version: 66.04
glider: 14
mission: 6
dive: 95
start: 9 18 108 15 38 54
data:
$ID,14
$MISSION,6
$DIVE,95
$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,-651909.31
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,153308,6427.676,-948.383,27,1.3,27,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-54.8
$GPS2,153833,6427.689,-948.390,15,1.2,15,-10.8
$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,331.0,63390,-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,-60.22,0.000,2,0.000,0.000,376,1597,2723
$GC,83,-1.16,-146.6,3.6,-5.4,3,113,11.52,2.53,-10.52,0.000,4,0.177,0.090,2445,204,3138
$GC,175,-1.16,-146.6,15.8,-9.7,7,180,0.00,2.40,0.00,0.000,6,0.000,0.054,2445,1629,3139
$GC,498,-1.16,-146.6,46.8,-9.9,23,502,0.00,2.55,0.00,0.000,4,0.000,0.074,2445,212,3141
$GC,677,-1.16,-146.6,67.0,-11.5,31,681,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1606,3142
$GC,1001,-1.16,-146.6,101.3,-10.5,47,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1610,3142
$GC,1309,-1.16,-146.6,133.9,-10.6,62,1313,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,204,3142
$GC,1394,-1.16,-146.6,143.4,-11.0,66,1398,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1608,3142
$GC,1728,-1.16,-146.6,173.4,-8.3,82,1732,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,203,3143
$GC,1822,-1.16,-146.6,182.4,-9.4,86,1827,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1603,3142
$GC,2140,-1.16,-146.6,208.5,-8.4,101,2144,0.00,2.50,0.00,0.000,4,0.000,0.075,2445,211,3142
$GC,2190,-1.16,-146.6,213.5,-10.1,103,2194,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1605,3143
$GC,2506,-1.16,-146.6,242.2,-8.9,118,2510,0.00,2.50,0.00,0.000,4,0.000,0.076,2445,208,3143
$GC,2552,-1.16,-146.6,246.3,-9.2,120,2556,0.00,2.30,0.00,0.000,6,0.000,0.055,2445,1599,3143
$GC,2885,-1.16,-146.6,274.8,-8.4,136,2890,0.00,2.50,0.00,0.000,4,0.000,0.078,2446,209,3145
$GC,3021,-1.16,-146.6,287.9,-9.9,142,3025,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1605,3144
$GC,3354,-1.16,-146.6,318.2,-9.3,158,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3146
$GC,3663,-1.16,-146.6,348.5,-10.3,173,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3147
$GC,3972,-1.16,-146.6,381.2,-11.1,188,3977,0.00,2.55,0.00,0.000,4,0.000,0.082,2445,210,3147
$GC,4023,-1.16,-146.6,387.2,-11.5,190,4027,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1599,3147
$GC,4339,-1.16,-146.6,420.8,-10.6,205,4344,0.00,2.53,0.00,0.000,4,0.000,0.081,2445,213,3147
$GC,4511,-1.16,-146.6,439.3,-10.3,212,4517,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1597,3147
$GC,4828,-1.16,-146.6,467.3,-8.4,228,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1598,3147
$GC,5137,-1.16,-146.6,494.4,-9.1,243,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1598,3146
$GC,5446,-1.16,-146.6,523.2,-9.9,258,5451,0.00,2.55,0.00,0.000,4,0.000,0.087,2443,211,3146
$GC,5497,-1.16,-146.6,529.0,-11.7,260,5501,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1606,3146
$STATE,5522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5522,begin apogee
$GC,5532,-0.32,0.0,531.9,11.4,261,5670,0.93,0.00,129.88,1.095,6,0.122,0.000,2631,2192,2539
$STATE,5671,end apogee,CONTROL_FINISHED_OK
$STATE,5671,begin climb
$GC,5674,1.16,146.6,538.4,0.0,268,5803,1.50,2.62,120.97,1.078,4,0.076,0.075,2957,790,1941
$GC,6080,1.16,146.6,517.5,8.9,286,6084,0.00,2.47,0.00,0.000,6,0.000,0.058,2957,2204,1939
