version: 66.04
glider: 14
mission: 6
dive: 110
start: 9 21 108 7 6 26
data:
$ID,14
$MISSION,6
$DIVE,110
$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,-652168.06
$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,18
$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
$GPS1,070008,6442.562,-1010.016,61,1.6,61,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.3
$GPS2,070602,6442.568,-1010.156,9,1.7,9,-11.1
$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,323.2,31590,-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,-60.47,0.000,2,0.000,0.000,378,1600,2629
$GC,83,-1.16,-146.6,3.6,-5.0,3,114,11.62,2.53,-13.62,0.000,4,0.180,0.094,2445,208,3138
$GC,367,-1.16,-146.6,41.7,-11.0,15,373,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1618,3139
$GC,685,-1.16,-146.6,73.2,-8.3,31,689,0.00,2.42,0.00,0.000,4,0.000,0.071,2445,2986,3141
$GC,931,-1.16,-146.6,97.8,-10.4,42,935,0.00,2.42,0.00,0.000,6,0.000,0.062,2445,1587,3144
$GC,1253,-1.16,-146.6,130.4,-10.0,58,1258,0.00,2.50,0.00,0.000,4,0.000,0.083,2445,213,3146
$GC,1394,-1.16,-146.6,145.1,-10.3,64,1398,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1606,3147
$GC,1719,-1.16,-146.6,176.3,-9.7,80,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1610,3147
$GC,2026,-1.16,-146.6,206.6,-10.1,95,2030,0.00,2.45,0.00,0.000,4,0.000,0.074,2445,2984,3147
$GC,2070,-1.16,-146.6,211.3,-10.5,97,2075,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1594,3148
$GC,2392,-1.16,-146.6,245.5,-10.8,113,2397,0.00,2.50,0.00,0.000,4,0.000,0.077,2445,2988,3148
$GC,2421,-1.16,-146.6,248.8,-11.8,114,2425,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1596,3148
$GC,2737,-1.16,-146.6,282.1,-10.3,129,2741,0.00,2.47,0.00,0.000,4,0.000,0.076,2445,2985,3149
$GC,2776,-1.16,-146.6,286.2,-9.5,130,2782,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1593,3148
$GC,3093,-1.16,-146.6,317.2,-9.8,146,3097,0.00,2.53,0.00,0.000,4,0.000,0.090,2445,214,3149
$GC,3143,-1.16,-146.6,322.7,-10.6,148,3148,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1606,3149
$GC,3467,-1.16,-146.6,351.3,-7.9,164,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1610,3148
$GC,3778,-1.16,-146.6,375.4,-7.7,179,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1610,3148
$GC,4084,-1.16,-146.6,399.5,-7.8,194,4089,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,214,3149
$GC,4147,-1.16,-146.6,405.1,-10.1,197,4152,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1602,3148
$GC,4475,-1.16,-146.6,431.9,-8.3,213,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3147
$GC,4784,-1.16,-146.6,456.4,-8.2,228,4788,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,209,3146
$GC,4852,-1.16,-146.6,462.5,-9.0,231,4856,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1596,3146
$GC,5179,-1.16,-146.6,490.4,-8.7,247,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3144
$GC,5488,-1.16,-146.6,517.6,-9.0,262,5492,0.00,2.55,0.00,0.000,4,0.000,0.086,2444,213,3145
$GC,5521,-1.16,-146.6,520.9,-9.2,263,5526,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1603,3144
$GC,5838,-1.16,-146.6,549.3,-8.8,278,5842,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,211,3143
$GC,5871,-1.16,-146.6,552.6,-9.7,279,5877,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1596,3143
$GC,6188,-1.16,-146.6,582.7,-10.0,295,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3142
$GC,6497,-1.16,-146.6,611.9,-9.1,310,6501,0.00,2.55,0.00,0.000,4,0.000,0.085,2444,207,3142
$GC,6530,-1.16,-146.6,615.1,-9.1,311,6537,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1601,3141
$GC,6847,-1.16,-146.6,642.8,-8.2,327,6851,0.00,2.53,0.00,0.000,4,0.000,0.084,2444,213,3140
$GC,6881,-1.16,-146.6,646.2,-10.4,328,6885,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1609,3140
$GC,7198,-1.16,-146.6,656.9,-0.1,343,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3140
$STATE,7214,end dive,NO_VERTICAL_VELOCITY
$STATE,7214,begin apogee
$GC,7224,-0.32,0.0,656.8,0.0,344,7358,0.90,0.00,128.02,1.109,6,0.096,0.000,2636,2195,2539
$STATE,7358,end apogee,CONTROL_FINISHED_OK
$STATE,7359,begin climb
$GC,7363,1.16,146.6,657.0,0.0,351,7494,1.50,2.65,121.95,1.068,4,0.083,0.074,2955,794,1941
