version: 66.04
glider: 14
mission: 6
dive: 13
start: 8 31 108 12 55 40
data:
$ID,14
$MISSION,6
$DIVE,13
$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,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,280
$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,-650374.94
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,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,20
$R_STBD_OVSHOOT,24
$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,20
$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
$GPS1,124531,6340.646,-552.187,39,1.4,39,-8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.3
$GPS2,125445,6340.762,-552.127,10,1.5,10,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.130,-0.221
$KALMAN_X,29983.3,-113.8,413.8,-22166.9,2317.6
$KALMAN_Y,27207.0,379.1,215.7,-33103.5,1663.6
$MHEAD_RNG_PITCHd_Wd,218.7,113063,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,2,0.000,0.000,373,1596,2894
$GC,83,-1.38,-146.6,4.6,-6.7,3,106,11.38,2.53,-4.80,0.000,4,0.177,0.089,2397,208,3138
$GC,247,-1.38,-146.6,37.8,-15.4,10,252,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1617,3140
$GC,571,-1.38,-146.6,80.2,-13.3,26,575,0.00,2.55,0.00,0.000,4,0.000,0.077,2397,202,3142
$GC,765,-1.38,-146.6,107.7,-13.5,34,771,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1601,3144
$GC,1083,-1.38,-146.6,149.5,-13.2,50,1088,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,209,3143
$GC,1173,-1.38,-146.6,161.9,-13.0,54,1178,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1607,3143
$GC,1501,-1.38,-146.6,203.7,-12.8,70,1505,0.00,2.55,0.00,0.000,4,0.000,0.077,2397,204,3144
$GC,1557,-1.38,-146.6,211.3,-13.1,72,1563,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1602,3145
$GC,1874,-1.38,-146.6,252.8,-13.4,88,1878,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,209,3144
$GC,1930,-1.38,-146.6,260.9,-13.3,90,1936,0.00,2.33,0.00,0.000,6,0.000,0.056,2397,1598,3144
$GC,2247,-1.38,-146.6,301.1,-12.2,106,2251,0.00,2.55,0.00,0.000,4,0.000,0.080,2397,202,3146
$GC,2349,-1.38,-146.6,314.0,-12.6,110,2356,0.00,2.38,0.00,0.000,6,0.000,0.056,2397,1601,3147
$GC,2666,-1.38,-146.6,347.3,-10.0,126,2670,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,209,3148
$GC,2778,-1.38,-146.6,359.5,-10.7,131,2782,0.00,2.38,0.00,0.000,6,0.000,0.056,2397,1599,3148
$GC,3099,-1.38,-146.6,392.3,-10.3,147,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3148
$GC,3410,-1.38,-146.6,426.9,-11.6,162,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3148
$GC,3718,-1.38,-146.6,462.8,-11.7,177,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3148
$GC,4030,-1.38,-146.6,500.4,-12.4,192,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3148
$GC,4336,-1.38,-146.6,539.5,-12.6,207,4341,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,207,3146
$GC,4410,-1.38,-146.6,549.5,-13.4,210,4415,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1605,3146
$GC,4732,-1.38,-146.6,590.5,-12.8,226,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1605,3144
$GC,5041,-1.38,-146.6,627.7,-11.5,241,5046,0.00,2.58,0.00,0.000,4,0.000,0.085,2397,207,3143
$GC,5086,-1.38,-146.6,633.5,-12.1,243,5091,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1605,3143
$GC,5408,-1.38,-146.6,669.3,-11.0,259,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1605,3142
