version: 66.04
glider: 14
mission: 6
dive: 9
start: 8 30 108 15 38 0
data:
$ID,14
$MISSION,6
$DIVE,9
$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,-650310.06
$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,1700
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$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
$GPS1,153028,6343.825,-548.867,33,3.3,52,-8.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.0
$GPS2,153703,6343.880,-548.640,14,1.3,32,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.253,-0.042
$KALMAN_X,19388.2,8.6,-1062.7,-7348.0,6082.6
$KALMAN_Y,24001.8,508.6,-2386.1,-21643.0,10367.0
$MHEAD_RNG_PITCHd_Wd,268.8,119120,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,129,0.00,0.00,-110.85,0.000,2,0.000,0.000,376,1690,2910
$GC,134,-1.38,-146.6,4.8,-3.9,6,156,11.50,2.58,-4.32,0.000,4,0.176,0.091,2426,289,3141
$GC,300,-1.38,-146.6,36.3,-12.9,13,305,0.00,2.45,0.00,0.000,6,0.000,0.055,2426,1731,3142
$GC,623,-1.38,-146.6,77.1,-12.4,29,628,0.00,2.62,0.00,0.000,4,0.000,0.077,2426,287,3146
$GC,725,-1.38,-146.6,90.2,-12.7,33,731,0.00,2.40,0.00,0.000,6,0.000,0.055,2426,1708,3147
$GC,1041,-1.38,-146.6,125.9,-11.2,49,1046,0.00,2.58,0.00,0.000,4,0.000,0.077,2426,293,3148
$GC,1109,-1.38,-146.6,134.0,-11.9,52,1113,0.00,2.40,0.00,0.000,6,0.000,0.055,2426,1711,3148
$GC,1430,-1.38,-146.6,171.9,-11.9,68,1435,0.00,2.58,0.00,0.000,4,0.000,0.077,2426,294,3149
$GC,1543,-1.38,-146.6,186.7,-13.4,73,1547,0.00,2.38,0.00,0.000,6,0.000,0.055,2426,1701,3149
$GC,1867,-1.38,-146.6,226.5,-12.4,89,1871,0.00,2.55,0.00,0.000,4,0.000,0.077,2426,293,3149
$GC,1974,-1.38,-146.6,240.5,-12.8,94,1978,0.00,2.38,0.00,0.000,6,0.000,0.056,2426,1699,3149
$GC,2301,-1.38,-146.6,277.8,-11.2,110,2305,0.00,2.55,0.00,0.000,4,0.000,0.078,2426,294,3150
$GC,2424,-1.38,-146.6,292.3,-11.4,115,2431,0.00,2.38,0.00,0.000,6,0.000,0.056,2426,1696,3150
$GC,2743,-1.38,-146.6,326.7,-10.7,131,2748,0.00,2.58,0.00,0.000,4,0.000,0.081,2426,293,3150
$GC,2862,-1.38,-146.6,340.5,-11.7,136,2866,0.00,2.40,0.00,0.000,6,0.000,0.056,2426,1698,3150
$GC,3179,-1.38,-146.6,374.6,-10.4,151,3183,0.00,2.58,0.00,0.000,4,0.000,0.082,2426,294,3151
$GC,3240,-1.38,-146.6,382.0,-11.7,153,3246,0.00,2.40,0.00,0.000,6,0.000,0.056,2426,1703,3151
$GC,3556,-1.38,-146.6,414.6,-10.3,169,3561,0.00,2.58,0.00,0.000,4,0.000,0.082,2426,295,3151
$GC,3664,-1.38,-146.6,426.4,-11.1,174,3668,0.00,2.40,0.00,0.000,6,0.000,0.056,2426,1704,3150
$GC,3991,-1.38,-146.6,457.6,-9.4,190,3996,0.00,2.58,0.00,0.000,4,0.000,0.083,2426,296,3151
$GC,4065,-1.38,-146.6,465.2,-10.7,193,4069,0.00,2.40,0.00,0.000,6,0.000,0.056,2426,1705,3151
$GC,4381,-1.38,-146.6,496.1,-10.2,208,4386,0.00,2.58,0.00,0.000,4,0.000,0.083,2426,296,3150
$GC,4471,-1.38,-146.6,505.8,-10.3,212,4476,0.00,2.42,0.00,0.000,6,0.000,0.056,2425,1707,3149
$GC,4794,-1.38,-146.6,537.5,-9.9,228,4798,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,296,3148
$GC,4928,-1.38,-146.6,552.2,-10.9,234,4933,0.00,2.42,0.00,0.000,6,0.000,0.056,2426,1706,3148
$GC,5249,-1.38,-146.6,584.9,-10.0,250,5254,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,293,3147
$GC,5339,-1.38,-146.6,594.5,-10.3,254,5343,0.00,2.42,0.00,0.000,6,0.000,0.057,2426,1701,3147
$GC,5663,-1.38,-146.6,626.6,-9.8,270,5667,0.00,2.58,0.00,0.000,4,0.000,0.084,2426,296,3146
$GC,5743,-1.38,-146.6,635.2,-10.2,273,5749,0.00,2.42,0.00,0.000,6,0.000,0.057,2426,1701,3146
