version: 66.04
glider: 14
mission: 6
dive: 5
start: 8 29 108 17 9 48
data:
$ID,14
$MISSION,6
$DIVE,5
$D_SURF,3
$D_FLARE,4
$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,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,577
$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,-650194.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2730
$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,2050
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,33
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,170338,6346.270,-558.444,29,1.0,29,-8.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-57.6
$GPS2,170851,6346.318,-558.380,14,1.2,14,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,-0.255
$KALMAN_X,4590.6,728.8,-47.9,-2288.5,7671.7
$KALMAN_Y,10214.4,1251.5,226.4,-6725.7,17039.1
$MHEAD_RNG_PITCHd_Wd,193.6,122950,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-115.85,0.000,2,0.000,0.000,381,2143,3041
$GC,139,-1.38,-146.6,5.5,-4.9,6,161,11.43,2.72,-1.73,0.000,4,0.176,0.081,2420,644,3141
$GC,288,-1.38,-146.6,35.3,-11.7,12,292,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,2055,3144
$GC,610,-1.38,-146.6,70.9,-11.5,28,614,0.00,2.53,0.00,0.000,4,0.000,0.071,2420,646,3146
$GC,875,-1.38,-146.6,101.4,-10.7,40,879,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2054,3147
$GC,1202,-1.38,-146.6,137.7,-11.0,56,1206,0.00,2.50,0.00,0.000,4,0.000,0.071,2420,647,3149
$GC,1476,-1.38,-146.6,169.1,-10.9,68,1481,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2051,3149
$GC,1792,-1.38,-146.6,203.5,-10.7,83,1797,0.00,2.53,0.00,0.000,4,0.000,0.072,2420,639,3149
$GC,2068,-1.38,-146.6,232.9,-10.0,95,2072,0.00,2.40,0.00,0.000,6,0.000,0.057,2420,2049,3149
$GC,2390,-1.38,-146.6,264.7,-10.4,111,2394,0.00,2.50,0.00,0.000,4,0.000,0.073,2420,647,3150
$GC,2666,-1.38,-146.6,297.2,-12.0,123,2670,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2050,3152
$GC,2982,-1.38,-146.6,335.0,-11.9,138,2986,0.00,2.60,0.00,0.000,4,0.000,0.097,2420,3445,3151
$GC,3189,-1.38,-146.6,358.8,-11.7,147,3194,0.00,2.42,0.00,0.000,6,0.000,0.065,2420,2049,3151
$GC,3506,-1.38,-146.6,392.2,-11.0,162,3510,0.00,2.53,0.00,0.000,4,0.000,0.077,2419,648,3151
$GC,3781,-1.38,-146.6,421.8,-10.4,174,3785,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2050,3151
$GC,4098,-1.38,-146.6,451.6,-8.9,189,4102,0.00,2.53,0.00,0.000,4,0.000,0.074,2420,647,3149
$GC,4372,-1.38,-146.6,479.8,-11.0,201,4377,0.00,2.40,0.00,0.000,6,0.000,0.057,2420,2051,3149
$GC,4689,-1.38,-146.6,511.9,-10.1,216,4693,0.00,2.50,0.00,0.000,4,0.000,0.074,2419,650,3148
$GC,4965,-1.38,-146.6,541.3,-10.6,228,4969,0.00,2.40,0.00,0.000,6,0.000,0.057,2419,2053,3147
$GC,5281,-1.38,-146.6,571.8,-9.6,243,5285,0.00,2.53,0.00,0.000,4,0.000,0.075,2419,642,3145
$GC,5530,-1.38,-146.6,597.0,-10.4,254,5534,0.00,2.42,0.00,0.000,6,0.000,0.058,2419,2056,3144
$GC,5858,-1.38,-146.6,628.4,-9.6,270,5863,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,647,3143
$GC,6072,-1.38,-146.6,649.7,-9.9,279,6082,0.00,2.40,0.00,0.000,6,0.000,0.057,2419,2047,3143
