version: 66.04
glider: 14
mission: 6
dive: 26
start: 9 3 108 10 40 41
data:
$ID,14
$MISSION,6
$DIVE,26
$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,-650637.81
$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,25
$R_STBD_OVSHOOT,27
$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,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
$GPS1,102938,6327.317,-601.201,36,1.6,36,-8.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-53.2
$GPS2,103945,6327.350,-601.272,11,1.0,11,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.162,-0.198
$KALMAN_X,56916.0,140.2,-536.0,-55909.8,3170.2
$KALMAN_Y,57007.7,0.6,-130.2,-87033.9,2814.2
$MHEAD_RNG_PITCHd_Wd,227.5,87749,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.10,0.000,2,0.000,0.000,382,1586,2725
$GC,82,-1.38,-146.6,3.7,-5.8,3,109,11.30,2.53,-9.70,0.000,4,0.178,0.082,2394,3006,3138
$GC,328,-1.38,-146.6,43.2,-13.1,14,332,0.00,2.42,0.00,0.000,6,0.000,0.060,2394,1599,3139
$GC,650,-1.38,-146.6,84.4,-13.5,30,654,0.00,2.50,0.00,0.000,4,0.000,0.082,2396,215,3142
$GC,838,-1.38,-146.6,110.5,-13.7,38,842,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1619,3143
$GC,1155,-1.38,-146.6,149.5,-11.6,53,1162,0.00,2.55,0.00,0.000,4,0.000,0.077,2395,212,3143
$GC,1248,-1.38,-146.6,161.5,-12.8,57,1253,0.00,2.33,0.00,0.000,6,0.000,0.055,2394,1601,3143
$GC,1578,-1.38,-146.6,200.3,-11.8,73,1582,0.00,2.50,0.00,0.000,4,0.000,0.077,2394,212,3143
$GC,1724,-1.38,-146.6,219.3,-12.6,79,1731,0.00,2.33,0.00,0.000,6,0.000,0.055,2395,1597,3143
$GC,2041,-1.38,-146.6,254.7,-11.2,95,2045,0.00,2.50,0.00,0.000,4,0.000,0.077,2394,215,3144
$GC,2131,-1.38,-146.6,265.7,-11.4,99,2136,0.00,2.33,0.00,0.000,6,0.000,0.056,2395,1598,3144
$GC,2466,-1.38,-146.6,302.0,-11.4,115,2470,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,212,3146
$GC,2647,-1.38,-146.6,326.2,-13.5,123,2651,0.00,2.38,0.00,0.000,6,0.000,0.056,2394,1610,3146
$GC,2969,-1.38,-146.6,366.2,-12.4,139,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1613,3147
$GC,3278,-1.38,-146.6,403.9,-12.0,154,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1613,3147
$GC,3587,-1.38,-146.6,439.8,-11.2,169,3591,0.00,2.55,0.00,0.000,4,0.000,0.080,2394,215,3147
$GC,3643,-1.38,-146.6,446.7,-12.4,171,3649,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1600,3147
$GC,3959,-1.38,-146.6,480.4,-10.3,187,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3147
$GC,4268,-1.38,-146.6,511.8,-10.2,202,4273,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,207,3145
$GC,4325,-1.38,-146.6,518.2,-11.3,204,4331,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1603,3145
$GC,4642,-1.38,-146.6,552.1,-11.2,220,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3143
$GC,4951,-1.38,-146.6,586.0,-10.8,235,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1603,3142
$GC,5260,-1.38,-146.6,619.4,-10.5,250,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3141
$GC,5570,-1.38,-146.6,651.0,-10.0,265,5574,0.00,2.55,0.00,0.000,4,0.000,0.084,2394,208,3140
$GC,5610,-1.38,-146.6,655.5,-11.2,267,5614,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1596,3140
$GC,5937,-1.38,-146.6,687.6,-9.7,283,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1597,3138
$GC,6247,-1.38,-146.6,717.8,-9.9,298,6251,0.00,2.53,0.00,0.000,4,0.000,0.084,2394,215,3137
