version: 66.04
glider: 14
mission: 6
dive: 102
start: 9 19 108 16 22 6
data:
$ID,14
$MISSION,6
$DIVE,102
$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,-652012.69
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,161556,6437.172,-947.573,37,1.2,37,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-54.7
$GPS2,162145,6437.131,-947.429,9,1.5,9,-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,317.9,51786,-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,-76.90,0.000,6,0.000,0.000,379,1598,3138
$GC,104,-1.16,-146.6,6.4,-8.1,4,126,11.60,2.50,0.00,0.000,4,0.179,0.067,2446,209,3142
$GC,251,-1.16,-146.6,35.6,-11.3,10,255,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1622,3143
$GC,573,-1.16,-146.6,67.7,-9.6,26,577,0.00,2.55,0.00,0.000,4,0.000,0.077,2446,204,3145
$GC,730,-1.16,-146.6,83.7,-11.5,33,734,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1604,3146
$GC,1053,-1.16,-146.6,118.9,-11.1,49,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1607,3148
$GC,1361,-1.16,-146.6,153.6,-11.3,64,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1606,3149
$GC,1671,-1.16,-146.6,186.6,-10.8,79,1675,0.00,2.45,0.00,0.000,4,0.000,0.072,2447,2988,3151
$GC,1699,-1.16,-146.6,189.9,-11.3,80,1703,0.00,2.40,0.00,0.000,6,0.000,0.062,2446,1596,3151
$GC,2017,-1.16,-146.6,226.6,-12.0,95,2021,0.00,2.50,0.00,0.000,4,0.000,0.083,2446,215,3151
$GC,2063,-1.16,-146.6,232.8,-12.5,97,2067,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1602,3151
$GC,2384,-1.16,-146.6,265.5,-9.0,113,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1605,3151
$GC,2693,-1.16,-146.6,292.0,-9.5,128,2697,0.00,2.53,0.00,0.000,4,0.000,0.082,2446,215,3151
$GC,2721,-1.16,-146.6,294.8,-10.3,129,2726,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1594,3151
$GC,3038,-1.16,-146.6,330.9,-11.8,144,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1599,3152
$GC,3347,-1.16,-146.6,362.3,-9.2,159,3351,0.00,2.55,0.00,0.000,4,0.000,0.084,2446,208,3152
$GC,3527,-1.16,-146.6,377.8,-7.7,167,3531,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1605,3152
$GC,3855,-1.16,-146.6,400.3,-6.6,183,3859,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,212,3152
$GC,4014,-1.16,-146.6,412.8,-7.9,190,4018,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1607,3152
$GC,4342,-1.16,-146.6,438.0,-8.4,206,4346,0.00,2.55,0.00,0.000,4,0.000,0.087,2447,215,3152
$GC,4409,-1.16,-146.6,444.2,-8.3,209,4413,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1606,3152
$GC,4730,-1.16,-146.6,471.5,-9.0,225,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1610,3150
$GC,5040,-1.16,-146.6,500.6,-9.4,240,5044,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,210,3148
$GC,5113,-1.16,-146.6,508.3,-10.6,243,5117,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1602,3148
$GC,5434,-1.16,-146.6,540.0,-10.1,259,5439,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,220,3147
$GC,5468,-1.16,-146.6,543.9,-11.2,260,5475,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1597,3147
$GC,5785,-1.16,-146.6,577.0,-9.6,276,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1599,3146
$GC,6094,-1.16,-146.6,605.4,-8.9,291,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1602,3145
$GC,6404,-1.16,-146.6,632.7,-9.1,306,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1602,3143
$GC,6713,-1.16,-146.6,658.3,-8.0,321,6717,0.00,2.58,0.00,0.000,4,0.000,0.088,2446,211,3142
$STATE,6721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6722,begin apogee
$GC,6733,-0.32,0.0,659.5,8.5,321,6872,0.90,0.00,130.07,1.093,6,0.125,0.000,2629,2192,2539
$STATE,6872,end apogee,CONTROL_FINISHED_OK
$STATE,6872,begin climb
$GC,6876,1.16,146.6,663.5,0.0,328,7008,1.52,2.83,121.97,1.065,4,0.082,0.112,2953,3601,1940
$GC,7085,1.16,146.6,652.1,9.2,337,7091,0.00,2.53,0.00,0.000,6,0.000,0.070,2955,2195,1940
$GC,7401,1.16,146.6,625.4,8.8,353,7405,0.00,2.55,0.00,0.000,4,0.000,0.078,2955,788,1939
