version: 66.04
glider: 14
mission: 6
dive: 7
start: 8 30 108 4 20 10
data:
$ID,14
$MISSION,6
$DIVE,7
$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,-650243.38
$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,1850
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$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,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
$GPS1,041307,6345.667,-555.065,36,1.0,42,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-57.8
$GPS2,041914,6345.718,-555.013,9,1.3,14,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.029,-0.254
$KALMAN_X,14829.3,-1773.2,-266.7,-7036.0,7385.1
$KALMAN_Y,23575.0,-4765.7,-947.8,-13974.5,14585.3
$MHEAD_RNG_PITCHd_Wd,194.8,122006,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.38,-146.6,0.0,0.0,0,140,0.00,0.00,-118.00,0.000,6,0.000,0.000,378,1823,3139
$GC,144,-1.38,-146.6,7.6,-7.1,6,166,11.52,2.50,0.00,0.000,4,0.178,0.068,2420,449,3143
$GC,407,-1.38,-146.6,55.7,-12.8,17,414,0.00,2.40,0.00,0.000,6,0.000,0.055,2418,1865,3147
$GC,724,-1.38,-146.6,93.5,-12.0,33,728,0.00,2.55,0.00,0.000,4,0.000,0.074,2420,450,3151
$GC,976,-1.38,-146.6,124.3,-12.1,44,980,0.00,2.38,0.00,0.000,6,0.000,0.055,2420,1851,3151
$GC,1292,-1.38,-146.6,159.2,-10.7,59,1296,0.00,2.53,0.00,0.000,4,0.000,0.074,2420,449,3151
$GC,1522,-1.38,-146.6,185.1,-11.1,69,1527,0.00,2.38,0.00,0.000,6,0.000,0.055,2419,1854,3151
$GC,1838,-1.38,-146.6,220.0,-11.1,84,1843,0.00,2.55,0.00,0.000,4,0.000,0.075,2420,447,3152
$GC,2041,-1.38,-146.6,244.6,-12.1,93,2046,0.00,2.38,0.00,0.000,6,0.000,0.055,2420,1852,3153
$GC,2363,-1.38,-146.6,282.0,-11.8,109,2368,0.00,2.55,0.00,0.000,4,0.000,0.075,2420,442,3154
$GC,2471,-1.38,-146.6,295.5,-12.0,114,2476,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1851,3155
$GC,2799,-1.38,-146.6,334.9,-12.3,130,2803,0.00,2.55,0.00,0.000,4,0.000,0.076,2420,445,3154
$GC,2945,-1.38,-146.6,353.6,-13.5,136,2951,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1851,3154
$GC,3261,-1.38,-146.6,390.2,-11.7,152,3265,0.00,2.55,0.00,0.000,4,0.000,0.075,2420,445,3156
$GC,3451,-1.38,-146.6,411.9,-11.5,160,3458,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1846,3154
$GC,3768,-1.38,-146.6,443.1,-9.7,176,3773,0.00,2.53,0.00,0.000,4,0.000,0.077,2420,441,3152
$GC,3954,-1.38,-146.6,462.4,-9.9,184,3959,0.00,2.42,0.00,0.000,6,0.000,0.056,2418,1851,3151
$GC,4271,-1.38,-146.6,493.0,-9.5,199,4275,0.00,2.55,0.00,0.000,4,0.000,0.077,2421,445,3151
$GC,4401,-1.38,-146.6,506.2,-10.0,205,4405,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1848,3150
$GC,4729,-1.38,-146.6,537.2,-9.5,221,4733,0.00,2.53,0.00,0.000,4,0.000,0.077,2420,451,3149
$GC,4906,-1.38,-146.6,554.8,-10.0,229,4910,0.00,2.38,0.00,0.000,6,0.000,0.056,2419,1854,3148
$GC,5240,-1.38,-146.6,586.7,-9.5,245,5244,0.00,2.58,0.00,0.000,4,0.000,0.078,2420,442,3147
$GC,5386,-1.38,-146.6,602.0,-10.5,251,5392,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1848,3146
$GC,5702,-1.38,-146.6,632.7,-9.7,267,5707,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,449,3145
$GC,5860,-1.38,-146.6,649.3,-10.6,274,5864,0.00,2.40,0.00,0.000,6,0.000,0.056,2420,1849,3145
$GC,6182,-1.38,-146.6,680.9,-9.9,290,6186,0.00,2.55,0.00,0.000,4,0.000,0.079,2419,449,3144