$GC,6303,-1.38,-146.6,723.9,-11.1,300,6309,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1601,3136
$GC,6620,-1.38,-146.6,756.0,-10.2,316,6624,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,209,3135
$GC,6667,-1.38,-146.6,761.2,-11.6,318,6672,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1602,3135
$GC,6995,-1.38,-146.6,795.1,-10.4,334,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1602,3134
$GC,7306,-1.38,-146.6,826.6,-10.0,349,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1602,3134
$GC,7614,-1.38,-146.6,856.9,-9.6,364,7618,0.00,2.55,0.00,0.000,4,0.000,0.083,2394,208,3133
$GC,7654,-1.38,-146.6,861.1,-10.8,366,7659,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1603,3132
$GC,7982,-1.38,-146.6,892.1,-9.2,382,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1603,3131
$GC,8292,-1.38,-146.6,919.8,-9.1,397,8296,0.00,2.55,0.00,0.000,4,0.000,0.082,2394,209,3131
$GC,8336,-1.38,-146.6,924.4,-10.0,399,8341,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1596,3131
$GC,8658,-1.38,-146.6,954.7,-9.6,415,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1597,3130
$GC,8968,-1.38,-146.6,984.4,-9.7,430,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1597,3129
$STATE,9026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9026,begin apogee
$GC,9035,-0.32,0.0,990.4,9.7,433,9169,1.17,0.00,126.68,1.384,6,0.115,0.000,2633,2197,2539
$STATE,9169,end apogee,CONTROL_FINISHED_OK
$STATE,9169,begin climb
$GC,9173,1.38,146.6,995.5,0.0,440,9306,1.75,2.75,124.65,1.350,4,0.086,0.096,3003,3602,1941
$GC,9428,1.38,146.6,979.1,11.4,451,9434,0.00,2.50,0.00,0.000,6,0.000,0.062,3003,2194,1941
$GC,9744,1.38,146.6,945.7,10.7,467,9749,0.00,2.62,0.00,0.000,4,0.000,0.084,3002,3604,1940
$GC,9800,1.38,146.6,939.4,12.0,469,9806,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2198,1940
$GC,10116,1.38,146.6,905.1,11.0,485,10121,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3602,1940
$GC,10185,1.38,146.6,897.1,11.7,488,10190,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2195,1939
$GC,10507,1.38,146.6,861.8,10.9,504,10512,0.00,2.62,0.00,0.000,4,0.000,0.084,3003,3608,1938
$GC,10549,1.38,146.6,857.3,11.2,506,10553,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2199,1939
$GC,10876,1.38,146.6,822.5,10.6,522,10881,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3602,1939
$GC,10926,1.38,146.6,817.1,10.8,524,10931,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2194,1939
$GC,11243,1.39,150.6,785.7,9.8,539,11253,0.00,2.65,4.97,0.951,4,0.000,0.084,3003,3601,1924
$GC,11315,1.39,150.6,778.0,10.5,542,11320,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2200,1924
$GC,11632,1.39,153.3,747.0,9.9,557,11638,0.00,0.00,4.03,0.810,6,0.000,0.000,3003,2200,1913
$GC,11941,1.39,153.3,715.5,10.5,572,11945,0.00,2.60,0.00,0.000,4,0.000,0.085,3003,3601,1913
$GC,11997,1.39,153.3,709.3,11.4,574,12003,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2197,1913
$GC,12313,1.39,153.3,676.1,10.6,590,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2198,1913
$GC,12622,1.39,153.3,643.2,10.5,605,12627,0.00,2.60,0.00,0.000,4,0.000,0.086,3003,3602,1912
$GC,12690,1.39,153.3,635.4,11.9,608,12694,0.00,2.47,0.00,0.000,6,0.000,0.063,3003,2198,1912
$GC,13011,1.39,153.3,602.4,10.0,624,13016,0.00,2.60,0.00,0.000,4,0.000,0.085,3003,3608,1913
