version: 66.04
glider: 14
mission: 6
dive: 48
start: 9 8 108 7 48 51
data:
$ID,14
$MISSION,6
$DIVE,48
$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,-651070.12
$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,24
$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
$GPS1,074232,6334.558,-703.986,39,1.3,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.3
$GPS2,074826,6334.500,-703.957,11,1.0,11,-8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6342.137,-721.193
$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,323.9,20000,-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,-60.45,0.000,2,0.000,0.000,380,1590,2744
$GC,83,-1.38,-146.6,3.6,-5.0,3,109,11.40,2.47,-9.07,0.000,4,0.182,0.079,2397,3000,3140
$GC,294,-1.38,-146.6,37.7,-14.6,12,301,0.00,2.40,0.00,0.000,6,0.000,0.059,2397,1597,3141
$GC,611,-1.38,-146.6,86.2,-13.8,28,615,0.00,2.50,0.00,0.000,4,0.000,0.081,2397,212,3143
$GC,818,-1.38,-146.6,115.3,-14.0,37,822,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1626,3144
$GC,1139,-1.38,-146.6,158.5,-13.9,53,1143,0.00,2.53,0.00,0.000,4,0.000,0.077,2398,220,3145
$GC,1240,-1.38,-146.6,173.1,-15.0,57,1246,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1602,3145
$GC,1556,-1.38,-146.6,215.2,-13.2,73,1561,0.00,2.50,0.00,0.000,4,0.000,0.076,2397,212,3145
$GC,1631,-1.38,-146.6,225.1,-13.5,76,1635,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1608,3145
$GC,1948,-1.38,-146.6,265.5,-12.3,91,1951,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,207,3146
$GC,2004,-1.38,-146.6,272.5,-12.2,93,2008,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1600,3147
$GC,2320,-1.38,-146.6,308.9,-12.0,108,2324,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,209,3148
$GC,2399,-1.38,-146.6,319.1,-12.6,111,2403,0.00,2.33,0.00,0.000,6,0.000,0.055,2398,1596,3149
$GC,2715,-1.38,-146.6,357.1,-12.0,126,2720,0.00,2.50,0.00,0.000,4,0.000,0.079,2397,220,3149
$GC,2766,-1.38,-146.6,363.9,-12.4,128,2770,0.00,2.33,0.00,0.000,6,0.000,0.055,2397,1595,3149
$GC,3083,-1.38,-146.6,397.6,-10.2,143,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3149
$GC,3392,-1.38,-146.6,429.0,-10.3,158,3396,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,213,3149
$GC,3465,-1.38,-146.6,437.3,-11.4,161,3469,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1598,3149
$GC,3781,-1.38,-146.6,470.6,-10.5,176,3786,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,212,3149
$GC,3826,-1.38,-146.6,475.7,-10.9,178,3830,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1602,3149
$GC,4153,-1.38,-146.6,511.0,-10.8,194,4157,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,212,3148
$GC,4198,-1.38,-146.6,516.4,-12.5,196,4202,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1607,3149
$GC,4526,-1.38,-146.6,550.6,-10.5,212,4530,0.00,2.53,0.00,0.000,4,0.000,0.083,2397,220,3148
$GC,4577,-1.38,-146.6,556.3,-11.1,214,4581,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1604,3148
$GC,4893,-1.38,-146.6,589.1,-10.5,229,4897,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,209,3147
$GC,4926,-1.38,-146.6,593.1,-11.2,230,4933,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1598,3147
$GC,5244,-1.38,-146.6,627.1,-10.6,246,5249,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,220,3145
$GC,5295,-1.38,-146.6,633.4,-11.5,248,5299,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1599,3145
