version: 66.04
glider: 14
mission: 6
dive: 92
start: 9 18 108 5 51 58
data:
$ID,14
$MISSION,6
$DIVE,92
$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,-651865.44
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,054557,6422.175,-944.314,29,0.8,48,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.5
$GPS2,055138,6422.210,-944.256,12,0.9,23,-10.7
$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,334.1,73377,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-75.18,0.000,6,0.000,0.000,381,1593,3138
$GC,102,-1.16,-146.6,6.9,-7.9,4,123,11.50,2.50,0.00,0.000,4,0.176,0.068,2443,208,3142
$GC,395,-1.16,-146.6,51.7,-10.2,17,399,0.00,2.38,0.00,0.000,6,0.000,0.054,2443,1626,3144
$GC,723,-1.16,-146.6,80.0,-8.7,33,727,0.00,2.55,0.00,0.000,4,0.000,0.074,2443,201,3146
$GC,774,-1.16,-146.6,85.0,-9.5,35,778,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1605,3147
$GC,1091,-1.16,-146.6,113.6,-9.0,50,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1608,3148
$GC,1399,-1.16,-146.6,141.1,-8.9,65,1404,0.00,2.50,0.00,0.000,4,0.000,0.075,2443,205,3149
$GC,1440,-1.16,-146.6,145.1,-9.4,67,1444,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1604,3149
$GC,1773,-1.16,-146.6,179.3,-10.8,83,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1608,3149
$GC,2082,-1.16,-146.6,210.5,-9.6,98,2087,0.00,2.53,0.00,0.000,4,0.000,0.076,2443,201,3150
$GC,2206,-1.16,-146.6,223.1,-8.9,103,2213,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1612,3150
$GC,2523,-1.16,-146.6,248.6,-8.3,119,2527,0.00,2.53,0.00,0.000,4,0.000,0.080,2443,203,3151
$GC,2564,-1.16,-146.6,252.2,-9.2,120,2571,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1605,3150
$GC,2881,-1.16,-146.6,278.7,-8.8,136,2885,0.00,2.53,0.00,0.000,4,0.000,0.079,2443,202,3152
$GC,2982,-1.16,-146.6,288.5,-9.4,140,2986,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1599,3152
$GC,3304,-1.16,-146.6,318.5,-9.5,156,3308,0.00,2.53,0.00,0.000,4,0.000,0.080,2443,209,3152
$GC,3360,-1.16,-146.6,324.3,-10.5,158,3366,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1600,3152
$GC,3676,-1.16,-146.6,352.6,-8.8,174,3680,0.00,2.53,0.00,0.000,4,0.000,0.080,2443,210,3152
$GC,3790,-1.16,-146.6,363.4,-10.6,179,3794,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1600,3152
$GC,4112,-1.16,-146.6,392.9,-9.0,195,4116,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,208,3152
$GC,4169,-1.16,-146.6,398.5,-9.3,197,4175,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1609,3152
$GC,4486,-1.16,-146.6,427.9,-9.2,213,4490,0.00,2.58,0.00,0.000,4,0.000,0.086,2443,209,3151
$GC,4609,-1.16,-146.6,438.6,-8.1,218,4615,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1600,3150
$GC,4925,-1.16,-146.6,463.8,-8.7,234,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3149
$GC,5235,-1.16,-146.6,488.2,-8.2,249,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3147
$GC,5544,-1.16,-146.6,516.7,-9.0,264,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3147
$GC,5853,-1.16,-146.6,541.9,-8.6,279,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3145
$STATE,6098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6098,begin apogee
$GC,6108,-0.32,0.0,573.4,14.3,291,6244,0.95,0.00,128.30,1.024,6,0.120,0.000,2634,2192,2539
$STATE,6245,end apogee,CONTROL_FINISHED_OK
$STATE,6245,begin climb
$GC,6249,1.16,146.6,580.0,0.0,298,6377,1.50,2.85,120.25,0.991,4,0.080,0.114,2957,3605,1941