$GC,13079,1.39,153.3,595.1,10.7,627,13083,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2199,1913
$GC,13401,1.42,168.8,564.3,9.3,643,13422,0.00,2.67,14.07,1.049,4,0.000,0.084,3002,3606,1850
$GC,13457,1.43,173.3,558.7,9.8,645,13469,0.00,2.50,5.30,0.845,6,0.000,0.062,3003,2199,1832
$GC,13779,1.44,179.8,527.4,9.7,661,13788,0.00,0.00,7.07,0.934,6,0.000,0.000,3003,2199,1806
$GC,14088,1.44,179.8,495.5,10.2,676,14093,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3603,1806
$GC,14121,1.44,179.8,491.9,10.6,677,14128,0.00,2.47,0.00,0.000,6,0.000,0.063,3003,2192,1805
$GC,14438,1.46,195.0,461.6,9.3,693,14456,0.00,0.00,14.00,1.000,6,0.000,0.000,3003,2192,1743
$GC,14767,1.46,195.0,428.9,10.1,709,14772,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3604,1743
$GC,14868,1.46,195.0,418.3,10.3,713,14874,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2199,1742
$GC,15184,1.47,199.9,387.4,9.8,729,15195,0.00,2.65,5.75,0.890,4,0.000,0.084,3003,3609,1722
$GC,15286,1.47,199.9,376.6,10.2,733,15292,0.00,2.50,0.00,0.000,6,0.000,0.063,3003,2194,1722
$GC,15602,1.47,199.9,342.5,11.6,749,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,1722
$GC,15911,1.47,199.9,308.4,10.5,764,15915,0.00,2.55,0.00,0.000,4,0.000,0.081,3003,795,1722
$GC,16080,1.47,199.9,289.8,11.2,771,16085,0.00,2.42,0.00,0.000,6,0.000,0.054,3003,2216,1722
$GC,16397,1.47,199.9,256.8,10.5,786,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2216,1721
$GC,16706,1.47,199.9,223.0,10.9,801,16710,0.00,2.53,0.00,0.000,4,0.000,0.071,3003,793,1721
$GC,16791,1.47,199.9,213.1,12.7,804,16797,0.00,2.40,0.00,0.000,6,0.000,0.055,3003,2197,1721
$GC,17107,1.47,199.9,179.4,10.5,820,17109,0.10,0.00,0.00,0.000,6,0.072,0.000,3033,2197,1721
$GC,17417,1.47,199.9,143.9,11.6,835,17421,0.00,2.53,0.00,0.000,4,0.000,0.073,3034,792,1721
$GC,17467,1.47,199.9,137.6,12.2,837,17471,0.00,2.38,0.00,0.000,6,0.000,0.056,3034,2200,1721
$GC,17789,1.47,199.9,99.6,11.7,853,17793,0.00,2.50,0.00,0.000,4,0.000,0.070,3033,791,1721
$GC,17845,1.47,199.9,92.5,11.9,855,17851,0.00,2.40,0.00,0.000,6,0.000,0.057,3034,2200,1721
$GC,18163,1.47,199.9,54.7,11.6,871,18167,0.00,2.50,0.00,0.000,4,0.000,0.070,3034,787,1721
$GC,18248,1.47,199.9,44.9,11.1,875,18253,0.00,2.42,0.00,0.000,6,0.000,0.058,3034,2203,1720
$GC,18577,1.47,199.9,4.0,13.5,891,18578,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2203,1721
$STATE,18593,end climb,SURFACE_DEPTH_REACHED
$STATE,18594,begin surface coast
$FINISH,0.6,1.013075
$STATE,18615,end surface coast,CONTROL_FINISHED_OK
$STATE,18616,begin surface
$SM_CCo,18641,55.75,0.711,0,0,1315,300.00
$SM_GC,1.05,0.00,0.00,55.75,0.000,0.000,0.711,381,1587,1315,-10.69,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1933
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.4,7.344
$10V_AH,10.1,4.175
$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,25.925,156.825,306.525,55.750,0.000,76.879,67.382,261.975,8.750,0.000,0.000,13.145,1677.522,14259.729,520.312,2056.892,793.061,33.377,1547.709,0.000,2006.700,0.000,58.765,0.000
$DEVICE_MAMPS,177.944,95.875,1383.668,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.511,609.334,463.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44152,893
$CAP_FILE_SIZE,139516,0
$CFSIZE,254472192,250236928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,030908,155338,6326.444,-602.203,36,1.3,36,-8.2