$GC,6388,-1.38,-146.6,678.9,-9.3,295,6393,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,642,3142
$GC,6609,-1.38,-146.6,700.5,-10.0,305,6614,0.00,2.42,0.00,0.000,6,0.000,0.057,2420,2051,3141
$GC,6938,-1.38,-146.6,731.4,-9.6,321,6942,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,646,3140
$GC,7158,-1.38,-146.6,753.9,-10.2,331,7163,0.00,2.42,0.00,0.000,6,0.000,0.057,2420,2053,3140
$GC,7486,-1.38,-146.6,785.6,-9.5,347,7491,0.00,2.53,0.00,0.000,4,0.000,0.075,2420,644,3139
$GC,7757,-1.38,-146.6,812.4,-9.6,359,7761,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2051,3138
$GC,8078,-1.38,-146.6,842.7,-9.3,375,8083,0.00,2.55,0.00,0.000,4,0.000,0.075,2420,641,3138
$GC,8350,-1.38,-146.6,869.7,-9.9,387,8355,0.00,2.42,0.00,0.000,6,0.000,0.056,2420,2058,3137
$GC,8673,-1.38,-146.6,900.6,-9.7,403,8678,0.00,2.55,0.00,0.000,4,0.000,0.074,2420,641,3137
$GC,8898,-1.38,-146.6,924.8,-11.0,413,8903,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,2060,3136
$GC,9225,-1.38,-146.6,958.6,-10.5,429,9229,0.00,2.55,0.00,0.000,4,0.000,0.076,2419,648,3136
$GC,9460,-1.38,-146.6,984.9,-11.8,439,9467,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,2055,3135
$STATE,9526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9526,begin apogee
$GC,9534,-0.32,0.0,992.1,10.7,443,9662,1.15,0.00,123.45,1.399,6,0.108,0.000,2656,1914,2539
$STATE,9662,end apogee,CONTROL_FINISHED_OK
$STATE,9662,begin climb
$GC,9666,1.38,146.6,998.5,0.0,449,9800,1.73,2.67,125.60,1.347,4,0.074,0.081,3032,3331,1940
$GC,9945,1.42,170.7,989.8,8.9,462,9975,0.00,2.45,22.35,1.401,6,0.000,0.064,3032,1936,1843
$GC,10298,1.42,170.7,954.7,10.3,479,10302,0.00,2.53,0.00,0.000,4,0.000,0.077,3032,3327,1843
$GC,10469,1.42,170.7,937.0,10.2,486,10475,0.00,2.47,0.00,0.000,6,0.000,0.063,3032,1925,1843
$GC,10785,1.42,170.7,904.4,10.1,502,10789,0.00,2.55,0.00,0.000,4,0.000,0.076,3032,3326,1843
$GC,10957,1.42,170.7,886.6,10.1,509,10963,0.00,2.47,0.00,0.000,6,0.000,0.063,3032,1924,1843
$GC,11273,1.42,170.7,854.8,10.2,525,11277,0.00,2.55,0.00,0.000,4,0.000,0.077,3031,3328,1843
$GC,11425,1.42,170.7,839.3,10.6,532,11430,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1918,1843
$GC,11759,1.42,171.6,806.2,10.0,548,11763,0.00,2.58,0.00,0.000,4,0.000,0.079,3032,3332,1843
$GC,11889,1.44,179.4,792.9,9.6,554,11903,0.00,2.47,8.93,1.108,6,0.000,0.064,3032,1927,1807
$GC,12221,1.44,179.4,758.4,10.2,570,12225,0.00,2.55,0.00,0.000,4,0.000,0.078,3032,3327,1807
$GC,12391,1.44,179.4,740.8,11.3,577,12398,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1923,1807
$GC,12708,1.44,180.1,708.9,10.0,593,12712,0.00,2.55,0.00,0.000,4,0.000,0.078,3032,3326,1807
$GC,12820,1.44,180.1,697.1,10.4,598,12825,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1927,1807
$GC,13142,1.45,189.8,665.6,9.5,614,13157,0.00,2.60,10.40,1.071,4,0.000,0.077,3032,3326,1764
$GC,13317,1.45,189.8,647.4,10.5,621,13321,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1924,1764
$GC,13644,1.45,189.8,613.6,10.5,637,13648,0.00,2.55,0.00,0.000,4,0.000,0.077,3033,3329,1764
$GC,13784,1.45,189.8,598.5,11.2,643,13788,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1923,1764