$GC,6060,-1.38,-146.6,665.4,-9.6,289,6064,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,288,3144
$GC,6145,-1.38,-146.6,674.3,-10.5,293,6149,0.00,2.42,0.00,0.000,6,0.000,0.057,2426,1700,3145
$GC,6478,-1.38,-146.6,705.4,-9.2,309,6482,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,293,3142
$GC,6551,-1.38,-146.6,712.5,-9.3,312,6555,0.00,2.42,0.00,0.000,6,0.000,0.057,2426,1700,3143
$GC,6868,-1.38,-146.6,741.8,-9.6,327,6872,0.00,2.60,0.00,0.000,4,0.000,0.084,2425,291,3142
$GC,6963,-1.38,-146.6,751.8,-10.4,331,6967,0.00,2.42,0.00,0.000,6,0.000,0.056,2426,1701,3142
$GC,7280,-1.38,-146.6,782.3,-9.9,346,7285,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,293,3141
$GC,7353,-1.38,-146.6,790.3,-10.9,349,7358,0.00,2.42,0.00,0.000,6,0.000,0.056,2426,1706,3141
$GC,7670,-1.38,-146.6,821.7,-10.0,364,7674,0.00,2.60,0.00,0.000,4,0.000,0.084,2425,293,3139
$GC,7748,-1.38,-146.6,830.3,-10.7,367,7753,0.00,2.42,0.00,0.000,6,0.000,0.056,2426,1704,3140
$GC,8071,-1.38,-146.6,862.0,-9.7,383,8075,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,289,3138
$GC,8161,-1.38,-146.6,871.2,-9.9,387,8165,0.00,2.45,0.00,0.000,6,0.000,0.056,2426,1703,3138
$GC,8483,-1.38,-146.6,901.1,-9.2,403,8488,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,289,3137
$GC,8569,-1.38,-146.6,909.4,-9.7,407,8573,0.00,2.45,0.00,0.000,6,0.000,0.057,2426,1701,3137
$GC,8896,-1.38,-146.6,940.5,-9.3,423,8901,0.00,2.58,0.00,0.000,4,0.000,0.084,2426,296,3137
$GC,8998,-1.38,-146.6,950.8,-10.3,427,9004,0.00,2.40,0.00,0.000,6,0.000,0.056,2426,1702,3137
$GC,9314,-1.38,-146.6,980.9,-9.5,443,9319,0.00,2.58,0.00,0.000,4,0.000,0.083,2426,294,3136
$STATE,9401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9401,begin apogee
$GC,9412,-0.32,0.0,990.2,10.8,447,9540,1.10,0.00,124.05,1.368,6,0.110,0.000,2655,2118,2539
$STATE,9541,end apogee,CONTROL_FINISHED_OK
$STATE,9541,begin climb
$GC,9544,1.38,146.6,995.8,0.0,453,9689,1.75,2.65,128.55,1.319,4,0.076,0.074,3032,720,1941
$GC,9729,1.42,169.7,995.5,8.9,461,9756,0.00,2.50,21.40,1.389,6,0.000,0.058,3033,2141,1847
$GC,10066,1.42,169.7,960.2,10.7,478,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2141,1846
$GC,10375,1.42,169.7,927.7,10.6,493,10379,0.00,2.58,0.00,0.000,4,0.000,0.091,3032,3521,1847
$GC,10438,1.42,169.7,920.6,11.1,496,10442,0.00,2.47,0.00,0.000,6,0.000,0.063,3033,2119,1847
$GC,10765,1.42,169.7,884.0,11.3,512,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2119,1847
$GC,11074,1.42,169.7,850.4,10.8,527,11078,0.00,2.60,0.00,0.000,4,0.000,0.081,3034,3528,1847
$GC,11169,1.42,169.7,839.9,10.7,531,11174,0.00,2.47,0.00,0.000,6,0.000,0.062,3032,2124,1847
$GC,11486,1.42,169.7,806.8,10.5,546,11490,0.00,2.58,0.00,0.000,4,0.000,0.081,3033,3524,1847
$GC,11559,1.42,169.7,799.0,10.8,549,11563,0.00,2.47,0.00,0.000,6,0.000,0.062,3032,2122,1847
$GC,11875,1.42,169.7,766.1,10.5,564,11879,0.00,2.60,0.00,0.000,4,0.000,0.081,3032,3528,1847
$GC,11953,1.42,170.7,757.7,10.0,567,11960,0.00,2.50,0.00,0.000,6,0.000,0.063,3032,2116,1847
$GC,12270,1.42,170.7,724.8,10.5,583,12274,0.00,2.58,0.00,0.000,4,0.000,0.081,3032,3523,1847
$GC,12355,1.42,170.7,715.8,11.0,587,12359,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,2119,1847
$GC,12682,1.42,170.7,682.5,10.2,603,12686,0.00,2.58,0.00,0.000,4,0.000,0.081,3032,3523,1847
$GC,12732,1.42,170.7,677.2,10.9,605,12736,0.00,2.47,0.00,0.000,6,0.000,0.063,3032,2124,1846
$GC,13049,1.43,176.7,646.1,9.7,620,13063,0.00,2.62,7.45,0.999,4,0.000,0.080,3032,3517,1818
