version: 66.04
glider: 14
mission: 6
dive: 89
start: 9 17 108 19 5 23
data:
$ID,14
$MISSION,6
$DIVE,89
$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,-651791.62
$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,25
$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
$GPS1,185802,6423.328,-937.819,55,1.3,55,-10.6
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-47.8
$GPS2,190503,6423.396,-937.584,8,1.6,8,-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,329.7,74947,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.50,0.000,2,0.000,0.000,384,1581,3111
$GC,103,-1.16,-146.6,3.8,-4.3,4,125,11.45,2.50,-0.65,0.000,4,0.174,0.084,2443,213,3139
$GC,397,-1.16,-146.6,35.6,-10.0,17,401,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1614,3142
$GC,725,-1.16,-146.6,74.6,-11.9,33,729,0.00,2.50,0.00,0.000,4,0.000,0.073,2442,213,3144
$GC,954,-1.16,-146.6,102.0,-10.7,43,958,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1603,3144
$GC,1273,-1.16,-146.6,133.0,-9.3,58,1277,0.00,2.50,0.00,0.000,4,0.000,0.074,2442,213,3146
$GC,1351,-1.16,-146.6,141.3,-10.3,61,1358,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1607,3146
$GC,1667,-1.16,-146.6,170.4,-8.8,77,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1611,3147
$GC,1977,-1.16,-146.6,198.6,-9.8,92,1981,0.00,2.53,0.00,0.000,4,0.000,0.075,2442,210,3147
$GC,2148,-1.16,-146.6,217.6,-10.6,99,2152,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1603,3147
$GC,2464,-1.16,-146.6,249.2,-9.5,114,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1606,3148
$GC,2774,-1.16,-146.6,273.7,-6.7,129,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1606,3149
$GC,3083,-1.16,-146.6,297.8,-8.4,144,3087,0.00,2.53,0.00,0.000,4,0.000,0.082,2443,215,3150
$GC,3161,-1.16,-146.6,305.2,-9.5,147,3167,0.00,2.33,0.00,0.000,6,0.000,0.055,2442,1598,3150
$GC,3478,-1.16,-146.6,333.7,-8.9,163,3482,0.00,2.53,0.00,0.000,4,0.000,0.081,2442,213,3150
$GC,3586,-1.16,-146.6,344.7,-10.5,168,3590,0.00,2.35,0.00,0.000,6,0.000,0.056,2443,1603,3150
$GC,3913,-1.16,-146.6,373.4,-8.5,184,3918,0.00,2.55,0.00,0.000,4,0.000,0.082,2443,210,3150
$GC,3992,-1.16,-146.6,380.5,-9.2,187,3998,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1598,3150
$GC,4309,-1.16,-146.6,408.5,-9.0,203,4312,0.00,2.55,0.00,0.000,4,0.000,0.084,2442,210,3149
$GC,4467,-1.16,-146.6,424.2,-10.3,210,4472,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1606,3149
$GC,4801,-1.16,-146.6,454.8,-8.9,226,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1610,3147
$GC,5110,-1.16,-146.6,483.7,-8.8,241,5114,0.00,2.58,0.00,0.000,4,0.000,0.084,2443,210,3145
$GC,5223,-1.16,-146.6,495.2,-10.4,246,5228,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1606,3145
$GC,5546,-1.16,-146.6,525.5,-9.5,262,5550,0.00,2.55,0.00,0.000,4,0.000,0.086,2442,215,3143
$GC,5620,-1.16,-146.6,532.8,-11.1,265,5624,0.00,2.35,0.00,0.000,6,0.000,0.056,2443,1599,3143
$GC,5942,-1.16,-146.6,559.5,-7.5,281,5947,0.00,2.53,0.00,0.000,4,0.000,0.086,2443,220,3141
$GC,5994,-1.16,-146.6,563.7,-8.0,283,5998,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1601,3141
$STATE,6142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6142,begin apogee
$GC,6151,-0.32,0.0,578.3,9.4,290,6288,0.93,0.00,127.72,1.026,6,0.108,0.000,2633,2186,2539
$STATE,6288,end apogee,CONTROL_FINISHED_OK
$STATE,6288,begin climb
$GC,6292,1.16,146.6,584.5,0.0,297,6421,1.50,2.85,120.35,0.999,4,0.081,0.112,2955,3605,1941
