version: 66.04
glider: 14
mission: 6
dive: 36
start: 9 5 108 16 42 12
data:
$ID,14
$MISSION,6
$DIVE,36
$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,-650870.44
$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,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
$GPS1,162556,6327.431,-615.042,35,1.6,35,-8.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.0
$GPS2,164150,6327.676,-614.695,11,1.1,11,-8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6335.312,-631.862
$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,323.4,20000,-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,13,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,119,0.00,0.00,-100.62,0.000,2,0.000,0.000,381,1573,2607
$GC,123,-1.38,-146.6,3.7,-2.5,5,154,11.40,2.47,-12.75,0.000,4,0.182,0.078,2395,2972,3137
$GC,264,-1.38,-146.6,25.6,-15.3,11,268,0.00,2.42,0.00,0.000,6,0.000,0.061,2395,1570,3138
$GC,592,-1.38,-146.6,76.7,-14.5,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1569,3143
$GC,901,-1.38,-146.6,122.4,-14.5,42,906,0.00,2.45,0.00,0.000,4,0.000,0.081,2395,214,3144
$GC,975,-1.38,-146.6,134.3,-16.6,45,979,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1603,3144
$GC,1291,-1.38,-146.6,178.3,-13.1,60,1295,0.00,2.53,0.00,0.000,4,0.000,0.078,2394,204,3145
$GC,1409,-1.38,-146.6,194.0,-13.1,65,1413,0.00,2.28,0.00,0.000,6,0.000,0.054,2395,1577,3146
$GC,1731,-1.38,-146.6,230.3,-10.9,81,1735,0.00,2.47,0.00,0.000,4,0.000,0.078,2395,212,3146
$GC,1939,-1.38,-146.6,255.1,-12.5,90,1943,0.00,2.25,0.00,0.000,6,0.000,0.055,2395,1569,3147
$GC,2261,-1.38,-146.6,291.5,-11.4,106,2265,0.00,2.47,0.00,0.000,4,0.000,0.081,2395,215,3148
$GC,2408,-1.38,-146.6,309.7,-12.6,112,2414,0.00,2.30,0.00,0.000,6,0.000,0.055,2395,1578,3148
$GC,2724,-1.38,-146.6,345.9,-11.2,128,2728,0.00,2.50,0.00,0.000,4,0.000,0.081,2395,212,3148
$GC,2758,-1.38,-146.6,349.9,-11.6,129,2765,0.00,2.30,0.00,0.000,6,0.000,0.055,2395,1579,3148
$GC,3074,-1.38,-146.6,385.4,-11.4,145,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1582,3148
$GC,3383,-1.38,-146.6,422.8,-12.7,160,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1582,3148
$GC,3692,-1.38,-146.6,461.2,-12.4,175,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1582,3146
$GC,4002,-1.38,-146.6,499.1,-12.0,190,4006,0.00,2.50,0.00,0.000,4,0.000,0.083,2394,215,3144
$GC,4041,-1.38,-146.6,504.3,-12.9,191,4048,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1574,3144
$GC,4358,-1.38,-146.6,541.3,-11.6,207,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1575,3143
$GC,4668,-1.38,-146.6,576.7,-11.4,222,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1574,3142
$GC,4976,-1.38,-146.6,609.7,-10.7,237,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1574,3141
$GC,5285,-1.38,-146.6,642.9,-10.6,252,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1574,3140
$GC,5595,-1.38,-146.6,674.0,-10.0,267,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1574,3138
$GC,5904,-1.38,-146.6,704.6,-10.1,282,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1574,3137
$GC,6213,-1.38,-146.6,736.9,-10.6,297,6217,0.00,2.47,0.00,0.000,4,0.000,0.084,2394,215,3136
$GC,6253,-1.38,-146.6,741.5,-11.8,298,6259,0.00,2.30,0.00,0.000,6,0.000,0.054,2394,1573,3136
$GC,6570,-1.38,-146.6,773.7,-9.8,314,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1573,3135
$GC,6879,-1.38,-146.6,803.3,-9.7,329,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1573,3135
$GC,7188,-1.38,-146.6,833.4,-9.7,344,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1573,3134
$GC,7497,-1.38,-146.6,863.2,-9.7,359,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1573,3133
$GC,7806,-1.38,-146.6,893.6,-10.1,374,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1573,3131
$GC,8115,-1.38,-146.6,924.7,-10.1,389,8120,0.00,2.47,0.00,0.000,4,0.000,0.082,2395,215,3132
$GC,8149,-1.38,-146.6,928.5,-12.7,390,8153,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1579,3132
$GC,8465,-1.38,-146.6,961.1,-10.3,405,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1581,3131
$STATE,8750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8751,begin apogee
$GC,8760,-0.32,0.0,991.2,10.5,419,8893,1.17,0.00,125.25,1.338,6,0.120,0.000,2630,2262,2539
$STATE,8894,end apogee,CONTROL_FINISHED_OK
$STATE,8894,begin climb
$GC,8898,1.38,146.6,997.8,0.0,426,9044,1.75,2.75,129.20,1.312,4,0.081,0.091,3004,3665,1941