$GC,6652,1.17,151.1,548.6,7.8,316,6662,0.00,2.53,5.07,0.821,6,0.000,0.071,2957,2197,1923
$GC,6974,1.17,151.1,518.2,9.2,331,6979,0.00,2.65,0.00,0.000,4,0.000,0.094,2956,3603,1922
$GC,7024,1.17,151.1,513.5,8.9,333,7029,0.00,2.50,0.00,0.000,6,0.000,0.067,2957,2197,1920
$GC,7341,1.17,151.1,486.7,8.4,348,7345,0.00,2.65,0.00,0.000,4,0.000,0.093,2957,3606,1920
$GC,7426,1.17,151.1,479.5,8.5,352,7430,0.00,2.50,0.00,0.000,6,0.000,0.067,2957,2197,1919
$GC,7753,1.21,174.8,455.6,7.1,368,7776,0.00,0.00,20.58,0.994,6,0.000,0.000,2957,2197,1826
$GC,8082,1.21,174.8,427.9,8.5,384,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2197,1823
$GC,8392,1.23,186.6,402.5,7.6,399,8404,0.00,0.00,10.40,0.926,6,0.000,0.000,2957,2197,1778
$GC,8700,1.23,186.6,377.7,8.8,414,8704,0.00,2.58,0.00,0.000,4,0.000,0.084,2957,795,1777
$GC,8773,1.23,186.6,369.6,11.8,417,8777,0.00,2.45,0.00,0.000,6,0.000,0.055,2957,2218,1777
$GC,9089,1.23,186.6,337.1,9.4,432,9094,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,790,1775
$GC,9224,1.23,186.6,323.7,10.2,438,9229,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2200,1775
$GC,9547,1.23,186.6,290.1,11.0,454,9551,0.00,2.55,0.00,0.000,4,0.000,0.075,2957,796,1774
$GC,9654,1.23,186.6,279.0,10.4,459,9659,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2207,1774
$GC,9982,1.23,186.6,251.4,9.2,475,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2207,1773
$GC,10291,1.31,236.2,230.0,6.1,490,10334,0.15,0.00,40.83,0.954,6,0.069,0.000,2997,2207,1575
$GC,10640,1.31,236.2,193.8,12.1,507,10644,0.00,2.55,0.00,0.000,4,0.000,0.075,2997,796,1574
$GC,10718,1.31,236.2,183.9,12.4,510,10725,0.00,2.42,0.00,0.000,6,0.000,0.057,2997,2203,1573
$GC,11035,1.31,236.2,147.5,11.5,526,11039,0.00,2.53,0.00,0.000,4,0.000,0.074,2997,793,1572
$GC,11113,1.31,236.2,137.8,11.7,529,11120,0.00,2.42,0.00,0.000,6,0.000,0.056,2996,2203,1571
$GC,11430,1.31,236.2,102.2,11.0,545,11435,0.00,2.53,0.00,0.000,4,0.000,0.072,2997,790,1572
$GC,11476,1.31,236.2,96.7,11.4,547,11480,0.00,2.42,0.00,0.000,6,0.000,0.056,2997,2203,1571
$GC,11798,1.31,236.2,60.9,10.8,563,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,1571
$GC,12109,1.31,236.2,26.7,10.5,578,12113,0.00,2.53,0.00,0.000,4,0.000,0.070,2997,790,1571
$GC,12266,1.31,236.2,7.2,12.7,585,12270,0.00,2.40,0.00,0.000,6,0.000,0.057,2997,2198,1571
$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12316,begin surface coast
$FINISH,0.5,1.012865
$STATE,12339,end surface coast,CONTROL_FINISHED_OK
$STATE,12339,begin surface
$SM_CCo,12365,32.90,0.697,0,0,1316,300.00
$SM_GC,1.49,0.00,0.00,32.90,0.000,0.000,0.697,377,1594,1316,-10.71,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1958
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.9,54.9
$24V_AH,23.6,16.635
$10V_AH,10.1,9.800
$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,25.500,101.475,325.425,32.900,0.000,39.117,41.212,127.787,4.250,0.000,0.000,25.309,1132.368,9172.221,482.769,1477.608,481.224,0.000,1213.892,0.000,1432.562,0.000,29.846,0.000
$DEVICE_MAMPS,176.410,113.516,1023.945,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.349,400.095,386.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28558,589
$CAP_FILE_SIZE,91817,0
$CFSIZE,254472192,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,180908,092002,6424.426,-949.446,42,1.3,42,-10.7