version: 66.04
glider: 14
mission: 6
dive: 98
start: 9 19 108 1 39 36
data:
$ID,14
$MISSION,6
$DIVE,98
$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,-651955.69
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,013056,6431.860,-943.949,39,1.3,39,-10.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.5
$GPS2,013915,6431.740,-943.779,15,1.4,15,-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,323.7,60418,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,100,0.00,0.00,-75.62,0.000,6,0.000,0.000,379,1593,3137
$GC,105,-1.16,-146.6,6.2,-7.3,4,126,11.57,2.53,0.00,0.000,4,0.179,0.071,2446,204,3142
$GC,268,-1.16,-146.6,37.5,-12.4,11,272,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1619,3143
$GC,591,-1.16,-146.6,71.0,-10.1,27,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1624,3146
$GC,899,-1.16,-146.6,105.1,-11.6,42,903,0.00,2.53,0.00,0.000,4,0.000,0.076,2446,209,3147
$GC,1000,-1.16,-146.6,118.1,-13.0,46,1006,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1614,3148
$GC,1316,-1.16,-146.6,158.2,-12.9,62,1320,0.00,2.55,0.00,0.000,4,0.000,0.075,2446,203,3148
$GC,1402,-1.16,-146.6,169.5,-12.9,66,1406,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1605,3148
$GC,1729,-1.16,-146.6,205.8,-9.7,82,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3150
$GC,2038,-1.16,-146.6,230.0,-6.4,97,2043,0.00,2.40,0.00,0.000,4,0.000,0.073,2446,2971,3150
$GC,2102,-1.16,-146.6,233.2,-4.3,100,2106,0.00,2.38,0.00,0.000,6,0.000,0.064,2446,1598,3150
$GC,2437,-1.16,-146.6,250.2,-5.6,116,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3151
$GC,2745,-1.16,-146.6,272.9,-8.5,131,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3151
$GC,3055,-1.16,-146.6,302.1,-9.8,146,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3152
$GC,3364,-1.16,-146.6,338.6,-12.5,161,3368,0.00,2.45,0.00,0.000,4,0.000,0.077,2446,2971,3151
$GC,3427,-1.16,-146.6,346.4,-12.4,164,3431,0.00,2.38,0.00,0.000,6,0.000,0.065,2446,1600,3152
$GC,3760,-1.16,-146.6,384.7,-11.0,180,3765,0.00,2.42,0.00,0.000,4,0.000,0.075,2446,2971,3151
$GC,3807,-1.16,-146.6,389.3,-9.5,182,3811,0.00,2.40,0.00,0.000,6,0.000,0.065,2446,1596,3152
$GC,4134,-1.16,-146.6,416.8,-7.9,198,4138,0.00,2.55,0.00,0.000,4,0.000,0.092,2445,215,3151
$GC,4232,-1.16,-146.6,425.2,-8.8,202,4237,0.00,2.33,0.00,0.000,6,0.000,0.056,2446,1591,3151
$GC,4555,-1.16,-146.6,451.6,-7.9,218,4559,0.00,2.53,0.00,0.000,4,0.000,0.087,2445,212,3149
$GC,4605,-1.16,-146.6,456.0,-8.3,220,4610,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1600,3149
$GC,4922,-1.16,-146.6,481.2,-7.7,235,4926,0.00,2.55,0.00,0.000,4,0.000,0.085,2446,213,3147
$GC,5030,-1.16,-146.6,490.6,-9.1,240,5034,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1599,3148
$GC,5364,-1.16,-146.6,516.1,-7.4,256,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1602,3147
$STATE,5587,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5587,begin apogee
$GC,5596,-0.32,0.0,534.0,8.6,267,5730,0.93,0.00,128.62,1.135,6,0.127,0.000,2629,2188,2538
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5731,begin climb
$GC,5735,1.16,146.6,537.7,0.0,274,5867,1.52,2.83,121.90,1.091,4,0.081,0.109,2956,3602,1940
$GC,6040,1.16,146.6,516.5,8.9,288,6045,0.00,2.50,0.00,0.000,6,0.000,0.068,2956,2198,1939
$GC,6367,1.16,146.6,484.7,9.7,304,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2197,1937
