version: 66.04
glider: 14
mission: 6
dive: 101
start: 9 19 108 12 6 6
data:
$ID,14
$MISSION,6
$DIVE,101
$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,-652001
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,120025,6436.290,-949.907,23,1.2,40,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.3
$GPS2,120545,6436.297,-949.477,10,1.3,10,-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,320.4,51481,-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,-60.22,0.000,2,0.000,0.000,374,1595,2727
$GC,83,-1.16,-146.6,4.0,-6.0,3,110,11.50,2.53,-9.55,0.000,4,0.174,0.092,2448,213,3138
$GC,213,-1.16,-146.6,23.7,-15.0,9,218,0.00,2.38,0.00,0.000,6,0.000,0.054,2448,1631,3139
$GC,541,-1.16,-146.6,57.3,-8.7,25,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1636,3140
$GC,851,-1.16,-146.6,85.4,-9.1,40,855,0.00,2.55,0.00,0.000,4,0.000,0.076,2448,213,3141
$GC,952,-1.16,-146.6,96.0,-10.9,44,959,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1605,3141
$GC,1270,-1.16,-146.6,128.2,-10.4,60,1275,0.00,2.50,0.00,0.000,4,0.000,0.075,2448,212,3143
$GC,1343,-1.16,-146.6,136.6,-10.9,63,1347,0.00,2.33,0.00,0.000,6,0.000,0.054,2449,1602,3143
$GC,1660,-1.16,-146.6,172.1,-11.7,78,1664,0.00,2.53,0.00,0.000,4,0.000,0.075,2448,207,3145
$GC,1693,-1.16,-146.6,176.4,-12.7,79,1699,0.00,2.35,0.00,0.000,6,0.000,0.054,2449,1611,3145
$GC,2009,-1.16,-146.6,209.8,-9.2,95,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1614,3146
$GC,2319,-1.16,-146.6,235.5,-7.9,110,2324,0.00,2.55,0.00,0.000,4,0.000,0.078,2448,206,3147
$GC,2398,-1.16,-146.6,242.7,-9.3,113,2404,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1606,3148
$GC,2714,-1.16,-146.6,270.9,-10.2,129,2719,0.00,2.53,0.00,0.000,4,0.000,0.081,2448,213,3148
$GC,2771,-1.16,-146.6,277.3,-11.2,131,2777,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1603,3149
$GC,3087,-1.16,-146.6,313.8,-11.2,147,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1606,3149
$GC,3396,-1.16,-146.6,345.5,-9.4,162,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1606,3149
$GC,3706,-1.16,-146.6,371.1,-7.2,177,3710,0.00,2.55,0.00,0.000,4,0.000,0.084,2448,214,3149
$GC,3785,-1.16,-146.6,377.8,-7.6,180,3792,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1598,3150
$GC,4102,-1.16,-146.6,403.2,-8.6,196,4106,0.00,2.53,0.00,0.000,4,0.000,0.084,2448,2994,3148
$GC,4164,-1.16,-146.6,408.2,-8.2,198,4170,0.00,2.45,0.00,0.000,6,0.000,0.067,2448,1594,3148
$GC,4480,-1.16,-146.6,433.4,-8.6,214,4484,0.00,2.53,0.00,0.000,4,0.000,0.091,2448,214,3148
$GC,4643,-1.16,-146.6,449.1,-9.9,221,4647,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1610,3147
$GC,4962,-1.16,-146.6,476.1,-8.7,236,4966,0.00,2.60,0.00,0.000,4,0.000,0.089,2448,207,3146
$GC,5018,-1.16,-146.6,481.6,-9.7,238,5024,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1603,3146
$GC,5334,-1.16,-146.6,508.0,-9.0,254,5338,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,209,3145
$GC,5385,-1.16,-146.6,513.0,-9.9,256,5389,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1603,3145
$GC,5702,-1.16,-146.6,543.0,-8.8,271,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3144
$GC,6011,-1.16,-146.6,566.1,-7.7,286,6016,0.00,2.55,0.00,0.000,4,0.000,0.089,2448,215,3143
$GC,6085,-1.16,-146.6,572.7,-9.4,289,6089,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1603,3143
$GC,6402,-1.16,-146.6,597.1,-7.3,304,6405,0.00,2.55,0.00,0.000,4,0.000,0.087,2448,213,3142
$GC,6448,-1.16,-146.6,600.8,-8.2,306,6452,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1603,3142
$GC,6776,-1.16,-146.6,624.6,-7.9,322,6783,0.00,2.53,0.00,0.000,4,0.000,0.087,2448,213,3140
$GC,6870,-1.16,-146.6,632.2,-8.5,326,6874,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1605,3140
$STATE,7173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7173,begin apogee
$GC,7183,-0.32,0.0,657.7,8.6,341,7316,0.90,0.00,126.85,1.105,6,0.118,0.000,2627,2197,2538
$STATE,7316,end apogee,CONTROL_FINISHED_OK
$STATE,7317,begin climb
