version: 66.04
glider: 14
mission: 6
dive: 6
start: 8 29 108 22 47 32
data:
$ID,14
$MISSION,6
$DIVE,6
$D_SURF,3
$D_FLARE,4
$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,330
$T_MISSION,340
$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,1
$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,577
$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,-650226.94
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2730
$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,1850
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,49
$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,3
$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
$GPS1,223707,6346.477,-553.269,25,1.1,25,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.8
$GPS2,224638,6346.537,-553.205,13,1.7,30,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,-0.130
$KALMAN_X,9848.1,119.9,-72.7,-2665.6,4671.8
$KALMAN_Y,16741.7,292.7,-250.5,-11397.9,6437.3
$MHEAD_RNG_PITCHd_Wd,247.8,123633,-17.8,-10.000
$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,-1.38,-146.6,0.0,0.0,0,139,0.00,0.00,-117.53,0.000,2,0.000,0.000,381,2073,3055
$GC,143,-1.38,-146.6,5.7,-5.0,6,165,11.48,2.95,-1.50,0.000,4,0.176,0.080,2420,448,3141
$GC,374,-1.38,-146.6,51.1,-12.7,16,378,0.00,2.35,0.00,0.000,6,0.000,0.055,2418,1839,3144
$GC,696,-1.38,-146.6,86.6,-10.7,32,700,0.00,2.50,0.00,0.000,4,0.000,0.074,2419,448,3146
$GC,853,-1.38,-146.6,104.3,-11.6,39,857,0.00,2.38,0.00,0.000,6,0.000,0.055,2420,1851,3146
$GC,1175,-1.38,-146.6,139.6,-11.3,55,1179,0.00,2.53,0.00,0.000,4,0.000,0.074,2420,445,3148
$GC,1372,-1.38,-146.6,164.3,-12.9,64,1376,0.00,2.38,0.00,0.000,6,0.000,0.056,2420,1852,3147
$GC,1699,-1.38,-146.6,203.9,-11.8,80,1703,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,445,3148
$GC,1862,-1.38,-146.6,224.2,-12.5,87,1866,0.00,2.38,0.00,0.000,6,0.000,0.055,2420,1852,3149
$GC,2178,-1.38,-146.6,259.4,-11.1,102,2182,0.00,2.55,0.00,0.000,4,0.000,0.075,2420,443,3149
$GC,2338,-1.38,-146.6,278.6,-12.1,109,2342,0.00,2.38,0.00,0.000,6,0.000,0.056,2420,1851,3149
$GC,2665,-1.38,-146.6,315.6,-11.0,125,2669,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,448,3151
$GC,2766,-1.38,-146.6,327.0,-11.1,129,2772,0.00,2.38,0.00,0.000,6,0.000,0.055,2419,1847,3151
$GC,3082,-1.38,-146.6,361.3,-10.6,145,3086,0.00,2.53,0.00,0.000,4,0.000,0.076,2420,443,3151
$GC,3254,-1.38,-146.6,380.4,-11.2,152,3260,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1850,3150
$GC,3570,-1.38,-146.6,415.0,-11.0,168,3574,0.00,2.55,0.00,0.000,4,0.000,0.077,2420,442,3149
$GC,3735,-1.38,-146.6,433.3,-10.8,175,3740,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1857,3150
$GC,4052,-1.38,-146.6,464.4,-9.5,190,4056,0.00,2.53,0.00,0.000,4,0.000,0.077,2420,450,3148
$GC,4243,-1.38,-146.6,483.8,-10.2,198,4249,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1850,3148
$GC,4559,-1.38,-146.6,512.5,-8.9,214,4564,0.00,2.55,0.00,0.000,4,0.000,0.077,2419,443,3146
$GC,4720,-1.38,-146.6,528.2,-10.2,221,4724,0.00,2.42,0.00,0.000,6,0.000,0.057,2420,1852,3146
$GC,5041,-1.38,-146.6,559.5,-10.2,237,5046,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,444,3145
$GC,5214,-1.38,-146.6,577.9,-11.2,244,5221,0.00,2.42,0.00,0.000,6,0.000,0.057,2420,1858,3144
$GC,5531,-1.38,-146.6,610.3,-10.2,260,5535,0.00,2.58,0.00,0.000,4,0.000,0.079,2419,450,3144
