version: 66.04
glider: 14
mission: 6
dive: 116
start: 9 22 108 6 9 18
data:
$ID,14
$MISSION,6
$DIVE,116
$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,-652275.25
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,060307,6444.667,-1026.274,35,1.9,41,-11.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.6
$GPS2,060857,6444.632,-1026.073,13,2.0,13,-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,339.0,20511,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,376,1631,2984
$GC,96,-1.16,-146.6,5.9,-6.5,4,119,11.60,2.55,-3.08,0.000,4,0.179,0.092,2448,222,3142
$GC,377,-1.16,-146.6,47.6,-11.3,16,381,0.00,2.30,0.00,0.000,6,0.000,0.054,2448,1591,3144
$GC,694,-1.16,-146.6,76.8,-8.8,31,698,0.00,2.47,0.00,0.000,4,0.000,0.077,2448,220,3145
$GC,780,-1.16,-146.6,85.3,-10.1,35,784,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1605,3146
$GC,1109,-1.16,-146.6,117.4,-9.6,51,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3148
$GC,1416,-1.16,-146.6,147.0,-10.1,66,1421,0.00,2.53,0.00,0.000,4,0.000,0.078,2448,222,3149
$GC,1450,-1.16,-146.6,150.9,-11.4,67,1457,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1609,3150
$GC,1766,-1.16,-146.6,183.8,-10.2,83,1771,0.00,2.50,0.00,0.000,4,0.000,0.079,2448,222,3150
$GC,1811,-1.16,-146.6,189.1,-11.6,85,1816,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1601,3150
$GC,2134,-1.16,-146.6,221.6,-9.9,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3150
$GC,2444,-1.16,-146.6,251.8,-9.8,116,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1604,3150
$GC,2752,-1.16,-146.6,281.0,-9.2,131,2757,0.00,2.53,0.00,0.000,4,0.000,0.084,2448,222,3150
$GC,2816,-1.16,-146.6,286.9,-9.1,134,2820,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1606,3150
$GC,3143,-1.16,-146.6,315.8,-8.9,150,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1611,3151
$GC,3452,-1.16,-146.6,341.3,-8.2,165,3456,0.00,2.55,0.00,0.000,4,0.000,0.085,2448,222,3150
$GC,3542,-1.16,-146.6,349.3,-9.2,169,3546,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1604,3150
$GC,3864,-1.16,-146.6,375.5,-8.0,185,3869,0.00,2.55,0.00,0.000,4,0.000,0.085,2448,223,3150
$GC,3899,-1.16,-146.6,378.8,-8.9,186,3905,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1604,3150
$GC,4215,-1.16,-146.6,410.7,-11.3,202,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3150
$GC,4524,-1.16,-146.6,441.4,-9.4,217,4528,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,222,3150
$STATE,4618,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4618,begin apogee
$GC,4630,-0.32,0.0,450.1,7.8,221,4763,0.88,0.00,129.43,1.076,6,0.120,0.000,2627,2193,2538
$STATE,4764,end apogee,CONTROL_FINISHED_OK
$STATE,4764,begin climb
$GC,4767,1.16,146.6,454.8,0.0,228,4897,1.55,2.80,121.43,1.035,4,0.084,0.107,2956,3599,1940
$GC,4997,1.16,146.6,439.6,9.8,238,5003,0.00,2.47,0.00,0.000,6,0.000,0.067,2956,2201,1940
$GC,5313,1.16,146.6,411.0,8.9,254,5317,0.00,2.58,0.00,0.000,4,0.000,0.081,2957,798,1937
$GC,5369,1.16,146.6,405.1,11.6,256,5375,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2209,1938
$GC,5686,1.26,207.2,384.0,5.7,272,5738,0.10,0.00,50.05,1.014,6,0.076,0.000,2983,2209,1694
$GC,6034,1.26,207.2,353.3,9.6,289,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2209,1691
$GC,6344,1.26,207.2,323.2,9.5,304,6348,0.00,2.58,0.00,0.000,4,0.000,0.075,2983,797,1690
$GC,6457,1.26,207.2,311.7,10.0,309,6462,0.00,2.42,0.00,0.000,6,0.000,0.056,2983,2197,1689
$GC,6785,1.26,207.2,279.5,9.8,325,6789,0.00,2.53,0.00,0.000,4,0.000,0.076,2983,793,1689
$GC,6852,1.26,207.2,272.4,11.7,328,6857,0.00,2.45,0.00,0.000,6,0.000,0.056,2983,2203,1689
$GC,7174,1.26,207.2,243.6,8.4,344,7178,0.00,2.55,0.00,0.000,4,0.000,0.075,2983,799,1687
$GC,7276,1.26,207.2,234.6,8.4,348,7282,0.00,2.45,0.00,0.000,6,0.000,0.057,2983,2209,1687
$GC,7592,1.26,207.2,209.5,8.0,364,7596,0.00,2.55,0.00,0.000,4,0.000,0.074,2983,794,1687
$GC,7648,1.26,207.2,204.5,9.1,366,7654,0.00,2.45,0.00,0.000,6,0.000,0.057,2984,2209,1687
$GC,7965,1.26,207.2,178.2,8.4,382,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,1686
$GC,8273,1.26,207.2,152.2,8.6,397,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2209,1686
$GC,8583,1.26,207.2,120.6,10.9,412,8587,0.00,2.55,0.00,0.000,4,0.000,0.075,2983,791,1686
$GC,8634,1.26,207.2,114.4,12.9,414,8638,0.00,2.45,0.00,0.000,6,0.000,0.056,2983,2210,1686
$GC,8951,1.26,207.2,80.0,11.0,429,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2210,1684
$GC,9260,1.26,207.2,44.4,11.6,444,9264,0.00,2.53,0.00,0.000,4,0.000,0.074,2983,797,1684
$GC,9327,1.26,207.2,36.2,13.0,447,9331,0.00,2.42,0.00,0.000,6,0.000,0.057,2983,2203,1684
$GC,9649,1.26,207.2,2.5,8.4,463,9653,0.00,2.50,0.00,0.000,4,0.000,0.070,2983,792,1684
$STATE,9664,end climb,SURFACE_DEPTH_REACHED
$STATE,9664,begin surface coast
$FINISH,0.6,1.022160
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9714,63.17,0.723,1,0,1315,300.00
$SM_GC,2.03,0.00,0.00,63.17,0.000,0.000,0.723,377,1637,1315,-10.71,1.05,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.1,34.0
$24V_AH,23.5,19.492
$10V_AH,10.1,11.437
$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,25.625,84.150,300.900,63.175,0.000,37.763,39.208,151.505,3.250,0.000,0.000,15.329,890.703,7194.409,471.560,1118.358,466.458,0.000,1043.144,0.000,1094.402,0.000,23.313,0.000
$DEVICE_MAMPS,178.711,107.380,1076.101,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.992,315.095,343.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22187,465
$CAP_FILE_SIZE,73980,0
$CFSIZE,254472192,244887552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,220908,085338,6445.106,-1031.195,33,1.2,33,-11.3