version: 66.04
glider: 14
mission: 6
dive: 10
start: 8 30 108 21 10 17
data:
$ID,14
$MISSION,6
$DIVE,10
$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,350
$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,-650325.94
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,30
$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
$GPS1,210202,6343.515,-550.996,40,1.3,40,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.3
$GPS2,210921,6343.554,-550.888,13,1.5,13,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,-0.223
$KALMAN_X,21202.3,-35.1,222.6,-12247.2,2122.3
$KALMAN_Y,21955.1,556.6,-480.9,-22122.2,809.7
$MHEAD_RNG_PITCHd_Wd,217.5,118312,-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,-116.78,0.000,6,0.000,0.000,375,1697,3138
$GC,144,-1.38,-146.6,8.0,-7.7,6,166,11.57,2.78,0.00,0.000,4,0.180,0.078,2421,207,3141
$GC,437,-1.38,-146.6,59.2,-11.5,19,441,0.00,2.38,0.00,0.000,6,0.000,0.055,2421,1613,3147
$GC,764,-1.38,-146.6,95.8,-11.2,35,768,0.00,2.58,0.00,0.000,4,0.000,0.080,2422,203,3150
$GC,872,-1.38,-146.6,109.0,-13.0,40,876,0.00,2.38,0.00,0.000,6,0.000,0.056,2422,1608,3150
$GC,1199,-1.38,-146.6,147.1,-11.4,56,1204,0.00,2.55,0.00,0.000,4,0.000,0.081,2421,210,3151
$GC,1267,-1.38,-146.6,155.5,-12.4,59,1271,0.00,2.35,0.00,0.000,6,0.000,0.055,2422,1601,3151
$GC,1588,-1.38,-146.6,190.5,-10.6,75,1593,0.00,2.53,0.00,0.000,4,0.000,0.080,2421,210,3151
$GC,1656,-1.38,-146.6,198.2,-11.5,78,1660,0.00,2.35,0.00,0.000,6,0.000,0.056,2422,1605,3151
$GC,1983,-1.38,-146.6,231.9,-9.9,94,1988,0.00,2.55,0.00,0.000,4,0.000,0.081,2422,210,3151
$GC,2041,-1.38,-146.6,238.1,-11.0,96,2047,0.00,2.35,0.00,0.000,6,0.000,0.056,2421,1603,3151
$GC,2357,-1.38,-146.6,271.8,-10.8,112,2362,0.00,2.55,0.00,0.000,4,0.000,0.081,2421,210,3152
$GC,2425,-1.38,-146.6,280.3,-12.5,115,2429,0.00,2.35,0.00,0.000,6,0.000,0.056,2422,1598,3152
$GC,2747,-1.38,-146.6,316.4,-11.1,131,2751,0.00,2.50,0.00,0.000,4,0.000,0.082,2422,2985,3153
$GC,2814,-1.38,-146.6,324.3,-11.6,134,2819,0.00,2.42,0.00,0.000,6,0.000,0.064,2422,1597,3154
$GC,3136,-1.38,-146.6,361.3,-11.5,150,3140,0.00,2.55,0.00,0.000,4,0.000,0.089,2422,213,3154
$GC,3226,-1.38,-146.6,371.8,-12.0,154,3230,0.00,2.35,0.00,0.000,6,0.000,0.056,2421,1598,3154
$GC,3547,-1.38,-146.6,406.7,-10.9,170,3551,0.00,2.53,0.00,0.000,4,0.000,0.084,2422,2986,3153
$GC,3575,-1.38,-146.6,409.9,-10.9,171,3579,0.00,2.42,0.00,0.000,6,0.000,0.065,2421,1598,3153
$GC,3892,-1.38,-146.6,444.4,-10.8,186,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1598,3153
$GC,4202,-1.38,-146.6,476.1,-9.9,201,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1598,3151
$GC,4510,-1.38,-146.6,506.9,-9.8,216,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1598,3149
$GC,4820,-1.38,-146.6,537.7,-10.1,231,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1598,3149
$GC,5129,-1.38,-146.6,567.2,-9.5,246,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1598,3147
$GC,5438,-1.38,-146.6,596.9,-9.8,261,5442,0.00,2.50,0.00,0.000,4,0.000,0.080,2422,2986,3145
$GC,5472,-1.38,-146.6,600.5,-10.7,262,5479,0.00,2.45,0.00,0.000,6,0.000,0.068,2421,1599,3145
$GC,5789,-1.38,-146.6,631.8,-9.9,278,5793,0.00,2.60,0.00,0.000,4,0.000,0.096,2421,206,3143