$GC,5685,-1.38,-146.6,626.8,-10.6,267,5689,0.00,2.40,0.00,0.000,6,0.000,0.057,2419,1848,3143
$GC,6012,-1.38,-146.6,657.4,-9.1,283,6016,0.00,2.53,0.00,0.000,4,0.000,0.078,2419,451,3142
$GC,6164,-1.38,-146.6,672.5,-10.0,290,6168,0.00,2.40,0.00,0.000,6,0.000,0.057,2419,1853,3142
$GC,6499,-1.38,-146.6,702.6,-9.0,306,6503,0.00,2.58,0.00,0.000,4,0.000,0.078,2419,443,3140
$GC,6664,-1.38,-146.6,718.5,-9.8,313,6669,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1852,3141
$GC,6981,-1.38,-146.6,747.6,-9.2,328,6985,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,444,3139
$GC,7137,-1.38,-146.6,762.6,-9.3,335,7141,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1855,3139
$GC,7464,-1.38,-146.6,793.1,-9.0,351,7469,0.00,2.55,0.00,0.000,4,0.000,0.079,2419,448,3138
$GC,7643,-1.38,-146.6,810.4,-9.8,359,7647,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1851,3138
$GC,7970,-1.38,-146.6,841.2,-9.2,375,7975,0.00,2.55,0.00,0.000,4,0.000,0.077,2420,442,3137
$GC,8126,-1.38,-146.6,856.4,-9.9,382,8131,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1852,3137
$GC,8454,-1.38,-146.6,886.4,-8.7,398,8459,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,444,3137
$GC,8615,-1.38,-146.6,901.0,-9.6,405,8619,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1851,3136
$GC,8943,-1.38,-146.6,929.5,-8.7,421,8947,0.00,2.58,0.00,0.000,4,0.000,0.078,2419,440,3136
$GC,9132,-1.38,-146.6,947.5,-8.9,429,9136,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1849,3136
$GC,9455,-1.38,-146.6,975.5,-8.5,445,9459,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,442,3135
$STATE,9608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9608,begin apogee
$GC,9622,-0.32,0.0,990.0,8.9,452,9749,1.12,0.00,123.62,1.381,6,0.111,0.000,2653,2021,2539
$STATE,9750,end apogee,CONTROL_FINISHED_OK
$STATE,9750,begin climb
$GC,9754,1.38,146.6,993.8,0.0,458,9888,1.75,2.70,126.15,1.341,4,0.074,0.093,3034,3425,1940
$GC,10021,1.38,146.6,980.4,10.5,470,10026,0.00,2.50,0.00,0.000,6,0.000,0.064,3033,2021,1941
$GC,10338,1.38,147.2,948.1,10.0,485,10342,0.00,2.60,0.00,0.000,4,0.000,0.081,3033,3435,1940
$GC,10433,1.38,147.2,938.4,10.6,489,10438,0.00,2.50,0.00,0.000,6,0.000,0.062,3033,2018,1941
$GC,10750,1.39,153.9,907.9,9.7,504,10760,0.00,0.00,8.15,1.156,6,0.000,0.000,3033,2018,1911
$GC,11059,1.39,153.9,876.7,10.2,519,11063,0.00,2.60,0.00,0.000,4,0.000,0.082,3033,3431,1911
$GC,11182,1.39,153.9,863.5,10.9,524,11188,0.00,2.50,0.00,0.000,6,0.000,0.063,3034,2016,1911
$GC,11498,1.39,153.9,830.6,10.7,540,11502,0.00,2.60,0.00,0.000,4,0.000,0.082,3033,3428,1911
$GC,11606,1.40,158.3,819.0,9.8,545,11616,0.00,2.47,5.47,0.975,6,0.000,0.064,3034,2023,1893
$GC,11933,1.40,158.3,784.0,10.7,561,11938,0.00,2.60,0.00,0.000,4,0.000,0.083,3033,3432,1893
$GC,12012,1.40,158.3,775.0,11.3,564,12019,0.00,2.50,0.00,0.000,6,0.000,0.064,3033,2020,1893
$GC,12329,1.40,158.3,742.0,10.6,580,12333,0.00,2.60,0.00,0.000,4,0.000,0.082,3033,3431,1893
$GC,12414,1.40,158.3,733.0,10.4,584,12418,0.00,2.50,0.00,0.000,6,0.000,0.064,3033,2016,1893
$GC,12741,1.42,169.0,701.1,9.5,600,12757,0.00,2.65,10.62,1.107,4,0.000,0.080,3033,3426,1849
$GC,12849,1.44,183.0,690.4,9.3,604,12870,0.00,2.50,13.25,1.108,6,0.000,0.064,3034,2022,1792
$GC,13180,1.45,191.2,657.2,9.6,620,13191,0.00,0.00,8.55,1.028,6,0.000,0.000,3033,2020,1759
$GC,13490,1.46,197.6,627.2,9.7,635,13504,0.00,2.67,6.95,0.963,4,0.000,0.081,3033,3426,1732
