version: 66.04
glider: 14
mission: 6
dive: 17
start: 9 1 108 10 3 13
data:
$ID,14
$MISSION,6
$DIVE,17
$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,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,-650447.44
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,095612,6338.381,-556.915,34,1.7,39,-8.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.0
$GPS2,100215,6338.483,-556.830,12,1.4,12,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.172,-0.189
$KALMAN_X,40389.2,-168.8,-269.3,-35686.3,3411.7
$KALMAN_Y,38482.5,-203.4,-152.5,-47659.9,3712.4
$MHEAD_RNG_PITCHd_Wd,230.6,108534,-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,-60.35,0.000,2,0.000,0.000,381,1597,2738
$GC,83,-1.38,-146.6,4.2,-5.2,3,109,11.38,2.55,-8.80,0.000,4,0.179,0.092,2398,210,3139
$GC,379,-1.38,-146.6,54.2,-14.4,16,383,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1622,3141
$GC,701,-1.38,-146.6,98.3,-13.7,32,705,0.00,2.58,0.00,0.000,4,0.000,0.077,2398,203,3144
$GC,801,-1.38,-146.6,113.4,-14.0,36,808,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1605,3145
$GC,1118,-1.38,-146.6,156.2,-13.2,52,1122,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,201,3146
$GC,1174,-1.38,-146.6,164.1,-13.5,54,1180,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1602,3146
$GC,1490,-1.38,-146.6,204.8,-12.8,70,1494,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,209,3147
$GC,1552,-1.38,-146.6,213.4,-13.4,73,1557,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1606,3148
$GC,1880,-1.38,-146.6,255.1,-12.4,89,1884,0.00,2.55,0.00,0.000,4,0.000,0.078,2398,204,3149
$GC,1936,-1.38,-146.6,263.0,-13.9,91,1942,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1599,3149
$GC,2253,-1.38,-146.6,302.3,-12.8,107,2257,0.00,2.55,0.00,0.000,4,0.000,0.080,2398,201,3150
$GC,2343,-1.38,-146.6,314.5,-13.0,111,2347,0.00,2.38,0.00,0.000,6,0.000,0.056,2398,1599,3150
$GC,2665,-1.38,-146.6,352.3,-11.1,127,2669,0.00,2.53,0.00,0.000,4,0.000,0.084,2398,2989,3150
$GC,2751,-1.38,-146.6,361.8,-10.9,131,2756,0.00,2.42,0.00,0.000,6,0.000,0.063,2397,1594,3150
$GC,3079,-1.38,-146.6,395.5,-10.3,147,3083,0.00,2.55,0.00,0.000,4,0.000,0.089,2397,209,3150
$GC,3164,-1.38,-146.6,405.0,-11.6,151,3169,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1602,3150
$GC,3492,-1.38,-146.6,439.1,-10.6,167,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3150
$GC,3801,-1.38,-146.6,472.0,-10.7,182,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3150
$GC,4110,-1.38,-146.6,505.4,-11.0,197,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3149
$GC,4420,-1.38,-146.6,538.6,-10.8,212,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3147
$GC,4729,-1.38,-146.6,572.2,-10.9,227,4733,0.00,2.55,0.00,0.000,4,0.000,0.086,2398,215,3146
$GC,4791,-1.38,-146.6,579.4,-12.0,230,4796,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1602,3146
$GC,5120,-1.38,-146.6,615.7,-10.8,246,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3144
$GC,5429,-1.38,-146.6,650.1,-11.2,261,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3144
$GC,5738,-1.38,-146.6,684.8,-11.5,276,5742,0.00,2.55,0.00,0.000,4,0.000,0.086,2397,3001,3142
$GC,5766,-1.38,-146.6,688.2,-11.5,277,5771,0.00,2.47,0.00,0.000,6,0.000,0.067,2397,1597,3143
$GC,6087,-1.38,-146.6,724.1,-10.8,293,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1597,3141
$GC,6397,-1.38,-146.6,757.6,-10.9,308,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1596,3140
$GC,6706,-1.38,-146.6,790.2,-10.5,323,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1596,3139
$GC,7015,-1.38,-146.6,822.7,-10.5,338,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1596,3138
$GC,7325,-1.38,-146.6,855.1,-10.5,353,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1598,3138
$GC,7634,-1.38,-146.6,888.0,-10.7,368,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1598,3137
$GC,7943,-1.38,-146.6,920.5,-10.5,383,7947,0.00,2.55,0.00,0.000,4,0.000,0.088,2397,205,3137
$GC,7993,-1.38,-146.6,926.1,-11.0,385,7997,0.00,2.40,0.00,0.000,6,0.000,0.054,2397,1613,3136
$GC,8316,-1.38,-146.6,958.5,-9.8,401,8320,0.00,2.47,0.00,0.000,4,0.000,0.079,2397,2991,3136
$GC,8350,-1.38,-146.6,962.0,-9.9,402,8356,0.00,2.42,0.00,0.000,6,0.000,0.064,2397,1599,3136
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8651,-0.32,0.0,990.9,9.6,417,8785,1.17,0.00,128.18,1.364,6,0.121,0.000,2633,2202,2539
$STATE,8786,end apogee,CONTROL_FINISHED_OK
$STATE,8786,begin climb
$GC,8790,1.38,146.6,996.8,0.0,424,8923,1.73,2.70,125.32,1.330,4,0.077,0.091,3004,3602,1941
$GC,9159,1.38,146.6,970.5,10.6,441,9163,0.00,2.50,0.00,0.000,6,0.000,0.063,3004,2194,1940
