version: 66.04
glider: 14
mission: 6
dive: 60
start: 9 10 108 22 29 9
data:
$ID,14
$MISSION,6
$DIVE,60
$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,-651277.25
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,222237,6342.799,-755.108,36,1.2,41,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.4
$GPS2,222844,6342.789,-755.099,9,1.2,14,-9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6350.425,-812.420
$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,324.4,20000,-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,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,2,0.000,0.000,376,1594,2764
$GC,83,-1.38,-146.6,3.5,-5.0,3,109,11.30,2.47,-8.88,0.000,4,0.177,0.077,2395,3002,3139
$GC,333,-1.38,-146.6,39.9,-12.4,14,338,0.00,2.40,0.00,0.000,6,0.000,0.058,2395,1597,3140
$GC,656,-1.38,-146.6,79.8,-13.4,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1597,3141
$GC,965,-1.38,-146.6,121.0,-11.5,45,969,0.00,2.47,0.00,0.000,4,0.000,0.077,2395,213,3143
$GC,1016,-1.38,-146.6,127.6,-12.8,47,1020,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1633,3144
$GC,1332,-1.38,-146.6,168.7,-14.0,62,1336,0.00,2.55,0.00,0.000,4,0.000,0.075,2394,211,3144
$GC,1461,-1.38,-146.6,187.2,-13.9,67,1467,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1607,3144
$GC,1777,-1.38,-146.6,224.6,-11.0,83,1782,0.00,2.50,0.00,0.000,4,0.000,0.074,2395,209,3144
$GC,1861,-1.38,-146.6,234.2,-11.5,86,1867,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1597,3144
$GC,2177,-1.38,-146.6,270.4,-12.0,102,2181,0.00,2.47,0.00,0.000,4,0.000,0.074,2394,211,3144
$GC,2273,-1.38,-146.6,283.9,-14.6,106,2277,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1605,3144
$GC,2597,-1.38,-146.6,327.6,-13.4,122,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3144
$GC,2904,-1.38,-146.6,366.9,-12.4,137,2908,0.00,2.45,0.00,0.000,4,0.000,0.077,2395,2982,3145
$GC,2973,-1.38,-146.6,375.1,-11.9,140,2977,0.00,2.38,0.00,0.000,6,0.000,0.062,2395,1603,3146
$GC,3295,-1.38,-146.6,411.6,-10.9,156,3299,0.00,2.53,0.00,0.000,4,0.000,0.084,2395,212,3146
$GC,3356,-1.38,-146.6,418.8,-11.2,158,3363,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1601,3145
$GC,3673,-1.38,-146.6,448.9,-9.5,174,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1604,3146
$GC,3982,-1.38,-146.6,479.5,-10.7,189,3986,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,212,3146
$GC,4045,-1.38,-146.6,486.9,-12.5,192,4049,0.00,2.33,0.00,0.000,6,0.000,0.055,2395,1594,3146
$GC,4379,-1.38,-146.6,526.6,-12.2,208,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1594,3146
$GC,4687,-1.38,-146.6,562.1,-11.1,223,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1594,3146
$GC,4996,-1.38,-146.6,595.7,-10.7,238,5001,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,206,3145
$GC,5047,-1.38,-146.6,602.0,-12.8,240,5051,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1597,3145
$GC,5370,-1.38,-146.6,637.7,-11.0,256,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1597,3143
$GC,5679,-1.38,-146.6,670.4,-10.4,271,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1597,3141
$GC,5989,-1.38,-146.6,701.5,-10.2,286,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1597,3140
$GC,6297,-1.38,-146.6,734.7,-10.7,301,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1597,3139
$GC,6607,-1.38,-146.6,767.1,-10.6,316,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1598,3139
$GC,6916,-1.38,-146.6,799.7,-10.6,331,6921,0.00,2.53,0.00,0.000,4,0.000,0.084,2395,213,3137
$GC,6955,-1.38,-146.6,804.6,-12.4,332,6961,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1604,3137
$GC,7272,-1.38,-146.6,839.2,-10.5,348,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1603,3135
$GC,7581,-1.38,-146.6,869.5,-9.4,363,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1604,3134
$GC,7890,-1.38,-146.6,898.3,-9.4,378,7895,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,210,3133
$GC,7947,-1.38,-146.6,904.2,-10.0,380,7953,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1602,3133
$GC,8264,-1.38,-146.6,934.2,-9.5,396,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1605,3132
$GC,8573,-1.38,-146.6,963.8,-9.6,411,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1605,3131
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8867,-0.32,0.0,990.5,9.0,425,9001,1.17,0.00,128.62,1.348,6,0.117,0.000,2633,2191,2539
