version: 66.04
glider: 14
mission: 6
dive: 112
start: 9 21 108 15 53 13
data:
$ID,14
$MISSION,6
$DIVE,112
$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,-652218.5
$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
$GPS1,154607,6444.998,-1013.578,26,1.6,26,-11.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-58.9
$GPS2,155250,6444.946,-1013.488,15,1.6,32,-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,319.9,26739,-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,-60.65,0.000,2,0.000,0.000,379,1591,2679
$GC,83,-1.16,-146.6,3.8,-4.6,3,114,11.57,2.55,-11.98,0.000,4,0.179,0.094,2444,213,3139
$GC,284,-1.16,-146.6,30.2,-12.4,12,288,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1617,3140
$GC,611,-1.16,-146.6,71.6,-11.9,28,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1621,3141
$GC,921,-1.16,-146.6,107.3,-11.0,43,925,0.00,2.55,0.00,0.000,4,0.000,0.078,2447,206,3145
$GC,971,-1.16,-146.6,112.8,-10.7,45,975,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1612,3145
$GC,1293,-1.16,-146.6,139.7,-7.9,61,1297,0.00,2.53,0.00,0.000,4,0.000,0.078,2446,213,3146
$GC,1344,-1.16,-146.6,144.2,-8.4,63,1348,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1606,3146
$GC,1660,-1.16,-146.6,169.3,-8.5,78,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3147
$GC,1969,-1.16,-146.6,193.3,-7.8,93,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3148
$GC,2279,-1.16,-146.6,218.0,-8.6,108,2283,0.00,2.55,0.00,0.000,4,0.000,0.081,2445,212,3147
$GC,2330,-1.16,-146.6,223.1,-9.6,110,2334,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1598,3147
$GC,2652,-1.16,-146.6,249.7,-7.7,126,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3147
$GC,2962,-1.16,-146.6,272.6,-7.5,141,2966,0.00,2.55,0.00,0.000,4,0.000,0.084,2446,213,3147
$GC,3024,-1.16,-146.6,278.1,-8.9,144,3028,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1605,3147
$GC,3352,-1.16,-146.6,307.6,-9.5,160,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1608,3147
$GC,3661,-1.16,-146.6,335.8,-8.6,175,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1608,3146
$GC,3970,-1.16,-146.6,362.3,-9.0,190,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3147
$GC,4280,-1.16,-146.6,393.2,-9.7,205,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3148
$GC,4589,-1.16,-146.6,422.3,-9.5,220,4593,0.00,2.60,0.00,0.000,4,0.000,0.088,2446,209,3146
$GC,4645,-1.16,-146.6,428.1,-9.8,222,4651,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1600,3146
$GC,4961,-1.16,-146.6,458.3,-9.3,238,4965,0.00,2.58,0.00,0.000,4,0.000,0.087,2445,210,3145
$GC,5008,-1.16,-146.6,462.9,-10.2,240,5012,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1603,3145
$GC,5337,-1.16,-146.6,494.3,-9.3,256,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3144
$GC,5646,-1.16,-146.6,522.6,-8.7,271,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3143
$GC,5955,-1.16,-146.6,549.8,-8.9,286,5963,0.00,2.58,0.00,0.000,4,0.000,0.088,2446,211,3142
$GC,5997,-1.16,-146.6,553.7,-9.0,287,6003,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1599,3142
$GC,6313,-1.16,-146.6,581.1,-8.4,303,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3142
$GC,6622,-1.16,-146.6,606.6,-8.6,318,6627,0.00,2.58,0.00,0.000,4,0.000,0.089,2446,212,3140
$GC,6673,-1.16,-146.6,611.6,-9.7,320,6677,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1598,3140
$GC,6990,-1.16,-146.6,624.6,-0.0,335,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1598,3140
$STATE,7027,end dive,NO_VERTICAL_VELOCITY
$STATE,7027,begin apogee
$GC,7037,-0.32,0.0,624.6,0.0,337,7175,0.90,0.00,129.65,1.068,6,0.104,0.000,2633,2197,2538
$STATE,7175,end apogee,CONTROL_FINISHED_OK
$STATE,7176,begin climb
$GC,7179,1.16,146.6,624.8,0.0,344,7312,1.52,2.62,122.93,1.042,4,0.073,0.076,2961,793,1941
$GC,7400,1.16,146.6,613.6,8.4,354,7406,0.00,2.47,0.00,0.000,6,0.000,0.058,2961,2203,1940
