version: 66.04
glider: 14
mission: 6
dive: 15
start: 8 31 108 23 25 7
data:
$ID,14
$MISSION,6
$DIVE,15
$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,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,-650419.75
$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,23
$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,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
$GPS1,231808,6339.854,-554.245,35,1.0,35,-8.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.8
$GPS2,232409,6339.937,-554.160,11,1.0,11,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.157,-0.202
$KALMAN_X,35482.6,-116.2,239.3,-29156.0,2896.8
$KALMAN_Y,32453.0,211.2,420.0,-39945.1,1370.1
$MHEAD_RNG_PITCHd_Wd,226.0,111384,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.70,0.000,2,0.000,0.000,373,1590,2265
$GC,63,-1.38,-146.6,3.0,-5.2,2,111,11.32,2.53,-30.25,0.000,4,0.175,0.091,2396,207,3136
$GC,364,-1.38,-146.6,43.7,-13.9,15,371,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1620,3137
$GC,682,-1.38,-146.6,85.5,-13.2,31,687,0.00,2.55,0.00,0.000,4,0.000,0.077,2396,206,3139
$GC,817,-1.38,-146.6,104.3,-13.4,37,822,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1604,3140
$GC,1140,-1.38,-146.6,143.6,-11.7,53,1144,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,210,3142
$GC,1218,-1.38,-146.6,153.4,-12.5,56,1224,0.00,2.38,0.00,0.000,6,0.000,0.058,2395,1601,3142
$GC,1534,-1.38,-146.6,191.2,-12.1,72,1539,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,212,3142
$GC,1642,-1.38,-146.6,205.4,-13.2,77,1647,0.00,2.38,0.00,0.000,6,0.000,0.058,2395,1605,3142
$GC,1970,-1.38,-146.6,249.8,-14.1,93,1975,0.00,2.55,0.00,0.000,4,0.000,0.080,2395,206,3143
$GC,2065,-1.38,-146.6,264.1,-14.0,97,2069,0.00,2.38,0.00,0.000,6,0.000,0.058,2396,1599,3143
$GC,2387,-1.38,-146.6,308.1,-13.0,113,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3144
$GC,2696,-1.38,-146.6,346.2,-12.1,128,2701,0.00,2.55,0.00,0.000,4,0.000,0.082,2395,210,3145
$GC,2863,-1.38,-146.6,367.0,-12.5,135,2867,0.00,2.38,0.00,0.000,6,0.000,0.058,2396,1593,3145
$GC,3180,-1.38,-146.6,401.8,-10.7,150,3184,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,207,3146
$GC,3242,-1.38,-146.6,409.2,-11.3,153,3247,0.00,2.40,0.00,0.000,6,0.000,0.058,2396,1599,3146
$GC,3570,-1.38,-146.6,443.0,-10.2,169,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3145
$GC,3879,-1.38,-146.6,474.9,-10.7,184,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3145
$GC,4188,-1.38,-146.6,508.8,-11.0,199,4193,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,211,3144
$GC,4245,-1.38,-146.6,515.6,-12.0,201,4251,0.00,2.40,0.00,0.000,6,0.000,0.058,2396,1599,3144
$GC,4562,-1.38,-146.6,552.4,-11.6,217,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3142
$GC,4870,-1.38,-146.6,587.5,-11.1,232,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3141
$GC,5180,-1.38,-146.6,621.6,-11.1,247,5184,0.00,2.55,0.00,0.000,4,0.000,0.087,2395,213,3141
$GC,5253,-1.38,-146.6,630.6,-12.1,250,5257,0.00,2.40,0.00,0.000,6,0.000,0.058,2395,1599,3141
$GC,5575,-1.38,-146.6,665.3,-10.6,266,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3139
