version: 66.04
glider: 14
mission: 6
dive: 97
start: 9 18 108 22 20 24
data:
$ID,14
$MISSION,6
$DIVE,97
$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,-651937.81
$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,27
$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
$GPS1,221438,6430.836,-946.420,40,1.3,40,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.4
$GPS2,222003,6430.833,-945.926,13,1.3,13,-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,326.0,60379,-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,-60.22,0.000,2,0.000,0.000,379,1592,2715
$GC,83,-1.16,-146.6,3.6,-4.7,3,114,11.50,2.58,-10.75,0.000,4,0.176,0.094,2442,208,3138
$GC,277,-1.16,-146.6,32.2,-13.4,11,283,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1616,3140
$GC,594,-1.16,-146.6,72.0,-11.5,27,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1620,3140
$GC,904,-1.16,-146.6,101.6,-8.6,42,909,0.00,2.55,0.00,0.000,4,0.000,0.075,2442,201,3143
$GC,955,-1.16,-146.6,106.7,-9.0,44,960,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1606,3143
$GC,1273,-1.16,-146.6,136.9,-11.1,59,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1610,3145
$GC,1582,-1.16,-146.6,176.7,-13.1,74,1586,0.00,2.53,0.00,0.000,4,0.000,0.076,2442,209,3146
$GC,1667,-1.16,-146.6,187.9,-13.6,78,1671,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1604,3147
$GC,1994,-1.16,-146.6,218.1,-7.0,94,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1608,3148
$GC,2303,-1.16,-146.6,242.9,-9.2,109,2307,0.00,2.53,0.00,0.000,4,0.000,0.078,2442,210,3149
$GC,2345,-1.16,-146.6,247.1,-10.7,111,2349,0.00,2.33,0.00,0.000,6,0.000,0.055,2442,1598,3150
$GC,2672,-1.16,-146.6,276.7,-8.4,127,2676,0.00,2.53,0.00,0.000,4,0.000,0.081,2442,210,3150
$GC,2807,-1.16,-146.6,288.2,-8.4,133,2811,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1601,3150
$GC,3128,-1.16,-146.6,314.5,-8.1,149,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1606,3150
$GC,3437,-1.16,-146.6,340.4,-8.1,164,3442,0.00,2.55,0.00,0.000,4,0.000,0.082,2442,209,3150
$GC,3533,-1.16,-146.6,349.0,-8.6,168,3538,0.00,2.38,0.00,0.000,6,0.000,0.056,2442,1605,3150
$GC,3852,-1.16,-146.6,375.1,-8.2,183,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1610,3150
$GC,4159,-1.16,-146.6,402.3,-9.0,198,4163,0.00,2.58,0.00,0.000,4,0.000,0.087,2442,212,3150
$GC,4199,-1.16,-146.6,406.0,-9.4,200,4204,0.00,2.38,0.00,0.000,6,0.000,0.057,2442,1606,3150
$GC,4527,-1.16,-146.6,434.8,-8.6,216,4532,0.00,2.58,0.00,0.000,4,0.000,0.087,2442,212,3149
$GC,4629,-1.16,-146.6,444.6,-9.8,220,4636,0.00,2.40,0.00,0.000,6,0.000,0.057,2442,1600,3149
$GC,4946,-1.16,-146.6,474.4,-9.5,236,4956,0.00,2.58,0.00,0.000,4,0.000,0.087,2442,209,3147
$GC,5029,-1.16,-146.6,483.7,-11.3,239,5033,0.00,2.38,0.00,0.000,6,0.000,0.056,2442,1602,3147
$GC,5346,-1.16,-146.6,515.6,-10.3,254,5350,0.00,2.58,0.00,0.000,4,0.000,0.086,2442,209,3145
$GC,5408,-1.16,-146.6,521.3,-8.3,257,5413,0.00,2.38,0.00,0.000,6,0.000,0.055,2442,1602,3145
$STATE,5547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5547,begin apogee
$GC,5556,-0.32,0.0,533.6,8.7,264,5693,0.93,0.00,128.45,1.000,6,0.115,0.000,2629,2188,2538
$STATE,5694,end apogee,CONTROL_FINISHED_OK
$STATE,5694,begin climb
