version: 66.04
glider: 14
mission: 6
dive: 40
start: 9 6 108 14 8 34
data:
$ID,14
$MISSION,6
$DIVE,40
$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,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,-650945.44
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,44
$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
$GPS1,140201,6332.723,-629.848,40,1.4,40,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.5
$GPS2,140809,6332.787,-629.936,13,1.6,13,-8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6340.423,-647.155
$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,323.5,20000,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-50.90,0.000,2,0.000,0.000,374,1629,2415
$GC,73,-1.38,-146.6,3.2,-3.9,3,117,11.45,2.60,-22.05,0.000,4,0.181,0.091,2396,216,3138
$GC,234,-1.38,-146.6,24.9,-15.0,10,238,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1603,3139
$GC,562,-1.38,-146.6,67.0,-9.9,26,566,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,204,3143
$GC,837,-1.38,-146.6,106.0,-13.8,38,841,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1607,3145
$GC,1155,-1.38,-146.6,148.9,-12.8,53,1159,0.00,2.55,0.00,0.000,4,0.000,0.077,2396,203,3148
$GC,1263,-1.38,-146.6,163.6,-14.3,58,1267,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3148
$GC,1590,-1.38,-146.6,206.5,-13.0,74,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3149
$GC,1899,-1.38,-146.6,244.2,-12.5,89,1903,0.00,2.45,0.00,0.000,4,0.000,0.074,2396,2983,3149
$GC,1927,-1.38,-146.6,247.9,-13.0,90,1931,0.00,2.40,0.00,0.000,6,0.000,0.062,2396,1598,3149
$GC,2243,-1.38,-146.6,287.8,-12.7,105,2247,0.00,2.55,0.00,0.000,4,0.000,0.087,2396,208,3149
$GC,2316,-1.38,-146.6,297.6,-13.4,108,2320,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1604,3149
$GC,2638,-1.38,-146.6,336.6,-12.0,124,2642,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,215,3149
$GC,2678,-1.38,-146.6,341.6,-13.0,126,2683,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1599,3149
$GC,3006,-1.38,-146.6,380.8,-12.0,142,3010,0.00,2.55,0.00,0.000,4,0.000,0.082,2396,214,3149
$GC,3062,-1.38,-146.6,388.2,-13.1,144,3068,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3149
$GC,3379,-1.38,-146.6,425.6,-12.0,160,3383,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,208,3149
$GC,3424,-1.38,-146.6,431.4,-13.0,162,3428,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1609,3148
$GC,3752,-1.38,-146.6,469.0,-11.6,178,3756,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,216,3148
$GC,3815,-1.38,-146.6,476.9,-12.3,181,3819,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3148
$GC,4142,-1.38,-146.6,515.6,-11.9,197,4147,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,212,3147
$GC,4176,-1.38,-146.6,520.0,-12.6,198,4182,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3147
$GC,4492,-1.38,-146.6,556.7,-11.6,214,4497,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,219,3146
$GC,4548,-1.38,-146.6,563.9,-12.4,216,4555,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1599,3146
$GC,4867,-1.38,-146.6,601.1,-12.0,232,4871,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,216,3145
$GC,4901,-1.38,-146.6,606.0,-12.7,233,4907,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3144