$GC,5884,-1.38,-146.6,699.0,-10.9,281,5888,0.00,2.55,0.00,0.000,4,0.000,0.086,2395,213,3138
$GC,5957,-1.38,-146.6,707.8,-12.1,284,5961,0.00,2.40,0.00,0.000,6,0.000,0.058,2396,1598,3137
$GC,6273,-1.38,-146.6,741.8,-10.6,299,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3136
$GC,6582,-1.38,-146.6,774.6,-10.6,314,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1598,3135
$GC,6891,-1.38,-146.6,807.0,-10.4,329,6896,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,211,3134
$GC,6955,-1.38,-146.6,814.0,-11.3,332,6959,0.00,2.42,0.00,0.000,6,0.000,0.058,2395,1607,3134
$GC,7282,-1.38,-146.6,848.2,-10.4,348,7286,0.00,2.55,0.00,0.000,4,0.000,0.085,2395,213,3133
$GC,7327,-1.38,-146.6,853.4,-11.6,350,7331,0.00,2.42,0.00,0.000,6,0.000,0.058,2395,1607,3133
$GC,7649,-1.38,-146.6,886.9,-10.2,366,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1607,3132
$GC,7959,-1.38,-146.6,918.2,-9.9,381,7963,0.00,2.58,0.00,0.000,4,0.000,0.085,2396,209,3132
$GC,8037,-1.38,-146.6,927.0,-11.6,384,8043,0.00,2.42,0.00,0.000,6,0.000,0.058,2396,1606,3132
$GC,8353,-1.38,-146.6,958.7,-9.9,400,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1605,3131
$GC,8662,-1.38,-146.6,989.5,-10.1,415,8666,0.00,2.25,0.00,0.000,3,0.000,0.081,2396,363,3130
$STATE,8667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8678,-0.32,0.0,990.0,10.0,415,8808,1.15,0.00,125.75,1.391,6,0.120,0.000,2630,2192,2539
$STATE,8809,end apogee,CONTROL_FINISHED_OK
$STATE,8809,begin climb
$GC,8812,1.38,146.6,995.9,0.0,421,8946,1.75,2.78,124.90,1.340,4,0.076,0.099,3007,3606,1941
$GC,9218,1.38,147.2,967.7,10.0,439,9223,0.00,2.53,0.00,0.000,6,0.000,0.066,3006,2194,1941
$GC,9535,1.41,161.9,938.0,9.3,454,9557,0.00,2.70,14.65,1.262,4,0.000,0.087,3007,3603,1878
$GC,9614,1.41,161.9,930.0,10.7,457,9618,0.00,2.50,0.00,0.000,6,0.000,0.064,3007,2201,1878
$GC,9930,1.42,168.1,899.6,9.7,472,9945,0.00,2.72,7.05,1.086,4,0.000,0.086,3006,3611,1853
$GC,9969,1.42,168.1,895.6,10.8,473,9975,0.00,2.53,0.00,0.000,6,0.000,0.064,3006,2201,1853
$GC,10285,1.43,176.7,864.8,9.6,489,10299,0.00,2.67,8.88,1.134,4,0.000,0.086,3006,3605,1818
$GC,10331,1.43,176.7,860.1,10.9,491,10335,0.00,2.53,0.00,0.000,6,0.000,0.064,3006,2196,1818
$GC,10658,1.44,180.6,826.8,9.8,507,10665,0.00,0.00,5.00,0.930,6,0.000,0.000,3007,2195,1801
$GC,10967,1.44,180.6,795.0,10.3,522,10971,0.00,2.62,0.00,0.000,4,0.000,0.086,3007,3604,1801
$GC,11079,1.44,180.6,782.7,10.0,527,11083,0.00,2.50,0.00,0.000,6,0.000,0.065,3007,2200,1801
$GC,11400,1.44,180.6,748.6,10.7,543,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1801
$GC,11710,1.44,180.6,715.4,10.7,558,11714,0.00,2.60,0.00,0.000,4,0.000,0.086,3006,3604,1801
$GC,11773,1.44,180.6,708.3,11.8,561,11777,0.00,2.50,0.00,0.000,6,0.000,0.065,3007,2199,1801
$GC,12100,1.44,180.6,672.7,10.8,577,12105,0.00,2.62,0.00,0.000,4,0.000,0.087,3006,3609,1801
$GC,12141,1.44,180.6,668.3,11.0,579,12145,0.00,2.50,0.00,0.000,6,0.000,0.065,3007,2200,1801
$GC,12468,1.44,180.6,633.4,10.4,595,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2200,1801
$GC,12777,1.44,180.6,600.7,10.7,610,12781,0.00,2.60,0.00,0.000,4,0.000,0.087,3006,3606,1801
$GC,12833,1.44,180.6,594.7,10.4,612,12839,0.00,2.50,0.00,0.000,6,0.000,0.066,3006,2200,1801
