version: 66.04
glider: 14
mission: 6
dive: 105
start: 9 20 108 5 2 6
data:
$ID,14
$MISSION,6
$DIVE,105
$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,-652058.44
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,045602,6438.723,-952.598,40,1.2,40,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.2
$GPS2,050145,6438.699,-952.680,11,1.5,11,-10.9
$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,318.2,46744,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,378,1591,2786
$GC,89,-1.16,-146.6,3.8,-3.7,4,114,11.62,2.53,-8.05,0.000,4,0.180,0.091,2446,222,3139
$GC,294,-1.16,-146.6,35.2,-12.0,13,298,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1611,3139
$GC,616,-1.16,-146.6,72.2,-11.1,29,620,0.00,2.53,0.00,0.000,4,0.000,0.076,2446,220,3141
$GC,873,-1.16,-146.6,101.7,-10.8,40,880,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1606,3143
$GC,1190,-1.16,-146.6,131.8,-8.4,56,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1610,3147
$GC,1500,-1.16,-146.6,160.1,-8.8,71,1504,0.00,2.55,0.00,0.000,4,0.000,0.079,2446,212,3147
$GC,1585,-1.16,-146.6,168.1,-9.3,75,1589,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1604,3148
$GC,1912,-1.16,-146.6,197.5,-8.9,91,1916,0.00,2.47,0.00,0.000,4,0.000,0.074,2446,2989,3149
$GC,1968,-1.16,-146.6,202.8,-9.5,93,1974,0.00,2.42,0.00,0.000,6,0.000,0.064,2447,1595,3149
$GC,2284,-1.16,-146.6,232.8,-9.4,109,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1596,3149
$GC,2594,-1.16,-146.6,262.7,-10.2,124,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1595,3149
$GC,2903,-1.16,-146.6,294.1,-10.2,139,2908,0.00,2.55,0.00,0.000,4,0.000,0.089,2446,211,3149
$GC,3101,-1.16,-146.6,317.1,-11.6,148,3106,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1596,3149
$GC,3429,-1.16,-146.6,352.2,-9.5,164,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3149
$GC,3738,-1.16,-146.6,379.9,-8.8,179,3742,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,211,3149
$GC,3805,-1.16,-146.6,386.2,-9.0,182,3809,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1605,3149
$GC,4127,-1.16,-146.6,413.7,-8.7,198,4132,0.00,2.58,0.00,0.000,4,0.000,0.086,2446,214,3149
$GC,4173,-1.16,-146.6,417.9,-9.4,200,4177,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1606,3149
$GC,4494,-1.16,-146.6,446.0,-8.7,216,4499,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,214,3148
$GC,4563,-1.16,-146.6,452.4,-9.6,219,4567,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1603,3148
$GC,4884,-1.16,-146.6,481.3,-8.6,235,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3147
$GC,5194,-1.16,-146.6,507.5,-8.4,250,5198,0.00,2.58,0.00,0.000,4,0.000,0.088,2446,210,3146
$GC,5250,-1.16,-146.6,512.2,-8.3,252,5256,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1602,3146
$GC,5566,-1.16,-146.6,535.1,-7.4,268,5571,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,215,3145
$GC,5618,-1.16,-146.6,539.4,-8.7,270,5622,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1606,3145
$GC,5934,-1.16,-146.6,562.2,-7.2,285,5939,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,215,3145
$GC,5985,-1.16,-146.6,566.4,-8.6,287,5989,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1607,3144
$GC,6302,-1.16,-146.6,591.4,-8.1,302,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1607,3143
$GC,6611,-1.16,-146.6,616.4,-8.1,317,6615,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,215,3142
$GC,6667,-1.16,-146.6,621.2,-7.5,319,6673,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1605,3142
$STATE,6815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6815,begin apogee
$GC,6824,-0.32,0.0,634.6,9.4,327,6958,0.95,0.00,127.55,1.090,6,0.130,0.000,2633,2186,2538
$STATE,6958,end apogee,CONTROL_FINISHED_OK
$STATE,6959,begin climb
$GC,6962,1.16,146.6,639.7,0.0,334,7092,1.50,2.83,121.55,1.048,4,0.081,0.110,2954,3601,1940