$GC,6676,1.16,146.6,456.0,8.9,319,6681,0.00,2.55,0.00,0.000,4,0.000,0.079,2956,792,1937
$GC,6762,1.16,146.6,448.0,8.8,323,6766,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2203,1937
$GC,7095,1.16,146.6,420.9,8.1,339,7099,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,793,1935
$GC,7173,1.16,146.6,414.4,8.4,342,7179,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2199,1933
$GC,7490,1.25,201.1,393.8,5.9,358,7540,0.00,2.62,43.22,0.943,4,0.000,0.074,2956,802,1719
$GC,7599,1.25,201.1,385.8,8.2,363,7603,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2199,1718
$GC,7927,1.25,202.2,360.2,8.0,379,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1715
$GC,8235,1.25,202.2,334.1,9.2,394,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1714
$GC,8545,1.25,202.2,303.1,9.7,409,8549,0.00,2.53,0.00,0.000,4,0.000,0.075,2956,793,1714
$GC,8612,1.25,202.2,296.2,9.5,412,8616,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2203,1714
$GC,8933,1.25,202.2,263.0,10.8,428,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2203,1713
$GC,9242,1.25,202.2,233.7,8.9,443,9247,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,794,1712
$GC,9293,1.25,202.2,228.9,9.4,445,9297,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2209,1712
$GC,9610,1.25,202.2,202.1,8.3,460,9613,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,794,1712
$GC,9672,1.25,202.2,196.7,10.0,462,9678,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2200,1711
$GC,9988,1.33,252.5,175.0,6.1,478,10035,0.17,2.60,41.08,0.877,4,0.064,0.073,3007,796,1507
$GC,10094,1.33,252.5,166.8,8.7,483,10098,0.00,2.45,0.00,0.000,6,0.000,0.057,3008,2200,1506
$GC,10422,1.37,273.6,143.8,7.2,499,10441,0.00,0.00,17.52,0.810,6,0.000,0.000,3008,2200,1422
$GC,10753,1.37,273.6,116.3,8.7,515,10757,0.00,2.53,0.00,0.000,4,0.000,0.071,3007,794,1422
$GC,10831,1.37,273.6,108.7,8.3,518,10838,0.00,2.42,0.00,0.000,6,0.000,0.056,3008,2201,1421
$GC,11150,1.38,283.9,83.7,7.6,534,11166,0.00,0.00,10.25,0.710,6,0.000,0.000,3007,2202,1380
$GC,11479,1.38,283.9,55.1,10.1,550,11483,0.00,2.50,0.00,0.000,4,0.000,0.071,3007,796,1380
$GC,11574,1.38,283.9,43.9,11.5,554,11578,0.00,2.40,0.00,0.000,6,0.000,0.056,3008,2200,1380
$GC,11896,1.38,283.9,4.7,11.1,570,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,1380
$STATE,11913,end climb,SURFACE_DEPTH_REACHED
$STATE,11913,begin surface coast
$FINISH,0.9,1.014724
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,11961,12.43,0.573,1,0,1315,300.00
$SM_GC,0.96,0.00,0.00,12.43,0.000,0.000,0.573,379,1601,1315,-10.70,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1919
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,476.6,66.7
$24V_AH,23.6,17.340
$10V_AH,10.1,10.153
$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,25.725,96.025,362.600,12.425,0.000,76.867,109.734,129.550,4.000,0.000,0.000,17.253,1087.049,8973.870,475.042,1368.288,582.549,0.000,1178.515,0.000,1335.695,0.000,26.644,0.000
$DEVICE_MAMPS,179.478,108.914,1135.160,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.244,388.377,383.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28601,572
$CAP_FILE_SIZE,88925,0
$CFSIZE,254472192,245829632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,190908,050038,6431.383,-947.565,40,1.7,40,-10.8