$GC,9486,1.38,146.6,937.7,10.0,457,9490,0.00,2.62,0.00,0.000,4,0.000,0.086,3004,3599,1941
$GC,9559,1.40,158.3,930.1,9.5,460,9576,0.00,2.47,11.85,1.234,6,0.000,0.062,3004,2200,1893
$GC,9898,1.40,158.3,894.7,10.5,477,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1892
$GC,10207,1.40,158.3,862.0,10.7,492,10211,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3597,1891
$GC,10302,1.40,158.3,851.2,11.7,496,10307,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1890
$GC,10619,1.40,158.3,819.0,10.1,511,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1890
$GC,10928,1.40,158.3,787.2,10.3,526,10933,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3604,1890
$GC,11024,1.40,158.3,776.7,10.5,530,11028,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2201,1890
$GC,11340,1.40,158.3,744.7,10.2,545,11345,0.00,2.60,0.00,0.000,4,0.000,0.086,3004,3597,1890
$GC,11414,1.40,158.3,736.6,11.7,548,11418,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2201,1891
$GC,11730,1.40,158.3,703.9,10.4,563,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2201,1890
$GC,12040,1.40,158.3,672.3,10.2,578,12044,0.00,2.60,0.00,0.000,4,0.000,0.087,3004,3597,1890
$GC,12107,1.40,158.3,664.9,10.9,581,12111,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2202,1890
$GC,12428,1.41,163.7,633.3,9.7,597,12439,0.00,2.62,5.93,0.926,4,0.000,0.084,3004,3597,1872
$GC,12564,1.41,163.7,618.8,10.9,603,12568,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2193,1870
$GC,12885,1.41,163.7,586.2,10.5,619,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,1870
$GC,13194,1.42,170.6,555.5,9.7,634,13203,0.00,0.00,7.22,0.933,6,0.000,0.000,3004,2193,1843
$GC,13504,1.44,183.6,525.2,9.4,649,13522,0.00,0.00,12.48,0.998,6,0.000,0.000,3004,2193,1789
$GC,13833,1.45,190.2,493.6,9.7,665,13847,0.00,2.70,7.22,0.927,4,0.000,0.084,3004,3609,1763
$GC,13986,1.45,190.2,478.2,10.2,671,13992,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2199,1763
$GC,14303,1.47,198.2,447.6,9.6,687,14312,0.00,0.00,8.02,0.936,6,0.000,0.000,3004,2198,1731
$GC,14612,1.47,200.5,417.3,9.9,702,14621,0.00,2.62,3.95,0.767,4,0.000,0.084,3004,3602,1721
$GC,14662,1.47,200.5,411.7,10.5,704,14666,0.00,2.50,0.00,0.000,6,0.000,0.063,3004,2193,1721
$GC,14983,1.47,200.5,378.6,10.4,720,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1721
$GC,15292,1.47,200.5,346.6,10.4,735,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1721
$GC,15601,1.47,200.5,315.5,10.2,750,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,1722
$GC,15911,1.47,203.3,285.1,9.9,765,15917,0.00,0.00,4.03,0.680,6,0.000,0.000,3004,2193,1710
$GC,16220,1.47,203.3,252.7,10.5,780,16224,0.00,2.58,0.00,0.000,4,0.000,0.084,3004,3597,1710
$GC,16385,1.47,203.3,234.1,11.0,787,16390,0.00,2.45,0.00,0.000,6,0.000,0.063,3004,2196,1710
$GC,16702,1.47,203.3,200.8,10.3,802,16703,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,1709
$GC,17011,1.50,219.3,171.3,9.3,817,17030,0.12,0.00,14.80,0.872,6,0.070,0.000,3039,2196,1644
$GC,17341,1.50,219.3,135.3,11.3,833,17345,0.00,2.58,0.00,0.000,4,0.000,0.083,3039,3597,1644
$GC,17396,1.50,219.3,128.4,12.0,835,17403,0.00,2.45,0.00,0.000,6,0.000,0.062,3039,2197,1644
$GC,17715,1.50,219.3,90.6,12.2,851,17719,0.00,2.58,0.00,0.000,4,0.000,0.082,3040,3600,1644
$GC,17755,1.50,219.3,85.4,13.3,853,17759,0.00,2.42,0.00,0.000,6,0.000,0.061,3039,2199,1644
$GC,18083,1.50,219.3,46.6,11.5,869,18084,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2199,1644
$GC,18392,1.50,219.3,11.1,11.7,884,18396,0.00,2.53,0.00,0.000,4,0.000,0.078,3039,797,1644
$STATE,18467,end climb,SURFACE_DEPTH_REACHED
$STATE,18467,begin surface coast
$FINISH,1.1,1.026806
$STATE,18475,end surface coast,CONTROL_FINISHED_OK
$STATE,18475,begin surface
$SM_CCo,18502,44.17,0.725,0,0,1315,300.00
$SM_GC,1.60,0.00,0.00,44.17,0.000,0.000,0.725,376,1616,1315,-10.71,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1944
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.3,6.011
$10V_AH,10.1,3.384
$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,25.975,125.150,329.000,44.175,0.000,38.833,29.273,158.357,8.500,0.000,0.000,14.416,1640.871,14204.397,502.350,1981.720,586.394,33.393,1478.439,0.000,1936.888,0.000,55.986,0.000
$DEVICE_MAMPS,178.711,92.040,1364.493,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.042,606.365,458.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44267,888
$CAP_FILE_SIZE,128092,0
$CFSIZE,254472192,250843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,010908,151338,6337.697,-557.802,35,1.0,35,-8.3