$GC,14100,1.45,189.8,565.0,10.9,658,14104,0.00,2.53,0.00,0.000,4,0.000,0.076,3033,3326,1764
$GC,14192,1.45,189.8,554.8,10.9,662,14196,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1921,1765
$GC,14525,1.45,189.8,518.6,10.9,678,14529,0.00,2.53,0.00,0.000,4,0.000,0.075,3032,3326,1764
$GC,14772,1.45,189.8,491.3,10.9,689,14777,0.00,2.47,0.00,0.000,6,0.000,0.064,3032,1920,1764
$GC,15094,1.45,189.8,457.1,11.0,705,15098,0.00,2.53,0.00,0.000,4,0.000,0.075,3033,3328,1764
$GC,15208,1.45,189.8,444.4,11.5,710,15212,0.00,2.45,0.00,0.000,6,0.000,0.063,3032,1925,1765
$GC,15536,1.45,189.8,408.2,11.4,726,15540,0.00,2.53,0.00,0.000,4,0.000,0.075,3032,3330,1764
$GC,15659,1.45,189.8,393.7,11.9,731,15665,0.00,2.47,0.00,0.000,6,0.000,0.063,3032,1920,1764
$GC,15975,1.45,189.8,358.1,10.9,747,15980,0.00,2.53,0.00,0.000,4,0.000,0.074,3032,3331,1765
$GC,16166,1.45,189.8,337.0,10.9,755,16173,0.00,2.45,0.00,0.000,6,0.000,0.063,3032,1925,1764
$GC,16483,1.45,189.8,305.1,10.2,771,16487,0.00,2.53,0.00,0.000,4,0.000,0.074,3033,3329,1764
$GC,16597,1.45,189.8,293.9,10.4,776,16602,0.00,2.45,0.00,0.000,6,0.000,0.063,3033,1926,1765
$GC,16925,1.48,204.9,262.8,9.3,792,16947,0.00,2.58,14.23,0.966,4,0.000,0.074,3033,3333,1702
$GC,17043,1.48,204.9,250.7,11.2,797,17047,0.00,2.50,0.00,0.000,6,0.000,0.064,3032,1921,1703
$GC,17364,1.48,204.9,216.8,11.0,813,17368,0.00,2.53,0.00,0.000,4,0.000,0.074,3032,3331,1703
$GC,17640,1.48,204.9,185.8,11.7,825,17644,0.00,2.47,0.00,0.000,6,0.000,0.063,3032,1919,1703
$GC,17956,1.48,204.9,151.5,11.0,840,17960,0.00,2.50,0.00,0.000,4,0.000,0.073,3033,3328,1703
$GC,18107,1.48,204.9,133.6,11.5,846,18114,0.00,2.45,0.00,0.000,6,0.000,0.062,3033,1924,1703
$GC,18424,1.48,204.9,96.2,11.7,862,18428,0.00,2.50,0.00,0.000,4,0.000,0.074,3032,3326,1703
$GC,18536,1.48,204.9,82.7,11.3,867,18540,0.00,2.45,0.00,0.000,6,0.000,0.061,3032,1918,1703
$GC,18858,1.48,206.0,48.4,9.9,883,18862,0.00,2.50,0.00,0.000,4,0.000,0.073,3032,3325,1703
$GC,19087,1.48,206.0,24.2,10.0,893,19092,0.00,2.42,0.00,0.000,6,0.000,0.061,3032,1923,1703
$STATE,19318,end climb,SURFACE_DEPTH_REACHED
$STATE,19318,begin surface coast
$FINISH,0.8,1.026817
$STATE,19341,end surface coast,CONTROL_FINISHED_OK
$STATE,19342,begin surface
$SM_CCo,19367,198.80,0.713,0,0,186,576.95
$SM_CCo,19570,0.00,0.000,0,0,186,577.19
$SM_GC,1.27,0.00,0.00,0.00,0.000,0.000,0.000,380,2072,186,-10.81,0.62,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,1933
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.4,4.157
$10V_AH,10.1,2.322
$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,25.925,184.800,304.950,198.800,0.000,37.760,36.037,117.064,8.500,0.000,0.000,16.021,1897.101,13654.822,692.387,3042.493,614.140,33.334,2131.441,0.000,2959.442,0.000,56.009,0.000
$DEVICE_MAMPS,175.643,97.409,1401.309,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.470,617.045,482.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47377,905
$CAP_FILE_SIZE,161753,0
$CFSIZE,254472192,251625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,290808,223707,6346.477,-553.269,25,1.1,25,-8.3