version: 66.04
glider: 14
mission: 6
dive: 114
start: 9 21 108 23 30 42
data:
$ID,14
$MISSION,6
$DIVE,114
$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,-652246
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,232158,6445.514,-1019.673,38,2.4,57,-11.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-55.1
$GPS2,233021,6445.534,-1019.618,13,1.4,13,-11.2
$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,325.6,22411,-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,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,381,1592,2646
$GC,83,-1.16,-146.6,3.5,-4.9,3,114,11.50,2.55,-13.05,0.000,4,0.176,0.093,2443,212,3138
$GC,351,-1.16,-146.6,40.2,-11.5,15,356,0.00,2.38,0.00,0.000,6,0.000,0.054,2442,1616,3139
$GC,681,-1.16,-146.6,76.3,-9.8,31,685,0.00,2.55,0.00,0.000,4,0.000,0.077,2443,209,3140
$GC,828,-1.16,-146.6,92.1,-11.3,37,834,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1606,3141
$GC,1144,-1.16,-146.6,120.0,-8.3,53,1148,0.00,2.53,0.00,0.000,4,0.000,0.077,2443,212,3143
$GC,1190,-1.16,-146.6,124.1,-9.2,55,1194,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1609,3144
$GC,1517,-1.16,-146.6,155.2,-10.5,71,1521,0.00,2.55,0.00,0.000,4,0.000,0.078,2443,207,3143
$GC,1574,-1.16,-146.6,161.8,-11.8,73,1580,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1603,3144
$GC,1890,-1.16,-146.6,194.3,-10.2,89,1894,0.00,2.55,0.00,0.000,4,0.000,0.079,2442,211,3146
$GC,1962,-1.16,-146.6,201.9,-10.7,92,1967,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1612,3146
$GC,2279,-1.16,-146.6,229.7,-9.0,107,2283,0.00,2.55,0.00,0.000,4,0.000,0.081,2442,212,3145
$GC,2340,-1.16,-146.6,236.0,-9.9,109,2346,0.00,2.35,0.00,0.000,6,0.000,0.056,2441,1599,3146
$GC,2657,-1.16,-146.6,265.4,-9.1,125,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1603,3146
$GC,2966,-1.16,-146.6,288.4,-7.1,140,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1603,3146
$GC,3275,-1.16,-146.6,312.2,-7.9,155,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1603,3146
$GC,3584,-1.16,-146.6,340.3,-9.6,170,3589,0.00,2.58,0.00,0.000,4,0.000,0.086,2442,209,3146
$GC,3642,-1.16,-146.6,346.4,-10.6,172,3649,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1603,3146
$GC,3959,-1.16,-146.6,379.9,-9.9,188,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1608,3146
$GC,4268,-1.16,-146.6,407.0,-8.0,203,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1608,3145
$GC,4578,-1.16,-146.6,432.9,-8.4,218,4582,0.00,2.58,0.00,0.000,4,0.000,0.087,2442,212,3145
$GC,4622,-1.16,-146.6,437.1,-9.7,220,4626,0.00,2.38,0.00,0.000,6,0.000,0.056,2442,1603,3145
$GC,4945,-1.16,-146.6,465.3,-9.0,236,4949,0.00,2.58,0.00,0.000,4,0.000,0.086,2443,212,3145
$GC,5035,-1.16,-146.6,474.0,-10.1,240,5039,0.00,2.38,0.00,0.000,6,0.000,0.056,2443,1603,3145
$GC,5357,-1.16,-146.6,503.4,-9.0,256,5361,0.00,2.58,0.00,0.000,4,0.000,0.087,2442,212,3143
$GC,5397,-1.16,-146.6,507.1,-9.9,258,5401,0.00,2.38,0.00,0.000,6,0.000,0.055,2443,1606,3143
$STATE,5556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5556,begin apogee
$GC,5566,-0.32,0.0,521.2,9.0,266,5703,0.95,0.00,129.05,0.991,6,0.117,0.000,2634,2196,2539
$STATE,5704,end apogee,CONTROL_FINISHED_OK
$STATE,5704,begin climb
$GC,5708,1.16,146.6,526.9,0.0,273,5837,1.50,2.83,120.43,0.958,4,0.081,0.114,2955,3597,1941
