version: 66.04
glider: 14
mission: 6
dive: 109
start: 9 21 108 1 32 26
data:
$ID,14
$MISSION,6
$DIVE,109
$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,-652156.5
$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,22
$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
$GPS1,012538,6443.003,-1003.196,40,0.9,40,-11.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.4
$GPS2,013203,6442.998,-1003.049,13,1.8,13,-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,316.1,35467,-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,-60.72,0.000,2,0.000,0.000,382,1594,2655
$GC,83,-1.16,-146.6,3.7,-5.3,3,114,11.60,2.55,-12.10,0.000,4,0.179,0.094,2445,221,3138
$GC,299,-1.16,-146.6,36.0,-13.1,12,306,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1629,3139
$GC,616,-1.16,-146.6,73.8,-12.2,28,620,0.00,2.58,0.00,0.000,4,0.000,0.077,2445,211,3140
$GC,712,-1.16,-146.6,85.8,-11.0,32,716,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1611,3141
$GC,1029,-1.16,-146.6,109.2,-5.2,47,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1615,3143
$GC,1338,-1.16,-146.6,120.2,-3.0,62,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1615,3147
$GC,1648,-1.16,-146.6,130.2,-3.8,77,1651,0.00,2.55,0.00,0.000,4,0.000,0.080,2445,212,3147
$GC,1710,-1.16,-146.6,133.9,-6.3,79,1717,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1612,3147
$GC,2027,-1.16,-146.6,152.6,-6.2,95,2031,0.00,2.55,0.00,0.000,4,0.000,0.079,2445,213,3148
$GC,2094,-1.16,-146.6,157.7,-7.7,98,2098,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1596,3147
$GC,2422,-1.16,-146.6,183.6,-8.6,114,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3148
$GC,2731,-1.16,-146.6,211.8,-9.9,129,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3148
$GC,3040,-1.16,-146.6,245.5,-11.2,144,3045,0.00,2.55,0.00,0.000,4,0.000,0.083,2445,209,3148
$GC,3103,-1.16,-146.6,253.2,-12.5,147,3107,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1600,3148
$GC,3430,-1.16,-146.6,291.9,-11.6,163,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1603,3148
$GC,3739,-1.16,-146.6,323.8,-10.1,178,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1603,3148
$GC,4048,-1.16,-146.6,353.2,-8.7,193,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3148
$GC,4358,-1.16,-146.6,381.5,-8.8,208,4362,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,212,3148
$GC,4421,-1.16,-146.6,387.5,-9.2,211,4425,0.00,2.35,0.00,0.000,6,0.000,0.057,2445,1597,3148
$GC,4753,-1.16,-146.6,417.9,-8.8,227,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3148
$GC,5063,-1.16,-146.6,443.4,-7.6,242,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1599,3147
$GC,5372,-1.16,-146.6,466.4,-7.6,257,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3146
$GC,5682,-1.16,-146.6,488.7,-6.7,272,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1601,3145
$GC,5991,-1.16,-146.6,510.9,-7.3,287,5995,0.00,2.55,0.00,0.000,4,0.000,0.087,2446,213,3144
$GC,6047,-1.16,-146.6,515.4,-8.2,289,6053,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1604,3144
$GC,6364,-1.16,-146.6,538.2,-7.7,305,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1603,3143
$GC,6673,-1.16,-146.6,560.0,-6.8,320,6677,0.00,2.55,0.00,0.000,4,0.000,0.087,2444,215,3143
$GC,6723,-1.16,-146.6,564.1,-8.2,322,6727,0.00,2.38,0.00,0.000,6,0.000,0.055,2445,1606,3143
$GC,7040,-1.16,-146.6,586.6,-7.9,337,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3141
$GC,7349,-1.16,-146.6,608.5,-7.1,352,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3141
$GC,7658,-1.16,-146.6,630.8,-7.7,367,7662,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,210,3140
$GC,7708,-1.16,-146.6,635.1,-8.6,369,7713,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1598,3140
$GC,8025,-1.16,-146.6,659.4,-7.9,384,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1598,3139
$GC,8334,-1.16,-146.6,680.8,-6.6,399,8339,0.00,2.55,0.00,0.000,4,0.000,0.085,2445,210,3138
$GC,8369,-1.16,-146.6,683.1,-6.7,400,8375,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1605,3139
$GC,8686,-1.16,-146.6,704.0,-6.4,416,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3138
$GC,8996,-1.16,-146.6,723.5,-6.2,431,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1606,3138
$GC,9305,-1.16,-146.6,742.7,-6.2,446,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3138
$GC,9614,-1.16,-146.6,763.2,-6.4,461,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3137
$GC,9923,-1.16,-146.6,784.7,-7.1,476,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3137
$GC,10232,-1.16,-146.6,807.4,-7.0,491,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3137
