version: 66.04
glider: 14
mission: 6
dive: 27
start: 9 3 108 16 1 44
data:
$ID,14
$MISSION,6
$DIVE,27
$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,-650670.75
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,155338,6326.444,-602.203,36,1.3,36,-8.2
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.0
$GPS2,160050,6326.551,-602.184,13,1.3,30,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.064,-0.248
$KALMAN_X,58738.3,-227.8,476.0,-59115.1,1188.7
$KALMAN_Y,59319.4,-238.7,240.7,-90955.2,2064.7
$MHEAD_RNG_PITCHd_Wd,202.7,86245,-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,13,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,97,0.00,0.00,-75.47,0.000,6,0.000,0.000,382,1588,3139
$GC,102,-1.38,-146.6,6.7,-8.1,4,123,11.45,2.45,0.00,0.000,4,0.183,0.070,2397,214,3142
$GC,395,-1.38,-146.6,63.5,-13.6,17,399,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1624,3144
$GC,723,-1.38,-146.6,103.1,-11.5,33,727,0.00,2.50,0.00,0.000,4,0.000,0.074,2396,216,3147
$GC,840,-1.38,-146.6,118.2,-12.2,38,844,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1603,3148
$GC,1157,-1.38,-146.6,155.2,-11.4,53,1160,0.00,2.50,0.00,0.000,4,0.000,0.075,2396,209,3149
$GC,1258,-1.38,-146.6,168.3,-13.3,57,1263,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1610,3149
$GC,1575,-1.38,-146.6,207.0,-12.4,72,1579,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,210,3150
$GC,1638,-1.38,-146.6,215.6,-14.2,75,1642,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1606,3150
$GC,1971,-1.38,-146.6,257.0,-12.1,91,1975,0.00,2.50,0.00,0.000,4,0.000,0.077,2394,215,3150
$GC,2062,-1.38,-146.6,268.5,-12.7,95,2066,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1610,3150
$GC,2389,-1.38,-146.6,305.7,-11.1,111,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1613,3151
$GC,2699,-1.38,-146.6,339.4,-10.6,126,2703,0.00,2.47,0.00,0.000,4,0.000,0.081,2396,2985,3151
$GC,2727,-1.38,-146.6,342.4,-10.0,127,2731,0.00,2.40,0.00,0.000,6,0.000,0.063,2397,1595,3152
$GC,3049,-1.38,-146.6,376.4,-10.8,143,3053,0.00,2.53,0.00,0.000,4,0.000,0.087,2397,211,3152
$GC,3094,-1.38,-146.6,381.7,-11.8,145,3098,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1606,3152
$GC,3416,-1.38,-146.6,415.8,-10.7,161,3420,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,209,3152
$GC,3534,-1.38,-146.6,429.8,-11.8,166,3538,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1597,3152
$GC,3850,-1.38,-146.6,464.1,-10.4,181,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3152
$GC,4161,-1.38,-146.6,495.5,-9.9,196,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1598,3150
$GC,4470,-1.38,-146.6,525.2,-9.4,211,4474,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,212,3149
$GC,4521,-1.38,-146.6,530.6,-10.3,213,4525,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1599,3149
$GC,4838,-1.38,-146.6,560.2,-9.3,228,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3148
$GC,5147,-1.38,-146.6,590.0,-9.4,243,5151,0.00,2.55,0.00,0.000,4,0.000,0.082,2397,209,3146
$GC,5197,-1.38,-146.6,595.2,-10.1,245,5201,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1600,3146
$GC,5514,-1.38,-146.6,625.7,-10.1,260,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3144
$GC,5823,-1.38,-146.6,658.5,-10.6,275,5827,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,219,3142
