version: 66.04
glider: 14
mission: 6
dive: 31
start: 9 4 108 13 45 59
data:
$ID,14
$MISSION,6
$DIVE,31
$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,576.94562
$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,-650734.94
$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,1525
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$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
$GPS1,132908,6320.763,-604.538,37,1.2,37,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.3
$GPS2,134503,6320.806,-604.588,13,1.3,13,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,207.0,75573,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-100.38,0.000,2,0.000,0.000,378,1512,2581
$GC,122,-1.38,-146.6,3.4,-3.0,5,154,11.30,2.35,-14.27,0.000,4,0.177,0.089,2396,210,3138
$GC,424,-1.38,-146.6,52.3,-17.2,18,430,0.00,2.22,0.00,0.000,6,0.000,0.054,2396,1558,3142
$GC,740,-1.38,-146.6,95.4,-13.6,34,744,0.00,2.42,0.00,0.000,4,0.000,0.074,2396,213,3145
$GC,960,-1.38,-146.6,126.8,-14.7,44,965,0.00,2.17,0.00,0.000,6,0.000,0.054,2395,1531,3146
$GC,1288,-1.38,-146.6,169.7,-12.7,60,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1536,3148
$GC,1597,-1.38,-146.6,206.8,-11.4,75,1601,0.00,2.38,0.00,0.000,4,0.000,0.076,2396,213,3149
$GC,1660,-1.38,-146.6,214.6,-13.1,78,1664,0.00,2.17,0.00,0.000,6,0.000,0.054,2396,1528,3148
$GC,1987,-1.38,-146.6,253.5,-12.3,94,1991,0.00,2.38,0.00,0.000,4,0.000,0.077,2396,214,3149
$GC,2055,-1.38,-146.6,262.4,-13.8,97,2059,0.00,2.17,0.00,0.000,6,0.000,0.054,2396,1522,3149
$GC,2383,-1.38,-146.6,300.5,-10.9,113,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1526,3149
$GC,2691,-1.38,-146.6,334.9,-11.4,128,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1526,3150
$GC,3001,-1.38,-146.6,373.7,-12.2,143,3005,0.00,2.40,0.00,0.000,4,0.000,0.081,2396,212,3149
$GC,3090,-1.38,-146.6,385.2,-12.9,147,3095,0.00,2.20,0.00,0.000,6,0.000,0.055,2395,1513,3150
$GC,3412,-1.38,-146.6,422.8,-11.8,163,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1516,3150
$GC,3722,-1.38,-146.6,460.4,-12.2,178,3726,0.00,2.50,0.00,0.000,4,0.000,0.080,2396,2911,3150
$GC,3761,-1.38,-146.6,465.2,-11.1,179,3768,0.00,2.40,0.00,0.000,6,0.000,0.064,2396,1529,3150
$GC,4077,-1.38,-146.6,503.2,-11.9,195,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1529,3150
$GC,4387,-1.38,-146.6,539.9,-12.0,210,4391,0.00,2.47,0.00,0.000,4,0.000,0.072,2396,2919,3150
$GC,4415,-1.38,-146.6,543.6,-12.7,211,4419,0.00,2.42,0.00,0.000,6,0.000,0.064,2396,1527,3150
$GC,4731,-1.38,-146.6,581.3,-11.9,226,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1527,3148
$GC,5041,-1.38,-146.6,617.5,-11.6,241,5045,0.00,2.45,0.00,0.000,4,0.000,0.072,2396,2912,3147
$GC,5081,-1.38,-146.6,622.3,-11.7,243,5085,0.00,2.42,0.00,0.000,6,0.000,0.066,2396,1526,3146
$GC,5408,-1.38,-146.6,658.4,-10.7,259,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1526,3145
$GC,5717,-1.38,-146.6,690.1,-10.3,274,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1526,3144
$GC,6027,-1.38,-146.6,722.0,-10.3,289,6031,0.00,2.45,0.00,0.000,4,0.000,0.072,2396,2911,3143
