version: 66.04
glider: 14
mission: 6
dive: 47
start: 9 8 108 2 47 33
data:
$ID,14
$MISSION,6
$DIVE,47
$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,-651056.5
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,024101,6335.043,-701.298,38,1.5,43,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.2
$GPS2,024708,6334.980,-701.184,9,1.7,14,-8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6342.616,-718.424
$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,323.8,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,2,0.000,0.000,377,1601,2747
$GC,83,-1.38,-146.6,3.5,-4.7,3,109,11.38,2.53,-9.02,0.000,4,0.179,0.091,2395,210,3140
$GC,369,-1.38,-146.6,53.6,-15.5,16,373,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1625,3143
$GC,697,-1.38,-146.6,95.4,-11.3,32,701,0.00,2.58,0.00,0.000,4,0.000,0.075,2395,201,3144
$GC,876,-1.38,-146.6,118.0,-12.9,40,880,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1602,3144
$GC,1198,-1.38,-146.6,158.3,-12.6,56,1202,0.00,2.53,0.00,0.000,4,0.000,0.074,2395,201,3145
$GC,1283,-1.38,-146.6,169.7,-13.3,60,1287,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1606,3146
$GC,1611,-1.38,-146.6,209.4,-12.0,76,1615,0.00,2.53,0.00,0.000,4,0.000,0.075,2395,203,3147
$GC,1662,-1.38,-146.6,216.4,-14.1,78,1666,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1605,3147
$GC,1978,-1.38,-146.6,254.8,-11.8,93,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1608,3149
$GC,2287,-1.38,-146.6,288.1,-10.8,108,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1608,3150
$GC,2599,-1.38,-146.6,325.1,-12.8,123,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3150
$GC,2906,-1.38,-146.6,365.8,-13.2,138,2910,0.00,2.55,0.00,0.000,4,0.000,0.082,2395,210,3150
$GC,3001,-1.38,-146.6,379.5,-13.8,142,3005,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1598,3150
$GC,3323,-1.38,-146.6,419.9,-12.8,158,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3150
$GC,3632,-1.38,-146.6,459.1,-12.4,173,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3150
$GC,3942,-1.38,-146.6,497.2,-12.1,188,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3150
$GC,4251,-1.38,-146.6,534.5,-12.0,203,4255,0.00,2.55,0.00,0.000,4,0.000,0.082,2395,209,3149
$GC,4319,-1.38,-146.6,543.4,-13.4,206,4323,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1598,3148
$GC,4640,-1.38,-146.6,579.3,-11.0,222,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3147
$GC,4949,-1.38,-146.6,613.1,-11.0,237,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3146
$GC,5259,-1.38,-146.6,647.1,-10.9,252,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3145
$GC,5568,-1.38,-146.6,680.5,-10.7,267,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3143
$GC,5877,-1.38,-146.6,714.2,-11.2,282,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3142
$GC,6189,-1.38,-146.6,750.9,-12.1,297,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3142
$GC,6496,-1.38,-146.6,788.3,-12.3,312,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3141
$GC,6806,-1.38,-146.6,825.9,-12.1,327,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3140
$GC,7114,-1.38,-146.6,863.4,-12.0,342,7119,0.00,2.55,0.00,0.000,4,0.000,0.085,2395,209,3139
$GC,7155,-1.38,-146.6,868.6,-13.4,344,7159,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1603,3139
$GC,7482,-1.38,-146.6,906.7,-11.8,360,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3138
$GC,7791,-1.38,-146.6,942.8,-11.6,375,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3137
$GC,8101,-1.38,-146.6,977.4,-11.1,390,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3137
$STATE,8221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8221,begin apogee
$GC,8230,-0.32,0.0,991.4,11.2,396,8364,1.17,0.00,129.02,1.352,6,0.115,0.000,2634,2192,2539
$STATE,8365,end apogee,CONTROL_FINISHED_OK
$STATE,8365,begin climb
$GC,8369,1.38,146.6,998.1,0.0,403,8503,1.73,2.72,125.28,1.318,4,0.079,0.094,3003,3595,1940
$GC,8769,1.38,146.6,971.6,10.1,421,8773,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2192,1939
$GC,9091,1.41,160.4,941.6,9.4,437,9109,0.00,0.00,13.23,1.242,6,0.000,0.000,3003,2192,1883
$GC,9420,1.42,170.9,909.5,9.5,453,9435,0.00,2.65,10.10,1.174,4,0.000,0.081,3003,3595,1842
