version: 66.04
glider: 14
mission: 6
dive: 111
start: 9 21 108 11 25 11
data:
$ID,14
$MISSION,6
$DIVE,111
$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,-652184.12
$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
$GPS1,111908,6443.865,-1012.886,34,1.1,34,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-57.5
$GPS2,112450,6443.928,-1012.671,8,1.4,13,-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,322.1,28442,-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,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.12,0.000,2,0.000,0.000,379,1595,2622
$GC,83,-1.16,-146.6,3.5,-4.9,3,116,11.62,2.53,-15.05,0.000,4,0.180,0.093,2446,213,3137
$GC,273,-1.16,-146.6,26.7,-12.9,11,280,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1626,3137
$GC,590,-1.16,-146.6,65.2,-12.0,27,594,0.00,2.58,0.00,0.000,4,0.000,0.077,2446,207,3139
$GC,708,-1.16,-146.6,80.8,-13.1,32,712,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1605,3139
$GC,1030,-1.16,-146.6,113.4,-9.7,48,1034,0.00,2.42,0.00,0.000,4,0.000,0.071,2446,2981,3142
$GC,1080,-1.16,-146.6,118.4,-9.5,50,1084,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1597,3144
$GC,1398,-1.16,-146.6,144.5,-8.0,65,1402,0.00,2.53,0.00,0.000,4,0.000,0.083,2446,213,3145
$GC,1476,-1.16,-146.6,151.7,-9.1,68,1482,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1616,3145
$GC,1792,-1.16,-146.6,181.6,-9.5,84,1797,0.00,2.55,0.00,0.000,4,0.000,0.080,2446,207,3146
$GC,1860,-1.16,-146.6,189.1,-10.6,87,1864,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1604,3146
$GC,2181,-1.16,-146.6,218.6,-9.0,103,2186,0.00,2.53,0.00,0.000,4,0.000,0.081,2446,213,3146
$GC,2294,-1.16,-146.6,230.5,-10.5,108,2298,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1601,3146
$GC,2616,-1.16,-146.6,263.9,-10.3,124,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1604,3146
$GC,2925,-1.16,-146.6,296.7,-10.7,139,2929,0.00,2.55,0.00,0.000,4,0.000,0.084,2446,213,3146
$GC,2965,-1.16,-146.6,301.1,-11.3,141,2969,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1598,3146
$GC,3298,-1.16,-146.6,334.2,-9.8,157,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3146
$GC,3607,-1.16,-146.6,364.1,-9.6,172,3611,0.00,2.55,0.00,0.000,4,0.000,0.085,2446,212,3146
$GC,3635,-1.16,-146.6,367.2,-10.7,173,3639,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1608,3146
$GC,3951,-1.16,-146.6,398.5,-10.0,188,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1612,3146
$GC,4260,-1.16,-146.6,428.1,-9.3,203,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3146
$GC,4570,-1.16,-146.6,455.2,-8.2,218,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3145
$GC,4879,-1.16,-146.6,480.9,-8.3,233,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3144
$GC,5188,-1.16,-146.6,506.9,-8.7,248,5192,0.00,2.60,0.00,0.000,4,0.000,0.087,2446,210,3144
$GC,5228,-1.16,-146.6,510.6,-9.6,250,5233,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1601,3143
$GC,5556,-1.16,-146.6,540.8,-9.5,266,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1605,3143
$GC,5865,-1.16,-146.6,569.2,-8.9,281,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1605,3142
$GC,6175,-1.16,-146.6,597.5,-9.3,296,6180,0.00,2.58,0.00,0.000,4,0.000,0.086,2446,211,3141
$GC,6226,-1.16,-146.6,602.7,-9.6,298,6230,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1600,3141
$GC,6542,-1.16,-146.6,632.7,-9.8,313,6547,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,206,3140
$GC,6577,-1.16,-146.6,636.2,-9.7,314,6583,0.00,2.38,0.00,0.000,6,0.000,0.055,2444,1598,3140
$GC,6893,-1.16,-146.6,665.9,-9.7,330,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3139
$STATE,7096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7096,begin apogee
$GC,7105,-0.32,0.0,685.4,9.7,340,7244,0.93,0.00,130.32,1.110,6,0.114,0.000,2633,2189,2538
$STATE,7245,end apogee,CONTROL_FINISHED_OK
$STATE,7245,begin climb
$GC,7249,1.16,146.6,691.4,0.0,347,7381,1.55,2.90,122.22,1.089,4,0.090,0.112,2958,3598,1941
$GC,7654,1.16,146.6,666.5,8.6,365,7658,0.00,2.50,0.00,0.000,6,0.000,0.070,2958,2197,1939
$GC,7970,1.19,161.2,642.6,7.4,380,7990,0.00,0.00,13.80,1.108,6,0.000,0.000,2959,2197,1880