$GC,6506,1.16,146.6,574.5,8.7,307,6511,0.00,2.53,0.00,0.000,6,0.000,0.068,2955,2192,1940
$GC,6834,1.24,196.3,550.2,6.1,323,6884,0.00,2.70,42.12,1.115,4,0.000,0.083,2953,795,1737
$GC,6943,1.24,196.3,541.7,8.2,328,6947,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2201,1736
$GC,7270,1.24,196.3,512.2,9.1,344,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1734
$GC,7579,1.24,196.3,485.3,9.2,359,7583,0.00,2.58,0.00,0.000,4,0.000,0.077,2954,794,1733
$GC,7647,1.24,196.3,479.5,8.3,362,7651,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2208,1733
$GC,7974,1.24,196.3,452.6,8.1,378,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2208,1733
$GC,8284,1.24,196.3,427.0,8.0,393,8288,0.00,2.58,0.00,0.000,4,0.000,0.074,2955,797,1732
$GC,8357,1.24,196.3,420.2,9.3,396,8361,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2200,1732
$GC,8674,1.26,204.1,395.0,7.7,411,8688,0.10,2.62,6.90,0.892,4,0.075,0.076,2982,796,1706
$GC,8768,1.26,204.1,386.1,9.7,415,8772,0.00,2.45,0.00,0.000,6,0.000,0.056,2983,2209,1706
$GC,9090,1.26,204.1,355.8,9.7,431,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2209,1705
$GC,9399,1.26,204.1,326.0,9.6,446,9403,0.00,2.55,0.00,0.000,4,0.000,0.074,2983,796,1704
$GC,9628,1.26,204.1,301.7,10.5,456,9633,0.00,2.42,0.00,0.000,6,0.000,0.057,2982,2199,1703
$GC,9946,1.26,204.1,270.7,9.9,471,9950,0.00,2.65,0.00,0.000,4,0.000,0.097,2983,3606,1702
$GC,10013,1.26,204.1,263.3,11.0,474,10018,0.00,2.45,0.00,0.000,6,0.000,0.063,2983,2202,1702
$GC,10334,1.26,204.1,229.7,10.2,490,10339,0.00,2.60,0.00,0.000,4,0.000,0.087,2983,3605,1701
$GC,10475,1.26,204.1,215.3,9.4,496,10480,0.00,2.47,0.00,0.000,6,0.000,0.064,2982,2195,1701
$GC,10792,1.26,204.1,183.9,10.0,511,10796,0.00,2.58,0.00,0.000,4,0.000,0.086,2983,3601,1700
$GC,10901,1.26,204.1,172.9,10.2,516,10905,0.00,2.45,0.00,0.000,6,0.000,0.063,2982,2199,1700
$GC,11229,1.26,204.1,140.4,9.9,532,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,1700
$GC,11538,1.26,204.1,110.5,9.5,547,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,1700
$GC,11847,1.26,204.1,78.7,10.2,562,11852,0.00,2.55,0.00,0.000,4,0.000,0.081,2983,790,1700
$GC,11937,1.26,204.1,69.5,8.6,566,11942,0.00,2.40,0.00,0.000,6,0.000,0.055,2982,2210,1700
$GC,12261,1.26,204.1,35.1,10.8,582,12265,0.00,2.53,0.00,0.000,4,0.000,0.068,2983,786,1700
$GC,12312,1.26,204.1,30.1,8.3,584,12317,0.00,2.40,0.00,0.000,6,0.000,0.056,2983,2203,1700
$STATE,12565,end climb,SURFACE_DEPTH_REACHED
$STATE,12565,begin surface coast
$FINISH,0.7,1.025877
$STATE,12585,end surface coast,CONTROL_FINISHED_OK
$STATE,12586,begin surface
$SM_CCo,12611,50.85,0.680,0,0,1316,300.00
$SM_GC,1.12,0.00,0.00,50.85,0.000,0.000,0.680,374,1579,1316,-10.72,-0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1927
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.5,11.7
$24V_AH,23.6,16.291
$10V_AH,10.1,9.610
$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,25.275,111.425,297.100,50.850,0.000,39.110,32.784,223.068,5.000,0.000,0.000,10.039,1172.890,9287.022,464.680,1579.310,585.573,0.000,1252.734,0.000,1543.129,0.000,35.838,0.000
$DEVICE_MAMPS,174.109,111.982,1115.218,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.098,406.295,390.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31670,597
$CAP_FILE_SIZE,98692,0
$CFSIZE,254472192,246222848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,170908,223740,6424.771,-936.348,30,1.6,31,-10.6