version: 66.04
glider: 14
mission: 6
dive: 91
start: 9 18 108 2 18 34
data:
$ID,14
$MISSION,6
$DIVE,91
$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,-651839.5
$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,18
$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
$GPS1,021225,6423.684,-936.553,40,1.4,40,-10.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-54.5
$GPS2,021814,6423.629,-936.622,15,1.4,32,-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,329.1,75119,-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,-60.45,0.000,2,0.000,0.000,379,1602,2735
$GC,83,-1.16,-146.6,3.5,-5.0,3,113,11.50,2.53,-9.90,0.000,4,0.175,0.089,2445,210,3137
$GC,360,-1.16,-146.6,42.8,-12.4,15,364,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1629,3139
$GC,677,-1.16,-146.6,74.0,-10.5,30,681,0.00,2.55,0.00,0.000,4,0.000,0.074,2445,206,3139
$GC,823,-1.16,-146.6,91.9,-10.7,36,829,0.00,2.30,0.00,0.000,6,0.000,0.054,2446,1606,3140
$GC,1141,-1.16,-146.6,119.2,-9.3,52,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1607,3142
$GC,1449,-1.16,-146.6,149.9,-9.5,67,1453,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,206,3143
$GC,1495,-1.16,-146.6,154.8,-10.6,69,1499,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1597,3143
$GC,1828,-1.16,-146.6,183.8,-8.1,85,1832,0.00,2.50,0.00,0.000,4,0.000,0.075,2445,206,3144
$GC,1878,-1.16,-146.6,188.0,-8.2,87,1882,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1605,3144
$GC,2201,-1.16,-146.6,211.5,-7.2,103,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3144
$GC,2509,-1.16,-146.6,236.9,-9.0,118,2514,0.00,2.53,0.00,0.000,4,0.000,0.075,2445,201,3144
$GC,2624,-1.16,-146.6,248.8,-11.6,123,2628,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1601,3144
$GC,2946,-1.16,-146.6,283.2,-11.4,139,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3144
$GC,3255,-1.16,-146.6,317.4,-10.7,154,3259,0.00,2.53,0.00,0.000,4,0.000,0.077,2445,201,3144
$GC,3408,-1.16,-146.6,334.5,-10.6,161,3412,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1605,3145
$GC,3735,-1.16,-146.6,363.5,-8.0,177,3739,0.00,2.45,0.00,0.000,4,0.000,0.078,2445,2980,3146
$GC,3769,-1.16,-146.6,366.1,-7.6,178,3775,0.00,2.40,0.00,0.000,6,0.000,0.064,2445,1590,3146
$GC,4085,-1.16,-146.6,390.6,-8.1,194,4089,0.00,2.53,0.00,0.000,4,0.000,0.087,2445,207,3146
$GC,4147,-1.16,-146.6,395.9,-8.4,196,4154,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1610,3146
$GC,4464,-1.16,-146.6,419.2,-6.9,212,4468,0.00,2.55,0.00,0.000,4,0.000,0.082,2444,206,3146
$GC,4539,-1.16,-146.6,425.2,-7.9,215,4543,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1597,3146
$GC,4861,-1.16,-146.6,451.5,-8.7,231,4866,0.00,2.50,0.00,0.000,4,0.000,0.084,2445,2984,3146
$GC,4925,-1.16,-146.6,457.4,-9.8,234,4929,0.00,2.40,0.00,0.000,6,0.000,0.066,2445,1601,3146
$GC,5257,-1.16,-146.6,489.8,-9.5,250,5262,0.00,2.47,0.00,0.000,4,0.000,0.077,2445,2985,3146
$GC,5320,-1.16,-146.6,495.6,-9.5,253,5325,0.00,2.42,0.00,0.000,6,0.000,0.066,2444,1596,3146
$GC,5648,-1.16,-146.6,523.3,-7.9,269,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3144
$GC,5957,-1.16,-146.6,547.2,-8.0,284,5961,0.00,2.55,0.00,0.000,4,0.000,0.094,2445,213,3144
$GC,6021,-1.16,-146.6,552.8,-9.3,287,6026,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1604,3144
$GC,6349,-1.16,-146.6,581.0,-7.6,303,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1607,3142
