,187,4000,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1607,3146
$GC,4311,-1.16,-146.6,439.2,-9.9,203,4315,0.00,2.53,0.00,0.000,4,0.000,0.084,2445,222,3146
$GC,4374,-1.16,-146.6,445.7,-10.7,206,4378,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1601,3145
$GC,4707,-1.16,-146.6,474.6,-8.3,222,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1606,3144
$GC,5016,-1.16,-146.6,500.0,-8.7,237,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3143
$GC,5328,-1.16,-146.6,526.7,-9.5,252,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3142
$GC,5634,-1.16,-146.6,554.8,-9.6,267,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3139
$GC,5944,-1.16,-146.6,582.6,-10.7,282,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3139
$STATE,6105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6105,begin apogee
$GC,6115,-0.32,0.0,596.2,8.3,290,6248,0.93,0.00,125.70,1.048,6,0.120,0.000,2631,2185,2539
$STATE,6249,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6252,1.16,146.6,601.3,0.0,297,6382,1.50,2.83,120.93,1.004,4,0.077,0.110,2956,3601,1941
$GC,6571,1.16,146.6,578.7,9.1,311,6577,0.00,2.50,0.00,0.000,6,0.000,0.070,2956,2202,1939
$GC,6888,1.19,164.5,555.4,7.3,327,6910,0.00,2.72,15.93,1.057,4,0.000,0.094,2956,3604,1867
$GC,6967,1.19,164.5,548.3,8.6,330,6971,0.00,2.50,0.00,0.000,6,0.000,0.067,2956,2198,1866
$GC,7283,1.19,164.5,518.5,10.3,345,7287,0.00,2.58,0.00,0.000,4,0.000,0.084,2956,797,1865
$GC,7317,1.21,173.4,515.5,7.7,346,7332,0.00,2.42,8.73,0.969,6,0.000,0.055,2956,2203,1831
$GC,7655,1.21,173.4,484.9,9.1,363,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2203,1830
$GC,7964,1.21,173.4,457.9,8.9,378,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2203,1830
$GC,8274,1.21,173.4,430.5,8.4,393,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2203,1828
$GC,8583,1.21,173.4,404.7,8.2,408,8587,0.00,2.58,0.00,0.000,4,0.000,0.074,2956,788,1827
$GC,8717,1.21,173.4,393.4,8.5,414,8722,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2211,1827
$GC,9039,1.21,173.4,366.0,8.9,430,9044,0.00,2.55,0.00,0.000,4,0.000,0.072,2956,792,1826
$GC,9202,1.21,173.4,350.1,10.0,437,9207,0.00,2.45,0.00,0.000,6,0.000,0.055,2956,2209,1824
$GC,9519,1.21,173.4,321.0,8.6,452,9523,0.00,2.55,0.00,0.000,4,0.000,0.072,2956,792,1824
$GC,9676,1.21,173.4,307.0,8.5,459,9681,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2207,1824
$GC,9997,1.21,173.4,277.8,9.4,475,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2208,1823
$GC,10307,1.21,173.4,246.3,10.5,490,10311,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,789,1822
$GC,10504,1.21,173.4,225.5,9.6,499,10509,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2201,1822
$GC,10832,1.21,173.4,197.5,8.4,515,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1822
$GC,11142,1.23,185.6,172.9,7.5,530,11156,0.00,2.55,9.43,0.806,4,0.000,0.074,2956,793,1781
$GC,11236,1.23,185.6,165.6,8.0,534,11240,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2210,1781
$GC,11559,1.23,185.6,139.1,8.9,550,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2210,1781
$GC,11867,1.23,185.6,113.8,8.4,565,11871,0.00,2.55,0.00,0.000,4,0.000,0.071,2956,786,1781
$GC,11945,1.23,185.6,106.3,9.3,568,11952,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2203,1781
$GC,12264,1.24,191.9,82.2,7.8,584,12278,0.00,2.58,7.30,0.679,4,0.000,0.070,2956,791,1755
$GC,12335,1.24,191.9,75.3,9.2,587,12340,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2200,1755
$GC,12658,1.24,191.9,50.0,9.6,603,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2199,1755
$GC,12967,1.24,191.9,20.4,8.3,618,12971,0.00,2.50,0.00,0.000,4,0.000,0.068,2956,789,1755
$GC,13046,1.24,191.9,13.9,9.8,621,13052,0.00,2.40,0.00,0.000,6,0.000,0.055,2956,2213,1755
$STATE,13173,end climb,SURFACE_DEPTH_REACHED
$STATE,13173,begin surface coast
$FINISH,0.6,1.014796
$STATE,13195,end surface coast,CONTROL_FINISHED_OK
$STATE,13195,begin surface
$SM_CCo,13221,63.92,0.651,2,0,1315,300.00
$SM_GC,1.63,0.00,0.00,63.92,0.000,0.000,0.651,383,1583,1315,-10.68,-0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.1,29.0
$24V_AH,23.6,16.177
$10V_AH,10.1,9.544
$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,25.450,101.200,288.000,63.925,0.000,115.706,95.457,276.836,5.500,0.000,0.000,12.268,1209.289,9989.066,466.668,1591.187,787.059,0.000,1251.706,0.000,1556.851,0.000,35.926,0.000
$DEVICE_MAMPS,178.711,109.681,1056.926,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.421,428.108,415.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31709,629
$CAP_FILE_SIZE,101758,0
$CFSIZE,254472192,246267904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,170908,185802,6423.328,-937.819,55,1.3,55,-10.6