version: 66.04
glider: 14
mission: 6
dive: 100
start: 9 19 108 8 35 54
data:
$ID,14
$MISSION,6
$DIVE,100
$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,-651988.81
$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,26
$R_STBD_OVSHOOT,54
$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
$GPS1,082931,6432.920,-951.654,74,1.3,74,-10.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-53.7
$GPS2,083533,6433.037,-951.303,14,1.3,14,-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,326.2,54505,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-70.65,0.000,2,0.000,0.000,378,1638,3026
$GC,96,-1.16,-146.6,4.8,-4.8,4,118,11.55,2.58,-2.28,0.000,4,0.178,0.087,2445,222,3141
$GC,346,-1.16,-146.6,43.7,-12.0,15,351,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1600,3143
$GC,674,-1.16,-146.6,78.4,-10.3,31,679,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,213,3145
$GC,783,-1.16,-146.6,90.8,-11.1,36,787,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1603,3145
$GC,1111,-1.16,-146.6,129.6,-12.1,52,1115,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,215,3147
$GC,1219,-1.16,-146.6,143.4,-12.5,57,1224,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1609,3147
$GC,1546,-1.16,-146.6,179.3,-9.8,73,1551,0.00,2.50,0.00,0.000,4,0.000,0.076,2445,212,3148
$GC,1620,-1.16,-146.6,186.8,-10.1,76,1624,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1598,3148
$GC,1942,-1.16,-146.6,212.4,-7.2,92,1946,0.00,2.50,0.00,0.000,4,0.000,0.076,2445,212,3149
$GC,2083,-1.16,-146.6,223.1,-7.8,98,2087,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1599,3150
$GC,2400,-1.16,-146.6,248.2,-7.9,113,2404,0.00,2.50,0.00,0.000,4,0.000,0.078,2445,215,3151
$GC,2514,-1.16,-146.6,258.5,-9.7,118,2518,0.00,2.33,0.00,0.000,6,0.000,0.055,2444,1598,3151
$GC,2841,-1.16,-146.6,289.8,-10.4,134,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1602,3151
$GC,3150,-1.16,-146.6,321.9,-10.9,149,3155,0.00,2.53,0.00,0.000,4,0.000,0.082,2445,220,3151
$GC,3305,-1.16,-146.6,340.6,-11.5,156,3310,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1598,3151
$GC,3634,-1.16,-146.6,375.5,-9.8,172,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1599,3151
$GC,3942,-1.16,-146.6,407.1,-10.1,187,3946,0.00,2.53,0.00,0.000,4,0.000,0.087,2445,2989,3151
$GC,3992,-1.16,-146.6,412.4,-10.3,189,3997,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1599,3151
$GC,4309,-1.16,-146.6,445.3,-10.6,204,4313,0.00,2.58,0.00,0.000,4,0.000,0.094,2445,209,3150
$GC,4365,-1.16,-146.6,451.9,-11.9,206,4371,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1604,3150
$GC,4681,-1.16,-146.6,484.9,-11.1,222,4685,0.00,2.58,0.00,0.000,4,0.000,0.088,2445,212,3149
$GC,4744,-1.16,-146.6,492.5,-12.1,225,4748,0.00,2.38,0.00,0.000,6,0.000,0.057,2445,1601,3149
$GC,5077,-1.16,-146.6,529.5,-11.2,241,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1603,3147
$GC,5386,-1.16,-146.6,561.1,-9.6,256,5391,0.00,2.55,0.00,0.000,4,0.000,0.087,2445,212,3145
$GC,5505,-1.16,-146.6,573.7,-9.5,261,5509,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1603,3145
$STATE,5632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5632,begin apogee
$GC,5642,-0.32,0.0,586.1,8.6,267,5779,0.93,0.00,128.98,1.028,6,0.120,0.000,2631,2187,2538
$STATE,5780,end apogee,CONTROL_FINISHED_OK
$STATE,5780,begin climb
$GC,5784,1.16,146.6,592.1,0.0,274,5913,1.52,2.83,120.25,1.001,4,0.081,0.112,2956,3599,1941
$GC,6180,1.19,159.9,566.4,7.5,292,6197,0.00,2.50,12.20,1.022,6,0.000,0.070,2956,2197,1887
