version: 66.04
glider: 14
mission: 6
dive: 16
start: 9 1 108 4 40 0
data:
$ID,14
$MISSION,6
$DIVE,16
$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,-650432.38
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,043307,6338.981,-555.126,30,1.0,30,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.5
$GPS2,043902,6339.079,-555.060,10,1.0,10,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,-0.188
$KALMAN_X,38219.3,-16.6,-228.8,-32263.4,3399.8
$KALMAN_Y,35742.5,-203.5,-30.8,-43949.6,3116.9
$MHEAD_RNG_PITCHd_Wd,231.0,109739,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,2,0.000,0.000,380,1594,2762
$GC,83,-1.38,-146.6,4.2,-6.4,3,109,11.38,2.55,-8.20,0.000,4,0.179,0.092,2396,210,3140
$GC,323,-1.38,-146.6,47.1,-14.7,13,329,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1621,3140
$GC,641,-1.38,-146.6,87.8,-12.2,29,645,0.00,2.58,0.00,0.000,4,0.000,0.077,2396,201,3143
$GC,736,-1.38,-146.6,100.2,-12.5,33,740,0.00,2.35,0.00,0.000,6,0.000,0.056,2396,1601,3143
$GC,1058,-1.38,-146.6,140.7,-12.8,49,1062,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,201,3145
$GC,1147,-1.38,-146.6,153.3,-13.9,53,1152,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1605,3145
$GC,1469,-1.38,-146.6,195.4,-12.9,69,1473,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,204,3145
$GC,1548,-1.38,-146.6,206.2,-13.3,72,1552,0.00,2.35,0.00,0.000,6,0.000,0.056,2396,1604,3146
$GC,1870,-1.38,-146.6,246.5,-12.3,88,1874,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,210,3147
$GC,1938,-1.38,-146.6,255.0,-12.5,91,1942,0.00,2.35,0.00,0.000,6,0.000,0.056,2396,1602,3147
$GC,2259,-1.38,-146.6,293.3,-11.7,107,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3148
$GC,2570,-1.38,-146.6,326.6,-10.0,122,2574,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,206,3148
$GC,2625,-1.38,-146.6,333.0,-11.1,124,2632,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1599,3148
$GC,2942,-1.38,-146.6,365.5,-10.3,140,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3148
$GC,3251,-1.38,-146.6,398.3,-10.5,155,3255,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,212,3149
$GC,3336,-1.38,-146.6,408.1,-11.2,159,3340,0.00,2.38,0.00,0.000,6,0.000,0.057,2396,1601,3149
$GC,3663,-1.38,-146.6,443.4,-10.7,175,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3149
$GC,3973,-1.38,-146.6,475.4,-10.6,190,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3149
$GC,4282,-1.38,-146.6,509.6,-10.9,205,4286,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,206,3148
$GC,4344,-1.38,-146.6,517.0,-11.4,208,4348,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1596,3148
$GC,4671,-1.38,-146.6,552.6,-10.9,224,4676,0.00,2.58,0.00,0.000,4,0.000,0.088,2396,2996,3146
$GC,4716,-1.38,-146.6,557.6,-10.6,226,4720,0.00,2.45,0.00,0.000,6,0.000,0.067,2396,1593,3146
$GC,5044,-1.38,-146.6,591.3,-10.3,242,5048,0.00,2.55,0.00,0.000,4,0.000,0.089,2396,207,3144
$GC,5100,-1.38,-146.6,597.6,-10.8,244,5106,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1608,3144
$GC,5416,-1.38,-146.6,630.1,-10.3,260,5420,0.00,2.60,0.00,0.000,4,0.000,0.086,2396,203,3142
$GC,5483,-1.38,-146.6,637.4,-10.3,263,5488,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1597,3143
$GC,5805,-1.38,-146.6,669.8,-10.0,279,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3142
$GC,6115,-1.38,-146.6,699.4,-9.5,294,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3140
$GC,6424,-1.38,-146.6,728.6,-9.3,309,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3139
$GC,6733,-1.38,-146.6,757.1,-9.0,324,6738,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,212,3138
$GC,6801,-1.38,-146.6,764.0,-10.6,327,6805,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1595,3138
$GC,7123,-1.38,-146.6,793.9,-9.4,343,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1595,3137
$GC,7432,-1.38,-146.6,821.7,-9.0,358,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1595,3136
$GC,7741,-1.38,-146.6,849.3,-9.0,373,7745,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,204,3135
$GC,7781,-1.38,-146.6,853.1,-9.8,374,7788,0.00,2.40,0.00,0.000,6,0.000,0.056,2396,1598,3135
$GC,8098,-1.38,-146.6,881.5,-9.1,390,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3135
$GC,8407,-1.38,-146.6,909.5,-9.0,405,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3134
$GC,8717,-1.38,-146.6,936.4,-8.5,420,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3133
$GC,9026,-1.38,-146.6,962.6,-8.6,435,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3133
$GC,9335,-1.38,-146.6,989.7,-9.0,450,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3133
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9352,begin apogee
$GC,9361,-0.32,0.0,991.6,8.9,451,9495,1.17,0.00,127.28,1.367,6,0.118,0.000,2633,2197,2538
