version: 66.04
glider: 14
mission: 6
dive: 18
start: 9 1 108 15 21 0
data:
$ID,14
$MISSION,6
$DIVE,18
$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,-650462.94
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,151338,6337.697,-557.802,35,1.0,35,-8.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-58.6
$GPS2,152003,6337.819,-557.788,13,1.1,13,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.124,-0.224
$KALMAN_X,42642.2,-282.4,202.3,-39086.3,2377.1
$KALMAN_Y,40720.6,-89.9,-4.5,-51385.3,2859.9
$MHEAD_RNG_PITCHd_Wd,217.4,107257,-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,-60.58,0.000,2,0.000,0.000,376,1616,2747
$GC,83,-1.38,-146.6,4.5,-7.1,3,108,11.38,2.58,-8.30,0.000,4,0.178,0.091,2397,216,3140
$GC,362,-1.38,-146.6,52.0,-15.7,15,366,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1599,3142
$GC,679,-1.38,-146.6,91.7,-13.0,30,683,0.00,2.50,0.00,0.000,4,0.000,0.075,2397,213,3144
$GC,757,-1.38,-146.6,102.5,-13.8,33,763,0.00,2.33,0.00,0.000,6,0.000,0.055,2396,1599,3145
$GC,1074,-1.38,-146.6,142.8,-12.8,49,1078,0.00,2.53,0.00,0.000,4,0.000,0.076,2397,209,3147
$GC,1169,-1.38,-146.6,155.7,-13.6,53,1173,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1604,3147
$GC,1485,-1.38,-146.6,195.1,-12.3,68,1489,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,213,3147
$GC,1552,-1.38,-146.6,204.0,-12.7,71,1556,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1605,3148
$GC,1874,-1.38,-146.6,243.5,-12.0,87,1878,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,213,3148
$GC,1941,-1.38,-146.6,252.3,-12.7,90,1945,0.00,2.33,0.00,0.000,6,0.000,0.055,2397,1600,3148
$GC,2269,-1.38,-146.6,291.5,-12.0,106,2273,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,2992,3149
$GC,2303,-1.38,-146.6,295.6,-12.4,107,2309,0.00,2.42,0.00,0.000,6,0.000,0.063,2397,1591,3149
$GC,2619,-1.38,-146.6,332.4,-11.4,123,2623,0.00,2.53,0.00,0.000,4,0.000,0.087,2397,212,3150
$GC,2753,-1.38,-146.6,349.3,-12.4,129,2758,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1595,3150
$GC,3081,-1.38,-146.6,387.9,-11.5,145,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1595,3150
$GC,3390,-1.38,-146.6,423.8,-11.4,160,3394,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,215,3150
$GC,3463,-1.38,-146.6,433.1,-12.9,163,3467,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1603,3150
$GC,3779,-1.38,-146.6,468.1,-10.7,178,3783,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,216,3150
$GC,3830,-1.38,-146.6,474.2,-11.8,180,3835,0.00,2.38,0.00,0.000,6,0.000,0.056,2397,1603,3150
$GC,4153,-1.38,-146.6,508.5,-10.8,196,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3150
$GC,4462,-1.38,-146.6,541.5,-10.4,211,4466,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,209,3148
$GC,4495,-1.38,-146.6,545.3,-10.9,212,4502,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1598,3148
$GC,4812,-1.38,-146.6,580.3,-11.2,228,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1598,3147
$GC,5121,-1.38,-146.6,612.4,-10.0,243,5125,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,207,3145
$GC,5199,-1.38,-146.6,620.8,-10.7,246,5205,0.00,2.40,0.00,0.000,6,0.000,0.055,2397,1605,3145
$GC,5518,-1.38,-146.6,651.4,-9.5,262,5523,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,216,3144
