version: 66.04
glider: 14
mission: 6
dive: 85
start: 9 17 108 3 37 40
data:
$ID,14
$MISSION,6
$DIVE,85
$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,-651738
$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,25
$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
$GPS1,033108,6420.083,-928.052,32,1.0,32,-10.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.5
$GPS2,033720,6420.104,-928.043,12,1.2,29,-10.5
$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,328.5,84478,-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,-60.65,0.000,2,0.000,0.000,374,1587,2797
$GC,86,-1.16,-146.6,4.0,-5.9,3,112,11.55,2.50,-7.55,0.000,4,0.176,0.089,2448,223,3139
$GC,356,-1.16,-146.6,42.0,-13.7,15,360,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1627,3139
$GC,684,-1.16,-146.6,81.9,-10.1,31,689,0.00,2.38,0.00,0.000,4,0.000,0.070,2448,2987,3141
$GC,713,-1.16,-146.6,84.7,-9.0,32,718,0.00,2.38,0.00,0.000,6,0.000,0.060,2448,1599,3141
$GC,1030,-1.16,-146.6,114.9,-10.3,47,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1599,3143
$GC,1339,-1.16,-146.6,145.6,-9.8,62,1344,0.00,2.50,0.00,0.000,4,0.000,0.080,2448,209,3144
$GC,1396,-1.16,-146.6,151.5,-10.2,64,1403,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1607,3143
$GC,1712,-1.16,-146.6,184.8,-10.8,80,1717,0.00,2.50,0.00,0.000,4,0.000,0.076,2448,214,3143
$GC,1763,-1.16,-146.6,190.6,-10.8,82,1767,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1605,3143
$GC,2080,-1.16,-146.6,219.4,-8.7,97,2084,0.00,2.50,0.00,0.000,4,0.000,0.076,2448,215,3144
$GC,2233,-1.16,-146.6,233.2,-9.2,104,2237,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1610,3144
$GC,2561,-1.16,-146.6,258.5,-7.6,120,2565,0.00,2.53,0.00,0.000,4,0.000,0.077,2448,213,3146
$GC,2701,-1.16,-146.6,269.9,-8.4,126,2705,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1600,3146
$GC,3018,-1.16,-146.6,293.5,-8.3,141,3022,0.00,2.50,0.00,0.000,4,0.000,0.077,2448,213,3147
$GC,3136,-1.16,-146.6,304.7,-9.8,146,3140,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1609,3147
$GC,3453,-1.16,-146.6,332.7,-8.9,161,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1613,3147
$GC,3762,-1.16,-146.6,362.5,-10.1,176,3767,0.00,2.55,0.00,0.000,4,0.000,0.081,2448,212,3147
$GC,3942,-1.16,-146.6,380.6,-10.5,184,3946,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1599,3147
$GC,4270,-1.16,-146.6,408.3,-7.6,200,4274,0.00,2.55,0.00,0.000,4,0.000,0.082,2448,208,3147
$GC,4365,-1.16,-146.6,416.3,-9.1,204,4369,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1606,3147
$GC,4681,-1.16,-146.6,442.1,-8.7,219,4685,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,213,3146
$GC,4760,-1.16,-146.6,449.7,-9.6,222,4767,0.00,2.38,0.00,0.000,6,0.000,0.057,2448,1606,3146
$GC,5076,-1.16,-146.6,478.5,-8.9,238,5081,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,209,3145
$GC,5117,-1.16,-146.6,482.6,-10.2,240,5121,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1608,3145
$GC,5451,-1.16,-146.6,514.2,-9.8,256,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1608,3144
$GC,5760,-1.16,-146.6,542.0,-7.5,271,5765,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,209,3143
$GC,5801,-1.16,-146.6,545.5,-8.7,273,5805,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1603,3143
$GC,6128,-1.16,-146.6,572.9,-8.1,289,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3141
$GC,6438,-1.16,-146.6,596.1,-4.5,304,6442,0.00,2.55,0.00,0.000,4,0.000,0.084,2448,211,3139
$GC,6482,-1.16,-146.6,600.9,-10.0,306,6487,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1603,3139