$GC,5217,-1.38,-146.6,644.1,-12.1,249,5221,0.00,2.53,0.00,0.000,4,0.000,0.083,2395,214,3144
$GC,5264,-1.38,-146.6,650.0,-13.2,251,5268,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3144
$GC,5592,-1.38,-146.6,689.2,-11.7,267,5596,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,216,3143
$GC,5632,-1.38,-146.6,694.4,-12.7,269,5636,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3143
$GC,5959,-1.38,-146.6,733.0,-11.5,285,5963,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,212,3143
$GC,6004,-1.38,-146.6,738.7,-12.4,287,6008,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3143
$GC,6326,-1.38,-146.6,775.1,-11.1,303,6330,0.00,2.55,0.00,0.000,4,0.000,0.082,2396,207,3142
$GC,6371,-1.38,-146.6,780.7,-12.9,305,6375,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1608,3142
$GC,6692,-1.38,-146.6,816.1,-11.1,321,6697,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,212,3142
$GC,6733,-1.38,-146.6,820.9,-12.8,323,6737,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3142
$GC,7060,-1.38,-146.6,854.8,-10.3,339,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3140
$GC,7370,-1.38,-146.6,886.4,-10.0,354,7374,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,212,3140
$GC,7439,-1.38,-146.6,893.9,-10.8,357,7443,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1610,3140
$GC,7767,-1.38,-146.6,926.1,-10.0,373,7772,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,212,3139
$GC,7813,-1.38,-146.6,931.2,-10.9,375,7817,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3139
$GC,8135,-1.38,-146.6,962.9,-9.8,391,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3139
$STATE,8420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8420,begin apogee
$GC,8429,-0.32,0.0,990.3,9.5,405,8563,1.20,0.00,129.88,1.361,6,0.130,0.000,2632,2197,2539
$STATE,8564,end apogee,CONTROL_FINISHED_OK
$STATE,8564,begin climb
$GC,8568,1.38,146.6,995.0,0.0,412,8702,1.73,2.70,125.97,1.325,4,0.077,0.090,2999,3600,1940
$GC,8975,1.38,146.6,964.3,10.8,430,8982,0.00,2.47,0.00,0.000,6,0.000,0.061,3001,2190,1940
$GC,9292,1.38,146.6,932.5,10.1,446,9296,0.00,2.60,0.00,0.000,4,0.000,0.081,3001,3603,1940
$GC,9377,1.38,146.6,923.8,10.4,450,9381,0.00,2.45,0.00,0.000,6,0.000,0.059,3001,2200,1940
$GC,9705,1.39,150.8,891.5,9.8,466,9712,0.00,0.00,5.20,1.003,6,0.000,0.000,3001,2199,1923
$GC,10014,1.39,151.9,860.6,9.9,481,10018,0.00,2.58,0.00,0.000,4,0.000,0.081,3001,3605,1923
$GC,10092,1.39,151.9,852.1,11.2,484,10098,0.00,2.45,0.00,0.000,6,0.000,0.059,3001,2200,1923
$GC,10409,1.40,155.2,821.2,9.8,500,10416,0.00,0.00,5.38,0.950,6,0.000,0.000,3001,2200,1906
$GC,10718,1.40,155.2,790.2,10.2,515,10722,0.00,2.60,0.00,0.000,4,0.000,0.082,3001,3608,1905
$GC,10809,1.40,155.2,780.6,10.6,519,10813,0.00,2.47,0.00,0.000,6,0.000,0.060,3001,2196,1906
$GC,11131,1.40,159.0,748.2,9.8,535,11137,0.00,0.00,5.15,0.914,6,0.000,0.000,3001,2196,1890
$GC,11440,1.42,167.9,718.1,9.6,550,11454,0.00,2.65,9.23,1.053,4,0.000,0.082,3001,3604,1854
$GC,11530,1.42,168.7,709.0,10.0,554,11534,0.00,2.47,0.00,0.000,6,0.000,0.061,3001,2200,1854
$GC,11857,1.44,184.8,678.1,9.2,570,11876,0.00,0.00,15.70,1.097,6,0.000,0.000,3001,2200,1785