$GC,7435,1.16,146.6,622.7,8.2,354,7441,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2202,1939
$GC,7751,1.16,146.6,595.2,10.9,370,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2202,1938
$GC,8060,1.16,146.6,567.6,9.0,385,8065,0.00,2.67,0.00,0.000,4,0.000,0.103,2955,3601,1938
$GC,8118,1.16,146.6,562.1,9.0,387,8125,0.00,2.47,0.00,0.000,6,0.000,0.065,2955,2198,1936
$GC,8435,1.16,146.6,533.2,9.3,403,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2198,1936
$GC,8745,1.16,146.6,505.4,8.7,418,8749,0.00,2.62,0.00,0.000,4,0.000,0.094,2955,3600,1936
$GC,8795,1.16,146.6,500.7,9.8,420,8799,0.00,2.47,0.00,0.000,6,0.000,0.064,2955,2195,1935
$GC,9111,1.16,146.6,471.7,9.3,435,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1935
$GC,9421,1.16,146.6,443.7,9.1,450,9425,0.00,2.55,0.00,0.000,4,0.000,0.082,2955,799,1935
$GC,9466,1.16,146.6,439.3,9.7,452,9470,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2212,1935
$GC,9793,1.16,146.6,410.7,8.5,468,9797,0.00,2.58,0.00,0.000,4,0.000,0.074,2955,794,1935
$GC,9911,1.16,146.6,400.2,9.4,473,9915,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2198,1935
$GC,10227,1.16,146.6,372.7,8.7,488,10232,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,797,1933
$GC,10393,1.16,146.6,357.6,9.5,495,10397,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2201,1933
$GC,10716,1.16,146.6,329.1,9.1,511,10720,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,796,1933
$GC,10850,1.16,146.6,315.6,10.4,517,10855,0.00,2.45,0.00,0.000,6,0.000,0.058,2955,2207,1933
$GC,11172,1.16,146.6,284.3,10.2,533,11176,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,791,1932
$GC,11223,1.16,146.6,279.1,10.6,535,11227,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2207,1932
$GC,11539,1.18,155.6,252.6,7.7,550,11554,0.00,2.60,7.32,0.848,4,0.000,0.073,2955,796,1904
$GC,11662,1.18,155.6,241.7,8.9,555,11667,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2202,1904
$GC,11979,1.18,159.0,215.5,7.9,570,11985,0.00,0.00,4.50,0.703,6,0.000,0.000,2955,2202,1889
$GC,12288,1.20,167.1,191.6,7.7,585,12302,0.00,2.58,8.25,0.820,4,0.000,0.074,2955,800,1856
$GC,12372,1.20,167.1,184.0,9.3,588,12378,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2210,1856
$GC,12688,1.20,167.1,155.7,8.8,604,12693,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,788,1856
$GC,12807,1.20,167.1,144.4,8.4,609,12811,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2210,1855
$GC,13125,1.24,193.2,119.4,7.0,624,13154,0.00,2.60,22.30,0.822,4,0.000,0.071,2955,794,1750
$GC,13201,1.28,220.0,113.8,7.0,627,13235,0.12,2.45,22.92,0.812,6,0.067,0.056,2990,2201,1641
$GC,13549,1.28,220.0,80.8,9.9,644,13553,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,789,1640
$GC,13644,1.28,220.0,70.1,11.0,648,13648,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2198,1640
$GC,13966,1.28,222.1,41.5,7.9,664,13970,0.00,2.50,0.00,0.000,4,0.000,0.071,2990,793,1640
$GC,14137,1.28,222.1,27.4,9.5,671,14143,0.00,2.40,0.00,0.000,6,0.000,0.056,2990,2201,1640
$STATE,14410,end climb,SURFACE_DEPTH_REACHED
$STATE,14410,begin surface coast
$FINISH,0.6,1.027059
$STATE,14431,end surface coast,CONTROL_FINISHED_OK
$STATE,14431,begin surface
$SM_CCo,14457,44.33,0.700,0,0,1316,300.00
$SM_GC,1.35,0.00,0.00,44.33,0.000,0.000,0.700,380,1592,1316,-10.70,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1931
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.2,43.7
$24V_AH,23.5,17.807
$10V_AH,10.1,10.423
$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,25.575,131.550,317.350,44.325,0.000,37.762,32.273,148.479,5.250,0.000,0.000,11.094,1314.351,10820.521,492.558,1681.181,547.540,0.000,1347.066,0.000,1645.553,0.000,36.276,0.000
$DEVICE_MAMPS,179.478,111.982,1092.975,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.473,467.382,432.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,686
$CAP_FILE_SIZE,108647,0
$CFSIZE,254472192,245608448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,190908,202507,6437.823,-947.985,35,0.9,35,-10.8