$GC,5611,-1.38,-146.6,667.2,-10.6,263,5616,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,220,3143
$GC,5646,-1.38,-146.6,671.3,-11.7,264,5652,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1602,3143
$GC,5962,-1.38,-146.6,703.6,-9.8,280,5967,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,214,3142
$GC,6013,-1.38,-146.6,709.3,-10.9,282,6017,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1603,3142
$GC,6330,-1.38,-146.6,740.4,-10.0,297,6334,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,220,3141
$GC,6381,-1.38,-146.6,745.9,-10.2,299,6385,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1605,3141
$GC,6702,-1.38,-146.6,778.0,-10.0,315,6706,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,220,3140
$GC,6748,-1.38,-146.6,783.0,-10.5,317,6753,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1605,3140
$GC,7076,-1.38,-146.6,815.6,-9.9,333,7080,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3139
$GC,7123,-1.38,-146.6,820.5,-11.7,335,7127,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1605,3138
$GC,7457,-1.38,-146.6,854.4,-10.2,351,7461,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,220,3137
$GC,7497,-1.38,-146.6,858.8,-11.7,353,7501,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1602,3137
$GC,7825,-1.38,-146.6,890.6,-9.4,369,7829,0.00,2.50,0.00,0.000,4,0.000,0.081,2396,220,3137
$GC,7858,-1.38,-146.6,894.2,-10.9,370,7863,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1604,3137
$GC,8175,-1.38,-146.6,923.8,-9.1,385,8179,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,215,3136
$GC,8232,-1.38,-146.6,929.5,-10.0,387,8238,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1600,3136
$GC,8548,-1.38,-146.6,957.9,-9.1,403,8553,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3135
$GC,8582,-1.38,-146.6,961.5,-10.3,404,8588,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3135
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8905,-0.32,0.0,991.5,9.3,420,9039,1.15,0.00,128.62,1.351,6,0.114,0.000,2630,2200,2539
$STATE,9040,end apogee,CONTROL_FINISHED_OK
$STATE,9040,begin climb
$GC,9043,1.38,146.6,996.9,0.0,427,9177,1.75,2.72,125.30,1.315,4,0.078,0.094,3006,3605,1941
$GC,9423,1.38,146.6,967.5,11.5,444,9427,0.00,2.47,0.00,0.000,6,0.000,0.060,3006,2191,1940
$GC,9739,1.38,146.6,933.9,10.9,459,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2192,1939
$GC,10048,1.38,146.6,899.8,11.1,474,10053,0.00,2.60,0.00,0.000,4,0.000,0.082,3006,3605,1939
$GC,10156,1.38,146.6,887.1,11.7,479,10161,0.00,2.45,0.00,0.000,6,0.000,0.060,3006,2201,1938
$GC,10484,1.38,146.6,850.5,11.1,495,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1938
$GC,10793,1.38,146.6,816.4,10.8,510,10797,0.00,2.58,0.00,0.000,4,0.000,0.082,3006,3610,1938
$GC,10878,1.38,146.6,807.0,11.5,514,10882,0.00,2.45,0.00,0.000,6,0.000,0.060,3005,2197,1938
$GC,11205,1.38,146.6,772.5,10.1,530,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2197,1938
$GC,11514,1.39,148.4,741.1,9.9,545,11519,0.00,2.60,0.00,0.000,4,0.000,0.083,3006,3608,1938
$GC,11578,1.39,148.4,734.5,11.2,548,11582,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2200,1937
$GC,11905,1.39,148.4,700.8,10.4,564,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1937
$GC,12214,1.39,148.4,668.4,10.4,579,12219,0.00,2.58,0.00,0.000,4,0.000,0.083,3006,3605,1937
$GC,12293,1.39,148.4,659.9,10.8,582,12300,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2202,1937