$GC,7208,1.16,146.6,623.2,9.7,345,7213,0.00,2.53,0.00,0.000,6,0.000,0.071,2954,2197,1939
$GC,7525,1.17,148.5,596.7,7.9,360,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2197,1939
$GC,7834,1.17,148.5,571.7,8.4,375,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1939
$GC,8143,1.17,148.5,545.1,8.8,390,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2197,1938
$GC,8453,1.17,148.5,518.4,8.6,405,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2197,1938
$GC,8762,1.17,148.5,493.5,8.4,420,8766,0.00,2.55,0.00,0.000,4,0.000,0.081,2954,795,1937
$GC,8857,1.17,148.5,485.2,8.8,424,8862,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2213,1937
$GC,9174,1.17,148.5,458.8,8.5,439,9178,0.00,2.58,0.00,0.000,4,0.000,0.075,2954,794,1937
$GC,9224,1.17,148.5,454.3,8.7,441,9228,0.00,2.42,0.00,0.000,6,0.000,0.055,2954,2203,1937
$GC,9546,1.17,148.5,428.7,8.1,457,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2204,1937
$GC,9855,1.17,151.1,403.8,7.9,472,9864,0.00,2.58,4.43,0.784,4,0.000,0.074,2954,789,1922
$GC,9983,1.17,151.1,392.6,8.6,477,9990,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2204,1922
$GC,10300,1.17,151.3,367.2,8.0,493,10304,0.00,2.55,0.00,0.000,4,0.000,0.075,2954,796,1922
$GC,10367,1.17,151.3,360.9,10.0,496,10371,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2207,1922
$GC,10689,1.17,151.3,334.0,8.6,512,10693,0.00,2.62,0.00,0.000,4,0.000,0.098,2954,3599,1922
$GC,10756,1.17,151.3,327.7,9.2,515,10760,0.00,2.45,0.00,0.000,6,0.000,0.063,2954,2195,1922
$GC,11078,1.17,151.3,300.5,8.2,531,11082,0.00,2.55,0.00,0.000,4,0.000,0.081,2954,798,1922
$GC,11243,1.17,151.3,287.4,8.0,538,11248,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2209,1922
$GC,11560,1.23,188.6,265.7,6.6,553,11596,0.00,2.60,31.08,0.859,4,0.000,0.074,2954,801,1769
$GC,11701,1.23,188.6,255.1,8.5,558,11705,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2202,1769
$GC,12023,1.24,195.2,230.4,7.7,574,12036,0.00,2.62,6.93,0.804,4,0.000,0.075,2954,794,1743
$GC,12123,1.24,195.2,222.4,8.5,578,12127,0.00,2.45,0.00,0.000,6,0.000,0.057,2954,2200,1741
$GC,12439,1.28,218.3,198.8,7.1,593,12463,0.12,0.00,20.60,0.836,6,0.071,0.000,2988,2200,1647
$GC,12769,1.28,218.3,170.6,8.9,609,12773,0.00,2.55,0.00,0.000,4,0.000,0.076,2988,800,1645
$GC,12825,1.28,218.3,164.9,9.8,611,12829,0.00,2.45,0.00,0.000,6,0.000,0.057,2988,2209,1645
$GC,13142,1.28,218.3,132.4,11.0,626,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2209,1644
$GC,13451,1.28,218.3,99.0,10.2,641,13456,0.00,2.53,0.00,0.000,4,0.000,0.074,2988,800,1644
$GC,13519,1.28,218.3,92.2,10.5,644,13523,0.00,2.42,0.00,0.000,6,0.000,0.056,2988,2203,1644
$GC,13841,1.28,218.3,61.4,9.2,660,13845,0.00,2.53,0.00,0.000,4,0.000,0.073,2988,791,1644
$GC,14115,1.28,218.3,30.3,9.5,672,14119,0.00,2.42,0.00,0.000,6,0.000,0.057,2988,2200,1643
$STATE,14368,end climb,SURFACE_DEPTH_REACHED
$STATE,14368,begin surface coast
$FINISH,0.6,1.026940
$STATE,14388,end surface coast,CONTROL_FINISHED_OK
$STATE,14388,begin surface
$SM_CCo,14414,51.38,0.693,2,0,1316,300.00
$SM_GC,1.04,0.00,0.00,51.38,0.000,0.000,0.693,382,1598,1316,-10.69,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1955
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.3,41.5
$24V_AH,23.5,18.161
$10V_AH,10.1,10.639
$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,25.650,121.525,312.125,51.375,0.000,37.762,38.432,134.696,5.250,0.000,0.000,12.573,1312.616,10779.077,485.707,1709.531,537.169,0.000,1337.664,0.000,1671.417,0.000,37.550,0.000
$DEVICE_MAMPS,180.245,110.448,1089.907,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.642,466.836,416.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34877,685
$CAP_FILE_SIZE,107852,0
$CFSIZE,254472192,245444608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,200908,090458,6439.707,-959.021,32,2.4,51,-10.9