$GC,5867,-1.38,-146.6,663.7,-11.4,277,5871,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1600,3142
$GC,6195,-1.38,-146.6,697.9,-10.4,293,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1600,3142
$GC,6504,-1.38,-146.6,729.8,-10.3,308,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3140
$GC,6813,-1.38,-146.6,762.3,-10.5,323,6818,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,218,3139
$GC,6854,-1.38,-146.6,767.1,-12.4,325,6858,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1604,3139
$GC,7181,-1.38,-146.6,803.2,-11.1,341,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3137
$GC,7491,-1.38,-146.6,837.1,-10.8,356,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3136
$GC,7800,-1.38,-146.6,870.4,-10.5,371,7805,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,210,3136
$GC,7842,-1.38,-146.6,875.1,-11.4,373,7846,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1602,3135
$GC,8170,-1.38,-146.6,908.4,-10.0,389,8174,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,2995,3135
$GC,8203,-1.38,-146.6,911.8,-10.1,390,8210,0.00,2.42,0.00,0.000,6,0.000,0.063,2396,1603,3135
$GC,8520,-1.38,-146.6,941.8,-9.3,406,8524,0.00,2.55,0.00,0.000,4,0.000,0.087,2396,207,3135
$GC,8583,-1.38,-146.6,948.1,-10.0,409,8587,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1604,3135
$GC,8910,-1.38,-146.6,979.0,-9.5,425,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1611,3133
$STATE,9031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9031,begin apogee
$GC,9040,-0.32,0.0,990.8,9.6,431,9179,1.15,0.00,130.25,1.345,6,0.117,0.000,2629,2196,2539
$STATE,9180,end apogee,CONTROL_FINISHED_OK
$STATE,9180,begin climb
$GC,9184,1.38,146.6,996.2,0.0,438,9318,1.75,2.65,125.88,1.325,4,0.081,0.083,3003,3593,1940
$GC,9508,1.38,146.6,972.2,11.1,453,9512,0.00,2.42,0.00,0.000,6,0.000,0.058,3003,2194,1939
$GC,9835,1.38,146.6,939.0,10.2,469,9839,0.00,2.55,0.00,0.000,4,0.000,0.076,3003,3594,1939
$GC,9868,1.38,146.6,935.3,10.5,470,9875,0.00,2.42,0.00,0.000,6,0.000,0.056,3002,2199,1939
$GC,10185,1.38,146.6,903.0,10.4,486,10190,0.00,2.53,0.00,0.000,4,0.000,0.077,3003,3594,1939
$GC,10226,1.38,146.6,898.5,11.6,488,10230,0.00,2.42,0.00,0.000,6,0.000,0.057,3003,2200,1939
$GC,10560,1.38,146.6,863.8,10.4,504,10564,0.00,2.58,0.00,0.000,4,0.000,0.077,3003,3602,1939
$GC,10610,1.38,146.6,858.3,10.6,506,10614,0.00,2.40,0.00,0.000,6,0.000,0.057,3003,2200,1938
$GC,10932,1.39,150.1,826.2,9.8,522,10941,0.00,2.58,4.18,0.848,4,0.000,0.077,3002,3599,1926
$GC,10978,1.39,152.9,821.6,9.9,524,10987,0.00,2.42,4.30,0.843,6,0.000,0.057,3002,2200,1915
$GC,11311,1.41,162.9,789.5,9.5,540,11326,0.00,2.60,10.12,1.117,4,0.000,0.076,3003,3593,1874
$GC,11378,1.41,162.9,782.7,10.4,542,11383,0.00,2.42,0.00,0.000,6,0.000,0.057,3002,2201,1873
$GC,11701,1.42,169.2,751.3,9.7,558,11714,0.00,2.62,6.90,1.012,4,0.000,0.077,3003,3594,1848
$GC,11746,1.43,177.4,746.8,9.6,560,11760,0.00,2.45,8.73,1.048,6,0.000,0.057,3003,2198,1815
$GC,12078,1.43,177.4,713.1,10.5,576,12082,0.00,2.55,0.00,0.000,4,0.000,0.076,3002,3596,1813
$GC,12128,1.43,177.4,707.6,11.2,578,12132,0.00,2.45,0.00,0.000,6,0.000,0.058,3003,2195,1814
$GC,12444,1.43,177.4,674.0,10.8,593,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,1814
$GC,12754,1.43,177.4,639.7,11.3,608,12758,0.00,2.55,0.00,0.000,4,0.000,0.077,3003,3601,1813
$GC,12800,1.43,177.4,634.2,12.7,610,12804,0.00,2.42,0.00,0.000,6,0.000,0.058,3003,2202,1813
