version: 66.04
glider: 14
mission: 6
dive: 94
start: 9 18 108 12 26 12
data:
$ID,14
$MISSION,6
$DIVE,94
$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,-651891.94
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,121726,6426.946,-948.861,40,1.1,40,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.7
$GPS2,122551,6426.836,-948.442,10,1.7,10,-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,331.9,64587,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.32,0.000,2,0.000,0.000,376,1594,3092
$GC,103,-1.16,-146.6,5.7,-7.2,4,123,11.62,2.53,-0.88,0.000,4,0.176,0.084,2446,210,3140
$GC,219,-1.16,-146.6,31.7,-9.9,9,223,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1622,3143
$GC,536,-1.16,-146.6,57.5,-7.4,24,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1625,3145
$GC,845,-1.16,-146.6,82.3,-9.8,39,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1625,3145
$GC,1155,-1.16,-146.6,108.9,-8.6,54,1160,0.00,2.53,0.00,0.000,4,0.000,0.074,2447,209,3147
$GC,1264,-1.16,-146.6,119.3,-9.7,59,1269,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1614,3147
$GC,1592,-1.16,-146.6,154.8,-11.8,75,1596,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,202,3148
$GC,1643,-1.16,-146.6,161.8,-14.3,77,1647,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1611,3148
$GC,1965,-1.16,-146.6,205.0,-13.3,93,1969,0.00,2.53,0.00,0.000,4,0.000,0.075,2447,207,3148
$GC,2015,-1.16,-146.6,212.1,-14.3,95,2019,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1602,3148
$GC,2332,-1.16,-146.6,242.9,-8.1,110,2335,0.00,2.50,0.00,0.000,4,0.000,0.076,2446,205,3148
$GC,2373,-1.16,-146.6,246.2,-8.1,111,2379,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1601,3148
$GC,2689,-1.16,-146.6,269.6,-8.2,127,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1604,3149
$GC,2998,-1.16,-146.6,297.5,-10.2,142,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1604,3150
$GC,3307,-1.16,-146.6,331.8,-11.3,157,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1604,3151
$GC,3617,-1.16,-146.6,362.9,-8.6,172,3621,0.00,2.45,0.00,0.000,4,0.000,0.079,2446,2976,3150
$GC,3714,-1.16,-146.6,370.2,-7.6,176,3718,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1593,3150
$GC,4036,-1.16,-146.6,392.5,-6.8,192,4040,0.00,2.45,0.00,0.000,4,0.000,0.074,2446,2977,3150
$GC,4075,-1.16,-146.6,395.6,-7.1,193,4081,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1595,3150
$GC,4392,-1.16,-146.6,420.6,-8.2,209,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3151
$GC,4701,-1.16,-146.6,449.3,-10.0,224,4708,0.00,2.55,0.00,0.000,4,0.000,0.090,2447,212,3150
$GC,4799,-1.16,-146.6,460.4,-11.0,228,4803,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1597,3151
$GC,5120,-1.16,-146.6,494.3,-10.9,244,5124,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,206,3149
$GC,5183,-1.16,-146.6,501.1,-11.6,247,5187,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1591,3149
$STATE,5492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5492,begin apogee
$GC,5501,-0.32,0.0,529.8,8.7,262,5641,0.93,0.00,130.98,1.101,6,0.118,0.000,2633,2191,2539
$STATE,5641,end apogee,CONTROL_FINISHED_OK
$STATE,5641,begin climb
$GC,5645,1.16,146.6,532.5,0.0,269,5775,1.50,2.80,121.40,1.078,4,0.077,0.106,2957,3601,1941
$GC,6048,1.18,156.8,504.8,7.6,287,6062,0.00,2.50,9.68,0.943,6,0.000,0.068,2957,2197,1899
$GC,6391,1.18,156.8,476.2,8.5,304,6395,0.00,2.58,0.00,0.000,4,0.000,0.084,2957,800,1896
$GC,6459,1.18,156.8,470.5,9.3,307,6464,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2206,1896
$GC,6781,1.20,169.7,445.0,7.5,323,6797,0.00,2.62,11.00,0.973,4,0.000,0.075,2957,795,1847
$GC,6941,1.20,169.7,431.1,8.1,329,6945,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2209,1846
$GC,7263,1.21,178.4,404.5,7.7,345,7273,0.00,0.00,8.65,0.933,6,0.000,0.000,2957,2209,1811
$GC,7572,1.21,178.4,377.9,9.1,360,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2209,1809
$GC,7881,1.21,178.4,348.9,9.6,375,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2209,1807
$GC,8190,1.21,178.4,320.6,8.9,390,8194,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,792,1805
$GC,8237,1.21,178.4,316.7,9.3,392,8241,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2200,1805
$GC,8564,1.24,194.9,289.6,7.4,408,8582,0.00,0.00,13.70,0.926,6,0.000,0.000,2957,2200,1743
$GC,8893,1.31,240.0,267.2,6.3,424,8937,0.15,2.65,37.10,0.942,4,0.067,0.073,2998,793,1559
$GC,8988,1.31,240.0,257.0,11.2,428,8992,0.00,2.42,0.00,0.000,6,0.000,0.057,2997,2199,1558
$GC,9316,1.31,240.0,210.7,15.3,444,9321,0.00,2.53,0.00,0.000,4,0.000,0.074,2997,794,1557
$GC,9367,1.31,240.0,202.1,16.2,446,9371,0.00,2.42,0.00,0.000,6,0.000,0.056,2997,2201,1557
$GC,9688,1.31,240.0,155.7,13.4,462,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,1557
$GC,10000,1.31,240.0,117.2,12.2,477,10004,0.00,2.50,0.00,0.000,4,0.000,0.071,2997,798,1557
$GC,10072,1.31,240.0,107.9,11.9,480,10077,0.00,2.40,0.00,0.000,6,0.000,0.056,2997,2202,1557
$GC,10389,1.31,240.0,71.5,12.7,495,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2203,1557
$GC,10699,1.31,240.0,38.2,9.2,510,10703,0.00,2.60,0.00,0.000,4,0.000,0.091,2996,3607,1557
$GC,10749,1.31,240.0,33.6,9.4,512,10753,0.00,2.42,0.00,0.000,6,0.000,0.061,2997,2199,1557
$STATE,11062,end climb,SURFACE_DEPTH_REACHED
$STATE,11062,begin surface coast
$FINISH,0.5,1.014608
$STATE,11085,end surface coast,CONTROL_FINISHED_OK
$STATE,11086,begin surface
$SM_CCo,11112,33.08,0.678,0,0,1314,300.00
$SM_GC,1.44,0.00,0.00,33.08,0.000,0.000,0.678,376,1601,1314,-10.71,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.2,88.9
$24V_AH,23.6,16.890
$10V_AH,10.1,9.913
$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,25.425,86.300,332.500,33.075,0.000,76.595,55.602,191.128,3.750,0.000,0.000,11.780,1006.148,8363.279,464.366,1246.581,580.208,0.000,1103.297,0.000,1223.555,0.000,25.102,0.000
$DEVICE_MAMPS,176.410,105.846,1100.645,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.802,358.787,367.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25381,528
$CAP_FILE_SIZE,83133,0
$CFSIZE,254472192,246013952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,180908,153308,6427.676,-948.383,27,1.3,27,-10.8