$GC,5569,-1.38,-146.6,657.1,-11.6,264,5573,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1603,3144
$GC,5885,-1.38,-146.6,688.7,-10.2,279,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3143
$GC,6194,-1.38,-146.6,720.4,-10.2,294,6199,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,212,3141
$GC,6268,-1.38,-146.6,728.8,-11.5,297,6272,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1601,3141
$GC,6584,-1.38,-146.6,761.4,-10.4,312,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3141
$GC,6894,-1.38,-146.6,792.7,-10.0,327,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3139
$GC,7203,-1.38,-146.6,824.2,-10.1,342,7207,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,208,3138
$GC,7253,-1.38,-146.6,830.0,-11.4,344,7257,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1603,3139
$GC,7569,-1.38,-146.6,862.2,-10.1,359,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3138
$GC,7879,-1.38,-146.6,893.5,-10.0,374,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3137
$GC,8188,-1.38,-146.6,923.8,-9.6,389,8192,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,210,3136
$GC,8257,-1.38,-146.6,931.1,-10.7,392,8261,0.00,2.40,0.00,0.000,6,0.000,0.056,2397,1604,3136
$GC,8585,-1.38,-146.6,962.3,-9.3,408,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3135
$STATE,8890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8890,begin apogee
$GC,8899,-0.32,0.0,991.4,9.2,423,9033,1.15,0.00,127.88,1.367,6,0.114,0.000,2631,2205,2539
$STATE,9034,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9037,1.38,146.6,996.4,0.0,430,9171,1.75,2.75,125.07,1.328,4,0.077,0.097,3005,3609,1941
$GC,9394,1.38,146.6,969.0,10.9,446,9398,0.00,2.50,0.00,0.000,6,0.000,0.063,3005,2200,1941
$GC,9711,1.39,151.1,936.9,9.8,461,9722,0.00,2.67,6.15,1.118,4,0.000,0.085,3005,3606,1921
$GC,9756,1.39,151.1,931.9,11.3,463,9761,0.00,2.50,0.00,0.000,6,0.000,0.062,3005,2200,1921
$GC,10079,1.41,160.4,899.9,9.6,479,10093,0.00,2.67,9.30,1.170,4,0.000,0.085,3005,3607,1884
$GC,10133,1.41,160.4,894.1,10.2,481,10138,0.00,2.50,0.00,0.000,6,0.000,0.061,3005,2193,1883
$GC,10450,1.41,163.2,861.9,9.9,496,10460,0.00,2.65,3.97,0.828,4,0.000,0.084,3005,3602,1873
$GC,10519,1.41,163.2,854.4,10.9,499,10523,0.00,2.47,0.00,0.000,6,0.000,0.062,3005,2193,1873
$GC,10852,1.41,164.2,820.9,10.0,515,10857,0.00,2.62,0.00,0.000,4,0.000,0.085,3005,3604,1873
$GC,10920,1.41,164.2,813.7,10.8,518,10924,0.00,2.50,0.00,0.000,6,0.000,0.062,3005,2193,1873
$GC,11241,1.41,164.2,781.3,10.2,534,11246,0.00,2.62,0.00,0.000,4,0.000,0.085,3005,3609,1873
$GC,11297,1.41,164.2,775.4,10.4,536,11303,0.00,2.50,0.00,0.000,6,0.000,0.063,3005,2197,1873
$GC,11614,1.41,165.4,743.4,9.9,552,11623,0.00,2.65,3.78,0.772,4,0.000,0.085,3005,3608,1864
$GC,11664,1.41,165.4,737.9,10.3,554,11668,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,2201,1864
$GC,11985,1.41,165.4,704.9,10.1,570,11990,0.00,2.60,0.00,0.000,4,0.000,0.086,3005,3602,1864
$GC,12031,1.41,165.4,700.0,11.1,572,12035,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,2194,1863
$GC,12352,1.41,165.4,666.7,10.5,588,12356,0.00,2.60,0.00,0.000,4,0.000,0.086,3005,3604,1864
$GC,12402,1.41,165.4,661.2,10.7,590,12407,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,2195,1864
$GC,12719,1.41,165.4,628.9,10.3,605,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,1864