$GC,6346,-1.38,-146.6,698.7,-10.8,297,6350,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1848,3144
$GC,6662,-1.38,-146.6,731.1,-10.3,312,6666,0.00,2.53,0.00,0.000,4,0.000,0.079,2419,447,3143
$GC,6826,-1.38,-146.6,749.5,-11.6,319,6831,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1855,3142
$GC,7153,-1.38,-146.6,784.1,-10.3,335,7157,0.00,2.55,0.00,0.000,4,0.000,0.080,2419,449,3141
$GC,7344,-1.38,-146.6,805.0,-10.9,343,7350,0.00,2.40,0.00,0.000,6,0.000,0.057,2419,1850,3140
$GC,7660,-1.38,-146.6,837.5,-10.2,359,7664,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,443,3139
$GC,7825,-1.38,-146.6,855.5,-11.4,366,7829,0.00,2.42,0.00,0.000,6,0.000,0.056,2419,1852,3139
$GC,8142,-1.38,-146.6,888.0,-10.1,381,8146,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,445,3139
$GC,8307,-1.38,-146.6,905.7,-10.4,388,8311,0.00,2.40,0.00,0.000,6,0.000,0.056,2419,1850,3139
$GC,8628,-1.38,-146.6,938.3,-10.0,404,8633,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,443,3138
$GC,8763,-1.38,-146.6,952.9,-10.6,410,8767,0.00,2.42,0.00,0.000,6,0.000,0.056,2420,1854,3138
$GC,9085,-1.38,-146.6,984.9,-9.8,426,9090,0.00,2.55,0.00,0.000,4,0.000,0.078,2419,445,3137
$STATE,9133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9133,begin apogee
$GC,9144,-0.32,0.0,990.7,11.5,428,9275,1.15,0.00,123.62,1.397,6,0.117,0.000,2655,2026,2539
$STATE,9276,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9280,1.38,146.6,997.4,0.0,435,9425,1.73,2.70,129.40,1.321,4,0.074,0.094,3029,3423,1940
$GC,9699,1.41,164.1,974.3,9.2,454,9722,0.00,2.47,17.02,1.365,6,0.000,0.065,3030,2026,1869
$GC,10031,1.42,168.6,941.8,9.8,470,10042,0.00,2.62,5.70,1.086,4,0.000,0.081,3030,3425,1851
$GC,10188,1.42,168.6,926.1,10.5,477,10193,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2026,1851
$GC,10515,1.42,168.6,891.8,10.5,493,10519,0.00,2.55,0.00,0.000,4,0.000,0.079,3030,3423,1851
$GC,10623,1.42,168.6,880.3,10.5,498,10627,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2023,1851
$GC,10950,1.42,168.6,847.2,10.2,514,10954,0.00,2.58,0.00,0.000,4,0.000,0.081,3030,3426,1851
$GC,11051,1.42,168.6,836.6,10.5,518,11057,0.00,2.50,0.00,0.000,6,0.000,0.064,3030,2020,1851
$GC,11367,1.42,168.6,804.7,10.3,534,11372,0.00,2.60,0.00,0.000,4,0.000,0.081,3030,3430,1850
$GC,11498,1.42,168.6,790.5,11.5,540,11502,0.00,2.50,0.00,0.000,6,0.000,0.065,3030,2022,1851
$GC,11825,1.42,168.6,757.4,10.1,556,11830,0.00,2.60,0.00,0.000,4,0.000,0.082,3030,3431,1851
$GC,11898,1.42,168.6,749.5,10.8,559,11902,0.00,2.50,0.00,0.000,6,0.000,0.064,3030,2023,1851
$GC,12214,1.42,168.6,717.0,10.3,574,12219,0.00,2.58,0.00,0.000,4,0.000,0.082,3030,3422,1850
$GC,12322,1.42,168.6,705.8,10.3,579,12326,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2024,1851
$GC,12649,1.42,168.6,672.0,10.3,595,12653,0.00,2.55,0.00,0.000,4,0.000,0.081,3030,3423,1851
$GC,12762,1.42,168.6,660.3,10.4,600,12766,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2022,1851
$GC,13090,1.42,168.6,626.4,10.7,616,13094,0.00,2.58,0.00,0.000,4,0.000,0.081,3029,3427,1851
$GC,13175,1.42,168.6,617.2,11.0,620,13179,0.00,2.47,0.00,0.000,6,0.000,0.065,3030,2024,1851
$GC,13508,1.42,168.6,583.1,10.3,636,13513,0.00,2.55,0.00,0.000,4,0.000,0.081,3030,3424,1851
