version: 66.04
glider: 14
mission: 6
dive: 12
start: 8 31 108 7 42 19
data:
$ID,14
$MISSION,6
$DIVE,12
$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,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,280
$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,-650359.31
$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,21
$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,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
$GPS1,073508,6340.820,-551.544,38,1.3,38,-8.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.0
$GPS2,074121,6340.895,-551.360,12,1.2,12,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.152
$KALMAN_X,27343.8,-15.7,-474.3,-18109.3,4306.5
$KALMAN_Y,26523.5,-697.8,-723.4,-30180.4,5239.4
$MHEAD_RNG_PITCHd_Wd,241.9,113372,-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,-60.40,0.000,2,0.000,0.000,373,1597,2516
$GC,83,-1.38,-146.6,3.0,-4.3,3,118,11.32,2.58,-16.60,0.000,4,0.174,0.091,2398,209,3139
$GC,343,-1.38,-146.6,43.5,-13.9,14,350,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1620,3139
$GC,660,-1.38,-146.6,84.7,-12.8,30,664,0.00,2.58,0.00,0.000,4,0.000,0.077,2398,201,3142
$GC,716,-1.38,-146.6,92.4,-13.5,32,722,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1604,3142
$GC,1032,-1.38,-146.6,130.8,-11.9,48,1037,0.00,2.55,0.00,0.000,4,0.000,0.077,2398,201,3144
$GC,1096,-1.38,-146.6,138.9,-12.5,51,1100,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1604,3144
$GC,1423,-1.38,-146.6,177.5,-11.8,67,1427,0.00,2.55,0.00,0.000,4,0.000,0.077,2398,201,3144
$GC,1503,-1.38,-146.6,187.5,-12.6,70,1509,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1604,3145
$GC,1822,-1.38,-146.6,225.1,-11.8,86,1826,0.00,2.55,0.00,0.000,4,0.000,0.079,2398,202,3145
$GC,1872,-1.38,-146.6,231.9,-12.2,88,1876,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1599,3145
$GC,2188,-1.38,-146.6,269.9,-12.4,103,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3145
$GC,2498,-1.38,-146.6,307.9,-12.3,118,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3147
$GC,2807,-1.38,-146.6,347.1,-12.6,133,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3147
$GC,3116,-1.38,-146.6,386.0,-12.2,148,3120,0.00,2.55,0.00,0.000,4,0.000,0.084,2398,212,3148
$GC,3201,-1.38,-146.6,397.2,-13.8,152,3205,0.00,2.35,0.00,0.000,6,0.000,0.056,2398,1593,3148
$GC,3528,-1.38,-146.6,437.2,-12.2,168,3532,0.00,2.53,0.00,0.000,4,0.000,0.081,2398,209,3148
$GC,3573,-1.38,-146.6,443.0,-12.3,170,3577,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1602,3148
$GC,3895,-1.38,-146.6,480.0,-11.0,186,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3148
$GC,4204,-1.38,-146.6,514.2,-11.2,201,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3148
$GC,4516,-1.38,-146.6,550.0,-11.7,216,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3146
$GC,4823,-1.38,-146.6,585.9,-11.6,231,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3144
$GC,5132,-1.38,-146.6,622.7,-12.1,246,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3143
$GC,5441,-1.38,-146.6,659.9,-12.1,261,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3142
$GC,5751,-1.38,-146.6,696.2,-11.7,276,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3141
$GC,6060,-1.38,-146.6,731.4,-11.3,291,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1602,3139
$GC,6369,-1.38,-146.6,766.5,-11.5,306,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3138
$GC,6679,-1.38,-146.6,801.4,-11.3,321,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3137
$GC,6988,-1.38,-146.6,836.6,-11.2,336,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3136
$GC,7297,-1.38,-146.6,871.2,-11.1,351,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3135
$GC,7606,-1.38,-146.6,904.3,-10.7,366,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3135
$GC,7916,-1.38,-146.6,937.0,-10.6,381,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3134
$GC,8225,-1.38,-146.6,969.1,-10.3,396,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3133
$STATE,8427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8427,begin apogee
$GC,8437,-0.32,0.0,990.5,10.3,406,8570,1.15,0.00,126.93,1.367,6,0.113,0.000,2632,2194,2539
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8574,1.38,146.6,996.5,0.0,413,8708,1.75,2.72,125.15,1.328,4,0.083,0.096,3004,3599,1941
$GC,8898,1.40,158.3,978.8,9.5,428,8920,0.00,2.50,12.12,1.295,6,0.000,0.063,3004,2191,1893
$GC,9230,1.42,167.9,947.3,9.6,444,9245,0.00,2.67,9.80,1.257,4,0.000,0.083,3004,3604,1854
$GC,9285,1.42,167.9,941.8,10.2,445,9292,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1853
$GC,9602,1.42,170.0,910.6,9.9,461,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,1853
