version: 66.04
glider: 14
mission: 6
dive: 103
start: 9 19 108 20 31 6
data:
$ID,14
$MISSION,6
$DIVE,103
$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,-652029.88
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,202507,6437.823,-947.985,35,0.9,35,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-56.3
$GPS2,203045,6437.942,-947.741,15,1.1,15,-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,316.7,50695,-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,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,381,1588,2687
$GC,83,-1.16,-146.6,3.2,-3.5,3,114,11.52,2.53,-12.60,0.000,4,0.176,0.092,2449,215,3139
$GC,284,-1.16,-146.6,27.6,-10.2,12,288,0.00,2.38,0.00,0.000,6,0.000,0.054,2449,1624,3141
$GC,611,-1.16,-146.6,62.1,-10.0,28,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1629,3140
$GC,920,-1.16,-146.6,87.3,-8.3,43,925,0.00,2.55,0.00,0.000,4,0.000,0.076,2450,212,3142
$GC,1122,-1.16,-146.6,104.7,-8.3,52,1126,0.00,2.35,0.00,0.000,6,0.000,0.054,2450,1614,3143
$GC,1449,-1.16,-146.6,133.0,-8.9,68,1453,0.00,2.53,0.00,0.000,4,0.000,0.075,2450,209,3145
$GC,1590,-1.16,-146.6,147.4,-9.8,74,1595,0.00,2.35,0.00,0.000,6,0.000,0.054,2449,1609,3145
$GC,1907,-1.16,-146.6,178.2,-9.4,89,1911,0.00,2.50,0.00,0.000,4,0.000,0.076,2450,213,3146
$GC,2085,-1.16,-146.6,197.7,-12.6,97,2089,0.00,2.33,0.00,0.000,6,0.000,0.055,2450,1605,3147
$GC,2418,-1.16,-146.6,233.9,-11.1,113,2422,0.00,2.53,0.00,0.000,4,0.000,0.078,2450,212,3148
$GC,2536,-1.16,-146.6,247.8,-11.3,118,2540,0.00,2.35,0.00,0.000,6,0.000,0.055,2450,1603,3148
$GC,2852,-1.16,-146.6,280.0,-9.9,133,2857,0.00,2.53,0.00,0.000,4,0.000,0.081,2449,210,3148
$GC,2942,-1.16,-146.6,289.0,-9.5,137,2946,0.00,2.35,0.00,0.000,6,0.000,0.055,2450,1606,3148
$GC,3271,-1.16,-146.6,315.2,-7.3,153,3275,0.00,2.55,0.00,0.000,4,0.000,0.081,2450,213,3148
$GC,3401,-1.16,-146.6,324.7,-7.2,159,3406,0.00,2.35,0.00,0.000,6,0.000,0.056,2450,1598,3148
$GC,3734,-1.16,-146.6,347.9,-7.4,175,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1602,3148
$GC,4043,-1.16,-146.6,371.1,-7.2,190,4048,0.00,2.53,0.00,0.000,4,0.000,0.084,2450,2991,3148
$GC,4089,-1.16,-146.6,374.5,-7.8,192,4093,0.00,2.42,0.00,0.000,6,0.000,0.065,2449,1596,3148
$GC,4417,-1.16,-146.6,398.4,-7.8,208,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1596,3148
$GC,4726,-1.16,-146.6,421.8,-7.7,223,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1596,3148
$GC,5035,-1.16,-146.6,445.7,-7.8,238,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1596,3146
$GC,5344,-1.16,-146.6,471.2,-8.4,253,5348,0.00,2.58,0.00,0.000,4,0.000,0.094,2450,207,3144
$GC,5407,-1.16,-146.6,476.6,-8.5,256,5411,0.00,2.38,0.00,0.000,6,0.000,0.055,2450,1605,3145
$GC,5734,-1.16,-146.6,504.2,-8.1,272,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1609,3144
$GC,6043,-1.16,-146.6,532.0,-9.1,287,6047,0.00,2.58,0.00,0.000,4,0.000,0.087,2449,213,3142
$GC,6116,-1.16,-146.6,539.0,-9.6,290,6120,0.00,2.38,0.00,0.000,6,0.000,0.056,2450,1604,3142
$GC,6432,-1.16,-146.6,561.1,-7.4,305,6437,0.00,2.55,0.00,0.000,4,0.000,0.086,2450,212,3140
$GC,6490,-1.16,-146.6,566.2,-9.2,307,6497,0.00,2.38,0.00,0.000,6,0.000,0.056,2450,1600,3140
$GC,6807,-1.16,-146.6,588.3,-8.5,323,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1601,3140
$GC,7116,-1.16,-146.6,613.6,-9.3,338,7120,0.00,2.55,0.00,0.000,4,0.000,0.087,2450,213,3139
$GC,7212,-1.16,-146.6,622.2,-9.9,342,7216,0.00,2.38,0.00,0.000,6,0.000,0.056,2449,1599,3138
$GC,7529,-1.16,-146.6,651.9,-8.2,357,7533,0.00,2.55,0.00,0.000,4,0.000,0.085,2450,209,3138
$GC,7624,-1.16,-146.6,661.1,-10.1,361,7628,0.00,2.38,0.00,0.000,6,0.000,0.055,2450,1600,3138
$STATE,7813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7813,begin apogee
$GC,7822,-0.32,0.0,677.3,8.5,370,7956,0.93,0.00,126.75,1.123,6,0.130,0.000,2632,2193,2539
