version: 66.04
glider: 14
mission: 6
dive: 108
start: 9 20 108 19 51 29
data:
$ID,14
$MISSION,6
$DIVE,108
$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,-652140.5
$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,24
$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
$GPS1,194408,6442.673,-1002.108,39,1.4,40,-11.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.0
$GPS2,195109,6442.692,-1002.204,11,1.3,11,-11.0
$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,316.2,36336,-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,-60.47,0.000,2,0.000,0.000,374,1591,2640
$GC,83,-1.16,-146.6,3.6,-4.7,3,114,11.60,2.50,-13.70,0.000,4,0.177,0.094,2448,213,3138
$GC,329,-1.16,-146.6,35.6,-11.8,14,333,0.00,2.38,0.00,0.000,6,0.000,0.054,2448,1621,3139
$GC,656,-1.16,-146.6,69.6,-10.4,30,661,0.00,2.55,0.00,0.000,4,0.000,0.077,2448,213,3142
$GC,758,-1.16,-146.6,81.7,-12.4,34,764,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1604,3143
$GC,1076,-1.16,-146.6,121.7,-12.9,50,1080,0.00,2.55,0.00,0.000,4,0.000,0.078,2448,209,3147
$GC,1255,-1.16,-146.6,144.9,-13.0,58,1259,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1605,3147
$GC,1587,-1.16,-146.6,182.8,-10.3,74,1592,0.00,2.45,0.00,0.000,4,0.000,0.074,2448,2981,3147
$GC,1605,-1.16,-146.6,184.8,-10.6,75,1610,0.00,2.40,0.00,0.000,6,0.000,0.064,2448,1595,3147
$GC,1939,-1.16,-146.6,215.4,-8.1,91,1943,0.00,2.53,0.00,0.000,4,0.000,0.084,2448,210,3148
$GC,1979,-1.16,-146.6,219.0,-9.2,92,1985,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1605,3148
$GC,2296,-1.16,-146.6,244.3,-8.0,108,2300,0.00,2.55,0.00,0.000,4,0.000,0.082,2448,212,3148
$GC,2385,-1.16,-146.6,252.4,-9.6,112,2390,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1600,3148
$GC,2707,-1.16,-146.6,281.5,-9.0,128,2712,0.00,2.47,0.00,0.000,4,0.000,0.078,2448,2983,3148
$GC,2748,-1.16,-146.6,285.0,-9.2,130,2752,0.00,2.42,0.00,0.000,6,0.000,0.064,2448,1592,3148
$GC,3076,-1.16,-146.6,313.8,-9.0,146,3080,0.00,2.55,0.00,0.000,4,0.000,0.089,2448,210,3148
$GC,3121,-1.16,-146.6,318.3,-9.9,148,3126,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1613,3148
$GC,3444,-1.16,-146.6,347.5,-9.1,164,3448,0.00,2.58,0.00,0.000,4,0.000,0.084,2448,213,3148
$GC,3544,-1.16,-146.6,357.9,-10.4,168,3551,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1595,3148
$GC,3861,-1.16,-146.6,390.7,-10.1,184,3865,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,213,3148
$GC,3901,-1.16,-146.6,395.1,-11.3,186,3906,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1609,3148
$GC,4229,-1.16,-146.6,428.5,-10.0,202,4233,0.00,2.60,0.00,0.000,4,0.000,0.086,2448,205,3148
$GC,4315,-1.16,-146.6,437.1,-10.1,206,4319,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1600,3148
$GC,4642,-1.16,-146.6,466.1,-8.7,222,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3147
$GC,4951,-1.16,-146.6,493.3,-9.0,237,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3146
$GC,5261,-1.16,-146.6,520.6,-8.7,252,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3145
$GC,5570,-1.16,-146.6,547.2,-8.5,267,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3144
$GC,5879,-1.16,-146.6,573.4,-8.6,282,5883,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,212,3143
$GC,5924,-1.16,-146.6,577.5,-9.4,284,5928,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1596,3143
$GC,6251,-1.16,-146.6,606.0,-8.9,300,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1597,3142
$GC,6560,-1.16,-146.6,633.3,-8.7,315,6564,0.00,2.55,0.00,0.000,4,0.000,0.088,2448,215,3141
$GC,6596,-1.16,-146.6,636.5,-9.8,316,6600,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1605,3141
$GC,6913,-1.16,-146.6,665.2,-9.1,331,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1605,3140
$GC,7222,-1.16,-146.6,691.4,-8.2,346,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1605,3139
$GC,7532,-1.16,-146.6,717.3,-8.3,361,7536,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,209,3139
$GC,7582,-1.16,-146.6,722.1,-10.1,363,7586,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1595,3139
$GC,7898,-1.16,-146.6,749.7,-8.6,378,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1595,3138
$GC,8209,-1.16,-146.6,776.8,-8.8,393,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1595,3138
$GC,8517,-1.16,-146.6,803.7,-8.9,408,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1595,3138
$GC,8826,-1.16,-146.6,831.2,-9.4,423,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1595,3137
$GC,9136,-1.16,-146.6,859.4,-9.4,438,9140,0.00,2.53,0.00,0.000,4,0.000,0.085,2449,213,3137
$GC,9186,-1.16,-146.6,864.8,-11.0,440,9190,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1603,3137
$STATE,9354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9354,begin apogee
$GC,9364,-0.32,0.0,882.2,11.0,448,9505,0.90,0.00,132.75,1.256,6,0.110,0.000,2632,2192,2539