$GC,13028,1.41,165.4,596.5,10.4,620,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,1864
$GC,13337,1.42,171.7,565.2,9.7,635,13351,0.00,2.70,6.85,0.958,4,0.000,0.084,3006,3604,1839
$GC,13432,1.42,171.7,555.1,10.7,639,13436,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,2200,1839
$GC,13753,1.42,171.7,521.4,10.7,655,13758,0.00,2.62,0.00,0.000,4,0.000,0.086,3005,3605,1838
$GC,13804,1.42,171.7,515.8,10.8,657,13808,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,2194,1838
$GC,14120,1.42,171.7,482.8,10.3,672,14125,0.00,2.58,0.00,0.000,4,0.000,0.085,3005,790,1838
$GC,14143,1.42,171.7,480.2,11.7,673,14147,0.00,2.45,0.00,0.000,6,0.000,0.056,3005,2216,1838
$GC,14464,1.44,180.7,448.1,9.6,689,14475,0.00,0.00,8.98,0.950,6,0.000,0.000,3006,2216,1801
$GC,14774,1.44,181.0,417.5,10.0,704,14778,0.00,2.55,0.00,0.000,4,0.000,0.074,3005,794,1801
$GC,14847,1.44,181.0,409.6,10.3,707,14851,0.00,2.42,0.00,0.000,6,0.000,0.055,3005,2206,1802
$GC,15169,1.48,205.3,379.9,8.9,723,15192,0.00,0.00,21.62,0.950,6,0.000,0.000,3005,2206,1701
$GC,15515,1.51,224.2,347.9,9.1,740,15538,0.12,2.62,16.83,0.934,4,0.073,0.087,3037,3593,1624
$GC,15578,1.51,224.2,340.8,12.1,742,15585,0.00,2.47,0.00,0.000,6,0.000,0.061,3038,2195,1624
$GC,15895,1.51,224.2,304.3,11.6,758,15899,0.00,2.60,0.00,0.000,4,0.000,0.085,3038,3599,1622
$GC,16075,1.51,224.2,281.3,12.6,766,16079,0.00,2.45,0.00,0.000,6,0.000,0.062,3038,2199,1622
$GC,16396,1.51,224.2,240.2,12.9,782,16401,0.00,2.60,0.00,0.000,4,0.000,0.084,3037,3601,1621
$GC,16430,1.51,224.2,235.7,13.5,783,16436,0.00,2.47,0.00,0.000,6,0.000,0.063,3038,2198,1621
$GC,16746,1.51,224.2,192.0,14.1,799,16751,0.00,2.58,0.00,0.000,4,0.000,0.084,3038,3594,1621
$GC,16842,1.51,224.2,177.7,14.7,803,16846,0.00,2.45,0.00,0.000,6,0.000,0.062,3038,2198,1621
$GC,17159,1.51,224.2,132.9,14.0,818,17163,0.00,2.58,0.00,0.000,4,0.000,0.084,3038,3595,1621
$GC,17254,1.51,224.2,119.4,13.0,822,17258,0.00,2.45,0.00,0.000,6,0.000,0.061,3038,2194,1621
$GC,17571,1.51,224.2,79.6,12.2,837,17572,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2195,1621
$GC,17880,1.51,224.2,41.6,12.1,852,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2195,1621
$GC,18191,1.51,224.2,2.8,12.9,867,18195,0.00,2.20,0.00,0.000,3,0.000,0.076,3038,3421,1621
$STATE,18195,end climb,SURFACE_DEPTH_REACHED
$STATE,18195,begin surface coast
$FINISH,0.8,1.026785
$STATE,18199,end surface coast,CONTROL_FINISHED_OK
$STATE,18199,begin surface
$SM_CCo,18227,39.85,0.733,0,0,1315,300.00
$SM_GC,1.70,0.00,0.00,39.85,0.000,0.000,0.733,380,1602,1315,-10.70,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1976
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.3,6.154
$10V_AH,10.1,3.467
$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,26.100,172.050,330.425,39.850,0.000,37.772,27.435,183.399,8.500,0.000,0.000,14.868,1642.377,13852.050,509.962,2025.955,627.980,33.362,1536.537,0.000,1973.222,0.000,56.005,0.000
$DEVICE_MAMPS,177.944,97.409,1366.794,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.237,592.013,442.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44349,867
$CAP_FILE_SIZE,136723,0
$CFSIZE,254472192,250765312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,010908,202658,6336.090,-559.870,27,2.1,46,-8.3