version: 66.04
glider: 14
mission: 6
dive: 106
start: 9 20 108 9 11 27
data:
$ID,14
$MISSION,6
$DIVE,106
$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,-652089.56
$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,26
$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
$GPS1,090458,6439.707,-959.021,32,2.4,51,-10.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.6
$GPS2,091107,6439.863,-958.810,13,1.4,29,-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,319.9,41625,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-77.62,0.000,2,0.000,0.000,382,1597,3124
$GC,103,-1.16,-146.6,6.6,-7.9,4,125,11.65,2.53,-0.17,0.000,4,0.182,0.085,2443,215,3141
$GC,344,-1.16,-146.6,47.6,-12.3,14,351,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1616,3144
$GC,663,-1.16,-146.6,80.0,-9.4,30,667,0.00,2.53,0.00,0.000,4,0.000,0.077,2443,214,3147
$GC,727,-1.16,-146.6,86.9,-11.4,33,731,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1605,3147
$GC,1056,-1.16,-146.6,122.8,-11.3,49,1060,0.00,2.50,0.00,0.000,4,0.000,0.077,2443,216,3149
$GC,1281,-1.16,-146.6,149.8,-12.5,59,1285,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1599,3150
$GC,1608,-1.16,-146.6,185.1,-10.3,75,1612,0.00,2.50,0.00,0.000,4,0.000,0.078,2443,220,3151
$GC,1762,-1.16,-146.6,201.0,-10.0,82,1766,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1606,3152
$GC,2089,-1.16,-146.6,229.7,-8.3,98,2093,0.00,2.53,0.00,0.000,4,0.000,0.081,2443,216,3152
$GC,2158,-1.16,-146.6,235.6,-8.7,101,2162,0.00,2.35,0.00,0.000,6,0.000,0.055,2443,1603,3152
$GC,2486,-1.16,-146.6,258.3,-6.9,117,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1608,3152
$GC,2796,-1.16,-146.6,281.1,-7.3,132,2800,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,214,3152
$GC,2891,-1.16,-146.6,289.1,-8.3,136,2895,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1610,3152
$GC,3209,-1.16,-146.6,313.6,-8.2,151,3213,0.00,2.58,0.00,0.000,4,0.000,0.085,2443,216,3152
$GC,3253,-1.16,-146.6,317.7,-8.9,153,3257,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1606,3152
$GC,3574,-1.16,-146.6,346.8,-9.5,169,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1607,3152
$GC,3885,-1.16,-146.6,375.8,-9.6,184,3889,0.00,2.58,0.00,0.000,4,0.000,0.087,2443,209,3152
$GC,3970,-1.16,-146.6,384.2,-10.2,188,3974,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1602,3151
$GC,4297,-1.16,-146.6,413.9,-9.0,204,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1602,3150
$GC,4606,-1.16,-146.6,441.7,-8.8,219,4610,0.00,2.55,0.00,0.000,4,0.000,0.086,2443,220,3149
$GC,4639,-1.16,-146.6,444.8,-9.4,220,4646,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1607,3149
$GC,4957,-1.16,-146.6,472.2,-8.5,236,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1607,3148
$GC,5265,-1.16,-146.6,498.2,-8.9,251,5270,0.00,2.58,0.00,0.000,4,0.000,0.087,2443,211,3147
$GC,5323,-1.16,-146.6,503.6,-9.7,253,5330,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1598,3147
$GC,5640,-1.16,-146.6,531.5,-8.8,269,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3145
$GC,5949,-1.16,-146.6,559.5,-9.2,284,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3145
$GC,6258,-1.16,-146.6,588.6,-9.5,299,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3144
$GC,6568,-1.16,-146.6,618.4,-9.5,314,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3143
$GC,6877,-1.16,-146.6,647.8,-9.4,329,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3143
$GC,7186,-1.16,-146.6,676.5,-9.4,344,7190,0.00,2.55,0.00,0.000,4,0.000,0.087,2443,220,3142
$STATE,7251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7251,begin apogee
$GC,7263,-0.32,0.0,683.2,10.8,347,7403,0.95,0.00,130.62,1.116,6,0.120,0.000,2634,2186,2539
$STATE,7403,end apogee,CONTROL_FINISHED_OK
$STATE,7403,begin climb
$GC,7407,1.16,146.6,689.9,0.0,354,7540,1.50,2.92,122.50,1.095,4,0.082,0.116,2953,3604,1940
$GC,7723,1.16,146.6,673.9,8.1,368,7728,0.00,2.53,0.00,0.000,6,0.000,0.071,2953,2201,1939