$STATE,6634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6634,begin apogee
$GC,6644,-0.32,0.0,602.4,7.6,317,6777,0.93,0.00,125.65,1.051,6,0.123,0.000,2630,2180,2539
$STATE,6778,end apogee,CONTROL_FINISHED_OK
$STATE,6778,begin climb
$GC,6782,1.16,146.6,604.4,0.0,324,6911,1.58,2.78,120.60,1.002,4,0.086,0.099,2960,3601,1940
$GC,7183,1.16,146.6,576.5,11.8,342,7190,0.00,2.53,0.00,0.000,6,0.000,0.071,2960,2189,1937
$GC,7500,1.18,157.9,552.8,7.6,358,7515,0.00,2.72,10.20,1.001,4,0.000,0.092,2960,3605,1894
$GC,7624,1.18,157.9,541.3,11.7,362,7631,0.00,2.50,0.00,0.000,6,0.000,0.066,2960,2195,1892
$GC,7941,1.29,226.8,520.2,5.4,378,8005,0.12,2.62,57.53,1.128,4,0.073,0.082,2992,800,1613
$GC,8057,1.29,226.8,508.9,11.6,383,8061,0.00,2.42,0.00,0.000,6,0.000,0.055,2992,2202,1613
$GC,8384,1.29,226.8,474.3,10.8,399,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,1610
$GC,8693,1.29,226.8,441.9,10.2,414,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,1610
$GC,9003,1.29,226.8,409.5,10.6,429,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2202,1608
$GC,9312,1.29,226.8,374.0,11.9,444,9316,0.00,2.55,0.00,0.000,4,0.000,0.076,2992,794,1607
$GC,9430,1.29,226.8,359.1,12.7,449,9435,0.00,2.42,0.00,0.000,6,0.000,0.056,2992,2201,1607
$GC,9753,1.29,226.8,321.9,11.2,465,9757,0.00,2.55,0.00,0.000,4,0.000,0.074,2992,790,1606
$GC,9853,1.29,226.8,310.1,11.3,469,9860,0.00,2.45,0.00,0.000,6,0.000,0.058,2993,2210,1605
$GC,10170,1.29,226.8,275.3,11.0,485,10174,0.00,2.55,0.00,0.000,4,0.000,0.073,2992,790,1603
$GC,10277,1.29,226.8,261.1,13.9,490,10281,0.00,2.45,0.00,0.000,6,0.000,0.057,2992,2210,1601
$GC,10611,1.29,226.8,213.3,15.0,506,10615,0.00,2.55,0.00,0.000,4,0.000,0.074,2992,789,1601
$GC,10667,1.29,226.8,204.3,16.6,508,10673,0.00,2.42,0.00,0.000,6,0.000,0.056,2992,2204,1601
$GC,10983,1.29,226.8,158.2,13.9,524,10988,0.00,2.53,0.00,0.000,4,0.000,0.072,2992,790,1601
$GC,11034,1.29,226.8,150.7,14.1,526,11038,0.00,2.42,0.00,0.000,6,0.000,0.056,2993,2202,1600
$GC,11352,1.29,226.8,108.7,12.7,541,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,1601
$GC,11660,1.29,226.8,71.8,11.5,556,11665,0.00,2.50,0.00,0.000,4,0.000,0.071,2993,795,1601
$GC,11762,1.29,226.8,59.2,12.1,560,11768,0.00,2.40,0.00,0.000,6,0.000,0.056,2993,2206,1602
$GC,12078,1.29,226.8,22.2,12.2,576,12083,0.00,2.53,0.00,0.000,4,0.000,0.071,2992,786,1601
$GC,12166,1.29,226.8,12.2,10.6,580,12171,0.00,2.40,0.00,0.000,6,0.000,0.056,2992,2200,1601
$STATE,12264,end climb,SURFACE_DEPTH_REACHED
$STATE,12264,begin surface coast
$FINISH,0.6,1.026810
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12312,38.95,0.686,0,0,1315,300.00
$SM_GC,1.77,0.00,0.00,38.95,0.000,0.000,0.686,380,1596,1315,-10.70,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.4,35.9
$24V_AH,23.6,16.525
$10V_AH,10.1,9.737
$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,25.450,110.800,313.975,38.950,0.000,37.763,27.562,143.265,4.750,0.000,0.000,34.326,1139.976,9099.426,459.014,1524.450,484.751,0.000,1219.243,0.000,1467.790,0.000,33.048,0.000
$DEVICE_MAMPS,174.876,98.943,1128.257,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.520,398.001,378.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,586
$CAP_FILE_SIZE,94760,0
$CFSIZE,254472192,246132736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,180908,054557,6422.175,-944.314,29,0.8,48,-10.7