version: 66.04
glider: 14
mission: 6
dive: 115
start: 9 22 108 2 50 48
data:
$ID,14
$MISSION,6
$DIVE,115
$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,-652259.31
$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,29
$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
$GPS1,024438,6445.443,-1021.685,29,1.3,29,-11.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-55.1
$GPS2,025027,6445.454,-1021.573,11,1.4,11,-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,328.8,21450,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.53,0.000,2,0.000,0.000,380,1589,2656
$GC,86,-1.16,-146.6,3.5,-4.8,3,117,11.50,2.53,-13.35,0.000,4,0.176,0.091,2446,198,3139
$GC,287,-1.16,-146.6,28.3,-13.0,12,291,0.00,2.40,0.00,0.000,6,0.000,0.054,2446,1616,3139
$GC,614,-1.16,-146.6,63.5,-9.6,28,619,0.00,2.53,0.00,0.000,4,0.000,0.077,2446,221,3141
$GC,648,-1.16,-146.6,67.3,-11.1,29,655,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1607,3141
$GC,967,-1.16,-146.6,101.1,-10.5,45,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1611,3142
$GC,1275,-1.16,-146.6,133.7,-10.0,60,1279,0.00,2.53,0.00,0.000,4,0.000,0.078,2446,211,3144
$GC,1330,-1.16,-146.6,139.8,-9.9,62,1337,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1607,3144
$GC,1647,-1.16,-146.6,168.4,-8.7,78,1651,0.00,2.50,0.00,0.000,4,0.000,0.078,2446,220,3146
$GC,1756,-1.16,-146.6,178.7,-10.3,83,1760,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1603,3146
$GC,2083,-1.16,-146.6,205.8,-8.2,99,2087,0.00,2.53,0.00,0.000,4,0.000,0.081,2446,222,3147
$GC,2117,-1.16,-146.6,208.9,-8.8,100,2124,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1605,3147
$GC,2434,-1.16,-146.6,237.5,-9.6,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1606,3147
$GC,2743,-1.16,-146.6,266.3,-9.1,131,2748,0.00,2.45,0.00,0.000,4,0.000,0.077,2446,2977,3147
$GC,2772,-1.16,-146.6,269.1,-9.9,132,2776,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1600,3147
$GC,3088,-1.16,-146.6,297.5,-9.2,147,3092,0.00,2.55,0.00,0.000,4,0.000,0.090,2445,212,3148
$GC,3161,-1.16,-146.6,304.6,-9.7,150,3166,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1603,3147
$GC,3484,-1.16,-146.6,333.2,-8.8,166,3488,0.00,2.55,0.00,0.000,4,0.000,0.083,2446,212,3148
$GC,3517,-1.16,-146.6,336.6,-9.8,167,3523,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1599,3147
$GC,3834,-1.16,-146.6,364.2,-8.7,183,3838,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,212,3147
$GC,3923,-1.16,-146.6,372.3,-8.5,187,3928,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1597,3147
$GC,4246,-1.16,-146.6,398.2,-7.9,203,4250,0.00,2.55,0.00,0.000,4,0.000,0.086,2446,208,3147
$GC,4313,-1.16,-146.6,403.9,-8.4,206,4317,0.00,2.38,0.00,0.000,6,0.000,0.056,2447,1603,3147
$GC,4634,-1.16,-146.6,429.0,-8.1,222,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1608,3146
$GC,4944,-1.16,-146.6,453.4,-7.8,237,4949,0.00,2.58,0.00,0.000,4,0.000,0.087,2446,211,3146
$GC,4985,-1.16,-146.6,456.9,-9.5,239,4989,0.00,2.38,0.00,0.000,6,0.000,0.055,2446,1612,3146
$GC,5312,-1.16,-146.6,484.2,-8.7,255,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1615,3144
$STATE,5433,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5433,begin apogee
$GC,5442,-0.32,0.0,495.7,9.2,261,5580,0.88,0.00,128.85,0.972,6,0.094,0.000,2634,2190,2539