$GC,5718,-1.38,-146.6,702.2,-10.5,274,5723,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,212,3140
$GC,5776,-1.38,-146.6,708.8,-11.2,276,5783,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1606,3140
$GC,6093,-1.38,-146.6,741.7,-10.3,292,6097,0.00,2.58,0.00,0.000,4,0.000,0.084,2397,207,3139
$GC,6133,-1.38,-146.6,746.2,-11.5,294,6137,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1604,3139
$GC,6460,-1.38,-146.6,778.9,-10.0,310,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3137
$GC,6769,-1.38,-146.6,809.9,-10.1,325,6773,0.00,2.58,0.00,0.000,4,0.000,0.084,2397,202,3136
$GC,6826,-1.38,-146.6,816.2,-11.6,327,6832,0.00,2.42,0.00,0.000,6,0.000,0.056,2397,1608,3136
$GC,7143,-1.38,-146.6,848.4,-10.0,343,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1608,3136
$GC,7452,-1.38,-146.6,879.8,-10.2,358,7456,0.00,2.58,0.00,0.000,4,0.000,0.084,2397,210,3135
$GC,7525,-1.38,-146.6,888.0,-11.4,361,7529,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1604,3135
$GC,7842,-1.38,-146.6,921.4,-10.5,376,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3134
$GC,8151,-1.38,-146.6,954.3,-10.6,391,8156,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,210,3133
$GC,8192,-1.38,-146.6,959.1,-11.8,393,8196,0.00,2.40,0.00,0.000,6,0.000,0.055,2397,1607,3133
$STATE,8495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8495,begin apogee
$GC,8504,-0.32,0.0,990.9,10.0,408,8638,1.15,0.00,126.72,1.367,6,0.114,0.000,2630,2195,2539
$STATE,8639,end apogee,CONTROL_FINISHED_OK
$STATE,8639,begin climb
$GC,8642,1.38,146.6,997.0,0.0,415,8776,1.75,2.75,124.90,1.327,4,0.076,0.099,3007,3602,1941
$GC,8931,1.38,146.6,981.5,10.4,428,8935,0.00,2.50,0.00,0.000,6,0.000,0.064,3008,2196,1941
$GC,9252,1.39,149.7,950.9,9.9,444,9262,0.00,2.65,4.88,1.012,4,0.000,0.085,3008,3604,1927
$GC,9325,1.40,160.0,943.5,9.5,447,9340,0.00,2.50,10.38,1.221,6,0.000,0.062,3008,2192,1886
$GC,9663,1.40,160.0,909.1,10.3,464,9667,0.00,2.62,0.00,0.000,4,0.000,0.084,3007,3602,1886
$GC,9737,1.40,160.0,901.1,11.2,467,9741,0.00,2.47,0.00,0.000,6,0.000,0.062,3008,2200,1886
$GC,10053,1.40,160.0,868.8,10.2,482,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,1885
$GC,10362,1.40,160.0,837.3,10.3,497,10367,0.00,2.62,0.00,0.000,4,0.000,0.084,3008,3606,1885
$GC,10430,1.40,160.0,830.0,10.6,500,10435,0.00,2.50,0.00,0.000,6,0.000,0.062,3008,2190,1885
$GC,10753,1.40,160.0,797.5,10.3,516,10757,0.00,2.62,0.00,0.000,4,0.000,0.084,3008,3603,1885
$GC,10786,1.40,160.0,793.9,11.3,517,10792,0.00,2.47,0.00,0.000,6,0.000,0.062,3008,2200,1885
$GC,11102,1.40,160.0,761.9,10.1,533,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,1885
$GC,11412,1.40,160.0,729.6,10.4,548,11416,0.00,2.60,0.00,0.000,4,0.000,0.084,3008,3602,1884
$GC,11479,1.40,160.0,722.3,11.0,551,11483,0.00,2.47,0.00,0.000,6,0.000,0.064,3008,2201,1884
$GC,11800,1.40,160.0,688.9,10.5,567,11805,0.00,2.60,0.00,0.000,4,0.000,0.085,3008,3602,1884
$GC,11851,1.40,160.0,683.2,10.5,569,11855,0.00,2.47,0.00,0.000,6,0.000,0.064,3008,2202,1884
$GC,12167,1.40,160.0,649.2,10.6,584,12172,0.00,2.58,0.00,0.000,4,0.000,0.085,3008,3601,1884
$GC,12257,1.40,160.0,638.9,11.7,588,12262,0.00,2.47,0.00,0.000,6,0.000,0.064,3008,2199,1884
$GC,12579,1.40,160.0,605.4,10.2,604,12584,0.00,2.60,0.00,0.000,4,0.000,0.085,3008,3604,1884