$GC,8300,1.19,163.3,616.9,7.9,396,8305,0.00,2.65,0.00,0.000,4,0.000,0.096,2958,3599,1878
$GC,8368,1.19,164.7,611.2,7.9,399,8377,0.00,2.47,4.10,0.788,6,0.000,0.066,2958,2202,1867
$GC,8694,1.19,164.7,585.1,8.2,415,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2202,1867
$GC,9004,1.19,164.7,559.2,8.4,430,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2202,1866
$GC,9313,1.19,164.7,532.9,8.7,445,9317,0.00,2.58,0.00,0.000,4,0.000,0.079,2958,791,1866
$GC,9370,1.19,164.7,527.6,9.7,447,9376,0.00,2.45,0.00,0.000,6,0.000,0.055,2958,2212,1866
$GC,9687,1.19,164.7,499.1,9.1,463,9691,0.00,2.58,0.00,0.000,4,0.000,0.075,2958,796,1866
$GC,9760,1.19,164.7,491.9,10.2,466,9764,0.00,2.42,0.00,0.000,6,0.000,0.055,2958,2207,1865
$GC,10077,1.19,164.7,464.0,8.6,481,10081,0.00,2.58,0.00,0.000,4,0.000,0.074,2958,791,1865
$GC,10139,1.19,164.7,458.3,9.8,484,10144,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2203,1865
$GC,10473,1.19,164.7,429.7,8.7,500,10477,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,795,1864
$GC,10523,1.19,164.7,425.0,9.1,502,10527,0.00,2.42,0.00,0.000,6,0.000,0.055,2958,2203,1865
$GC,10845,1.19,164.7,396.1,9.3,518,10850,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,794,1865
$GC,10919,1.19,164.7,389.0,8.9,521,10923,0.00,2.42,0.00,0.000,6,0.000,0.055,2958,2200,1865
$GC,11236,1.19,164.7,360.2,9.2,536,11240,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,793,1864
$GC,11303,1.19,164.7,353.5,10.2,539,11308,0.00,2.45,0.00,0.000,6,0.000,0.056,2960,2208,1865
$GC,11625,1.19,164.7,322.4,9.5,555,11630,0.00,2.55,0.00,0.000,4,0.000,0.072,2958,794,1864
$GC,11676,1.19,164.7,317.4,9.7,557,11680,0.00,2.42,0.00,0.000,6,0.000,0.056,2959,2207,1864
$GC,11998,1.19,164.7,288.9,8.7,573,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2207,1864
$GC,12307,1.19,164.7,262.5,8.5,588,12311,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,794,1863
$GC,12425,1.19,164.7,251.6,8.8,593,12429,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2210,1863
$GC,12741,1.19,164.7,223.4,8.7,608,12745,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,790,1863
$GC,12826,1.19,164.7,216.0,8.7,612,12831,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2212,1863
$GC,13154,1.20,171.4,190.8,7.7,628,13167,0.00,2.62,6.62,0.783,4,0.000,0.074,2959,793,1839
$GC,13287,1.20,171.4,179.5,8.3,634,13292,0.00,2.45,0.00,0.000,6,0.000,0.056,2958,2206,1839
$GC,13616,1.21,172.4,152.7,8.0,650,13620,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,794,1839
$GC,13672,1.21,172.4,148.2,8.3,652,13676,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2199,1839
$GC,13989,1.22,182.4,124.6,7.6,667,14004,0.00,2.58,10.48,0.810,4,0.000,0.074,2959,793,1795
$GC,14101,1.22,182.4,115.1,9.2,671,14105,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2202,1794
$GC,14424,1.22,182.4,88.8,8.0,687,14428,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,794,1794
$GC,14525,1.22,182.4,79.9,9.3,691,14532,0.00,2.42,0.00,0.000,6,0.000,0.058,2959,2201,1794
$GC,14842,1.26,209.7,53.9,7.0,707,14867,0.00,0.00,23.27,0.791,6,0.000,0.000,2959,2200,1684
$GC,15173,1.26,209.7,27.8,9.1,723,15175,0.10,0.00,0.00,0.000,6,0.074,0.000,2988,2200,1681
$STATE,15477,end climb,SURFACE_DEPTH_REACHED
$STATE,15477,begin surface coast
$FINISH,0.8,1.026919
$STATE,15499,end surface coast,CONTROL_FINISHED_OK
$STATE,15499,begin surface
$SM_CCo,15525,56.08,0.722,1,0,1315,300.00
$SM_GC,1.61,0.00,0.00,56.08,0.000,0.000,0.722,378,1594,1315,-10.70,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1955
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.6,19.1
$24V_AH,23.5,18.928
$10V_AH,10.1,11.135
$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,25.750,131.525,310.825,56.075,0.000,37.763,31.347,140.108,5.750,0.000,0.000,15.409,1396.860,11742.903,501.150,1747.808,544.461,0.000,1374.873,0.000,1706.593,0.000,39.433,0.000
$DEVICE_MAMPS,180.245,111.982,1109.849,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.546,504.218,467.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37954,739
$CAP_FILE_SIZE,113304,0
$CFSIZE,254472192,245075968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,210908,154607,6444.998,-1013.578,26,1.6,26,-11.1