version: 66.04
glider: 14
mission: 6
dive: 119
start: 9 22 108 14 24 53
data:
$ID,14
$MISSION,6
$DIVE,119
$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,-652340.44
$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,26
$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
$GPS1,141938,6449.189,-1035.108,30,1.6,30,-11.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.8
$GPS2,142433,6449.264,-1035.145,8,1.4,8,-11.3
$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,347.8,9565,-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,-60.50,0.000,2,0.000,0.000,382,1589,2653
$GC,83,-1.16,-146.6,3.6,-4.5,3,114,11.55,2.47,-13.68,0.000,4,0.179,0.091,2447,213,3137
$GC,306,-1.16,-146.6,32.4,-11.7,13,310,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1624,3139
$GC,640,-1.16,-146.6,65.8,-9.8,29,644,0.00,2.40,0.00,0.000,4,0.000,0.070,2447,2990,3140
$GC,729,-1.16,-146.6,76.0,-10.4,33,734,0.00,2.40,0.00,0.000,6,0.000,0.061,2447,1603,3139
$GC,1054,-1.16,-146.6,109.4,-9.1,49,1058,0.00,2.45,0.00,0.000,4,0.000,0.067,2447,2989,3141
$GC,1099,-1.16,-146.6,113.5,-8.2,51,1103,0.00,2.40,0.00,0.000,6,0.000,0.061,2447,1600,3142
$GC,1421,-1.16,-146.6,140.0,-7.8,67,1425,0.00,2.53,0.00,0.000,4,0.000,0.082,2446,211,3145
$GC,1552,-1.16,-146.6,150.7,-8.5,73,1556,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1620,3146
$GC,1880,-1.16,-146.6,175.2,-7.9,89,1884,0.00,2.55,0.00,0.000,4,0.000,0.081,2447,204,3148
$GC,1921,-1.16,-146.6,178.9,-9.6,91,1925,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1596,3147
$GC,2248,-1.16,-146.6,207.5,-8.6,107,2252,0.00,2.53,0.00,0.000,4,0.000,0.081,2447,209,3148
$GC,2281,-1.16,-146.6,210.9,-10.0,108,2288,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1610,3148
$GC,2598,-1.16,-146.6,239.1,-9.0,124,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1611,3148
$GC,2907,-1.16,-146.6,266.9,-9.9,139,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1611,3148
$GC,3216,-1.16,-146.6,297.2,-9.6,154,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1610,3148
$GC,3526,-1.16,-146.6,322.9,-8.4,169,3530,0.00,2.58,0.00,0.000,4,0.000,0.086,2447,211,3148
$GC,3643,-1.16,-146.6,334.5,-10.5,174,3648,0.00,2.33,0.00,0.000,6,0.000,0.056,2447,1593,3148
$GC,3965,-1.16,-146.6,363.2,-8.2,190,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1597,3148
$GC,4275,-1.16,-146.6,389.5,-7.5,205,4280,0.00,2.55,0.00,0.000,4,0.000,0.087,2447,212,3148
$GC,4338,-1.16,-146.6,395.4,-9.2,208,4343,0.00,2.35,0.00,0.000,6,0.000,0.056,2447,1595,3148
$GC,4667,-1.16,-146.6,426.3,-9.1,224,4671,0.00,2.58,0.00,0.000,4,0.000,0.087,2447,203,3146
$GC,4730,-1.16,-146.6,429.9,-0.3,227,4734,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1615,3146
$STATE,4853,end dive,NO_VERTICAL_VELOCITY
$STATE,4853,begin apogee
$GC,4862,-0.32,0.0,429.9,0.0,233,4996,0.88,0.00,128.15,1.059,6,0.097,0.000,2633,2187,2539
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5001,1.16,146.6,430.0,0.0,240,5132,1.55,2.65,121.38,1.017,4,0.082,0.075,2959,791,1940
$GC,5252,1.20,169.1,418.9,7.1,252,5276,0.00,2.45,19.58,0.956,6,0.000,0.058,2959,2197,1848
$GC,5605,1.20,169.1,389.6,8.6,269,5609,0.00,2.55,0.00,0.000,4,0.000,0.075,2960,790,1848
$GC,5661,1.20,169.1,384.4,9.5,271,5667,0.00,2.47,0.00,0.000,6,0.000,0.057,2960,2209,1847
$GC,5978,1.21,173.5,359.9,7.8,287,5988,0.00,2.58,4.97,0.752,4,0.000,0.072,2960,794,1830
$GC,6085,1.21,173.5,351.0,8.0,292,6089,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2212,1830
$GC,6412,1.24,192.6,326.8,7.3,308,6434,0.00,2.62,17.02,0.957,4,0.000,0.074,2959,790,1752
$GC,6488,1.24,192.6,321.0,8.8,311,6493,0.00,2.47,0.00,0.000,6,0.000,0.056,2959,2204,1751
$GC,6805,1.24,192.6,295.2,8.1,326,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2204,1750
$GC,7114,1.24,192.6,270.2,8.3,341,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2204,1749
$GC,7424,1.24,192.6,241.5,9.6,356,7428,0.00,2.53,0.00,0.000,4,0.000,0.075,2960,793,1748
$GC,7487,1.24,192.6,235.5,9.3,359,7491,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2208,1748
$GC,7814,1.24,192.6,207.4,8.3,375,7818,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,791,1748
$GC,7892,1.24,192.6,200.7,8.4,378,7898,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2204,1747
$GC,8209,1.25,200.0,175.9,7.7,394,8222,0.00,2.62,6.50,0.769,4,0.000,0.074,2960,789,1723
$GC,8331,1.25,200.0,165.3,8.8,399,8335,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2200,1723
$GC,8648,1.25,200.0,139.0,8.4,414,8652,0.00,2.55,0.00,0.000,4,0.000,0.075,2959,793,1723
$GC,8801,1.25,200.0,125.2,9.1,421,8805,0.00,2.45,0.00,0.000,6,0.000,0.058,2959,2207,1722
$GC,9128,1.25,200.0,95.8,9.1,437,9133,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,787,1721
$GC,9185,1.25,200.0,90.4,10.2,439,9191,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2204,1721
$GC,9503,1.25,200.0,63.6,8.8,455,9507,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,791,1720
$GC,9576,1.25,200.0,56.7,9.2,458,9580,0.00,2.42,0.00,0.000,6,0.000,0.057,2960,2201,1720
$GC,9893,1.25,200.0,28.9,8.4,473,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2201,1720
$GC,10204,1.30,229.2,4.0,6.9,488,10227,0.12,0.00,20.75,0.714,2,0.068,0.000,2997,2200,1621
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,0.7,1.011938
$STATE,10245,end surface coast,CONTROL_FINISHED_OK
$STATE,10245,begin surface
$SM_CCo,10271,43.47,0.709,0,0,1315,300.00
$SM_GC,1.71,0.00,0.00,43.47,0.000,0.000,0.709,374,1600,1315,-10.72,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1946
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.6,19.829
$10V_AH,10.1,11.594
$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,25.550,96.200,318.350,43.475,0.000,37.761,25.290,120.796,3.250,0.000,0.000,9.649,960.166,7523.557,459.574,1244.553,430.866,0.000,1096.633,0.000,1222.099,0.000,23.258,0.000
$DEVICE_MAMPS,178.711,90.506,1059.227,709.475,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.692,332.565,382.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25456,490
$CAP_FILE_SIZE,80295,0
$CFSIZE,254472192,244768768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,220908,171808,6451.157,-1035.948,37,1.1,37,-11.4