$GC,12187,1.45,190.4,646.2,9.7,586,12195,0.00,0.00,6.20,0.920,6,0.000,0.000,3001,2200,1762
$GC,12496,1.47,198.7,616.3,9.6,601,12507,0.10,0.00,8.73,0.992,6,0.075,0.000,3029,2201,1728
$GC,12804,1.47,198.7,582.4,11.2,616,12808,0.00,2.58,0.00,0.000,4,0.000,0.083,3029,3601,1728
$GC,12919,1.47,198.7,568.7,12.4,621,12923,0.00,2.47,0.00,0.000,6,0.000,0.062,3029,2196,1728
$GC,13245,1.47,198.7,530.4,11.9,637,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2196,1728
$GC,13555,1.47,198.7,493.2,12.2,652,13559,0.00,2.58,0.00,0.000,4,0.000,0.082,3029,3601,1727
$GC,13684,1.47,198.7,476.3,13.0,657,13690,0.00,2.47,0.00,0.000,6,0.000,0.061,3029,2190,1728
$GC,14000,1.47,198.7,436.6,12.3,673,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2190,1728
$GC,14309,1.47,198.7,398.0,12.4,688,14314,0.00,2.58,0.00,0.000,4,0.000,0.081,3029,3600,1728
$GC,14388,1.47,198.7,387.8,12.5,691,14394,0.00,2.45,0.00,0.000,6,0.000,0.061,3029,2200,1728
$GC,14705,1.47,198.7,349.3,11.7,707,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2200,1728
$GC,15014,1.47,198.7,314.5,10.9,722,15018,0.00,2.58,0.00,0.000,4,0.000,0.082,3029,3601,1728
$GC,15131,1.47,198.7,301.0,11.0,727,15136,0.00,2.45,0.00,0.000,6,0.000,0.061,3027,2201,1728
$GC,15448,1.47,198.7,268.4,10.2,742,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2201,1727
$GC,15757,1.47,198.7,235.9,10.6,757,15761,0.00,2.58,0.00,0.000,4,0.000,0.083,3029,3608,1728
$GC,15880,1.47,198.7,222.5,10.4,762,15886,0.00,2.47,0.00,0.000,6,0.000,0.064,3029,2200,1728
$GC,16197,1.48,206.5,191.0,9.6,778,16207,0.00,0.00,8.07,0.839,6,0.000,0.000,3029,2200,1697
$GC,16506,1.49,215.1,159.3,9.6,793,16520,0.00,2.62,8.62,0.831,4,0.000,0.083,3029,803,1662
$GC,16578,1.49,215.1,151.0,10.6,796,16583,0.00,2.40,0.00,0.000,6,0.000,0.054,3029,2208,1662
$GC,16901,1.49,215.1,117.6,10.9,812,16905,0.00,2.55,0.00,0.000,4,0.000,0.084,3029,3593,1662
$GC,16973,1.49,215.1,108.2,12.0,815,16978,0.00,2.42,0.00,0.000,6,0.000,0.059,3029,2194,1662
$GC,17292,1.49,215.1,69.2,12.9,830,17296,0.00,2.50,0.00,0.000,4,0.000,0.074,3028,800,1661
$GC,17567,1.49,215.1,38.7,10.1,842,17571,0.00,2.38,0.00,0.000,6,0.000,0.055,3029,2198,1660
$GC,17884,1.49,215.1,8.2,10.5,857,17888,0.00,2.50,0.00,0.000,4,0.000,0.070,3029,790,1660
$STATE,17936,end climb,SURFACE_DEPTH_REACHED
$STATE,17936,begin surface coast
$FINISH,1.2,1.026866
$STATE,17944,end surface coast,CONTROL_FINISHED_OK
$STATE,17945,begin surface
$SM_CCo,17971,56.45,0.779,0,0,1315,300.00
$SM_GC,1.88,0.00,0.00,56.45,0.000,0.000,0.779,382,1631,1315,-10.69,0.88,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1989
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.3,9.618
$10V_AH,10.1,5.393
$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,26.200,163.500,328.125,56.450,0.000,37.764,27.210,163.798,8.500,0.000,0.000,15.053,1646.411,13527.563,529.869,2089.198,608.225,0.000,1571.591,0.000,2033.753,0.000,55.972,0.000
$DEVICE_MAMPS,181.012,90.506,1360.658,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.048,588.327,456.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44207,860
$CAP_FILE_SIZE,135957,0
$CFSIZE,254472192,249344000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,060908,191026,6333.341,-634.289,40,1.0,40,-8.6