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9510,1.16,146.6,889.0,0.0,455,9644,1.50,2.80,125.65,1.242,4,0.073,0.107,2960,3599,1941
$GC,9917,1.16,146.6,861.9,8.7,473,9923,0.00,2.50,0.00,0.000,6,0.000,0.066,2960,2199,1938
$GC,10233,1.16,146.6,836.5,8.2,489,10237,0.00,2.62,0.00,0.000,4,0.000,0.091,2959,3599,1938
$GC,10351,1.16,146.6,826.1,8.7,494,10355,0.00,2.47,0.00,0.000,6,0.000,0.064,2959,2198,1937
$GC,10667,1.16,146.6,799.7,8.5,509,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1938
$GC,10977,1.16,146.6,773.6,8.4,524,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1938
$GC,11286,1.16,146.6,748.5,8.2,539,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1937
$GC,11595,1.16,146.6,722.8,8.7,554,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2199,1937
$GC,11904,1.16,146.6,696.8,8.2,569,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1937
$GC,12214,1.16,146.6,671.2,8.1,584,12218,0.00,2.62,0.00,0.000,4,0.000,0.091,2960,3601,1937
$GC,12276,1.16,146.6,666.0,8.1,587,12281,0.00,2.47,0.00,0.000,6,0.000,0.064,2960,2195,1937
$GC,12604,1.16,146.6,638.6,8.4,603,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2195,1937
$GC,12913,1.16,146.6,612.3,8.0,618,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2196,1937
$GC,13222,1.16,146.6,587.6,8.4,633,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2195,1937
$GC,13532,1.19,161.6,561.5,7.4,648,13550,0.00,0.00,13.52,1.021,6,0.000,0.000,2960,2195,1879
$GC,13861,1.19,161.6,535.7,8.3,664,13866,0.00,2.62,0.00,0.000,4,0.000,0.089,2959,3599,1878
$GC,13918,1.19,161.6,530.7,8.8,666,13924,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2198,1879
$GC,14234,1.19,161.6,504.9,8.3,682,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1879
$GC,14544,1.19,161.6,478.3,8.7,697,14545,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1878
$GC,14852,1.19,161.6,450.8,8.5,712,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1878
$GC,15162,1.19,161.6,424.8,8.2,727,15166,0.00,2.60,0.00,0.000,4,0.000,0.088,2959,3601,1878
$GC,15229,1.19,161.6,418.8,9.0,730,15233,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2197,1878
$GC,15551,1.19,161.6,390.2,9.2,746,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2197,1878
$GC,15860,1.19,161.6,361.6,8.9,761,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2196,1879
$GC,16170,1.19,161.6,332.3,9.5,776,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2197,1878
$GC,16479,1.19,161.6,301.6,10.3,791,16483,0.00,2.53,0.00,0.000,4,0.000,0.079,2960,802,1878
$GC,16568,1.19,161.6,291.9,9.9,795,16573,0.00,2.40,0.00,0.000,6,0.000,0.054,2960,2208,1879
$GC,16890,1.19,161.6,261.6,8.4,811,16895,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,800,1877
$GC,16986,1.19,161.6,253.5,8.2,815,16991,0.00,2.40,0.00,0.000,6,0.000,0.055,2960,2200,1877
$GC,17303,1.22,182.7,230.0,7.2,830,17328,0.00,2.60,18.45,0.855,4,0.000,0.073,2960,805,1792
$GC,17443,1.22,182.7,217.9,9.6,836,17447,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2202,1792
$GC,17764,1.22,182.7,188.9,9.3,852,17765,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2202,1791
$GC,18074,1.22,182.7,159.6,9.4,867,18078,0.00,2.53,0.00,0.000,4,0.000,0.075,2960,800,1790
$GC,18210,1.22,182.7,146.3,9.5,873,18214,0.00,2.40,0.00,0.000,6,0.000,0.057,2960,2202,1790
$GC,18544,1.24,191.1,117.0,7.7,889,18558,0.00,2.58,8.15,0.775,4,0.000,0.074,2960,801,1759
$GC,18617,1.27,209.9,111.5,7.3,892,18639,0.00,2.45,16.73,0.844,6,0.000,0.056,2960,2209,1683
$GC,18961,1.27,209.9,84.4,8.6,909,18966,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,798,1681
$GC,19102,1.27,209.9,72.1,9.8,915,19106,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2198,1681
$GC,19419,1.34,254.3,50.6,6.3,930,19463,0.17,2.70,36.12,0.795,4,0.064,0.094,3011,3601,1501
$GC,19569,1.34,254.3,35.2,12.2,936,19576,0.00,2.45,0.00,0.000,6,0.000,0.062,3011,2199,1500
$STATE,19884,end climb,SURFACE_DEPTH_REACHED
$STATE,19884,begin surface coast
$FINISH,0.6,1.026928
$STATE,19904,end surface coast,CONTROL_FINISHED_OK
$STATE,19905,begin surface
$SM_CCo,19931,33.55,0.736,0,0,1315,300.00
$SM_GC,1.65,0.00,0.00,33.55,0.000,0.000,0.736,382,1601,1315,-10.69,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1948
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.8,16.4
$24V_AH,23.4,18.557
$10V_AH,10.1,10.899
$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,25.850,136.300,351.375,33.550,0.000,37.765,39.305,199.120,8.000,0.000,0.000,15.570,1751.420,15283.436,508.179,2165.976,675.422,0.000,1574.105,0.000,2113.609,0.000,55.229,0.000
$DEVICE_MAMPS,177.177,107.380,1256.346,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,713.624,651.696,522.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47386,953
$CAP_FILE_SIZE,136506,0
$CFSIZE,254472192,245223424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,210908,012538,6443.003,-1003.196,40,0.9,40,-11.0