$GC,9292,1.38,146.6,973.6,10.4,443,9298,0.00,2.42,0.00,0.000,6,0.000,0.060,3004,2275,1941
$GC,9608,1.39,147.9,942.2,9.9,459,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2275,1941
$GC,9917,1.39,147.9,911.1,10.1,474,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2275,1941
$GC,10227,1.39,149.5,880.0,9.9,489,10233,0.00,0.00,4.03,0.876,6,0.000,0.000,3004,2275,1928
$GC,10536,1.39,149.5,848.3,10.2,504,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,1929
$GC,10846,1.39,152.1,818.5,9.9,519,10852,0.00,0.00,4.35,0.863,6,0.000,0.000,3004,2275,1918
$GC,11155,1.41,162.2,788.4,9.5,534,11167,0.00,0.00,10.18,1.115,6,0.000,0.000,3004,2275,1877
$GC,11464,1.41,162.3,757.7,10.0,549,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2275,1877
$GC,11773,1.41,162.3,726.7,10.0,564,11777,0.00,2.53,0.00,0.000,4,0.000,0.077,3004,870,1877
$GC,11841,1.41,162.3,719.4,10.6,567,11846,0.00,2.42,0.00,0.000,6,0.000,0.056,3004,2281,1877
$GC,12169,1.41,162.3,686.9,10.0,583,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2282,1877
$GC,12479,1.42,169.0,656.9,9.7,598,12493,0.00,2.62,7.25,0.972,4,0.000,0.071,3004,864,1850
$GC,12569,1.42,169.0,647.7,11.3,602,12573,0.00,2.45,0.00,0.000,6,0.000,0.056,3004,2281,1850
$GC,12896,1.43,178.8,616.6,9.5,618,12911,0.00,2.58,9.82,1.006,4,0.000,0.071,3004,869,1810
$GC,12957,1.43,178.8,610.3,10.6,620,12962,0.00,2.45,0.00,0.000,6,0.000,0.055,3004,2283,1809
$GC,13285,1.43,178.8,576.8,10.5,636,13287,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2284,1810
$GC,13595,1.43,178.8,544.2,10.5,651,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2284,1810
$GC,13904,1.43,178.8,511.5,10.5,666,13908,0.00,2.55,0.00,0.000,4,0.000,0.071,3004,870,1810
$GC,13999,1.43,178.8,500.6,11.7,670,14003,0.00,2.42,0.00,0.000,6,0.000,0.054,3004,2284,1809
$GC,14316,1.43,178.8,468.1,10.0,685,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2284,1809
$GC,14625,1.45,191.6,438.6,9.4,700,14644,0.00,0.00,12.45,0.941,6,0.000,0.000,3004,2284,1756
$GC,14954,1.46,193.4,406.4,9.9,716,14959,0.00,2.55,0.00,0.000,4,0.000,0.071,3004,864,1756
$GC,15018,1.48,204.7,400.1,9.5,719,15039,0.00,2.42,12.30,0.930,6,0.000,0.054,3004,2281,1704
$GC,15350,1.50,221.8,368.4,9.2,735,15369,0.12,0.00,15.70,0.923,6,0.074,0.000,3037,2281,1634
$GC,15679,1.50,221.8,332.4,11.9,751,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2281,1633
$GC,15988,1.50,221.8,291.9,13.1,766,15993,0.00,2.53,0.00,0.000,4,0.000,0.069,3037,869,1634
$GC,16106,1.50,221.8,274.8,14.5,771,16111,0.00,2.42,0.00,0.000,6,0.000,0.054,3037,2281,1633
$GC,16423,1.50,221.8,233.4,12.5,786,16428,0.00,2.55,0.00,0.000,4,0.000,0.069,3037,861,1634
$GC,16513,1.50,221.8,220.8,13.1,790,16518,0.00,2.42,0.00,0.000,6,0.000,0.055,3037,2274,1633
$GC,16836,1.50,221.8,182.6,11.3,806,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2274,1633
$GC,17145,1.51,223.6,149.9,9.9,821,17150,0.00,2.53,0.00,0.000,4,0.000,0.069,3037,865,1634
$GC,17196,1.51,223.6,144.4,10.4,823,17200,0.00,2.42,0.00,0.000,6,0.000,0.055,3037,2283,1633
$GC,17518,1.51,223.6,111.0,10.8,839,17519,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2283,1633
$GC,17827,1.51,223.6,78.9,10.5,854,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2283,1634
$GC,18138,1.51,228.7,49.2,9.8,869,18151,0.00,2.60,6.50,0.702,4,0.000,0.069,3037,861,1606
$GC,18291,1.51,228.7,32.0,10.8,875,18297,0.00,2.42,0.00,0.000,6,0.000,0.056,3037,2282,1606
$STATE,18563,end climb,SURFACE_DEPTH_REACHED
$STATE,18563,begin surface coast
$FINISH,0.7,1.009117
$STATE,18585,end surface coast,CONTROL_FINISHED_OK
$STATE,18585,begin surface
$SM_CCo,18611,197.50,0.713,0,0,187,576.95
$SM_GC,1.16,0.00,0.00,197.50,0.000,0.000,0.713,382,1566,187,-10.69,-0.25,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,16.70
$XPDR_PINGS,4
$24V_AH,23.3,9.004
$10V_AH,10.1,5.045
$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,26.225,95.625,337.025,197.500,0.000,192.548,375.785,0.000,9.500,0.000,0.000,13.031,1601.377,14652.407,695.297,1887.890,928.980,0.000,1627.879,0.000,1850.330,0.000,56.002,0.000
$DEVICE_MAMPS,181.779,91.273,1337.648,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.337,608.286,470.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44326,890
$CAP_FILE_SIZE,119815,0
$CFSIZE,254472192,249544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,050908,215701,6329.187,-618.275,37,1.3,37,-8.4