$STATE,5580,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5584,1.16,146.6,496.1,0.0,268,5712,1.52,2.83,119.50,0.936,4,0.072,0.109,2962,3601,1941
$GC,5949,1.16,146.6,469.9,8.7,284,5954,0.00,2.50,0.00,0.000,6,0.000,0.067,2962,2194,1939
$GC,6265,1.16,146.6,441.2,9.3,299,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2194,1937
$GC,6575,1.16,146.6,414.7,8.8,314,6579,0.00,2.65,0.00,0.000,4,0.000,0.093,2962,3604,1937
$GC,6638,1.16,146.6,409.1,8.7,317,6642,0.00,2.47,0.00,0.000,6,0.000,0.064,2962,2201,1937
$GC,6965,1.16,146.6,380.0,8.7,333,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2201,1937
$GC,7275,1.16,146.6,352.5,8.7,348,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2201,1936
$GC,7584,1.16,146.6,327.4,8.0,363,7588,0.00,2.58,0.00,0.000,4,0.000,0.084,2963,798,1935
$GC,7662,1.16,146.6,320.6,8.5,366,7668,0.00,2.42,0.00,0.000,6,0.000,0.055,2962,2215,1935
$GC,7978,1.16,146.6,294.5,8.3,382,7983,0.00,2.58,0.00,0.000,4,0.000,0.075,2962,790,1932
$GC,8167,1.17,150.8,279.1,7.8,390,8179,0.00,2.42,3.70,0.626,6,0.000,0.056,2962,2202,1924
$GC,8489,1.17,150.8,254.6,8.1,406,8493,0.00,2.55,0.00,0.000,4,0.000,0.074,2962,798,1924
$GC,8557,1.17,150.8,248.5,8.5,409,8562,0.00,2.42,0.00,0.000,6,0.000,0.057,2962,2200,1923
$GC,8885,1.17,150.8,216.6,10.4,425,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2200,1923
$GC,9194,1.17,150.8,183.1,11.0,440,9198,0.00,2.55,0.00,0.000,4,0.000,0.076,2962,793,1922
$GC,9296,1.17,150.8,171.7,10.4,444,9300,0.00,2.45,0.00,0.000,6,0.000,0.057,2962,2211,1922
$GC,9613,1.17,150.8,140.2,9.6,459,9617,0.00,2.55,0.00,0.000,4,0.000,0.074,2963,788,1922
$GC,9731,1.17,150.8,127.9,10.6,464,9735,0.00,2.42,0.00,0.000,6,0.000,0.056,2962,2200,1922
$GC,10047,1.17,150.8,100.7,8.1,479,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2200,1922
$GC,10357,1.17,150.8,77.0,8.0,494,10361,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,793,1922
$GC,10430,1.17,150.8,70.5,9.1,497,10434,0.00,2.42,0.00,0.000,6,0.000,0.057,2963,2200,1921
$GC,10749,1.18,156.3,44.1,7.8,512,10759,0.00,2.62,5.82,0.654,4,0.000,0.095,2962,3596,1900
$GC,10822,1.18,156.3,38.6,8.2,515,10826,0.00,2.42,0.00,0.000,6,0.000,0.061,2962,2195,1900
$GC,11141,1.27,213.6,19.6,5.8,530,11192,0.00,2.60,45.92,0.743,4,0.000,0.074,2962,802,1668
$STATE,11348,end climb,SURFACE_DEPTH_REACHED
$STATE,11348,begin surface coast
$FINISH,0.6,1.027044
$STATE,11372,end surface coast,CONTROL_FINISHED_OK
$STATE,11372,begin surface
$SM_CCo,11399,55.17,0.713,0,0,1315,300.00
$SM_GC,1.48,0.00,0.00,55.17,0.000,0.000,0.713,376,1629,1315,-10.71,0.85,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1904
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.3,53.5
$24V_AH,23.6,19.376
$10V_AH,10.1,11.385
$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,25.300,104.125,303.800,55.175,0.000,39.324,26.818,164.035,3.500,0.000,0.000,12.667,1052.000,8414.259,467.289,1374.480,503.198,0.000,1161.737,0.000,1345.308,0.000,24.980,0.000
$DEVICE_MAMPS,176.410,108.914,971.789,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.979,366.834,397.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28492,540
$CAP_FILE_SIZE,88343,0
$CFSIZE,254472192,244916224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,220908,060307,6444.667,-1026.274,35,1.9,41,-11.2