$GC,7767,1.16,146.6,630.3,9.0,369,7772,0.00,2.45,0.00,0.000,6,0.000,0.058,2955,2201,1939
$GC,8084,1.19,163.3,604.2,7.4,384,8106,0.00,2.62,15.15,1.068,4,0.000,0.072,2955,791,1872
$GC,8180,1.19,163.3,595.9,8.9,388,8184,0.00,2.47,0.00,0.000,6,0.000,0.057,2955,2208,1871
$GC,8501,1.20,167.1,569.6,7.9,404,8511,0.00,2.58,4.68,0.842,4,0.000,0.074,2955,796,1857
$GC,8579,1.20,167.1,563.1,8.2,407,8585,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2200,1857
$GC,8896,1.20,169.7,538.2,7.9,423,8905,0.00,2.58,3.75,0.742,4,0.000,0.074,2955,799,1847
$GC,8979,1.21,175.5,531.0,7.8,426,8993,0.00,2.45,6.85,0.886,6,0.000,0.056,2955,2207,1823
$GC,9316,1.21,177.1,503.2,7.9,443,9321,0.00,2.58,0.00,0.000,4,0.000,0.073,2955,790,1822
$GC,9384,1.21,177.1,497.1,9.2,446,9389,0.00,2.45,0.00,0.000,6,0.000,0.055,2954,2208,1822
$GC,9705,1.21,177.1,469.8,8.4,462,9710,0.00,2.55,0.00,0.000,4,0.000,0.073,2953,794,1822
$GC,9773,1.21,177.1,463.5,9.0,465,9777,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2203,1822
$GC,10102,1.23,185.3,437.5,7.7,481,10116,0.00,2.58,9.38,0.919,4,0.000,0.073,2955,796,1782
$GC,10202,1.23,185.3,429.3,8.7,485,10206,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2200,1782
$GC,10519,1.25,199.6,405.6,7.5,500,10537,0.00,0.00,13.65,0.923,6,0.000,0.000,2955,2201,1724
$GC,10848,1.25,199.6,379.0,8.3,516,10852,0.00,2.53,0.00,0.000,4,0.000,0.073,2955,794,1722
$GC,10971,1.25,199.6,367.6,9.8,521,10978,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2209,1722
$GC,11288,1.25,199.6,339.5,9.3,537,11292,0.00,2.55,0.00,0.000,4,0.000,0.072,2955,792,1722
$GC,11360,1.25,199.6,332.2,10.0,540,11365,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2206,1722
$GC,11677,1.25,199.6,301.3,9.6,555,11681,0.00,2.55,0.00,0.000,4,0.000,0.073,2955,794,1721
$GC,11744,1.25,199.6,294.6,9.7,558,11748,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2209,1721
$GC,12065,1.25,199.6,266.8,8.2,574,12070,0.00,2.58,0.00,0.000,4,0.000,0.074,2955,788,1721
$GC,12133,1.25,199.6,260.8,9.4,577,12137,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2203,1721
$GC,12455,1.25,202.7,234.9,7.9,593,12461,0.10,0.00,3.28,0.562,6,0.075,0.000,2983,2203,1712
$GC,12764,1.25,202.7,206.5,9.7,608,12769,0.00,2.55,0.00,0.000,4,0.000,0.074,2983,788,1712
$GC,12850,1.25,202.7,197.9,10.4,612,12854,0.00,2.45,0.00,0.000,6,0.000,0.058,2983,2202,1712
$GC,13183,1.25,202.7,166.0,9.5,628,13188,0.00,2.53,0.00,0.000,4,0.000,0.074,2982,793,1712
$GC,13240,1.25,202.7,160.3,9.5,630,13247,0.00,2.45,0.00,0.000,6,0.000,0.057,2983,2206,1712
$GC,13557,1.25,202.7,131.3,9.4,646,13561,0.00,2.53,0.00,0.000,4,0.000,0.074,2983,793,1712
$GC,13674,1.25,202.7,118.9,10.4,651,13679,0.00,2.45,0.00,0.000,6,0.000,0.057,2983,2207,1712
$GC,13993,1.25,202.7,88.6,8.8,666,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2207,1712
$GC,14300,1.25,202.7,61.2,8.8,681,14305,0.00,2.53,0.00,0.000,4,0.000,0.073,2983,792,1712
$GC,14498,1.25,202.7,41.5,9.1,690,14502,0.00,2.42,0.00,0.000,6,0.000,0.057,2983,2200,1712
$GC,14826,1.30,233.8,16.4,6.8,706,14857,0.00,2.70,26.12,0.753,4,0.000,0.094,2983,3604,1586
$GC,14934,1.30,233.8,6.8,9.4,711,14939,0.00,2.45,0.00,0.000,6,0.000,0.061,2983,2192,1585
$STATE,14991,end climb,SURFACE_DEPTH_REACHED
$STATE,14991,begin surface coast
$FINISH,0.6,1.012187
$STATE,15013,end surface coast,CONTROL_FINISHED_OK
$STATE,15014,begin surface
$SM_CCo,15040,44.50,0.733,0,0,1316,300.00
$SM_GC,1.42,0.00,0.00,44.50,0.000,0.000,0.733,378,1603,1316,-10.70,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1950
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.5,18.810
$10V_AH,10.1,11.061
$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,25.575,146.125,332.825,44.500,0.000,37.763,25.572,154.307,5.750,0.000,0.000,10.951,1394.072,11151.873,499.615,1828.172,570.025,0.000,1422.507,0.000,1784.289,0.000,40.497,0.000
$DEVICE_MAMPS,180.245,94.341,1109.082,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.202,487.383,445.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,715
$CAP_FILE_SIZE,117637,0
$CFSIZE,254472192,245129216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,210908,111908,6443.865,-1012.886,34,1.1,34,-11.1