$GC,13116,1.43,176.7,639.2,10.2,623,13120,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,2125,1818
$GC,13443,1.43,176.7,606.7,10.1,639,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2124,1818
$GC,13752,1.43,176.7,575.3,10.3,654,13757,0.00,2.58,0.00,0.000,4,0.000,0.081,3032,3525,1818
$GC,13838,1.43,176.7,566.1,11.3,658,13842,0.00,2.47,0.00,0.000,6,0.000,0.064,3033,2122,1818
$GC,14165,1.43,176.7,532.4,10.2,674,14166,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2121,1818
$GC,14474,1.43,176.7,500.5,10.3,689,14478,0.00,2.58,0.00,0.000,4,0.000,0.080,3032,3524,1818
$GC,14620,1.43,176.7,484.8,10.6,695,14626,0.00,2.47,0.00,0.000,6,0.000,0.064,3033,2122,1818
$GC,14937,1.43,178.6,452.8,9.9,711,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2122,1818
$GC,15246,1.45,186.3,422.3,9.6,726,15258,0.00,0.00,9.68,0.966,6,0.000,0.000,3032,2122,1779
$GC,15555,1.45,186.3,390.8,10.2,741,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2122,1779
$GC,15865,1.47,200.3,360.4,9.3,756,15886,0.00,2.67,12.77,0.955,4,0.000,0.085,3032,720,1722
$GC,15926,1.47,200.3,354.0,10.0,758,15932,0.00,2.42,0.00,0.000,6,0.000,0.054,3033,2129,1722
$GC,16243,1.48,205.8,322.2,9.7,774,16256,0.00,2.60,6.35,0.901,4,0.000,0.084,3033,3522,1699
$GC,16395,1.48,205.8,305.9,10.9,780,16401,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2120,1699
$GC,16711,1.48,205.8,272.8,10.7,796,16713,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2120,1699
$GC,17021,1.48,205.8,238.4,11.8,811,17025,0.00,2.58,0.00,0.000,4,0.000,0.077,3032,3524,1699
$GC,17173,1.48,205.8,219.5,13.1,818,17177,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2123,1699
$GC,17500,1.48,205.8,181.1,11.7,834,17504,0.00,2.55,0.00,0.000,4,0.000,0.077,3033,3525,1699
$GC,17550,1.48,205.8,174.8,12.4,836,17554,0.00,2.45,0.00,0.000,6,0.000,0.062,3032,2126,1700
$GC,17867,1.48,205.8,139.5,10.9,851,17868,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2125,1699
$GC,18176,1.48,205.8,106.6,10.6,866,18180,0.00,2.55,0.00,0.000,4,0.000,0.079,3033,3525,1699
$GC,18249,1.48,205.8,98.6,11.3,869,18253,0.00,2.45,0.00,0.000,6,0.000,0.063,3033,2126,1699
$GC,18567,1.48,205.8,64.3,11.3,884,18568,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2125,1699
$GC,18875,1.49,211.3,32.3,9.7,899,18889,0.00,2.60,6.82,0.670,4,0.000,0.077,3033,3521,1676
$GC,18947,1.56,258.8,25.5,7.8,902,18992,0.17,2.45,38.00,0.745,6,0.064,0.061,3080,2118,1484
$STATE,19126,end climb,SURFACE_DEPTH_REACHED
$STATE,19126,begin surface coast
$FINISH,0.7,1.026750
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19176,176.77,0.699,0,0,187,576.95
$SM_CCo,19358,0.00,0.000,0,0,186,577.19
$SM_GC,1.27,0.00,0.00,0.00,0.000,0.000,0.000,375,1700,186,-10.83,0.00,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1879
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.3,4.872
$10V_AH,10.1,2.713
$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,26.350,197.475,355.075,176.775,0.000,37.761,27.224,169.331,8.500,0.000,0.000,33.739,1765.790,14290.013,729.485,2331.184,637.930,33.337,1899.824,0.000,2252.142,0.000,56.002,0.000
$DEVICE_MAMPS,176.410,91.273,1389.037,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.586,621.632,485.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47461,912
$CAP_FILE_SIZE,151783,0
$CFSIZE,254472192,251330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,300808,210202,6343.515,-550.996,40,1.3,40,-8.2