$GC,9527,1.42,170.9,898.7,10.6,457,9531,0.00,2.45,0.00,0.000,6,0.000,0.059,3004,2196,1842
$GC,9854,1.43,178.2,867.0,9.7,473,9864,0.00,0.00,7.93,1.085,6,0.000,0.000,3003,2196,1812
$GC,10163,1.43,178.2,835.9,10.3,488,10167,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3602,1812
$GC,10226,1.43,178.5,829.4,10.0,491,10231,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2199,1812
$GC,10554,1.43,178.5,796.3,10.0,507,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1812
$GC,10863,1.43,178.5,765.5,10.0,522,10868,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3599,1810
$GC,10931,1.43,178.5,758.3,11.2,525,10935,0.00,2.42,0.00,0.000,6,0.000,0.061,3003,2199,1811
$GC,11259,1.43,179.0,726.0,10.0,541,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1811
$GC,11568,1.45,191.0,696.5,9.4,556,11582,0.00,0.00,12.12,1.081,6,0.000,0.000,3003,2199,1760
$GC,11895,1.47,202.2,664.6,9.5,571,11912,0.10,2.65,11.05,1.045,4,0.077,0.082,3030,3597,1714
$GC,11997,1.47,202.2,653.0,12.2,574,12003,0.00,2.47,0.00,0.000,6,0.000,0.061,3030,2196,1713
$GC,12313,1.47,202.2,617.2,11.8,590,12317,0.00,2.58,0.00,0.000,4,0.000,0.082,3030,3596,1713
$GC,12398,1.47,202.2,606.6,12.6,593,12404,0.00,2.45,0.00,0.000,6,0.000,0.062,3030,2202,1714
$GC,12714,1.47,202.2,568.1,12.5,609,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,1713
$GC,13023,1.47,202.2,529.7,12.2,624,13028,0.00,2.58,0.00,0.000,4,0.000,0.082,3030,3603,1713
$GC,13113,1.47,202.2,518.5,12.3,628,13117,0.00,2.47,0.00,0.000,6,0.000,0.061,3030,2194,1713
$GC,13434,1.47,202.2,482.6,11.0,644,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,1712
$GC,13744,1.47,202.2,448.0,11.5,659,13748,0.00,2.58,0.00,0.000,4,0.000,0.081,3030,3597,1713
$GC,13829,1.47,202.2,437.8,11.7,663,13833,0.00,2.47,0.00,0.000,6,0.000,0.061,3030,2192,1713
$GC,14156,1.47,202.2,400.3,11.4,679,14161,0.00,2.55,0.00,0.000,4,0.000,0.081,3030,3596,1712
$GC,14213,1.47,202.2,393.2,13.3,681,14219,0.00,2.45,0.00,0.000,6,0.000,0.061,3030,2193,1713
$GC,14529,1.47,202.2,353.1,13.0,697,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,1713
$GC,14838,1.47,202.2,313.6,12.7,712,14843,0.00,2.58,0.00,0.000,4,0.000,0.081,3030,3599,1712
$GC,15081,1.47,202.2,281.9,11.6,723,15086,0.00,2.45,0.00,0.000,6,0.000,0.061,3030,2194,1712
$GC,15409,1.47,202.2,244.7,11.2,739,15413,0.00,2.55,0.00,0.000,4,0.000,0.081,3030,791,1711
$GC,15465,1.47,202.2,238.2,11.0,741,15471,0.00,2.40,0.00,0.000,6,0.000,0.054,3030,2213,1710
$GC,15781,1.47,202.2,204.1,11.4,757,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2212,1711
$GC,16091,1.47,202.2,168.4,11.8,772,16095,0.00,2.53,0.00,0.000,4,0.000,0.071,3030,786,1711
$GC,16147,1.47,202.2,161.2,12.7,774,16151,0.00,2.40,0.00,0.000,6,0.000,0.054,3030,2201,1710
$GC,16465,1.47,202.2,123.9,11.4,789,16466,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,1710
$GC,16773,1.47,202.2,86.9,11.0,804,16774,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,1710
$GC,17082,1.47,202.2,52.2,11.3,819,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2201,1710
$GC,17392,1.47,202.2,16.0,11.9,834,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,1711
$STATE,17512,end climb,SURFACE_DEPTH_REACHED
$STATE,17512,begin surface coast
$FINISH,0.8,1.026923
$STATE,17534,end surface coast,CONTROL_FINISHED_OK
$STATE,17534,begin surface
$SM_CCo,17560,55.85,0.713,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,55.85,0.000,0.000,0.713,380,1592,1315,-10.70,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1907
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.4,10.633
$10V_AH,10.1,5.973
$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,25.975,96.700,308.725,55.850,0.000,37.766,36.640,152.532,8.500,0.000,0.000,16.064,1548.130,13538.115,470.007,1862.985,570.299,0.000,1376.195,0.000,1819.338,0.000,55.985,0.000
$DEVICE_MAMPS,179.478,93.574,1352.221,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.244,574.903,446.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,841
$CAP_FILE_SIZE,117176,0
$CFSIZE,254472192,248909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,080908,074232,6334.558,-703.986,39,1.3,39,-8.9