version: 66.04
glider: 14
mission: 6
dive: 104
start: 9 20 108 0 51 26
data:
$ID,14
$MISSION,6
$DIVE,104
$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,-652045.25
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,004507,6439.395,-947.843,34,1.2,34,-10.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-56.3
$GPS2,005102,6439.388,-947.497,8,1.8,13,-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,314.1,49332,-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,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,2,0.000,0.000,376,1591,2672
$GC,83,-1.16,-146.6,3.4,-4.3,3,114,11.57,2.55,-12.38,0.000,4,0.177,0.094,2448,214,3139
$GC,230,-1.16,-146.6,24.3,-10.1,9,234,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1615,3140
$GC,552,-1.16,-146.6,60.3,-9.9,25,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1620,3141
$GC,862,-1.16,-146.6,91.2,-9.8,40,866,0.00,2.53,0.00,0.000,4,0.000,0.076,2448,212,3142
$GC,935,-1.16,-146.6,99.1,-10.3,43,939,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1613,3143
$GC,1257,-1.16,-146.6,130.4,-9.7,59,1261,0.00,2.55,0.00,0.000,4,0.000,0.077,2447,205,3144
$GC,1303,-1.16,-146.6,135.1,-9.7,61,1307,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1605,3144
$GC,1630,-1.16,-146.6,166.4,-9.6,77,1635,0.00,2.53,0.00,0.000,4,0.000,0.077,2448,212,3147
$GC,1694,-1.16,-146.6,173.0,-10.5,80,1698,0.00,2.33,0.00,0.000,6,0.000,0.054,2449,1603,3146
$GC,2022,-1.16,-146.6,206.3,-10.4,96,2026,0.00,2.53,0.00,0.000,4,0.000,0.078,2448,213,3149
$GC,2066,-1.16,-146.6,211.4,-11.1,98,2071,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1598,3149
$GC,2388,-1.16,-146.6,242.4,-9.5,114,2393,0.00,2.53,0.00,0.000,4,0.000,0.081,2448,213,3150
$GC,2422,-1.16,-146.6,245.9,-9.9,115,2429,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1600,3149
$GC,2739,-1.16,-146.6,274.9,-9.6,131,2744,0.00,2.55,0.00,0.000,4,0.000,0.084,2448,210,3150
$GC,2830,-1.16,-146.6,284.1,-10.0,135,2834,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1597,3150
$GC,3158,-1.16,-146.6,314.4,-8.9,151,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1602,3149
$GC,3467,-1.16,-146.6,341.5,-8.5,166,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1602,3149
$GC,3776,-1.16,-146.6,366.2,-7.9,181,3780,0.00,2.50,0.00,0.000,4,0.000,0.083,2448,2987,3150
$GC,3805,-1.16,-146.6,368.8,-8.8,182,3809,0.00,2.42,0.00,0.000,6,0.000,0.066,2448,1599,3149
$GC,4126,-1.16,-146.6,398.1,-8.9,198,4131,0.00,2.58,0.00,0.000,4,0.000,0.092,2448,206,3149
$GC,4267,-1.16,-146.6,411.8,-10.0,204,4272,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1603,3149
$GC,4584,-1.16,-146.6,442.3,-9.8,219,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1607,3149
$GC,4893,-1.16,-146.6,474.9,-10.9,234,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1607,3147
$GC,5202,-1.16,-146.6,509.5,-11.6,249,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1607,3146
$GC,5511,-1.16,-146.6,543.0,-10.9,264,5516,0.00,2.58,0.00,0.000,4,0.000,0.088,2448,214,3145
$GC,5553,-1.16,-146.6,547.5,-10.8,266,5557,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1602,3145
$GC,5880,-1.16,-146.6,578.5,-9.3,282,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3144
$GC,6189,-1.16,-146.6,606.0,-8.3,297,6194,0.00,2.58,0.00,0.000,4,0.000,0.088,2448,209,3143
$GC,6252,-1.16,-146.6,611.8,-9.0,300,6257,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1600,3143
$GC,6586,-1.16,-146.6,640.8,-8.6,316,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3142
$STATE,6809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6809,begin apogee
$GC,6818,-0.32,0.0,660.8,8.5,327,6957,0.90,0.00,129.98,1.089,6,0.113,0.000,2631,2194,2538
$STATE,6958,end apogee,CONTROL_FINISHED_OK
$STATE,6958,begin climb
$GC,6961,1.16,146.6,666.6,0.0,334,7093,1.52,2.85,121.93,1.065,4,0.079,0.114,2957,3601,1940
$GC,7149,1.16,146.6,657.1,8.6,342,7155,0.00,2.55,0.00,0.000,6,0.000,0.071,2957,2194,1939
$GC,7466,1.16,146.6,630.8,8.3,358,7470,0.00,2.58,0.00,0.000,4,0.000,0.083,2957,795,1939