$GC,13149,1.44,180.6,561.1,10.9,628,13153,0.00,2.60,0.00,0.000,4,0.000,0.087,3006,3604,1801
$GC,13250,1.44,180.6,549.8,11.8,632,13256,0.00,2.50,0.00,0.000,6,0.000,0.066,3006,2199,1801
$GC,13567,1.44,180.6,514.8,11.0,648,13571,0.00,2.62,0.00,0.000,4,0.000,0.087,3006,3612,1801
$GC,13634,1.44,180.6,506.8,12.0,651,13638,0.00,2.50,0.00,0.000,6,0.000,0.065,3007,2200,1801
$GC,13955,1.44,180.6,471.2,10.7,667,13960,0.00,2.62,0.00,0.000,4,0.000,0.085,3007,3610,1801
$GC,14006,1.44,180.6,465.4,10.9,669,14010,0.00,2.50,0.00,0.000,6,0.000,0.065,3006,2199,1801
$GC,14322,1.44,180.6,431.9,10.5,684,14327,0.00,2.60,0.00,0.000,4,0.000,0.084,3007,3605,1801
$GC,14373,1.44,180.6,426.3,11.5,686,14377,0.00,2.50,0.00,0.000,6,0.000,0.064,3006,2193,1801
$GC,14695,1.46,192.3,394.8,9.5,702,14708,0.00,0.00,11.35,0.961,6,0.000,0.000,3007,2193,1754
$GC,15004,1.48,209.5,365.0,9.2,717,15023,0.00,0.00,15.27,0.936,6,0.000,0.000,3006,2193,1685
$GC,15333,1.48,209.5,331.1,10.3,733,15337,0.00,2.60,0.00,0.000,4,0.000,0.084,3006,3604,1683
$GC,15389,1.48,209.5,324.9,12.7,735,15395,0.00,2.50,0.00,0.000,6,0.000,0.064,3007,2192,1684
$GC,15706,1.48,209.5,289.2,11.9,751,15710,0.00,2.62,0.00,0.000,4,0.000,0.084,3007,3611,1683
$GC,15871,1.48,209.5,268.5,12.6,758,15875,0.00,2.47,0.00,0.000,6,0.000,0.064,3007,2198,1683
$GC,16192,1.48,209.5,229.2,12.0,774,16193,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2198,1683
$GC,16502,1.48,209.5,193.6,11.2,789,16506,0.00,2.60,0.00,0.000,4,0.000,0.084,3007,3611,1683
$GC,16559,1.48,209.5,186.9,11.3,791,16565,0.00,2.47,0.00,0.000,6,0.000,0.063,3007,2197,1683
$GC,16875,1.48,209.5,153.6,10.1,807,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,1683
$GC,17185,1.48,209.5,120.9,10.8,822,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,1683
$GC,17494,1.48,209.5,86.3,11.4,837,17495,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,1683
$GC,17803,1.48,209.5,53.5,10.2,852,17808,0.00,2.58,0.00,0.000,4,0.000,0.084,3007,3605,1683
$GC,17860,1.48,209.5,47.8,10.1,854,17867,0.00,2.45,0.00,0.000,6,0.000,0.064,3007,2195,1683
$GC,18179,1.52,233.6,18.7,8.9,870,18203,0.12,0.00,21.12,0.717,6,0.068,0.000,3044,2196,1585
$STATE,18318,end climb,SURFACE_DEPTH_REACHED
$STATE,18318,begin surface coast
$FINISH,0.6,1.026580
$STATE,18339,end surface coast,CONTROL_FINISHED_OK
$STATE,18339,begin surface
$SM_CCo,18365,41.35,0.709,0,0,1315,300.00
$SM_GC,1.95,0.00,0.00,41.35,0.000,0.000,0.709,380,1602,1315,-10.70,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1930
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,17.5
$24V_AH,23.3,5.732
$10V_AH,10.1,3.217
$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,26.025,152.900,333.975,41.350,0.000,37.766,26.924,160.891,8.750,0.000,0.000,13.431,1653.380,13961.813,513.541,2043.173,601.179,33.363,1533.503,0.000,1992.672,0.000,57.622,0.000
$DEVICE_MAMPS,174.876,98.943,1390.571,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.471,598.984,472.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44241,878
$CAP_FILE_SIZE,133021,0
$CFSIZE,254472192,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,010908,043307,6338.981,-555.126,30,1.0,30,-8.2