$GC,7320,1.16,146.6,663.0,0.0,348,7452,1.55,2.83,121.72,1.062,4,0.091,0.113,2954,3602,1941
$GC,7571,1.16,146.6,643.4,12.4,359,7578,0.00,2.53,0.00,0.000,6,0.000,0.072,2954,2193,1938
$GC,7888,1.16,146.6,612.3,10.4,375,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2193,1938
$GC,8197,1.16,146.6,583.6,8.9,390,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2194,1938
$GC,8506,1.16,146.6,555.7,8.6,405,8510,0.00,2.55,0.00,0.000,4,0.000,0.083,2954,799,1937
$GC,8579,1.16,146.6,548.6,9.8,408,8583,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2212,1937
$GC,8900,1.16,146.6,520.3,8.4,424,8905,0.00,2.60,0.00,0.000,4,0.000,0.077,2954,794,1936
$GC,8986,1.16,146.6,512.8,9.0,428,8990,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2212,1936
$GC,9313,1.18,155.4,487.0,7.7,444,9328,0.00,2.62,7.95,0.946,4,0.000,0.076,2954,801,1905
$GC,9369,1.18,155.4,482.3,8.3,446,9373,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2201,1905
$GC,9691,1.18,155.4,455.3,8.5,462,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2200,1905
$GC,10000,1.18,155.4,428.8,8.9,477,10004,0.00,2.55,0.00,0.000,4,0.000,0.077,2954,798,1904
$GC,10140,1.18,155.4,414.8,10.1,483,10144,0.00,2.42,0.00,0.000,6,0.000,0.057,2954,2199,1904
$GC,10457,1.18,155.4,386.6,8.5,498,10461,0.00,2.53,0.00,0.000,4,0.000,0.077,2954,799,1903
$GC,10536,1.18,155.4,378.8,10.3,501,10540,0.00,2.42,0.00,0.000,6,0.000,0.057,2954,2199,1902
$GC,10853,1.19,165.3,353.7,7.6,516,10864,0.00,0.00,9.25,0.893,6,0.000,0.000,2954,2199,1865
$GC,11162,1.19,165.3,328.1,8.0,531,11166,0.00,2.55,0.00,0.000,4,0.000,0.075,2954,795,1864
$GC,11253,1.19,165.3,320.8,8.3,535,11257,0.00,2.45,0.00,0.000,6,0.000,0.058,2955,2207,1864
$GC,11581,1.20,172.1,295.1,7.7,551,11595,0.00,2.62,7.12,0.841,4,0.000,0.074,2955,792,1837
$GC,11626,1.22,183.6,291.6,7.6,553,11642,0.00,2.45,10.90,0.839,6,0.000,0.057,2954,2200,1790
$GC,11953,1.22,183.6,262.2,9.8,568,11957,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,797,1789
$GC,12022,1.22,183.6,255.2,10.0,571,12026,0.00,2.45,0.00,0.000,6,0.000,0.058,2954,2203,1788
$GC,12349,1.22,183.6,226.1,8.9,587,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2203,1788
$GC,12658,1.22,183.6,198.4,9.4,602,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2203,1788
$GC,12968,1.24,192.3,172.1,7.7,617,12983,0.00,2.60,8.38,0.767,4,0.000,0.077,2954,797,1754
$GC,13046,1.24,192.3,165.5,9.1,620,13050,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2205,1754
$GC,13363,1.26,205.6,140.2,7.5,635,13382,0.10,0.00,12.85,0.811,6,0.073,0.000,2984,2206,1699
$GC,13694,1.26,205.6,111.0,8.5,651,13698,0.00,2.55,0.00,0.000,4,0.000,0.074,2984,797,1697
$GC,13784,1.26,205.6,102.5,9.7,655,13788,0.00,2.42,0.00,0.000,6,0.000,0.057,2984,2201,1697
$GC,14106,1.26,205.6,71.5,10.8,671,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,1697
$GC,14415,1.26,205.6,40.9,9.6,686,14419,0.00,2.53,0.00,0.000,4,0.000,0.071,2984,791,1697
$GC,14482,1.26,205.6,33.3,11.6,689,14487,0.00,2.42,0.00,0.000,6,0.000,0.056,2984,2205,1697
$STATE,14801,end climb,SURFACE_DEPTH_REACHED
$STATE,14801,begin surface coast
$FINISH,0.7,1.008222
$STATE,14823,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14852,57.12,0.710,0,0,1315,300.00
$SM_GC,1.48,0.00,0.00,57.12,0.000,0.000,0.710,378,1599,1315,-10.70,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1935
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.1,41.8
$24V_AH,23.5,17.692
$10V_AH,10.1,10.353
$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,25.475,131.250,305.025,57.125,0.000,37.764,27.547,135.710,5.500,0.000,0.000,11.566,1341.298,11225.462,498.442,1654.489,516.897,0.000,1332.213,0.000,1618.401,0.000,36.290,0.000
$DEVICE_MAMPS,174.109,112.749,1105.247,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.646,481.024,444.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34920,706
$CAP_FILE_SIZE,109023,0
$CFSIZE,254472192,245661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,190908,161556,6437.172,-947.573,37,1.2,37,-10.8