$STATE,9001,end apogee,CONTROL_FINISHED_OK
$STATE,9001,begin climb
$GC,9005,1.38,146.6,995.1,0.0,432,9139,1.73,2.70,125.80,1.305,4,0.077,0.090,3004,3595,1940
$GC,9340,1.38,146.6,966.8,11.7,447,9344,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2195,1939
$GC,9656,1.38,146.6,931.7,11.1,462,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,1939
$GC,9965,1.38,146.6,897.7,10.8,477,9970,0.00,2.60,0.00,0.000,4,0.000,0.082,3004,3602,1937
$GC,10051,1.38,146.6,888.3,11.5,481,10056,0.00,2.45,0.00,0.000,6,0.000,0.059,3004,2194,1937
$GC,10385,1.38,146.6,853.7,10.1,497,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2195,1937
$GC,10694,1.38,146.6,822.8,10.1,512,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2195,1937
$GC,11003,1.38,146.6,791.2,10.1,527,11008,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3594,1936
$GC,11081,1.38,146.6,782.7,11.2,530,11088,0.00,2.42,0.00,0.000,6,0.000,0.059,3004,2201,1936
$GC,11398,1.38,146.6,750.3,10.2,546,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2201,1936
$GC,11707,1.38,146.6,718.1,10.4,561,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2202,1936
$GC,12017,1.38,146.6,685.5,10.7,576,12021,0.00,2.55,0.00,0.000,4,0.000,0.084,3004,3594,1936
$GC,12090,1.38,146.6,677.1,10.8,579,12094,0.00,2.42,0.00,0.000,6,0.000,0.061,3004,2199,1936
$GC,12406,1.38,146.6,642.7,11.0,594,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1936
$GC,12715,1.38,146.6,609.1,11.0,609,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1936
$GC,13025,1.38,146.6,576.8,10.2,624,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1937
$GC,13334,1.41,162.1,547.6,9.3,639,13355,0.00,2.65,13.05,1.025,4,0.000,0.084,3004,3589,1877
$GC,13463,1.44,182.1,535.2,9.1,644,13491,0.00,2.45,18.05,1.014,6,0.000,0.061,3004,2197,1795
$GC,13801,1.45,190.0,503.1,9.6,661,13811,0.00,0.00,8.20,0.939,6,0.000,0.000,3004,2197,1764
$GC,14110,1.48,206.0,474.2,9.3,676,14129,0.10,0.00,14.75,0.978,6,0.075,0.000,3032,2197,1699
$GC,14439,1.48,206.0,436.9,11.8,692,14443,0.00,2.58,0.00,0.000,4,0.000,0.082,3032,3594,1697
$GC,14638,1.48,206.0,411.6,12.7,701,14643,0.00,2.45,0.00,0.000,6,0.000,0.061,3032,2192,1697
$GC,14966,1.48,206.0,370.8,12.9,717,14967,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2192,1696
$GC,15275,1.48,206.0,330.5,13.1,732,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2192,1695
$GC,15584,1.48,206.0,289.0,13.6,747,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,1695
$GC,15894,1.48,206.0,247.7,13.3,762,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2192,1694
$GC,16203,1.48,206.0,209.7,11.8,777,16207,0.00,2.55,0.00,0.000,4,0.000,0.081,3032,3595,1694
$GC,16265,1.48,206.0,202.3,11.3,780,16270,0.00,2.40,0.00,0.000,6,0.000,0.061,3032,2198,1694
$GC,16593,1.48,206.0,165.5,10.9,796,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,1695
$GC,16902,1.48,206.0,133.3,10.5,811,16904,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,1694
$GC,17212,1.48,206.0,99.0,11.5,826,17216,0.00,2.55,0.00,0.000,4,0.000,0.083,3032,3598,1695
$GC,17352,1.48,206.0,80.1,13.0,832,17356,0.00,2.40,0.00,0.000,6,0.000,0.061,3032,2200,1695
$GC,17668,1.48,206.0,40.5,10.6,847,17673,0.00,2.55,0.00,0.000,4,0.000,0.079,3032,3605,1694
$GC,17770,1.48,206.0,27.9,13.8,851,17776,0.00,2.40,0.00,0.000,6,0.000,0.061,3032,2200,1695
$STATE,18000,end climb,SURFACE_DEPTH_REACHED
$STATE,18001,begin surface coast
$FINISH,0.6,1.026895
$STATE,18024,end surface coast,CONTROL_FINISHED_OK
$STATE,18024,begin surface
$SM_CCo,18050,51.58,0.677,0,0,1316,300.00
$SM_GC,1.44,0.00,0.00,51.58,0.000,0.000,0.677,382,1608,1316,-10.69,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1897
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.4,12.447
$10V_AH,10.1,7.039
$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,25.850,100.525,308.475,51.575,0.000,37.762,26.302,164.190,8.500,0.000,0.000,15.552,1574.298,13967.755,476.244,1880.094,577.176,0.000,1398.993,0.000,1837.665,0.000,56.021,0.000
$DEVICE_MAMPS,177.177,89.739,1347.619,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.781,589.967,454.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,864
$CAP_FILE_SIZE,119099,0
$CFSIZE,254472192,248082432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,110908,033209,6344.259,-801.002,34,1.4,35,-9.5