$GC,8040,1.16,146.6,649.1,8.2,383,8044,0.00,2.58,0.00,0.000,4,0.000,0.082,2953,798,1939
$GC,8107,1.16,146.6,643.5,8.4,386,8111,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2207,1938
$GC,8428,1.16,146.6,617.1,8.1,402,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2208,1939
$GC,8737,1.16,146.6,591.0,8.6,417,8742,0.00,2.60,0.00,0.000,4,0.000,0.077,2953,791,1938
$GC,8801,1.16,146.6,584.7,10.0,420,8805,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2207,1938
$GC,9128,1.16,146.6,554.5,9.3,436,9133,0.00,2.58,0.00,0.000,4,0.000,0.076,2951,799,1938
$GC,9185,1.16,146.6,548.7,9.5,438,9191,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2202,1938
$GC,9501,1.16,146.6,517.6,10.5,454,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2201,1938
$GC,9810,1.16,146.6,483.8,10.9,469,9815,0.00,2.55,0.00,0.000,4,0.000,0.075,2953,793,1937
$GC,9906,1.16,146.6,473.1,10.8,473,9911,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2204,1937
$GC,10223,1.16,146.6,442.0,9.2,488,10228,0.00,2.55,0.00,0.000,4,0.000,0.074,2953,791,1936
$GC,10309,1.16,146.6,434.1,9.1,492,10313,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2207,1936
$GC,10636,1.19,161.3,408.8,7.4,508,10657,0.00,2.62,12.93,0.943,4,0.000,0.074,2953,798,1880
$GC,10715,1.20,166.0,402.7,7.8,511,10727,0.00,2.45,5.35,0.759,6,0.000,0.056,2953,2198,1861
$GC,11036,1.20,166.0,377.6,8.1,527,11041,0.00,2.53,0.00,0.000,4,0.000,0.074,2953,797,1861
$GC,11077,1.20,166.0,373.4,11.7,529,11082,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2209,1861
$GC,11410,1.20,166.0,339.7,10.3,545,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2210,1860
$GC,11719,1.20,166.0,308.4,8.4,560,11724,0.00,2.58,0.00,0.000,4,0.000,0.073,2953,788,1861
$GC,11838,1.20,166.0,298.9,8.0,565,11842,0.00,2.45,0.00,0.000,6,0.000,0.056,2953,2199,1860
$GC,12154,1.20,166.0,272.5,8.4,580,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2199,1860
$GC,12464,1.20,167.0,247.9,8.0,595,12468,0.00,2.53,0.00,0.000,4,0.000,0.075,2953,798,1859
$GC,12531,1.20,167.0,242.3,8.4,598,12536,0.00,2.45,0.00,0.000,6,0.000,0.058,2953,2209,1859
$GC,12852,1.20,167.0,216.2,8.4,614,12857,0.00,2.55,0.00,0.000,4,0.000,0.073,2951,795,1858
$GC,13025,1.20,167.0,200.8,10.0,621,13031,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2206,1858
$GC,13341,1.20,168.3,174.9,7.9,637,13345,0.00,2.55,0.00,0.000,4,0.000,0.074,2953,796,1858
$GC,13414,1.21,173.2,168.7,7.8,640,13427,0.00,2.45,7.38,0.792,6,0.000,0.057,2953,2209,1832
$GC,13736,1.21,173.2,142.0,8.3,656,13740,0.00,2.55,0.00,0.000,4,0.000,0.074,2953,791,1831
$GC,13907,1.21,173.2,126.9,8.5,663,13913,0.00,2.45,0.00,0.000,6,0.000,0.057,2953,2204,1831
$GC,14226,1.28,219.3,105.1,6.2,679,14270,0.15,2.65,38.20,0.857,4,0.067,0.072,2993,796,1643
$GC,14479,1.28,219.3,78.5,14.2,690,14483,0.00,2.45,0.00,0.000,6,0.000,0.057,2993,2202,1641
$GC,14802,1.28,219.3,44.0,9.5,706,14807,0.00,2.62,0.00,0.000,4,0.000,0.094,2993,3601,1640
$GC,14926,1.28,219.3,30.5,10.0,711,14932,0.00,2.42,0.00,0.000,6,0.000,0.062,2993,2195,1640
$STATE,15198,end climb,SURFACE_DEPTH_REACHED
$STATE,15198,begin surface coast
$FINISH,0.8,1.026762
$STATE,15220,end surface coast,CONTROL_FINISHED_OK
$STATE,15220,begin surface
$SM_CCo,15246,50.03,0.731,0,0,1315,300.00
$SM_GC,1.40,0.00,0.00,50.03,0.000,0.000,0.731,380,1597,1315,-10.70,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1946
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.6,92.3
$24V_AH,23.5,18.280
$10V_AH,10.1,10.714
$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,25.550,131.825,316.975,50.025,0.000,37.764,30.844,159.909,5.000,0.000,0.000,30.519,1389.303,11376.183,504.122,1843.204,557.413,0.000,1413.734,0.000,1785.622,0.000,34.788,0.000
$DEVICE_MAMPS,181.779,115.817,1115.985,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.233,494.751,435.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,726
$CAP_FILE_SIZE,113471,0
$CFSIZE,254472192,245391360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,200908,132738,6442.112,-959.071,31,2.0,31,-10.9