$GC,5698,1.16,146.6,540.1,0.0,271,5826,1.52,2.83,119.95,0.965,4,0.080,0.112,2956,3597,1941
$GC,5990,1.26,203.9,525.6,5.8,284,6044,0.10,2.50,47.92,1.084,6,0.076,0.069,2983,2194,1707
$GC,6357,1.26,203.9,495.2,8.3,302,6362,0.00,2.55,0.00,0.000,4,0.000,0.081,2983,798,1705
$GC,6408,1.26,203.9,489.9,9.9,304,6412,0.00,2.45,0.00,0.000,6,0.000,0.056,2983,2212,1705
$GC,6725,1.26,203.9,461.1,9.1,319,6729,0.00,2.58,0.00,0.000,4,0.000,0.075,2983,798,1704
$GC,6781,1.26,203.9,455.5,9.5,321,6785,0.00,2.42,0.00,0.000,6,0.000,0.056,2983,2200,1704
$GC,7098,1.28,221.9,430.0,7.3,336,7116,0.00,0.00,15.48,1.004,6,0.000,0.000,2983,2200,1634
$GC,7427,1.33,252.0,408.1,6.9,352,7454,0.00,0.00,25.35,0.940,6,0.000,0.000,2983,2200,1511
$GC,7756,1.33,252.0,378.3,10.2,368,7760,0.00,2.55,0.00,0.000,4,0.000,0.077,2983,798,1508
$GC,7864,1.33,252.0,366.0,10.9,373,7868,0.00,2.42,0.00,0.000,6,0.000,0.057,2983,2198,1508
$GC,8191,1.33,252.0,331.7,10.2,389,8195,0.00,2.67,0.00,0.000,4,0.000,0.101,2983,3600,1506
$GC,8291,1.33,252.0,320.0,10.9,393,8298,0.00,2.47,0.00,0.000,6,0.000,0.064,2983,2195,1506
$GC,8608,1.33,252.0,285.1,11.0,409,8612,0.00,2.65,0.00,0.000,4,0.000,0.090,2983,3603,1505
$GC,8681,1.33,252.0,276.9,10.7,412,8685,0.00,2.47,0.00,0.000,6,0.000,0.065,2983,2199,1505
$GC,8997,1.33,252.0,245.9,9.1,427,9001,0.00,2.55,0.00,0.000,4,0.000,0.080,2983,790,1505
$GC,9094,1.33,252.0,236.7,10.8,431,9098,0.00,2.42,0.00,0.000,6,0.000,0.055,2983,2208,1505
$GC,9411,1.33,252.0,203.5,11.0,446,9415,0.00,2.58,0.00,0.000,4,0.000,0.089,2983,3598,1504
$GC,9473,1.33,252.0,195.8,12.5,449,9477,0.00,2.45,0.00,0.000,6,0.000,0.064,2983,2196,1504
$GC,9806,1.33,252.0,156.3,12.0,465,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2196,1504
$GC,10115,1.33,252.0,122.7,10.2,480,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2196,1503
$GC,10425,1.33,252.0,94.8,8.3,495,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2196,1504
$GC,10734,1.33,252.0,65.8,10.9,510,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2196,1504
$GC,11045,1.33,252.0,26.2,11.6,525,11049,0.00,2.55,0.00,0.000,4,0.000,0.083,2983,3594,1504
$GC,11146,1.33,252.0,14.2,11.5,529,11152,0.00,2.40,0.00,0.000,6,0.000,0.063,2983,2198,1504
$STATE,11273,end climb,SURFACE_DEPTH_REACHED
$STATE,11273,begin surface coast
$FINISH,0.8,1.006513
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11297,begin surface
$SM_CCo,11323,25.90,0.676,0,0,1316,300.00
$SM_GC,1.38,0.00,0.00,25.90,0.000,0.000,0.676,379,1602,1316,-10.71,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1949
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.2,67.9
$24V_AH,23.6,17.215
$10V_AH,10.1,10.092
$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,25.325,96.750,337.150,25.900,0.000,37.761,35.163,131.800,4.000,0.000,0.000,14.547,1035.569,8397.860,461.162,1320.452,467.639,0.000,1137.926,0.000,1288.636,0.000,29.594,0.000
$DEVICE_MAMPS,176.410,111.982,1083.771,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.730,364.553,369.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28468,537
$CAP_FILE_SIZE,85071,0
$CFSIZE,254472192,245878784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,190908,013056,6431.860,-943.949,39,1.3,39,-10.7