$STATE,7957,end apogee,CONTROL_FINISHED_OK
$STATE,7957,begin climb
$GC,7961,1.16,146.6,682.9,0.0,377,8093,1.52,2.90,122.45,1.084,4,0.081,0.113,2958,3602,1940
$GC,8334,1.16,146.6,659.6,9.5,394,8339,0.00,2.53,0.00,0.000,6,0.000,0.071,2958,2195,1938
$GC,8661,1.19,161.5,633.1,7.4,410,8680,0.00,0.00,13.93,1.109,6,0.000,0.000,2958,2195,1879
$GC,8991,1.22,184.0,609.2,7.1,426,9016,0.00,2.62,19.83,1.044,4,0.000,0.084,2958,799,1787
$GC,9056,1.22,184.0,603.4,10.0,429,9061,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2201,1786
$GC,9379,1.23,187.5,575.2,7.9,445,9385,0.00,0.00,4.30,0.811,6,0.000,0.000,2958,2201,1773
$GC,9688,1.23,187.5,546.1,10.9,460,9692,0.00,2.58,0.00,0.000,4,0.000,0.076,2958,795,1773
$GC,9795,1.23,187.5,534.6,10.3,464,9801,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2211,1773
$GC,10112,1.23,187.5,503.4,9.2,480,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2211,1773
$GC,10421,1.23,187.5,472.1,10.7,495,10424,0.00,2.58,0.00,0.000,4,0.000,0.075,2958,798,1772
$GC,10544,1.23,187.5,458.3,11.4,500,10549,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2201,1772
$GC,10861,1.23,187.5,424.6,10.7,515,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2201,1772
$GC,11170,1.23,187.5,389.4,11.8,530,11174,0.00,2.58,0.00,0.000,4,0.000,0.077,2958,792,1772
$GC,11232,1.23,187.5,381.8,12.4,532,11238,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2201,1772
$GC,11549,1.23,187.5,345.7,11.1,548,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2201,1771
$GC,11858,1.23,187.5,314.3,9.0,563,11862,0.00,2.55,0.00,0.000,4,0.000,0.077,2958,789,1771
$GC,11909,1.23,187.5,309.8,9.1,565,11913,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2200,1771
$GC,12231,1.25,201.8,284.3,7.5,581,12249,0.00,0.00,13.23,0.877,6,0.000,0.000,2958,2200,1715
$GC,12560,1.25,201.8,254.6,8.7,597,12564,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,794,1713
$GC,12662,1.25,201.8,243.0,10.0,601,12666,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2202,1712
$GC,12979,1.25,201.8,212.9,8.4,616,12983,0.00,2.53,0.00,0.000,4,0.000,0.074,2956,796,1712
$GC,13109,1.25,201.8,201.0,9.7,622,13113,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2209,1712
$GC,13436,1.25,201.8,173.2,8.1,638,13440,0.00,2.53,0.00,0.000,4,0.000,0.075,2958,797,1712
$GC,13607,1.30,231.7,159.7,6.9,645,13638,0.15,2.42,24.92,0.904,6,0.069,0.058,2997,2208,1593
$GC,13971,1.30,231.7,125.4,9.6,663,13976,0.00,2.55,0.00,0.000,4,0.000,0.074,2997,793,1590
$GC,14125,1.30,231.7,106.6,12.1,670,14130,0.00,2.45,0.00,0.000,6,0.000,0.057,2997,2208,1589
$GC,14455,1.30,231.7,69.2,10.9,686,14459,0.00,2.53,0.00,0.000,4,0.000,0.072,2997,793,1589
$GC,14556,1.30,231.7,57.6,10.9,690,14562,0.00,2.42,0.00,0.000,6,0.000,0.056,2997,2207,1589
$GC,14872,1.30,231.7,23.2,11.4,706,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2207,1589
$STATE,15075,end climb,SURFACE_DEPTH_REACHED
$STATE,15075,begin surface coast
$FINISH,0.9,1.013839
$STATE,15097,end surface coast,CONTROL_FINISHED_OK
$STATE,15097,begin surface
$SM_CCo,15123,40.22,0.722,0,0,1316,300.00
$SM_GC,1.68,0.00,0.00,40.22,0.000,0.000,0.722,375,1595,1316,-10.71,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1973
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,35.7
$24V_AH,23.5,17.927
$10V_AH,10.1,10.497
$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,25.475,121.350,325.400,40.225,0.000,37.765,31.834,136.943,5.500,0.000,0.000,16.574,1383.781,11273.576,477.282,1839.158,533.575,0.000,1381.065,0.000,1790.285,0.000,37.874,0.000
$DEVICE_MAMPS,175.643,112.749,1122.888,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.325,488.882,442.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37973,717
$CAP_FILE_SIZE,112130,0
$CFSIZE,254472192,245547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,200908,004507,6439.395,-947.843,34,1.2,34,-10.8