$GC,6804,-1.16,-146.6,627.3,-9.4,322,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3138
$STATE,7069,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7069,begin apogee
$GC,7079,-0.32,0.0,651.4,8.6,335,7212,0.90,0.00,125.70,1.091,6,0.109,0.000,2632,2187,2538
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7217,1.16,146.6,653.0,0.0,342,7346,1.52,2.83,121.18,1.047,4,0.091,0.109,2954,3604,1941
$GC,7575,1.20,167.1,620.9,7.2,358,7600,0.00,2.53,18.30,1.106,6,0.000,0.071,2954,2200,1856
$GC,7917,1.24,191.9,585.7,7.1,375,7941,0.00,0.00,21.90,1.121,6,0.000,0.000,2955,2200,1756
$GC,8249,1.24,191.9,553.1,9.4,391,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1754
$GC,8558,1.24,191.9,521.6,9.2,406,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2201,1753
$GC,8868,1.25,203.5,495.9,7.6,421,8881,0.10,0.00,10.77,0.985,6,0.075,0.000,2982,2201,1709
$GC,9178,1.25,203.5,460.1,11.0,436,9182,0.00,2.65,0.00,0.000,4,0.000,0.094,2982,3608,1708
$GC,9273,1.25,203.5,447.7,12.8,440,9277,0.00,2.47,0.00,0.000,6,0.000,0.065,2982,2202,1707
$GC,9595,1.25,203.5,411.3,11.5,456,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1706
$GC,9904,1.25,203.5,379.6,9.9,471,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1706
$GC,10213,1.25,203.5,350.9,9.4,486,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1705
$GC,10523,1.25,203.5,321.2,9.6,501,10527,0.00,2.55,0.00,0.000,4,0.000,0.081,2983,797,1705
$GC,10657,1.25,203.5,306.2,11.5,507,10662,0.00,2.42,0.00,0.000,6,0.000,0.055,2982,2209,1704
$GC,10979,1.25,203.5,272.6,10.7,523,10984,0.00,2.58,0.00,0.000,4,0.000,0.074,2983,789,1703
$GC,11024,1.25,203.5,267.2,11.3,525,11029,0.00,2.42,0.00,0.000,6,0.000,0.056,2982,2198,1703
$GC,11347,1.25,203.5,233.8,9.8,541,11351,0.00,2.55,0.00,0.000,4,0.000,0.074,2982,789,1703
$GC,11465,1.25,203.5,221.4,11.2,546,11469,0.00,2.42,0.00,0.000,6,0.000,0.057,2982,2199,1702
$GC,11786,1.25,203.5,189.0,10.3,562,11791,0.00,2.60,0.00,0.000,4,0.000,0.092,2982,3600,1702
$GC,11899,1.25,203.5,175.5,12.0,567,11903,0.00,2.45,0.00,0.000,6,0.000,0.062,2982,2190,1700
$GC,12221,1.25,203.5,139.4,10.9,583,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2190,1700
$GC,12530,1.25,203.5,108.9,10.3,598,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2189,1700
$GC,12839,1.25,203.5,77.1,10.5,613,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2189,1700
$GC,13150,1.25,203.5,49.2,8.2,628,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2189,1700
$GC,13458,1.36,270.7,21.2,5.4,643,13517,0.00,0.00,52.88,0.711,6,0.000,0.000,2982,2189,1434
$STATE,13639,end climb,SURFACE_DEPTH_REACHED
$STATE,13639,begin surface coast
$FINISH,0.7,1.026577
$STATE,13660,end surface coast,CONTROL_FINISHED_OK
$STATE,13660,begin surface
$SM_CCo,13686,20.92,0.669,0,0,1315,300.00
$SM_GC,1.46,0.00,0.00,20.92,0.000,0.000,0.669,381,1601,1315,-10.69,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1935
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.2,33.7
$24V_AH,23.6,15.837
$10V_AH,10.1,9.341
$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,25.550,95.875,350.725,20.925,0.000,37.759,36.167,149.116,5.250,0.000,0.000,30.971,1233.515,10287.240,463.878,1580.322,519.067,0.000,1242.463,0.000,1528.542,0.000,36.263,0.000
$DEVICE_MAMPS,176.410,108.914,1120.587,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.423,444.545,416.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,653
$CAP_FILE_SIZE,98392,0
$CFSIZE,254472192,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,170908,072730,6420.869,-935.353,35,1.7,39,-10.6