version: 66.04
glider: 14
mission: 6
dive: 34
start: 9 5 108 5 44 50
data:
$ID,14
$MISSION,6
$DIVE,34
$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,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$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,-650840.25
$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,1575
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,052808,6323.032,-610.814,31,1.7,31,-8.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-64.1
$GPS2,054429,6323.190,-610.598,9,2.1,28,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6330.826,-627.720
$TGT_RADIUS,1852.000
$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,323.3,20000,-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,-40.92,0.000,2,0.000,0.000,371,1577,2282
$GC,63,-1.38,-146.6,3.0,-5.3,2,110,11.32,2.47,-28.80,0.000,4,0.176,0.077,2396,2970,3138
$GC,231,-1.38,-146.6,21.0,-13.4,9,235,0.00,2.40,0.00,0.000,6,0.000,0.060,2396,1568,3139
$GC,553,-1.38,-146.6,68.7,-13.8,25,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1568,3140
$GC,863,-1.38,-146.6,108.7,-12.7,40,867,0.00,2.45,0.00,0.000,4,0.000,0.081,2396,214,3142
$GC,949,-1.38,-146.6,120.2,-13.5,44,953,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1602,3142
$GC,1276,-1.38,-146.6,161.7,-12.9,60,1280,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,216,3142
$GC,1371,-1.38,-146.6,174.9,-13.8,64,1379,0.00,2.25,0.00,0.000,6,0.000,0.054,2396,1584,3142
$GC,1696,-1.38,-146.6,218.2,-13.4,80,1700,0.00,2.47,0.00,0.000,4,0.000,0.077,2396,206,3143
$GC,1791,-1.38,-146.6,231.8,-13.3,84,1795,0.00,2.25,0.00,0.000,6,0.000,0.054,2396,1575,3143
$GC,2113,-1.38,-146.6,273.7,-13.0,100,2117,0.00,2.47,0.00,0.000,4,0.000,0.079,2396,207,3143
$GC,2203,-1.38,-146.6,285.5,-12.4,104,2207,0.00,2.28,0.00,0.000,6,0.000,0.054,2396,1575,3143
$GC,2524,-1.38,-146.6,322.8,-11.8,120,2528,0.00,2.47,0.00,0.000,4,0.000,0.080,2396,212,3144
$GC,2625,-1.38,-146.6,335.8,-12.1,124,2631,0.00,2.28,0.00,0.000,6,0.000,0.055,2396,1569,3144
$GC,2941,-1.38,-146.6,370.5,-10.6,140,2945,0.00,2.47,0.00,0.000,4,0.000,0.081,2396,211,3145
$GC,2986,-1.38,-146.6,375.6,-11.3,142,2990,0.00,2.30,0.00,0.000,6,0.000,0.055,2396,1578,3145
$GC,3308,-1.38,-146.6,411.7,-11.3,158,3313,0.00,2.47,0.00,0.000,4,0.000,0.080,2396,215,3146
$GC,3449,-1.38,-146.6,429.7,-12.9,164,3453,0.00,2.30,0.00,0.000,6,0.000,0.055,2396,1574,3145
$GC,3766,-1.38,-146.6,467.7,-11.6,179,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3146
$GC,4075,-1.38,-146.6,503.7,-11.2,194,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1574,3145
$GC,4384,-1.38,-146.6,539.1,-11.8,209,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3143
$GC,4693,-1.38,-146.6,574.9,-11.5,224,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3141
$GC,5002,-1.38,-146.6,608.7,-10.5,239,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1575,3141
$GC,5312,-1.38,-146.6,639.7,-10.0,254,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3139
$GC,5621,-1.38,-146.6,670.9,-10.2,269,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3138
$GC,5930,-1.38,-146.6,703.6,-10.5,284,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3136
$GC,6239,-1.38,-146.6,735.6,-10.5,299,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3135
$GC,6549,-1.38,-146.6,768.6,-10.9,314,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1574,3135
$GC,6859,-1.38,-146.6,800.7,-10.3,329,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1575,3133
$GC,7167,-1.38,-146.6,832.1,-10.2,344,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1575,3132
$GC,7477,-1.38,-146.6,863.9,-10.1,359,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1575,3131
$GC,7786,-1.38,-146.6,896.6,-10.8,374,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1575,3131
$GC,8095,-1.38,-146.6,928.8,-10.3,389,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1575,3130
$GC,8404,-1.38,-146.6,960.6,-10.3,404,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1576,3129
$STATE,8710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8710,begin apogee
$GC,8719,-0.32,0.0,991.6,9.9,419,8853,1.20,0.00,126.57,1.360,6,0.130,0.000,2633,2270,2538
$STATE,8854,end apogee,CONTROL_FINISHED_OK
$STATE,8854,begin climb
$GC,8858,1.38,146.6,997.2,0.0,426,8992,1.73,2.72,125.40,1.321,4,0.076,0.094,3005,3674,1940