$GC,5829,-1.38,-146.6,636.1,-10.8,280,5833,0.00,2.38,0.00,0.000,6,0.000,0.055,2421,1607,3144
$GC,6157,-1.38,-146.6,669.1,-10.2,296,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1616,3143
$GC,6467,-1.38,-146.6,700.1,-10.4,311,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1616,3142
$GC,6776,-1.38,-146.6,732.3,-10.4,326,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1616,3140
$GC,7085,-1.38,-146.6,764.1,-10.2,341,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1616,3139
$GC,7394,-1.38,-146.6,795.2,-10.0,356,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1616,3139
$GC,7705,-1.38,-146.6,826.4,-10.4,371,7709,0.00,2.58,0.00,0.000,4,0.000,0.086,2422,212,3138
$GC,7761,-1.38,-146.6,832.9,-11.3,373,7767,0.00,2.35,0.00,0.000,6,0.000,0.055,2422,1598,3138
$GC,8077,-1.38,-146.6,865.6,-10.2,389,8081,0.00,2.50,0.00,0.000,4,0.000,0.081,2421,2989,3138
$GC,8110,-1.38,-146.6,869.1,-10.6,390,8117,0.00,2.42,0.00,0.000,6,0.000,0.064,2422,1598,3138
$GC,8429,-1.38,-146.6,901.4,-10.5,406,8434,0.00,2.55,0.00,0.000,4,0.000,0.091,2421,212,3137
$GC,8480,-1.38,-146.6,907.5,-11.8,408,8484,0.00,2.35,0.00,0.000,6,0.000,0.055,2421,1599,3137
$GC,8796,-1.38,-146.6,940.3,-10.2,423,8800,0.00,2.50,0.00,0.000,4,0.000,0.078,2421,2994,3136
$GC,8831,-1.38,-146.6,943.9,-9.8,424,8835,0.00,2.42,0.00,0.000,6,0.000,0.064,2422,1600,3136
$GC,9147,-1.38,-146.6,974.6,-9.7,439,9152,0.00,2.58,0.00,0.000,4,0.000,0.091,2421,206,3136
$GC,9198,-1.38,-146.6,979.9,-10.5,441,9202,0.00,2.38,0.00,0.000,6,0.000,0.055,2421,1605,3136
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9319,-0.32,0.0,991.0,9.4,447,9447,1.17,0.00,124.05,1.362,6,0.117,0.000,2658,2190,2539
$STATE,9448,end apogee,CONTROL_FINISHED_OK
$STATE,9448,begin climb
$GC,9451,1.38,146.6,996.0,0.0,453,9597,1.70,2.78,129.18,1.318,4,0.067,0.094,3033,3599,1940
$GC,9653,1.41,162.8,994.4,9.2,462,9674,0.00,2.50,15.52,1.349,6,0.000,0.061,3033,2188,1874
$GC,9996,1.41,162.8,959.1,10.5,479,10000,0.00,2.62,0.00,0.000,4,0.000,0.082,3033,3599,1874
$GC,10052,1.41,162.8,953.0,11.4,481,10058,0.00,2.45,0.00,0.000,6,0.000,0.060,3033,2201,1875
$GC,10368,1.41,162.8,920.8,10.4,497,10372,0.00,2.58,0.00,0.000,4,0.000,0.082,3033,3599,1875
$GC,10469,1.41,162.8,909.5,11.3,501,10475,0.00,2.45,0.00,0.000,6,0.000,0.060,3033,2200,1875
$GC,10785,1.41,162.8,875.7,11.0,517,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2200,1875
$GC,11094,1.41,162.8,842.6,10.6,532,11099,0.00,2.60,0.00,0.000,4,0.000,0.082,3033,3599,1875
$GC,11145,1.41,162.8,836.8,11.6,534,11149,0.00,2.45,0.00,0.000,6,0.000,0.060,3033,2201,1875
$GC,11461,1.41,162.8,803.8,10.2,549,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2201,1875
$GC,11771,1.41,163.4,772.2,10.0,564,11775,0.00,2.58,0.00,0.000,4,0.000,0.083,3033,3599,1875
$GC,11894,1.41,163.4,759.2,10.2,569,11901,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2202,1875
$GC,12210,1.41,163.4,727.1,10.4,585,12215,0.00,2.58,0.00,0.000,4,0.000,0.082,3034,3602,1875
$GC,12278,1.41,163.4,719.6,11.7,588,12282,0.00,2.47,0.00,0.000,6,0.000,0.061,3033,2193,1875
$GC,12599,1.41,163.4,686.2,10.3,604,12604,0.00,2.60,0.00,0.000,4,0.000,0.081,3033,3604,1875
$GC,12650,1.41,163.4,680.6,10.7,606,12654,0.00,2.47,0.00,0.000,6,0.000,0.061,3033,2194,1875