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9499,1.38,146.6,996.0,0.0,458,9633,1.73,2.78,125.40,1.328,4,0.077,0.099,3003,3608,1941
$GC,9862,1.38,146.6,966.5,11.6,474,9868,0.00,2.53,0.00,0.000,6,0.000,0.064,3003,2188,1941
$GC,10178,1.38,146.6,932.6,10.5,490,10182,0.00,2.65,0.00,0.000,4,0.000,0.086,3003,3607,1941
$GC,10234,1.38,146.6,926.2,10.5,492,10240,0.00,2.50,0.00,0.000,6,0.000,0.063,3003,2196,1941
$GC,10550,1.38,146.6,893.2,10.3,508,10555,0.00,2.62,0.00,0.000,4,0.000,0.085,3003,3604,1941
$GC,10601,1.38,146.6,887.5,10.5,510,10606,0.00,2.50,0.00,0.000,6,0.000,0.062,3003,2192,1940
$GC,10917,1.38,146.6,855.6,10.0,525,10922,0.00,2.62,0.00,0.000,4,0.000,0.085,3003,3609,1939
$GC,10957,1.38,146.6,851.6,10.7,527,10962,0.00,2.50,0.00,0.000,6,0.000,0.063,3003,2197,1940
$GC,11285,1.39,153.5,819.6,9.7,543,11294,0.00,0.00,7.38,1.078,6,0.000,0.000,3003,2197,1913
$GC,11594,1.40,155.7,789.0,9.9,558,11603,0.00,2.65,3.85,0.798,4,0.000,0.085,3003,3608,1904
$GC,11662,1.40,155.7,782.0,10.3,561,11667,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2200,1903
$GC,11990,1.41,164.0,750.3,9.6,577,12001,0.00,0.00,8.62,1.062,6,0.000,0.000,3003,2200,1870
$GC,12299,1.41,164.0,719.4,10.1,592,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1870
$GC,12609,1.43,177.7,689.9,9.4,607,12630,0.00,2.70,13.10,1.098,4,0.000,0.086,3003,3600,1814
$GC,12726,1.43,177.7,677.5,10.8,612,12731,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2199,1813
$GC,13048,1.43,177.7,644.0,10.8,628,13053,0.00,2.62,0.00,0.000,4,0.000,0.087,3003,3605,1813
$GC,13099,1.43,177.7,638.1,11.1,630,13103,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2200,1813
$GC,13415,1.43,177.7,603.4,10.8,645,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1813
$GC,13725,1.43,177.7,570.2,10.8,660,13729,0.00,2.62,0.00,0.000,4,0.000,0.086,3003,3605,1813
$GC,13765,1.43,177.7,565.7,11.3,662,13769,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2195,1813
$GC,14092,1.43,177.7,530.5,10.6,678,14096,0.00,2.62,0.00,0.000,4,0.000,0.086,3003,3608,1813
$GC,14164,1.43,177.7,522.3,11.5,681,14169,0.00,2.50,0.00,0.000,6,0.000,0.065,3003,2199,1813
$GC,14481,1.43,177.7,487.7,11.3,696,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1813
$GC,14790,1.43,177.7,454.5,10.7,711,14792,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1813
$GC,15100,1.43,177.7,422.0,10.4,726,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1813
$GC,15409,1.43,177.7,388.9,10.9,741,15413,0.00,2.60,0.00,0.000,4,0.000,0.086,3003,3608,1812
$GC,15487,1.43,177.7,379.7,11.0,744,15493,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2191,1812
$GC,15804,1.43,177.7,345.1,10.6,760,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2191,1812
$GC,16113,1.45,186.3,314.5,9.6,775,16127,0.00,2.67,8.75,0.956,4,0.000,0.084,3003,3616,1778
$GC,16398,1.46,194.1,285.1,9.6,787,16412,0.00,2.50,7.85,0.900,6,0.000,0.063,3003,2196,1746
$GC,16736,1.49,214.9,254.7,9.0,804,16757,0.12,0.00,18.08,0.907,6,0.072,0.000,3037,2195,1663
$GC,17065,1.49,214.9,217.8,11.9,820,17067,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,1663
$GC,17374,1.49,214.9,178.5,13.2,835,17376,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,1662
$GC,17684,1.49,214.9,137.7,13.2,850,17689,0.00,2.60,0.00,0.000,4,0.000,0.084,3037,3604,1663
$GC,17734,1.49,214.9,130.7,13.3,852,17739,0.00,2.45,0.00,0.000,6,0.000,0.062,3037,2199,1662
$GC,18051,1.49,214.9,89.8,12.9,867,18052,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,1662
$GC,18360,1.49,214.9,51.1,12.2,882,18365,0.00,2.58,0.00,0.000,4,0.000,0.083,3036,3604,1662
$GC,18462,1.49,214.9,38.4,13.2,886,18468,0.00,2.45,0.00,0.000,6,0.000,0.063,3037,2197,1661
$GC,18779,1.49,214.9,2.3,11.7,902,18780,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2197,1662
$STATE,18796,end climb,SURFACE_DEPTH_REACHED
$STATE,18796,begin surface coast
$FINISH,0.8,1.002374
$STATE,18818,end surface coast,CONTROL_FINISHED_OK
$STATE,18818,begin surface
$SM_CCo,18843,45.60,0.723,0,0,1315,300.00
$SM_GC,1.34,0.00,0.00,45.60,0.000,0.000,0.723,381,1604,1315,-10.69,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1972
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$24V_AH,23.3,5.871
$10V_AH,10.1,3.301
$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,26.025,132.975,320.300,45.600,0.000,39.112,33.028,149.442,8.750,0.000,0.000,12.012,1670.551,14488.100,499.094,2001.412,591.570,33.366,1491.354,0.000,1955.551,0.000,57.618,0.000
$DEVICE_MAMPS,178.711,98.943,1366.794,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.411,616.979,463.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47416,904
$CAP_FILE_SIZE,131904,0
$CFSIZE,254472192,250896384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,010908,095612,6338.381,-556.915,34,1.7,39,-8.3