$GC,12610,1.39,148.4,627.6,10.3,598,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1937
$GC,12919,1.39,148.4,596.8,10.1,613,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1937
$GC,13228,1.39,148.5,566.2,10.0,628,13233,0.00,2.55,0.00,0.000,4,0.000,0.083,3006,3601,1937
$GC,13326,1.39,148.5,556.2,10.4,632,13330,0.00,2.45,0.00,0.000,6,0.000,0.062,3006,2200,1937
$GC,13642,1.39,148.5,524.0,10.0,647,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2200,1937
$GC,13952,1.41,162.2,494.2,9.4,662,13970,0.00,0.00,13.65,0.997,6,0.000,0.000,3006,2200,1877
$GC,14281,1.43,173.7,462.3,9.5,678,14301,0.00,2.65,11.32,0.959,4,0.000,0.081,3006,3604,1829
$GC,14371,1.44,182.3,453.5,9.6,682,14385,0.00,2.47,8.30,0.882,6,0.000,0.061,3006,2200,1795
$GC,14703,1.44,182.3,419.7,10.9,698,14707,0.00,2.58,0.00,0.000,4,0.000,0.082,3006,795,1793
$GC,14753,1.44,182.3,414.0,10.5,700,14758,0.00,2.40,0.00,0.000,6,0.000,0.054,3006,2208,1794
$GC,15069,1.44,182.3,379.6,11.0,715,15074,0.00,2.55,0.00,0.000,4,0.000,0.085,3006,3593,1794
$GC,15160,1.44,182.3,369.2,12.6,719,15164,0.00,2.42,0.00,0.000,6,0.000,0.059,3006,2198,1794
$GC,15481,1.44,182.3,333.7,11.3,735,15485,0.00,2.58,0.00,0.000,4,0.000,0.081,3006,3601,1793
$GC,15589,1.44,182.3,320.4,11.7,740,15593,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2200,1793
$GC,15917,1.44,182.3,281.8,11.6,756,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1792
$GC,16226,1.45,186.8,249.1,9.8,771,16236,0.00,2.58,4.80,0.738,4,0.000,0.082,3006,3594,1777
$GC,16359,1.47,204.3,236.9,9.2,777,16381,0.00,2.42,16.17,0.931,6,0.000,0.063,3006,2202,1705
$GC,16690,1.48,204.7,204.2,10.0,793,16692,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1704
$GC,17000,1.48,204.7,172.5,10.4,808,17001,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1704
$GC,17309,1.48,204.7,138.5,11.4,823,17310,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1704
$GC,17618,1.48,204.7,103.1,11.7,838,17623,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3603,1704
$GC,17705,1.48,204.7,92.6,12.4,842,17709,0.00,2.42,0.00,0.000,6,0.000,0.062,3006,2199,1704
$GC,18034,1.48,204.7,51.8,11.8,858,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1704
$GC,18342,1.48,208.3,19.9,9.8,873,18352,0.00,2.55,5.45,0.598,4,0.000,0.079,3006,793,1688
$GC,18432,1.48,208.3,10.1,11.2,877,18436,0.00,2.38,0.00,0.000,6,0.000,0.054,3006,2198,1688
$STATE,18524,end climb,SURFACE_DEPTH_REACHED
$STATE,18524,begin surface coast
$FINISH,0.7,1.014716
$STATE,18545,end surface coast,CONTROL_FINISHED_OK
$STATE,18545,begin surface
$SM_CCo,18571,56.70,0.705,0,0,1315,300.00
$SM_GC,1.37,0.00,0.00,56.70,0.000,0.000,0.705,377,1593,1315,-10.71,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1910
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.4,10.770
$10V_AH,10.1,6.058
$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,25.750,174.425,313.625,56.700,0.000,37.762,30.504,151.640,8.500,0.000,0.000,13.019,1679.237,14086.546,512.831,2098.112,614.202,0.000,1573.913,0.000,2044.828,0.000,55.983,0.000
$DEVICE_MAMPS,181.779,93.574,1351.454,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.755,603.059,459.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44291,883
$CAP_FILE_SIZE,139791,0
$CFSIZE,254472192,248819712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,080908,130044,6333.771,-707.525,34,1.6,41,-8.9