$GC,13621,1.42,168.6,571.2,10.6,641,13625,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2023,1851
$GC,13943,1.43,173.6,539.8,9.8,657,13953,0.00,2.60,5.68,0.879,4,0.000,0.080,3030,3430,1831
$GC,14051,1.43,177.3,529.0,9.8,662,14061,0.00,2.50,5.07,0.823,6,0.000,0.064,3030,2014,1815
$GC,14377,1.43,177.3,496.3,10.1,678,14382,0.00,2.58,0.00,0.000,4,0.000,0.079,3030,3424,1816
$GC,14463,1.43,178.6,487.4,9.9,682,14467,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2023,1815
$GC,14790,1.43,178.6,453.0,10.6,698,14794,0.00,2.55,0.00,0.000,4,0.000,0.078,3030,3431,1815
$GC,14879,1.43,178.6,442.9,11.2,702,14884,0.00,2.47,0.00,0.000,6,0.000,0.064,3030,2021,1816
$GC,15207,1.43,178.6,407.7,10.8,718,15211,0.00,2.55,0.00,0.000,4,0.000,0.077,3030,3424,1815
$GC,15280,1.43,178.6,399.7,11.2,721,15284,0.00,2.47,0.00,0.000,6,0.000,0.063,3030,2017,1815
$GC,15597,1.47,198.5,369.1,9.1,736,15621,0.00,2.65,18.70,0.962,4,0.000,0.077,3030,3421,1729
$GC,15713,1.48,209.3,357.9,9.5,741,15731,0.10,2.47,10.77,0.865,6,0.080,0.063,3055,2024,1685
$GC,16040,1.48,209.3,323.4,10.8,757,16044,0.00,2.55,0.00,0.000,4,0.000,0.077,3055,3431,1685
$GC,16264,1.48,209.3,297.3,10.7,767,16269,0.00,2.50,0.00,0.000,6,0.000,0.064,3055,2018,1685
$GC,16586,1.48,209.3,260.5,12.1,783,16590,0.00,2.55,0.00,0.000,4,0.000,0.077,3055,3425,1685
$GC,16726,1.48,209.3,241.9,12.1,789,16731,0.00,2.47,0.00,0.000,6,0.000,0.065,3055,2023,1685
$GC,17048,1.48,209.3,202.3,12.7,805,17053,0.00,2.55,0.00,0.000,4,0.000,0.076,3055,3431,1683
$GC,17286,1.48,209.3,171.2,12.7,815,17292,0.00,2.47,0.00,0.000,6,0.000,0.062,3055,2018,1683
$GC,17603,1.48,209.3,130.2,12.8,831,17607,0.00,2.55,0.00,0.000,4,0.000,0.077,3055,3429,1683
$GC,17692,1.48,209.3,117.9,12.7,835,17697,0.00,2.45,0.00,0.000,6,0.000,0.062,3055,2022,1683
$GC,18016,1.48,209.3,76.1,12.9,851,18020,0.00,2.53,0.00,0.000,4,0.000,0.075,3054,3426,1683
$GC,18094,1.48,209.3,65.4,12.6,854,18101,0.00,2.45,0.00,0.000,6,0.000,0.062,3055,2022,1684
$GC,18412,1.48,209.3,26.3,11.9,870,18417,0.00,2.53,0.00,0.000,4,0.000,0.074,3055,3425,1683
$GC,18486,1.48,209.3,17.0,11.9,873,18490,0.00,2.45,0.00,0.000,6,0.000,0.062,3055,2017,1684
$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18634,begin surface coast
$FINISH,0.8,1.003132
$STATE,18656,end surface coast,CONTROL_FINISHED_OK
$STATE,18656,begin surface
$SM_CCo,18681,199.82,0.713,0,0,185,576.95
$SM_CCo,18886,0.00,0.000,0,0,185,577.19
$SM_GC,1.20,0.00,0.00,0.00,0.000,0.000,0.000,373,1830,185,-10.84,-0.57,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1916
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,4.503
$10V_AH,10.1,2.517
$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,26.150,200.700,315.975,199.825,0.000,37.765,35.501,151.696,8.500,0.000,0.000,15.804,1812.391,13379.378,719.243,2706.875,636.432,33.348,2037.686,0.000,2630.723,0.000,56.000,0.000
$DEVICE_MAMPS,177.944,93.574,1396.707,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.130,600.415,456.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44359,881
$CAP_FILE_SIZE,157586,0
$CFSIZE,254472192,251478016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,52,1,0
$GPS,300808,093608,6344.875,-550.720,28,1.4,28,-8.2