$GC,6068,-1.38,-146.6,726.5,-10.8,291,6072,0.00,2.42,0.00,0.000,6,0.000,0.066,2396,1517,3143
$GC,6401,-1.38,-146.6,761.4,-10.6,307,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1516,3141
$GC,6710,-1.38,-146.6,794.1,-10.5,322,6714,0.00,2.47,0.00,0.000,4,0.000,0.071,2396,2918,3140
$GC,6750,-1.38,-146.6,798.3,-10.7,324,6755,0.00,2.42,0.00,0.000,6,0.000,0.064,2396,1528,3140
$GC,7078,-1.38,-146.6,834.0,-11.1,340,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1528,3139
$GC,7387,-1.38,-146.6,868.8,-11.2,355,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1528,3138
$GC,7697,-1.38,-146.6,903.8,-11.2,370,7701,0.00,2.45,0.00,0.000,4,0.000,0.068,2396,2922,3137
$GC,7730,-1.38,-146.6,907.8,-11.2,371,7736,0.00,2.45,0.00,0.000,6,0.000,0.063,2395,1517,3137
$GC,8046,-1.38,-146.6,941.8,-10.6,387,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1516,3136
$GC,8356,-1.38,-146.6,974.5,-10.9,402,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1516,3135
$STATE,8517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8517,begin apogee
$GC,8526,-0.32,0.0,992.3,10.6,410,8660,1.17,0.00,128.52,1.305,6,0.117,0.000,2633,2268,2539
$STATE,8661,end apogee,CONTROL_FINISHED_OK
$STATE,8661,begin climb
$GC,8665,1.38,146.6,999.0,0.0,417,8810,1.73,2.72,128.43,1.302,4,0.076,0.091,3005,3661,1941
$GC,8928,1.39,151.4,987.8,9.8,429,8939,0.00,2.45,5.82,1.065,6,0.000,0.061,3005,2268,1921
$GC,9256,1.40,158.0,956.6,9.7,445,9265,0.00,0.00,7.07,1.129,6,0.000,0.000,3005,2268,1895
$GC,9565,1.40,158.9,925.6,10.0,460,9569,0.00,2.60,0.00,0.000,4,0.000,0.084,3005,3672,1895
$GC,9605,1.40,158.9,921.4,11.2,462,9609,0.00,2.45,0.00,0.000,6,0.000,0.060,3005,2273,1896
$GC,9932,1.40,158.9,888.1,10.0,478,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2273,1895
$GC,10241,1.41,160.8,857.6,9.9,493,10247,0.00,0.00,3.88,0.830,6,0.000,0.000,3005,2273,1883
$GC,10551,1.41,166.3,827.2,9.7,508,10559,0.00,0.00,6.57,1.013,6,0.000,0.000,3005,2273,1860
$GC,10860,1.41,166.3,796.4,10.0,523,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2273,1860
$GC,11169,1.43,176.8,766.2,9.5,538,11185,0.00,2.65,10.62,1.104,4,0.000,0.083,3005,3671,1818
$GC,11225,1.43,176.8,760.6,10.1,539,11231,0.00,2.47,0.00,0.000,6,0.000,0.061,3005,2266,1818
$GC,11542,1.44,183.1,729.9,9.7,555,11550,0.00,0.00,6.72,0.986,6,0.000,0.000,3005,2267,1792
$GC,11851,1.46,193.4,700.0,9.5,570,11863,0.00,0.00,10.38,1.056,6,0.000,0.000,3005,2266,1750
$GC,12159,1.46,193.4,668.6,10.2,585,12164,0.00,2.60,0.00,0.000,4,0.000,0.084,3005,3674,1751
$GC,12210,1.46,193.4,662.8,10.5,587,12214,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2273,1750
$GC,12526,1.46,193.4,630.2,10.6,602,12531,0.00,2.55,0.00,0.000,4,0.000,0.078,3005,870,1750
$GC,12572,1.46,193.4,625.2,10.4,604,12576,0.00,2.42,0.00,0.000,6,0.000,0.054,3005,2284,1750
$GC,12894,1.46,193.4,590.2,10.9,620,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2284,1750
$GC,13203,1.46,193.4,557.4,10.6,635,13207,0.00,2.58,0.00,0.000,4,0.000,0.072,3005,862,1750
$GC,13243,1.46,193.4,553.1,10.9,637,13247,0.00,2.42,0.00,0.000,6,0.000,0.054,3005,2279,1750