$GC,6397,1.16,146.6,493.1,8.2,301,6401,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,795,1937
$GC,6447,1.16,146.6,488.4,9.0,303,6451,0.00,2.45,0.00,0.000,6,0.000,0.058,2957,2201,1938
$GC,6763,1.16,146.6,460.5,9.2,318,6768,0.00,2.55,0.00,0.000,4,0.000,0.076,2957,794,1936
$GC,6861,1.16,146.6,451.0,9.9,322,6865,0.00,2.47,0.00,0.000,6,0.000,0.058,2957,2212,1936
$GC,7177,1.16,146.6,424.1,8.3,337,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2212,1932
$GC,7486,1.16,146.6,395.9,9.5,352,7490,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,795,1931
$GC,7616,1.16,146.6,381.9,11.3,358,7620,0.00,2.45,0.00,0.000,6,0.000,0.058,2957,2204,1931
$GC,7943,1.16,146.6,347.8,10.7,374,7947,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,788,1928
$GC,8000,1.16,146.6,341.8,10.4,376,8004,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2202,1928
$GC,8316,1.16,146.6,310.4,10.1,391,8321,0.00,2.53,0.00,0.000,4,0.000,0.073,2957,793,1928
$GC,8385,1.16,146.6,302.5,12.1,394,8389,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2207,1928
$GC,8706,1.16,146.6,265.0,11.8,410,8711,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,793,1926
$GC,8847,1.16,146.6,248.3,11.9,416,8852,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2211,1926
$GC,9164,1.16,146.6,217.4,9.0,431,9168,0.00,2.53,0.00,0.000,4,0.000,0.072,2957,788,1925
$GC,9276,1.16,146.6,206.6,10.2,436,9281,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2212,1925
$GC,9598,1.16,146.6,176.3,8.8,452,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2212,1924
$GC,9907,1.16,146.6,150.5,8.6,467,9911,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,793,1924
$GC,9985,1.16,146.6,142.8,10.0,470,9992,0.00,2.40,0.00,0.000,6,0.000,0.056,2956,2200,1924
$GC,10302,1.16,146.6,112.4,9.7,486,10306,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,788,1925
$GC,10380,1.16,146.6,104.0,10.6,489,10387,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2205,1924
$GC,10697,1.16,146.6,73.1,9.5,505,10701,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,791,1925
$GC,10753,1.16,146.6,67.7,9.8,507,10759,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2200,1924
$GC,11070,1.16,146.6,39.9,8.4,523,11074,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,788,1925
$GC,11159,1.16,146.6,31.8,9.0,527,11164,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2209,1924
$GC,11484,1.27,211.7,8.9,5.5,543,11540,0.10,2.62,49.33,0.700,4,0.071,0.074,2990,798,1674
$STATE,11560,end climb,SURFACE_DEPTH_REACHED
$STATE,11560,begin surface coast
$FINISH,1.0,1.026904
$STATE,11568,end surface coast,CONTROL_FINISHED_OK
$STATE,11571,begin surface
$SM_CCo,11598,52.17,0.673,0,0,1315,300.00
$SM_GC,1.11,0.00,0.00,52.17,0.000,0.000,0.673,374,1626,1315,-10.72,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.7,39.6
$24V_AH,23.6,16.999
$10V_AH,10.2,9.974
$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,25.475,113.375,300.175,52.175,0.000,37.764,27.382,137.123,4.000,0.000,0.000,16.749,1081.629,8516.892,454.661,1453.946,478.140,0.000,1192.987,0.000,1417.170,0.000,28.203,0.000
$DEVICE_MAMPS,177.177,89.739,1095.276,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.087,371.962,393.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28527,547
$CAP_FILE_SIZE,91539,0
$CFSIZE,254472192,245960704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,180908,185426,6428.696,-948.860,38,1.6,38,-10.8