$GC,13133,1.43,177.4,596.1,11.5,626,13137,0.00,2.53,0.00,0.000,4,0.000,0.077,3003,3593,1813
$GC,13173,1.43,177.4,591.4,11.8,628,13177,0.00,2.45,0.00,0.000,6,0.000,0.058,3003,2190,1812
$GC,13500,1.43,177.4,553.6,11.4,644,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2190,1813
$GC,13809,1.43,177.4,519.2,11.0,659,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2190,1813
$GC,14118,1.43,177.4,484.7,10.9,674,14123,0.00,2.55,0.00,0.000,4,0.000,0.077,3003,3596,1813
$GC,14237,1.43,177.4,471.3,11.0,679,14241,0.00,2.45,0.00,0.000,6,0.000,0.059,3003,2194,1813
$GC,14553,1.43,177.4,438.0,10.4,694,14557,0.00,2.55,0.00,0.000,4,0.000,0.077,3003,3598,1813
$GC,14616,1.43,177.4,431.2,10.7,697,14620,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2199,1813
$GC,14943,1.43,177.4,397.3,10.3,713,14947,0.00,2.58,0.00,0.000,4,0.000,0.085,3003,792,1812
$GC,14982,1.43,177.4,392.7,10.3,714,14988,0.00,2.40,0.00,0.000,6,0.000,0.054,3003,2208,1812
$GC,15299,1.43,177.4,359.1,10.5,730,15303,0.00,2.53,0.00,0.000,4,0.000,0.070,3003,792,1812
$GC,15349,1.43,177.4,353.7,11.1,732,15353,0.00,2.38,0.00,0.000,6,0.000,0.054,3003,2199,1812
$GC,15665,1.47,200.5,323.9,8.9,747,15690,0.00,2.62,19.77,0.953,4,0.000,0.082,3003,3594,1720
$GC,15843,1.47,200.5,305.3,10.8,755,15848,0.00,2.42,0.00,0.000,6,0.000,0.058,3003,2193,1719
$GC,16170,1.47,200.5,271.5,10.1,771,16175,0.00,2.53,0.00,0.000,4,0.000,0.076,3002,3590,1718
$GC,16256,1.47,200.5,262.5,11.1,775,16261,0.00,2.40,0.00,0.000,6,0.000,0.058,3003,2201,1718
$GC,16584,1.47,200.5,226.5,11.5,791,16588,0.00,2.53,0.00,0.000,4,0.000,0.078,3003,3596,1718
$GC,16657,1.47,200.5,217.8,11.7,794,16661,0.00,2.42,0.00,0.000,6,0.000,0.059,3003,2197,1717
$GC,16973,1.47,200.5,181.1,11.8,809,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1717
$GC,17283,1.47,200.5,145.4,11.3,824,17287,0.00,2.55,0.00,0.000,4,0.000,0.081,3003,3595,1717
$GC,17339,1.47,200.5,138.8,11.6,826,17345,0.00,2.42,0.00,0.000,6,0.000,0.061,3003,2197,1717
$GC,17656,1.47,200.5,104.2,11.0,842,17657,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1717
$GC,17965,1.47,200.5,69.3,11.3,857,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1718
$GC,18274,1.47,200.5,36.4,11.0,872,18278,0.00,2.53,0.00,0.000,4,0.000,0.080,3003,3592,1718
$GC,18453,1.47,200.5,17.7,12.1,880,18457,0.00,2.40,0.00,0.000,6,0.000,0.061,3003,2201,1718
$STATE,18612,end climb,SURFACE_DEPTH_REACHED
$STATE,18612,begin surface coast
$FINISH,0.6,1.022920
$STATE,18634,end surface coast,CONTROL_FINISHED_OK
$STATE,18634,begin surface
$SM_CCo,18660,53.42,0.704,0,0,1316,300.00
$SM_GC,1.15,0.00,0.00,53.42,0.000,0.000,0.704,382,1608,1316,-10.69,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1909
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.4,7.484
$10V_AH,10.1,4.261
$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,25.875,170.025,310.125,53.425,0.000,37.764,29.445,208.959,8.500,0.000,0.000,32.342,1685.589,14182.059,511.054,2104.281,664.088,33.372,1563.402,0.000,2033.169,0.000,55.984,0.000
$DEVICE_MAMPS,182.546,86.671,1345.318,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.385,607.660,465.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44273,889
$CAP_FILE_SIZE,139980,0
$CFSIZE,254472192,250171392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,030908,211502,6324.646,-602.701,41,1.3,41,-8.2