$GC,13625,1.47,202.4,612.9,9.8,641,13636,0.00,2.50,5.95,0.909,6,0.000,0.065,3032,2022,1713
$GC,13953,1.47,202.4,578.0,10.9,657,13957,0.00,2.60,0.00,0.000,4,0.000,0.081,3033,3432,1713
$GC,14048,1.47,202.4,567.5,10.7,661,14053,0.00,2.50,0.00,0.000,6,0.000,0.064,3033,2021,1713
$GC,14365,1.47,202.4,534.1,10.3,676,14369,0.00,2.58,0.00,0.000,4,0.000,0.080,3034,3427,1713
$GC,14438,1.47,202.4,526.2,11.1,679,14442,0.00,2.47,0.00,0.000,6,0.000,0.064,3033,2023,1713
$GC,14754,1.47,202.4,493.0,10.7,694,14758,0.00,2.58,0.00,0.000,4,0.000,0.080,3033,3429,1713
$GC,14839,1.47,202.4,483.2,11.6,698,14843,0.00,2.47,0.00,0.000,6,0.000,0.064,3034,2025,1713
$GC,15166,1.47,202.4,445.4,11.6,714,15170,0.00,2.55,0.00,0.000,4,0.000,0.079,3033,3427,1713
$GC,15289,1.47,202.4,431.3,11.0,719,15296,0.00,2.47,0.00,0.000,6,0.000,0.064,3033,2024,1713
$GC,15605,1.47,202.4,397.3,10.5,735,15610,0.00,2.55,0.00,0.000,4,0.000,0.078,3033,3430,1713
$GC,15679,1.47,202.4,389.0,11.1,738,15683,0.00,2.47,0.00,0.000,6,0.000,0.063,3034,2025,1713
$GC,15995,1.47,202.4,355.1,11.1,753,15999,0.00,2.55,0.00,0.000,4,0.000,0.077,3033,3427,1713
$GC,16041,1.47,202.4,350.0,12.1,755,16045,0.00,2.47,0.00,0.000,6,0.000,0.063,3033,2023,1713
$GC,16363,1.47,202.4,316.7,10.1,771,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2023,1713
$GC,16672,1.47,202.4,284.8,10.5,786,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2023,1713
$GC,16981,1.47,202.4,251.1,11.0,801,16985,0.00,2.53,0.00,0.000,4,0.000,0.077,3034,3428,1713
$GC,17256,1.47,202.4,220.7,10.2,813,17261,0.00,2.47,0.00,0.000,6,0.000,0.063,3033,2020,1713
$GC,17578,1.47,202.4,185.8,10.9,829,17581,0.00,2.55,0.00,0.000,4,0.000,0.077,3034,3428,1713
$GC,17679,1.47,202.4,174.3,11.6,833,17684,0.00,2.47,0.00,0.000,6,0.000,0.061,3033,2010,1713
$GC,17997,1.47,202.4,139.1,10.9,848,18002,0.00,2.58,0.00,0.000,4,0.000,0.077,3033,3435,1713
$GC,18099,1.47,202.4,126.9,12.1,852,18105,0.00,2.47,0.00,0.000,6,0.000,0.061,3033,2013,1713
$GC,18415,1.47,202.4,91.4,11.2,868,18420,0.00,2.55,0.00,0.000,4,0.000,0.077,3032,3430,1713
$GC,18524,1.47,202.4,78.9,10.9,873,18528,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2017,1713
$GC,18851,1.47,202.4,38.2,12.7,889,18856,0.00,2.55,0.00,0.000,4,0.000,0.076,3033,3437,1713
$GC,18925,1.47,202.4,29.5,10.1,892,18929,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2023,1713
$STATE,19196,end climb,SURFACE_DEPTH_REACHED
$STATE,19197,begin surface coast
$FINISH,0.7,1.026581
$STATE,19218,end surface coast,CONTROL_FINISHED_OK
$STATE,19219,begin surface
$SM_CCo,19244,201.18,0.711,0,0,186,576.95
$SM_CCo,19449,0.00,0.000,0,0,186,577.19
$SM_GC,1.16,0.00,0.00,0.00,0.000,0.000,0.000,377,1824,186,-10.82,-0.76,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1918
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.3,4.332
$10V_AH,10.1,2.421
$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,25.975,196.350,308.725,201.175,0.000,78.227,58.627,214.464,8.750,0.000,0.000,31.617,1836.003,14032.998,711.453,2662.653,776.136,33.373,1998.287,0.000,2574.746,0.000,55.983,0.000
$DEVICE_MAMPS,176.410,92.807,1381.367,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.648,617.987,479.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,906
$CAP_FILE_SIZE,159996,0
$CFSIZE,254472192,251543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,300808,041307,6345.667,-555.065,36,1.0,42,-8.3