$GC,6507,1.22,183.8,540.1,7.1,308,6533,0.00,2.62,21.23,1.078,4,0.000,0.081,2956,801,1788
$GC,6591,1.22,183.8,533.8,8.2,312,6595,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2204,1787
$GC,6918,1.23,190.0,508.7,7.8,328,6932,0.00,2.65,6.45,0.895,4,0.000,0.077,2956,798,1763
$GC,6978,1.23,190.0,503.6,9.1,330,6985,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2201,1763
$GC,7295,1.23,190.0,478.4,8.2,346,7300,0.00,2.55,0.00,0.000,4,0.000,0.077,2957,800,1763
$GC,7346,1.23,190.0,474.1,8.5,348,7350,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2200,1762
$GC,7662,1.23,190.0,447.8,8.9,363,7667,0.00,2.55,0.00,0.000,4,0.000,0.077,2957,791,1761
$GC,7748,1.23,190.0,439.8,9.4,367,7752,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2209,1761
$GC,8081,1.23,190.0,411.0,8.3,383,8085,0.00,2.58,0.00,0.000,4,0.000,0.076,2957,797,1760
$GC,8145,1.23,190.0,405.6,8.7,386,8149,0.00,2.45,0.00,0.000,6,0.000,0.057,2956,2206,1760
$GC,8472,1.23,190.0,374.4,12.7,402,8476,0.00,2.58,0.00,0.000,4,0.000,0.075,2957,791,1760
$GC,8528,1.23,190.0,368.6,11.3,404,8534,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2201,1760
$GC,8845,1.23,190.0,339.8,8.1,420,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1759
$GC,9154,1.26,206.2,316.0,7.4,435,9173,0.00,0.00,13.93,0.902,6,0.000,0.000,2956,2201,1697
$GC,9483,1.30,234.3,292.0,6.9,451,9513,0.15,2.65,23.30,0.877,4,0.070,0.077,2995,797,1584
$GC,9587,1.30,234.3,282.9,9.2,455,9594,0.00,2.45,0.00,0.000,6,0.000,0.057,2996,2201,1583
$GC,9904,1.30,234.3,253.6,10.2,471,9909,0.00,2.53,0.00,0.000,4,0.000,0.075,2996,794,1582
$GC,10017,1.30,234.3,240.3,11.3,476,10021,0.00,2.45,0.00,0.000,6,0.000,0.058,2995,2201,1582
$GC,10338,1.30,234.3,205.6,11.4,492,10342,0.00,2.53,0.00,0.000,4,0.000,0.075,2995,796,1581
$GC,10400,1.30,234.3,197.9,12.7,494,10407,0.00,2.45,0.00,0.000,6,0.000,0.057,2996,2210,1581
$GC,10717,1.30,234.3,164.2,10.4,510,10721,0.00,2.53,0.00,0.000,4,0.000,0.074,2996,798,1580
$GC,10784,1.30,234.3,156.6,10.9,513,10788,0.00,2.42,0.00,0.000,6,0.000,0.057,2996,2202,1580
$GC,11106,1.30,234.3,117.1,13.3,529,11110,0.00,2.53,0.00,0.000,4,0.000,0.073,2995,790,1579
$GC,11237,1.30,234.3,99.1,14.0,535,11241,0.00,2.42,0.00,0.000,6,0.000,0.057,2996,2198,1579
$GC,11566,1.30,234.3,63.7,9.7,551,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2199,1580
$GC,11873,1.30,234.3,27.9,12.5,566,11878,0.00,2.50,0.00,0.000,4,0.000,0.071,2996,790,1579
$GC,12027,1.30,234.3,9.5,9.3,573,12031,0.00,2.42,0.00,0.000,6,0.000,0.056,2996,2207,1579
$STATE,12103,end climb,SURFACE_DEPTH_REACHED
$STATE,12104,begin surface coast
$FINISH,0.7,1.019600
$STATE,12125,end surface coast,CONTROL_FINISHED_OK
$STATE,12126,begin surface
$SM_CCo,12151,35.47,0.693,0,0,1316,300.00
$SM_GC,1.72,0.00,0.00,35.47,0.000,0.000,0.693,373,1600,1316,-10.73,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1972
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.1,44.5
$24V_AH,23.6,17.578
$10V_AH,10.1,10.282
$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,25.575,121.125,326.325,35.475,0.000,39.021,26.444,171.616,4.500,0.000,0.000,15.748,1141.609,8865.049,471.213,1556.310,523.100,0.000,1259.836,0.000,1514.282,0.000,31.428,0.000
$DEVICE_MAMPS,177.944,111.982,1077.635,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.719,392.915,366.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28518,578
$CAP_FILE_SIZE,98916,0
$CFSIZE,254472192,245727232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,190908,120025,6436.290,-949.907,23,1.2,40,-10.8