$GC,7716,1.16,146.6,587.0,8.0,370,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2203,1939
$GC,8026,1.16,146.6,562.0,8.2,385,8030,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,793,1939
$GC,8127,1.16,146.6,553.5,8.1,389,8133,0.00,2.47,0.00,0.000,6,0.000,0.056,2961,2214,1939
$GC,8443,1.16,146.6,527.4,8.2,405,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2214,1939
$GC,8753,1.19,162.7,503.8,7.4,420,8775,0.00,2.62,14.27,0.993,4,0.000,0.074,2961,789,1874
$GC,8848,1.19,162.7,495.9,8.3,424,8853,0.00,2.47,0.00,0.000,6,0.000,0.056,2961,2203,1874
$GC,9170,1.22,181.5,472.2,7.3,440,9193,0.00,2.60,16.52,0.969,4,0.000,0.073,2961,794,1798
$GC,9257,1.24,192.3,465.4,7.6,443,9273,0.00,2.47,10.68,0.905,6,0.000,0.055,2961,2211,1755
$GC,9590,1.24,196.8,439.8,7.8,460,9597,0.00,0.00,5.20,0.815,6,0.000,0.000,2962,2211,1736
$GC,9900,1.26,209.0,416.4,7.5,475,9921,0.00,2.62,11.65,0.906,4,0.000,0.074,2961,796,1686
$GC,10006,1.26,209.0,407.3,8.0,479,10012,0.00,2.45,0.00,0.000,6,0.000,0.056,2961,2199,1686
$GC,10322,1.26,209.0,379.8,8.9,495,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2199,1685
$GC,10632,1.26,209.0,351.4,9.6,510,10636,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,796,1684
$GC,10745,1.26,209.0,338.7,11.5,515,10750,0.00,2.45,0.00,0.000,6,0.000,0.056,2961,2200,1684
$GC,11074,1.26,209.0,305.3,10.4,531,11078,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,794,1684
$GC,11130,1.26,209.0,299.1,11.3,533,11136,0.00,2.45,0.00,0.000,6,0.000,0.056,2961,2206,1684
$GC,11446,1.26,209.0,269.4,8.9,549,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2206,1684
$GC,11755,1.26,209.0,244.3,8.2,564,11760,0.00,2.55,0.00,0.000,4,0.000,0.075,2961,794,1684
$GC,11880,1.26,209.0,233.8,8.2,569,11886,0.00,2.45,0.00,0.000,6,0.000,0.057,2961,2209,1683
$GC,12196,1.26,209.0,204.4,9.9,585,12200,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,791,1683
$GC,12252,1.26,209.0,198.5,10.5,587,12258,0.00,2.45,0.00,0.000,6,0.000,0.057,2961,2204,1683
$GC,12568,1.26,209.0,162.7,11.4,603,12572,0.00,2.53,0.00,0.000,4,0.000,0.075,2961,795,1683
$GC,12630,1.26,209.0,155.4,11.3,605,12637,0.00,2.45,0.00,0.000,6,0.000,0.057,2961,2207,1683
$GC,12947,1.26,209.0,123.7,8.9,621,12952,0.00,2.62,0.00,0.000,4,0.000,0.097,2961,3599,1683
$GC,13026,1.26,209.0,116.3,8.2,624,13033,0.00,2.45,0.00,0.000,6,0.000,0.063,2961,2194,1683
$GC,13343,1.42,309.4,98.5,4.2,640,13426,0.25,0.00,80.35,0.844,6,0.062,0.000,3024,2194,1276
$GC,13734,1.42,309.4,62.2,11.4,659,13738,0.00,2.53,0.00,0.000,4,0.000,0.077,3024,800,1272
$GC,13790,1.42,309.4,54.1,14.2,661,13796,0.00,2.40,0.00,0.000,6,0.000,0.056,3024,2202,1271
$GC,14107,1.42,309.4,13.4,12.2,677,14111,0.00,2.53,0.00,0.000,4,0.000,0.071,3024,790,1271
$GC,14157,1.42,309.4,6.0,16.4,679,14162,0.00,2.42,0.00,0.000,6,0.000,0.056,3024,2206,1271
$STATE,14203,end climb,SURFACE_DEPTH_REACHED
$STATE,14203,begin surface coast
$FINISH,0.7,1.011394
$STATE,14224,end surface coast,CONTROL_FINISHED_OK
$STATE,14225,begin surface
$SM_CCo,14311,0.00,0.000,0,0,1271,311.04
$SM_GC,1.50,11.68,0.00,0.00,0.058,0.000,0.000,374,1607,1271,-10.65,0.20,311.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1943
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.5,19.053
$10V_AH,10.1,11.204
$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,25.925,111.750,391.250,0.000,0.000,37.763,28.438,183.808,5.000,0.000,0.000,33.733,1258.797,10824.269,536.814,1532.195,564.853,0.000,1298.030,0.000,1482.024,0.000,34.572,0.000
$DEVICE_MAMPS,178.711,97.409,1067.664,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.820,463.593,426.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34829,682
$CAP_FILE_SIZE,101555,0
$CFSIZE,254472192,245039104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,210908,195301,6444.979,-1017.397,38,1.3,38,-11.1