$GC,9911,1.43,177.4,880.4,9.7,476,9926,0.00,2.65,9.73,1.163,4,0.000,0.083,3004,3600,1815
$GC,10012,1.43,177.4,870.1,10.1,480,10016,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1814
$GC,10328,1.43,177.4,838.3,10.0,495,10332,0.00,2.58,0.00,0.000,4,0.000,0.083,3004,3600,1815
$GC,10384,1.43,177.4,832.3,10.9,497,10390,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1815
$GC,10700,1.43,177.4,799.5,10.6,513,10704,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3605,1815
$GC,10756,1.43,177.4,793.2,11.8,515,10762,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1815
$GC,11073,1.43,177.4,758.9,11.2,531,11077,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3602,1814
$GC,11123,1.43,177.4,752.8,11.9,533,11127,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2200,1813
$GC,11439,1.43,177.4,717.6,11.1,548,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1814
$GC,11748,1.43,177.4,683.0,11.1,563,11753,0.00,2.58,0.00,0.000,4,0.000,0.084,3004,3600,1814
$GC,11834,1.43,177.4,673.0,11.0,567,11838,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2193,1814
$GC,12166,1.43,177.4,636.6,10.7,583,12171,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3599,1814
$GC,12211,1.43,177.4,631.6,11.0,585,12215,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2199,1814
$GC,12533,1.43,177.4,597.7,10.3,601,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,1814
$GC,12842,1.43,177.4,566.3,10.2,616,12846,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3604,1814
$GC,12905,1.43,177.4,559.6,11.4,619,12909,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2196,1814
$GC,13231,1.43,177.4,526.8,10.1,635,13236,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3604,1814
$GC,13299,1.43,177.4,519.7,10.7,638,13303,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2199,1814
$GC,13620,1.43,178.6,488.0,9.9,654,13625,0.00,2.60,0.00,0.000,4,0.000,0.083,3004,3603,1814
$GC,13739,1.43,178.6,475.6,10.3,659,13743,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2198,1814
$GC,14055,1.43,178.6,444.3,10.1,674,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1814
$GC,14364,1.43,178.6,412.6,10.5,689,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1814
$GC,14674,1.43,178.6,379.4,11.1,704,14678,0.00,2.58,0.00,0.000,4,0.000,0.084,3004,795,1814
$GC,14731,1.43,178.6,373.0,11.6,706,14737,0.00,2.40,0.00,0.000,6,0.000,0.054,3004,2204,1814
$GC,15048,1.49,211.9,342.9,8.4,722,15079,0.10,0.00,28.98,0.943,6,0.077,0.000,3031,2204,1675
$GC,15377,1.51,227.2,312.8,9.3,738,15397,0.00,0.00,14.00,0.917,6,0.000,0.000,3031,2204,1611
$GC,15707,1.51,227.2,276.8,11.4,754,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2204,1610
$GC,16017,1.51,227.2,241.9,11.2,769,16021,0.00,2.53,0.00,0.000,4,0.000,0.071,3031,793,1610
$GC,16073,1.51,227.2,234.9,12.5,771,16079,0.00,2.40,0.00,0.000,6,0.000,0.055,3031,2196,1610
$GC,16389,1.51,227.2,196.5,12.1,787,16393,0.00,2.50,0.00,0.000,4,0.000,0.071,3031,796,1610
$GC,16439,1.51,227.2,190.1,13.6,789,16444,0.00,2.40,0.00,0.000,6,0.000,0.055,3031,2200,1610
$GC,16762,1.51,227.2,149.8,12.5,805,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,1610
$GC,17071,1.51,227.2,112.2,12.2,820,17075,0.00,2.53,0.00,0.000,4,0.000,0.071,3031,791,1610
$GC,17121,1.51,227.2,105.5,13.4,822,17125,0.00,2.42,0.00,0.000,6,0.000,0.057,3031,2206,1610
$GC,17438,1.51,227.2,67.8,11.5,837,17439,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2207,1610
$GC,17747,1.51,227.2,33.3,10.5,852,17751,0.00,2.53,0.00,0.000,4,0.000,0.071,3031,789,1609
$GC,17859,1.51,227.2,19.6,12.0,857,17863,0.00,2.42,0.00,0.000,6,0.000,0.057,3031,2205,1610
$STATE,18034,end climb,SURFACE_DEPTH_REACHED
$STATE,18035,begin surface coast
$FINISH,0.7,1.008122
$STATE,18055,end surface coast,CONTROL_FINISHED_OK
$STATE,18055,begin surface
$SM_CCo,18081,28.35,0.707,0,0,1397,280.13
$SM_GC,1.38,0.00,0.00,28.35,0.000,0.000,0.707,373,1602,1397,-10.73,0.06,280.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1954
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.3,5.308
$10V_AH,10.1,2.962
$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,26.000,117.250,326.700,28.350,0.000,37.762,26.829,173.161,8.500,0.000,0.000,13.783,1580.936,13975.688,484.504,1860.886,587.611,33.351,1413.371,0.000,1817.983,0.000,55.997,0.000
$DEVICE_MAMPS,174.109,95.875,1366.794,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.170,591.588,458.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44260,867
$CAP_FILE_SIZE,122067,0
$CFSIZE,254472192,251174912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,310808,124531,6340.646,-552.187,39,1.4,39,-8.2