$GC,12613,1.40,160.0,601.7,10.5,605,12620,0.00,2.50,0.00,0.000,6,0.000,0.064,3008,2192,1884
$GC,12930,1.40,160.0,569.7,10.2,621,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2193,1884
$GC,13239,1.40,160.0,538.3,10.1,636,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2193,1883
$GC,13549,1.41,160.7,507.3,10.0,651,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2193,1884
$GC,13858,1.45,185.6,478.7,8.8,666,13885,0.00,2.70,21.75,1.025,4,0.000,0.084,3008,3602,1782
$GC,13948,1.45,185.6,469.8,10.1,670,13953,0.00,2.50,0.00,0.000,6,0.000,0.064,3008,2197,1781
$GC,14270,1.45,185.6,438.7,10.2,686,14274,0.00,2.60,0.00,0.000,4,0.000,0.084,3008,3603,1782
$GC,14400,1.45,185.6,425.1,10.2,692,14404,0.00,2.47,0.00,0.000,6,0.000,0.063,3008,2199,1781
$GC,14727,1.45,185.6,391.5,10.3,708,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2199,1781
$GC,15036,1.45,187.6,360.0,9.9,723,15041,0.00,2.58,0.00,0.000,4,0.000,0.083,3008,3606,1781
$GC,15138,1.46,195.3,349.6,9.6,727,15152,0.00,2.47,9.48,0.930,6,0.000,0.063,3008,2199,1742
$GC,15476,1.49,214.9,317.6,9.1,744,15498,0.00,2.70,17.33,0.934,4,0.000,0.082,3008,790,1663
$GC,15539,1.51,227.8,311.4,9.4,746,15558,0.12,2.45,12.10,0.887,6,0.074,0.054,3040,2211,1610
$GC,15878,1.51,227.8,271.6,12.0,763,15882,0.00,2.58,0.00,0.000,4,0.000,0.086,3039,3600,1608
$GC,15985,1.51,227.8,257.7,12.9,768,15990,0.00,2.45,0.00,0.000,6,0.000,0.061,3040,2196,1606
$GC,16313,1.51,227.8,214.7,13.7,784,16317,0.00,2.58,0.00,0.000,4,0.000,0.082,3040,3598,1607
$GC,16425,1.51,227.8,198.4,15.7,789,16429,0.00,2.42,0.00,0.000,6,0.000,0.061,3039,2203,1607
$GC,16746,1.51,227.8,154.8,13.2,805,16747,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2203,1607
$GC,17056,1.51,227.8,115.7,12.1,820,17061,0.00,2.58,0.00,0.000,4,0.000,0.084,3039,3602,1607
$GC,17090,1.51,227.8,111.1,13.1,821,17097,0.00,2.45,0.00,0.000,6,0.000,0.063,3040,2198,1607
$GC,17408,1.51,227.8,73.0,12.2,837,17413,0.00,2.55,0.00,0.000,4,0.000,0.080,3040,3598,1607
$GC,17510,1.51,227.8,59.2,13.7,841,17516,0.00,2.42,0.00,0.000,6,0.000,0.061,3039,2200,1607
$GC,17826,1.51,227.8,20.6,11.5,857,17834,0.00,2.55,0.00,0.000,4,0.000,0.078,3040,3599,1607
$GC,17936,1.51,227.8,6.5,12.6,861,17942,0.00,2.42,0.00,0.000,6,0.000,0.062,3039,2197,1607
$STATE,17981,end climb,SURFACE_DEPTH_REACHED
$STATE,17981,begin surface coast
$FINISH,0.6,1.013216
$STATE,18003,end surface coast,CONTROL_FINISHED_OK
$STATE,18003,begin surface
$SM_CCo,18029,28.50,0.704,0,0,1397,280.13
$SM_GC,1.43,0.00,0.00,28.50,0.000,0.000,0.704,372,1603,1397,-10.73,0.08,280.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1952
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.3,5.451
$10V_AH,10.1,3.047
$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,26.000,162.650,327.525,28.500,0.000,78.342,131.359,148.277,9.000,0.000,0.000,14.984,1633.837,13730.427,497.261,2021.204,733.552,33.354,1522.191,0.000,1970.069,0.000,57.661,0.000
$DEVICE_MAMPS,177.177,98.943,1366.794,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.138,590.286,445.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44372,865
$CAP_FILE_SIZE,134583,0
$CFSIZE,254472192,251097088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,310808,175807,6339.382,-553.142,40,2.0,46,-8.2