$GC,7510,1.16,146.6,626.3,10.0,360,7515,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2203,1939
$GC,7833,1.18,154.1,599.6,7.7,376,7842,0.00,0.00,7.72,1.004,6,0.000,0.000,2958,2204,1910
$GC,8142,1.20,171.8,576.3,7.3,391,8164,0.00,2.65,16.08,1.030,4,0.000,0.077,2957,795,1837
$GC,8260,1.20,171.8,566.3,8.6,396,8265,0.00,2.47,0.00,0.000,6,0.000,0.058,2957,2210,1836
$GC,8583,1.22,183.6,540.7,7.6,412,8598,0.00,2.65,10.90,0.976,4,0.000,0.076,2958,789,1789
$GC,8656,1.22,183.6,534.8,8.1,414,8660,0.00,2.47,0.00,0.000,6,0.000,0.056,2957,2207,1789
$GC,8977,1.22,183.6,507.0,9.0,430,8982,0.00,2.60,0.00,0.000,4,0.000,0.076,2958,787,1787
$GC,9035,1.22,183.6,501.3,10.3,432,9042,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2200,1787
$GC,9352,1.22,183.6,472.2,9.4,448,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1787
$GC,9661,1.22,183.6,443.0,9.4,463,9665,0.00,2.58,0.00,0.000,4,0.000,0.075,2958,787,1786
$GC,9733,1.22,183.6,435.8,10.7,466,9738,0.00,2.47,0.00,0.000,6,0.000,0.057,2958,2204,1786
$GC,10050,1.22,183.6,407.1,8.9,481,10055,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,789,1786
$GC,10146,1.22,183.6,397.9,10.0,485,10150,0.00,2.47,0.00,0.000,6,0.000,0.058,2957,2207,1786
$GC,10463,1.23,190.1,371.9,7.8,500,10476,0.00,2.62,6.50,0.858,4,0.000,0.074,2958,793,1763
$GC,10605,1.24,192.3,360.4,7.9,506,10609,0.00,2.47,0.00,0.000,6,0.000,0.058,2957,2211,1762
$GC,10926,1.24,192.3,334.3,9.2,522,10930,0.00,2.58,0.00,0.000,4,0.000,0.074,2958,793,1762
$GC,11016,1.24,192.3,326.0,8.5,526,11020,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2203,1762
$GC,11337,1.24,192.3,298.2,8.5,542,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2203,1762
$GC,11647,1.24,192.3,270.6,9.2,557,11651,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,794,1762
$GC,11715,1.24,192.3,263.2,10.3,560,11720,0.00,2.45,0.00,0.000,6,0.000,0.058,2957,2203,1762
$GC,12044,1.24,192.3,232.4,8.6,576,12048,0.00,2.53,0.00,0.000,4,0.000,0.074,2957,793,1762
$GC,12100,1.24,192.3,227.4,8.1,578,12106,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2206,1762
$GC,12417,1.24,192.3,200.7,8.8,594,12421,0.00,2.55,0.00,0.000,4,0.000,0.075,2957,794,1761
$GC,12479,1.24,192.3,194.8,8.5,596,12485,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2207,1761
$GC,12796,1.27,213.6,170.1,7.2,612,12822,0.10,2.70,20.10,0.897,4,0.074,0.095,2986,3602,1668
$GC,12895,1.27,213.6,161.2,9.6,616,12902,0.00,2.47,0.00,0.000,6,0.000,0.063,2985,2193,1667
$GC,13213,1.27,213.6,134.6,8.4,632,13218,0.00,2.62,0.00,0.000,4,0.000,0.089,2985,3601,1667
$GC,13322,1.27,213.6,124.0,10.0,637,13326,0.00,2.45,0.00,0.000,6,0.000,0.064,2985,2205,1667
$GC,13651,1.27,213.6,89.3,11.2,653,13655,0.00,2.55,0.00,0.000,4,0.000,0.078,2985,795,1667
$GC,13714,1.27,213.6,81.7,10.4,656,13719,0.00,2.42,0.00,0.000,6,0.000,0.056,2985,2210,1667
$GC,14044,1.27,213.6,48.8,9.9,672,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2210,1666
$GC,14352,1.27,213.6,20.5,8.1,687,14356,0.00,2.53,0.00,0.000,4,0.000,0.071,2985,789,1666
$GC,14487,1.36,271.8,7.0,5.8,693,14533,0.00,2.42,40.83,0.744,2,0.000,0.056,2986,2207,1459
$STATE,14534,end climb,SURFACE_DEPTH_REACHED
$STATE,14534,begin surface coast
$FINISH,1.4,1.026929
$STATE,14537,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14564,22.88,0.673,1,0,1316,300.00
$SM_GC,1.71,0.00,0.00,22.88,0.000,0.000,0.673,377,1594,1316,-10.71,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1947
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.7,92.6
$24V_AH,23.5,18.047
$10V_AH,10.1,10.568
$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,25.775,137.175,354.025,22.875,0.000,37.765,24.800,162.355,4.750,0.000,0.000,14.743,1325.336,10914.004,492.669,1668.915,554.197,0.000,1348.964,0.000,1628.956,0.000,33.180,0.000
$DEVICE_MAMPS,177.177,114.283,1089.140,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.131,473.354,431.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,695
$CAP_FILE_SIZE,110795,0
$CFSIZE,254472192,245493760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,200908,045602,6438.723,-952.598,40,1.2,40,-10.9