$STATE,10435,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10435,begin apogee
$GC,10444,-0.32,0.0,822.8,7.8,501,10584,0.93,0.00,131.82,1.217,6,0.117,0.000,2631,2195,2539
$STATE,10585,end apogee,CONTROL_FINISHED_OK
$STATE,10585,begin climb
$GC,10589,1.16,146.6,827.7,0.0,508,10722,1.52,2.80,124.68,1.197,4,0.082,0.110,2958,3596,1941
$GC,10941,1.16,146.6,803.1,9.9,524,10945,0.00,2.47,0.00,0.000,6,0.000,0.066,2958,2200,1939
$GC,11273,1.16,146.6,771.1,9.6,540,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,11583,1.16,146.6,740.4,10.2,555,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,11892,1.16,146.6,707.8,10.9,570,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,12201,1.16,146.6,674.5,10.7,585,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,12510,1.16,146.6,643.1,9.7,600,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,12820,1.16,146.6,612.8,9.8,615,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,13129,1.16,146.6,585.3,8.1,630,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1939
$GC,13438,1.16,146.6,558.0,8.8,645,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1938
$GC,13748,1.16,146.6,532.2,8.2,660,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1938
$GC,14057,1.17,147.3,507.8,8.0,675,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2200,1938
$GC,14366,1.18,159.1,484.0,7.6,690,14387,0.00,2.60,11.40,0.971,4,0.000,0.081,2958,798,1889
$GC,14434,1.18,159.1,478.4,8.5,693,14439,0.00,2.42,0.00,0.000,6,0.000,0.054,2958,2201,1889
$GC,14762,1.24,195.7,454.9,6.6,709,14803,0.00,2.65,31.45,0.984,4,0.000,0.074,2958,789,1739
$GC,14867,1.24,195.7,447.3,8.4,713,14874,0.00,2.45,0.00,0.000,6,0.000,0.055,2958,2201,1739
$GC,15184,1.30,232.1,426.2,6.6,729,15217,0.12,0.00,30.50,0.959,6,0.072,0.000,2991,2201,1593
$GC,15513,1.30,232.1,399.7,8.2,745,15517,0.00,2.55,0.00,0.000,4,0.000,0.075,2991,792,1591
$GC,15581,1.30,232.1,393.8,8.3,748,15586,0.00,2.45,0.00,0.000,6,0.000,0.056,2990,2202,1589
$GC,15909,1.30,232.1,365.8,8.8,764,15913,0.00,2.55,0.00,0.000,4,0.000,0.074,2991,792,1590
$GC,15954,1.30,232.1,361.7,9.3,766,15958,0.00,2.45,0.00,0.000,6,0.000,0.055,2991,2206,1590
$GC,16276,1.30,232.1,329.7,10.4,782,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2205,1590
$GC,16585,1.30,232.1,295.7,11.8,797,16589,0.00,2.55,0.00,0.000,4,0.000,0.074,2990,790,1590
$GC,16676,1.30,232.1,285.3,10.6,801,16680,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2199,1590
$GC,17010,1.30,232.1,249.6,10.5,817,17014,0.00,2.53,0.00,0.000,4,0.000,0.074,2991,793,1590
$GC,17050,1.30,232.1,244.9,12.4,819,17054,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2199,1590
$GC,17377,1.30,232.1,210.5,10.9,835,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2200,1588
$GC,17687,1.30,232.1,177.2,10.9,850,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2200,1588
$GC,17996,1.30,232.1,143.2,11.0,865,18000,0.00,2.53,0.00,0.000,4,0.000,0.075,2991,794,1588
$GC,18040,1.30,232.1,138.0,12.0,867,18045,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2200,1588
$GC,18363,1.30,232.1,100.6,11.5,883,18368,0.00,2.53,0.00,0.000,4,0.000,0.074,2991,794,1588
$GC,18437,1.30,232.1,92.3,10.9,886,18441,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2200,1588
$GC,18753,1.30,232.1,63.6,8.2,901,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2199,1588
$GC,19063,1.30,232.1,40.2,8.1,916,19067,0.00,2.53,0.00,0.000,4,0.000,0.074,2991,787,1587
$GC,19231,1.32,242.4,22.6,7.6,923,19247,0.00,2.45,9.15,0.701,6,0.000,0.057,2991,2208,1548
$STATE,19469,end climb,SURFACE_DEPTH_REACHED
$STATE,19469,begin surface coast
$FINISH,0.9,1.026923
$STATE,19491,end surface coast,CONTROL_FINISHED_OK
$STATE,19492,begin surface
$SM_CCo,19518,39.47,0.741,0,0,1316,300.00
$SM_GC,1.38,0.00,0.00,39.47,0.000,0.000,0.741,377,1604,1316,-10.71,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1943
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.5,31.1
$24V_AH,23.4,18.690
$10V_AH,10.1,10.986
$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,25.725,101.525,339.000,39.475,0.000,39.022,28.092,175.374,7.250,0.000,0.000,15.392,1679.849,15199.907,493.535,1956.428,615.388,0.000,1447.260,0.000,1913.900,0.000,50.441,0.000
$DEVICE_MAMPS,179.478,109.681,1217.229,740.922,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.035,639.913,552.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47381,936
$CAP_FILE_SIZE,125630,0
$CFSIZE,254472192,245174272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,210908,070008,6442.562,-1010.016,61,1.6,61,-11.1