$GC,13570,1.46,193.4,519.5,10.1,653,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2280,1750
$GC,13879,1.46,193.4,489.0,10.5,668,13883,0.00,2.55,0.00,0.000,4,0.000,0.072,3005,866,1750
$GC,13929,1.46,193.4,483.3,10.6,670,13933,0.00,2.42,0.00,0.000,6,0.000,0.054,3005,2284,1750
$GC,14246,1.48,206.7,453.4,9.4,685,14265,0.00,0.00,12.70,0.986,6,0.000,0.000,3005,2284,1695
$GC,14575,1.48,206.7,419.7,10.9,701,14579,0.00,2.55,0.00,0.000,4,0.000,0.071,3005,862,1695
$GC,14683,1.48,206.7,407.1,10.9,705,14690,0.00,2.42,0.00,0.000,6,0.000,0.054,3005,2279,1695
$GC,15000,1.48,206.7,372.6,10.8,721,15004,0.00,2.60,0.00,0.000,4,0.000,0.091,3005,3672,1695
$GC,15085,1.48,206.7,362.7,11.3,725,15089,0.00,2.42,0.00,0.000,6,0.000,0.060,3005,2267,1695
$GC,15413,1.48,206.7,327.3,11.0,741,15417,0.00,2.58,0.00,0.000,4,0.000,0.084,3005,3671,1695
$GC,15536,1.48,206.7,313.8,10.6,746,15542,0.00,2.40,0.00,0.000,6,0.000,0.060,3005,2276,1695
$GC,15852,1.48,208.4,282.8,9.9,762,15857,0.10,2.58,0.00,0.000,4,0.075,0.083,3034,3677,1695
$GC,15897,1.48,208.4,277.8,10.9,764,15902,0.00,2.45,0.00,0.000,6,0.000,0.061,3034,2267,1695
$GC,16219,1.48,208.4,241.9,11.4,780,16224,0.00,2.55,0.00,0.000,4,0.000,0.084,3034,3672,1695
$GC,16270,1.48,208.4,235.6,12.3,782,16274,0.00,2.42,0.00,0.000,6,0.000,0.062,3034,2276,1695
$GC,16586,1.48,208.4,197.9,12.1,797,16591,0.00,2.55,0.00,0.000,4,0.000,0.083,3034,3674,1695
$GC,16643,1.48,208.4,190.7,11.9,799,16649,0.00,2.42,0.00,0.000,6,0.000,0.062,3034,2277,1695
$GC,16959,1.48,208.4,153.5,11.4,815,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2278,1696
$GC,17269,1.48,208.4,117.7,11.7,830,17273,0.00,2.55,0.00,0.000,4,0.000,0.082,3034,3678,1696
$GC,17319,1.48,208.4,111.2,13.4,832,17323,0.00,2.45,0.00,0.000,6,0.000,0.061,3034,2266,1696
$GC,17641,1.48,208.4,77.1,10.4,848,17645,0.00,2.55,0.00,0.000,4,0.000,0.081,3034,3674,1696
$GC,17727,1.48,208.4,67.8,10.4,852,17731,0.00,2.42,0.00,0.000,6,0.000,0.062,3034,2269,1697
$GC,18056,1.49,213.4,35.7,9.8,868,18070,0.00,2.60,7.28,0.653,4,0.000,0.077,3034,868,1670
$GC,18236,1.49,213.4,14.3,10.2,876,18240,0.00,2.40,0.00,0.000,6,0.000,0.055,3034,2288,1669
$STATE,18353,end climb,SURFACE_DEPTH_REACHED
$STATE,18354,begin surface coast
$FINISH,0.5,1.007054
$STATE,18376,end surface coast,CONTROL_FINISHED_OK
$STATE,18376,begin surface
$SM_CCo,18402,197.98,0.676,0,0,186,576.95
$SM_GC,1.09,0.00,0.00,197.98,0.000,0.000,0.676,380,1510,186,-10.70,-0.42,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1829
$TCM_TEMP,16.50
$XPDR_PINGS,4
$24V_AH,23.4,8.157
$10V_AH,10.1,4.610
$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,25.875,135.150,328.000,197.975,0.000,193.756,375.786,0.000,9.500,0.000,0.000,15.226,1631.956,14319.343,706.859,1953.686,949.136,33.381,1684.018,0.000,1907.926,0.000,55.999,0.000
$DEVICE_MAMPS,177.177,91.273,1304.667,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.676,602.768,467.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44299,883
$CAP_FILE_SIZE,128965,0
$CFSIZE,254472192,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,040908,185708,6319.002,-604.990,25,1.6,25,-8.2