$GC,12966,1.41,163.4,648.6,10.1,621,12971,0.00,2.58,0.00,0.000,4,0.000,0.082,3033,3601,1875
$GC,13030,1.41,163.4,641.7,10.7,624,13034,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2199,1875
$GC,13357,1.41,163.4,607.2,10.8,640,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,1874
$GC,13666,1.41,163.4,573.8,11.0,655,13671,0.00,2.58,0.00,0.000,4,0.000,0.083,3033,3602,1875
$GC,13734,1.41,163.4,566.0,11.2,658,13738,0.00,2.47,0.00,0.000,6,0.000,0.062,3033,2194,1875
$GC,14055,1.41,163.4,531.0,10.8,674,14060,0.00,2.60,0.00,0.000,4,0.000,0.082,3033,3606,1875
$GC,14123,1.41,163.4,523.0,11.6,677,14127,0.00,2.47,0.00,0.000,6,0.000,0.062,3033,2194,1875
$GC,14444,1.41,163.4,487.8,10.9,693,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2194,1875
$GC,14753,1.41,163.4,454.5,10.8,708,14758,0.00,2.58,0.00,0.000,4,0.000,0.081,3033,3599,1875
$GC,14826,1.41,163.4,446.3,11.1,711,14830,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2200,1875
$GC,15143,1.41,163.4,414.1,10.1,726,15147,0.00,2.58,0.00,0.000,4,0.000,0.081,3033,3598,1875
$GC,15211,1.42,169.4,407.2,9.7,729,15227,0.00,2.45,7.12,0.930,6,0.000,0.061,3033,2196,1848
$GC,15537,1.46,196.3,376.8,8.7,745,15567,0.00,2.67,23.25,0.964,4,0.000,0.080,3033,3597,1737
$GC,15770,1.46,196.3,353.8,10.5,755,15774,0.00,2.45,0.00,0.000,6,0.000,0.061,3033,2201,1737
$GC,16086,1.52,234.3,325.6,8.2,770,16125,0.12,0.00,32.00,0.929,6,0.074,0.000,3064,2201,1582
$GC,16435,1.52,234.3,287.5,11.3,787,16439,0.00,2.58,0.00,0.000,4,0.000,0.081,3065,3602,1581
$GC,16474,1.52,234.3,282.7,10.5,788,16480,0.00,2.47,0.00,0.000,6,0.000,0.062,3064,2197,1581
$GC,16790,1.52,234.3,243.6,12.9,804,16795,0.00,2.58,0.00,0.000,4,0.000,0.079,3064,3602,1582
$GC,16914,1.52,234.3,226.6,12.4,809,16920,0.00,2.45,0.00,0.000,6,0.000,0.061,3064,2200,1581
$GC,17230,1.52,234.3,182.6,14.1,825,17231,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2201,1581
$GC,17540,1.52,234.3,139.1,14.1,840,17544,0.00,2.58,0.00,0.000,4,0.000,0.081,3064,3603,1581
$GC,17663,1.52,234.3,120.9,15.0,845,17670,0.00,2.45,0.00,0.000,6,0.000,0.062,3064,2198,1581
$GC,17980,1.52,234.3,77.6,13.4,861,17981,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2198,1580
$GC,18289,1.52,234.3,35.0,13.7,876,18294,0.00,2.55,0.00,0.000,4,0.000,0.081,3065,3598,1581
$STATE,18529,end climb,SURFACE_DEPTH_REACHED
$STATE,18529,begin surface coast
$FINISH,0.6,1.026809
$STATE,18553,end surface coast,CONTROL_FINISHED_OK
$STATE,18553,begin surface
$SM_CCo,18582,60.90,0.726,0,0,1111,350.04
$SM_GC,1.67,0.00,0.00,60.90,0.000,0.000,0.726,381,1604,1111,-10.81,0.14,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1940
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.3,5.023
$10V_AH,10.1,2.800
$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,26.400,167.200,331.125,60.900,0.000,37.765,33.193,229.291,8.500,0.000,0.000,15.245,1664.503,14050.402,597.560,2091.106,680.308,33.339,1650.023,0.000,2036.663,0.000,55.999,0.000
$DEVICE_MAMPS,180.245,95.875,1362.192,726.349,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.758,605.249,454.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44310,888
$CAP_FILE_SIZE,137883,0
$CFSIZE,254472192,251281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,310808,022208,6342.097,-549.953,25,1.6,25,-8.2