$GC,6085,1.17,149.5,502.5,7.9,290,6090,0.00,2.50,0.00,0.000,6,0.000,0.067,2955,2193,1937
$GC,6407,1.17,149.5,476.7,8.0,306,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2193,1937
$GC,6716,1.17,149.5,451.7,8.1,321,6720,0.00,2.58,0.00,0.000,4,0.000,0.084,2955,792,1936
$GC,6783,1.17,149.5,445.6,9.4,324,6788,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2203,1936
$GC,7106,1.18,158.7,419.4,7.6,340,7122,0.00,2.60,10.62,0.967,4,0.000,0.074,2955,799,1891
$GC,7195,1.18,158.7,411.2,9.2,343,7200,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2201,1892
$GC,7517,1.18,158.7,384.0,8.5,359,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2202,1890
$GC,7827,1.19,165.3,358.6,7.7,374,7841,0.00,2.60,6.70,0.879,4,0.000,0.075,2955,794,1864
$GC,7917,1.20,172.0,351.6,7.7,378,7931,0.00,2.45,7.70,0.858,6,0.000,0.056,2956,2199,1836
$GC,8249,1.25,201.0,328.8,6.9,394,8275,0.00,0.00,24.58,0.891,6,0.000,0.000,2955,2199,1718
$GC,8578,1.25,201.0,303.0,8.5,410,8582,0.00,2.55,0.00,0.000,4,0.000,0.074,2955,790,1715
$GC,8719,1.25,201.0,289.0,10.3,416,8724,0.10,2.45,0.00,0.000,6,0.074,0.057,2982,2200,1715
$GC,9036,1.25,201.0,252.1,11.6,431,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,1714
$GC,9345,1.25,201.0,215.0,11.8,446,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,1714
$GC,9655,1.25,201.0,183.9,9.4,461,9659,0.00,2.55,0.00,0.000,4,0.000,0.075,2983,794,1715
$GC,9744,1.25,201.0,175.2,9.3,465,9749,0.00,2.45,0.00,0.000,6,0.000,0.057,2982,2210,1714
$GC,10067,1.25,201.0,144.4,10.4,481,10071,0.00,2.55,0.00,0.000,4,0.000,0.074,2982,790,1714
$GC,10220,1.25,201.0,127.1,12.2,488,10224,0.00,2.45,0.00,0.000,6,0.000,0.057,2983,2210,1714
$GC,10547,1.25,201.0,92.3,10.3,504,10552,0.00,2.53,0.00,0.000,4,0.000,0.074,2982,796,1713
$GC,10588,1.25,201.0,87.9,10.6,506,10592,0.00,2.42,0.00,0.000,6,0.000,0.057,2982,2201,1713
$GC,10922,1.25,201.0,54.7,10.1,522,10927,0.00,2.62,0.00,0.000,4,0.000,0.097,2982,3602,1713
$GC,11008,1.25,201.0,45.5,11.0,526,11013,0.00,2.45,0.00,0.000,6,0.000,0.062,2982,2192,1714
$GC,11336,1.25,201.0,12.4,9.3,542,11340,0.00,2.47,0.00,0.000,4,0.000,0.071,2983,795,1712
$GC,11431,1.25,201.0,3.7,11.0,546,11435,0.00,2.40,0.00,0.000,6,0.000,0.057,2983,2209,1712
$STATE,11461,end climb,SURFACE_DEPTH_REACHED
$STATE,11461,begin surface coast
$FINISH,0.8,1.026968
$STATE,11483,end surface coast,CONTROL_FINISHED_OK
$STATE,11483,begin surface
$SM_CCo,11509,54.20,0.716,0,0,1316,300.00
$SM_GC,1.53,0.00,0.00,54.20,0.000,0.000,0.716,379,1594,1316,-10.70,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1934
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,501.4,29.8
$24V_AH,23.6,19.272
$10V_AH,10.1,11.325
$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,25.500,101.625,299.075,54.200,0.000,75.531,64.799,176.724,4.250,0.000,0.000,14.629,1074.538,8561.153,458.839,1389.786,590.473,0.000,1158.245,0.000,1357.123,0.000,28.148,0.000
$DEVICE_MAMPS,175.643,113.516,990.964,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.924,373.177,380.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28599,549
$CAP_FILE_SIZE,90852,0
$CFSIZE,254472192,244957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,220908,024438,6445.443,-1021.685,29,1.3,29,-11.2