$GC,9220,1.38,146.6,972.2,10.8,442,9226,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2276,1940
$GC,9537,1.39,149.4,940.8,9.9,458,9543,0.00,0.00,3.88,0.856,6,0.000,0.000,3005,2276,1929
$GC,9846,1.39,153.7,910.0,9.8,473,9853,0.00,0.00,5.53,1.045,6,0.000,0.000,3005,2276,1912
$GC,10156,1.41,163.7,880.5,9.5,488,10168,0.00,0.00,10.23,1.156,6,0.000,0.000,3005,2276,1870
$GC,10464,1.41,163.7,849.9,10.1,503,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2276,1870
$GC,10773,1.41,163.7,818.7,10.3,518,10778,0.00,2.58,0.00,0.000,4,0.000,0.084,3005,3675,1870
$GC,10829,1.41,163.7,812.5,10.7,520,10836,0.00,2.45,0.00,0.000,6,0.000,0.060,3005,2272,1870
$GC,11146,1.41,163.7,780.2,10.3,536,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2272,1870
$GC,11455,1.41,163.7,748.1,10.5,551,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2272,1871
$GC,11765,1.41,163.7,715.7,10.3,566,11769,0.00,2.58,0.00,0.000,4,0.000,0.084,3005,3673,1870
$GC,11832,1.41,163.7,708.5,10.9,569,11836,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2274,1870
$GC,12153,1.42,167.7,676.3,9.8,585,12160,0.00,0.00,4.82,0.865,6,0.000,0.000,3006,2273,1855
$GC,12463,1.44,179.8,646.1,9.4,600,12481,0.00,0.00,11.75,1.053,6,0.000,0.000,3005,2273,1804
$GC,12792,1.45,190.4,614.7,9.5,616,12804,0.00,0.00,10.60,1.015,6,0.000,0.000,3005,2273,1762
$GC,13101,1.46,192.0,584.2,9.9,631,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2272,1761
$GC,13410,1.47,199.1,553.8,9.7,646,13421,0.00,0.00,8.73,0.958,6,0.000,0.000,3005,2272,1727
$GC,13719,1.47,201.6,523.6,9.9,661,13725,0.00,0.00,3.78,0.732,6,0.000,0.000,3005,2272,1717
$GC,14028,1.47,201.6,492.1,10.2,676,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2272,1717
$GC,14338,1.47,201.6,460.3,10.2,691,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2272,1717
$GC,14647,1.47,201.6,426.0,10.9,706,14651,0.00,2.58,0.00,0.000,4,0.000,0.085,3005,3675,1717
$GC,14703,1.47,201.6,419.5,11.3,708,14709,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2273,1717
$GC,15019,1.47,201.6,384.9,10.8,724,15023,0.00,2.58,0.00,0.000,4,0.000,0.085,3006,870,1717
$GC,15149,1.47,201.6,370.9,11.1,730,15153,0.00,2.40,0.00,0.000,6,0.000,0.054,3005,2281,1717
$GC,15477,1.47,201.6,337.3,10.7,746,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2281,1717
$GC,15786,1.47,201.6,304.9,10.1,761,15790,0.00,2.53,0.00,0.000,4,0.000,0.069,3005,867,1717
$GC,15836,1.47,201.6,299.3,10.7,763,15840,0.00,2.40,0.00,0.000,6,0.000,0.054,3005,2276,1717
$GC,16153,1.49,216.2,268.0,9.3,778,16171,0.10,0.00,13.73,0.915,6,0.077,0.000,3032,2275,1656
$GC,16481,1.49,216.2,230.3,12.4,794,16485,0.00,2.53,0.00,0.000,4,0.000,0.070,3032,865,1656
$GC,16700,1.49,216.2,203.2,12.2,803,16706,0.00,2.42,0.00,0.000,6,0.000,0.055,3032,2274,1656
$GC,17016,1.49,216.2,163.9,12.6,819,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2274,1655
$GC,17327,1.49,216.2,126.3,11.8,834,17332,0.00,2.53,0.00,0.000,4,0.000,0.070,3033,861,1655
$GC,17395,1.49,216.2,117.6,12.5,837,17399,0.00,2.42,0.00,0.000,6,0.000,0.055,3032,2279,1655
$GC,17718,1.49,216.2,78.5,12.1,853,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,1655
$GC,18026,1.49,216.2,41.7,11.5,868,18030,0.00,2.53,0.00,0.000,4,0.000,0.068,3032,858,1655
$GC,18099,1.49,216.2,32.3,13.5,871,18104,0.00,2.42,0.00,0.000,6,0.000,0.056,3032,2282,1655
$STATE,18392,end climb,SURFACE_DEPTH_REACHED
$STATE,18392,begin surface coast
$FINISH,0.5,1.015262
$STATE,18415,end surface coast,CONTROL_FINISHED_OK
$STATE,18415,begin surface
$SM_CCo,18441,197.30,0.694,0,0,186,576.95
$SM_GC,1.32,0.00,0.00,197.30,0.000,0.000,0.694,377,1565,186,-10.70,-0.31,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1865
$TCM_TEMP,17.00
$XPDR_PINGS,4
$24V_AH,23.4,8.642
$10V_AH,10.1,4.867
$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,25.925,85.600,325.000,197.300,0.000,191.513,387.862,0.000,9.500,0.000,0.000,31.163,1594.683,14597.663,639.835,1863.320,927.191,0.000,1535.722,0.000,1807.538,0.000,55.993,0.000
$DEVICE_MAMPS,176.410,94.341,1359.891,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.930,605.626,463.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44243,886
$CAP_FILE_SIZE,116738,0
$CFSIZE,254472192,249724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,050908,105638,6325.155,-614.146,26,1.0,26,-8.4