version: 66.04
glider: 14
mission: 6
dive: 20
start: 9 2 108 1 59 35
data:
$ID,14
$MISSION,6
$DIVE,20
$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,-650512.31
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,014937,6335.673,-601.139,29,1.1,29,-8.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.8
$GPS2,015839,6335.790,-601.082,11,1.4,11,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.079,-0.244
$KALMAN_X,45990.4,-92.5,433.1,-45554.2,1471.2
$KALMAN_Y,44459.2,-266.1,155.4,-58867.5,2155.6
$MHEAD_RNG_PITCHd_Wd,206.2,103376,-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,15,begin dive
$GC,18,-1.38,-146.6,0.0,0.0,0,81,0.00,0.00,-60.42,0.000,2,0.000,0.000,382,1593,2714
$GC,85,-1.38,-146.6,3.6,-4.2,3,112,11.35,2.53,-9.77,0.000,4,0.179,0.090,2396,209,3137
$GC,381,-1.38,-146.6,53.3,-14.5,16,386,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1617,3138
$GC,704,-1.38,-146.6,93.0,-12.5,32,708,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,212,3141
$GC,760,-1.38,-146.6,100.9,-14.1,34,766,0.00,2.33,0.00,0.000,6,0.000,0.055,2396,1602,3141
$GC,1078,-1.38,-146.6,141.6,-12.6,50,1082,0.00,2.50,0.00,0.000,4,0.000,0.075,2397,216,3143
$GC,1128,-1.38,-146.6,148.7,-13.5,52,1132,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1610,3143
$GC,1444,-1.38,-146.6,189.1,-12.4,67,1448,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,216,3144
$GC,1495,-1.38,-146.6,196.0,-14.0,69,1499,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1610,3144
$GC,1811,-1.38,-146.6,235.0,-12.3,84,1816,0.00,2.45,0.00,0.000,4,0.000,0.075,2396,2988,3146
$GC,1856,-1.38,-146.6,240.9,-12.3,86,1861,0.00,2.40,0.00,0.000,6,0.000,0.064,2396,1602,3146
$GC,2179,-1.38,-146.6,276.7,-10.7,102,2184,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,214,3147
$GC,2220,-1.38,-146.6,281.5,-12.0,104,2224,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1605,3147
$GC,2547,-1.38,-146.6,318.2,-11.5,120,2551,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,214,3147
$GC,2654,-1.38,-146.6,330.9,-12.1,125,2658,0.00,2.35,0.00,0.000,6,0.000,0.056,2396,1601,3148
$GC,2987,-1.38,-146.6,367.4,-11.0,141,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3147
$GC,3298,-1.38,-146.6,400.8,-10.9,156,3302,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,214,3147
$GC,3383,-1.38,-146.6,411.0,-11.7,160,3387,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1600,3147
$GC,3711,-1.38,-146.6,447.6,-11.0,176,3715,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,216,3147
$GC,3750,-1.38,-146.6,452.4,-12.5,178,3754,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1602,3147
$GC,4078,-1.38,-146.6,487.7,-10.9,194,4082,0.00,2.55,0.00,0.000,4,0.000,0.089,2396,2994,3146
$GC,4111,-1.38,-146.6,491.4,-10.4,195,4118,0.00,2.45,0.00,0.000,6,0.000,0.065,2396,1594,3145
$GC,4430,-1.38,-146.6,526.5,-11.2,211,4435,0.00,2.55,0.00,0.000,4,0.000,0.090,2396,212,3144
$GC,4487,-1.38,-146.6,533.9,-12.6,213,4493,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1608,3144
$GC,4803,-1.38,-146.6,569.4,-11.2,229,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1609,3142
$GC,5112,-1.38,-146.6,604.2,-11.5,244,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1609,3142
$GC,5421,-1.38,-146.6,638.5,-10.9,259,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1610,3141
$GC,5731,-1.38,-146.6,671.8,-10.7,274,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1610,3139
$GC,6040,-1.38,-146.6,704.1,-10.6,289,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1610,3138
$GC,6349,-1.38,-146.6,736.5,-10.3,304,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1610,3137
$GC,6658,-1.38,-146.6,768.3,-10.2,319,6663,0.00,2.58,0.00,0.000,4,0.000,0.085,2396,207,3136
$GC,6703,-1.38,-146.6,773.3,-11.2,321,6708,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1594,3136
$GC,7025,-1.38,-146.6,805.9,-10.3,337,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3135
$GC,7334,-1.38,-146.6,837.6,-10.3,352,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3135
$GC,7644,-1.38,-146.6,868.6,-9.9,367,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3134
$GC,7953,-1.38,-146.6,898.0,-9.3,382,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3133
$GC,8264,-1.38,-146.6,926.5,-9.2,397,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3133
$GC,8572,-1.38,-146.6,954.4,-8.8,412,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1595,3132
$GC,8881,-1.38,-146.6,981.7,-9.0,427,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1595,3132
$STATE,8980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8980,begin apogee
$GC,8990,-0.32,0.0,990.6,8.8,432,9123,1.17,0.00,127.45,1.370,6,0.117,0.000,2633,2197,2538
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9124,begin climb
$GC,9128,1.38,146.6,994.9,0.0,439,9262,1.75,2.75,125.70,1.328,4,0.081,0.096,3006,3605,1940
$GC,9440,1.38,146.6,970.0,12.5,453,9444,0.00,2.50,0.00,0.000,6,0.000,0.062,3007,2195,1940
$GC,9756,1.38,146.6,934.6,11.3,468,9760,0.00,2.62,0.00,0.000,4,0.000,0.085,3006,3601,1940
$GC,9823,1.38,146.6,926.8,11.3,471,9828,0.00,2.47,0.00,0.000,6,0.000,0.061,3007,2199,1940
$GC,10145,1.38,146.6,891.7,10.9,487,10150,0.00,2.62,0.00,0.000,4,0.000,0.085,3006,3608,1940
$GC,10201,1.38,146.6,885.2,11.9,489,10207,0.00,2.50,0.00,0.000,6,0.000,0.061,3004,2193,1940
$GC,10517,1.38,146.6,851.8,10.3,505,10522,0.00,2.62,0.00,0.000,4,0.000,0.084,3006,3605,1940
$GC,10591,1.38,146.6,843.9,10.9,508,10595,0.00,2.50,0.00,0.000,6,0.000,0.061,3006,2190,1940
$GC,10907,1.38,146.6,811.9,10.2,523,10911,0.00,2.62,0.00,0.000,4,0.000,0.084,3006,3602,1940
$GC,10957,1.38,146.6,806.4,10.6,525,10961,0.00,2.47,0.00,0.000,6,0.000,0.062,3006,2200,1940
$GC,11273,1.38,146.6,774.3,10.3,540,11278,0.00,2.60,0.00,0.000,4,0.000,0.085,3006,3605,1940
$GC,11324,1.38,146.6,768.8,10.9,542,11328,0.00,2.50,0.00,0.000,6,0.000,0.062,3006,2194,1940
$GC,11640,1.38,146.6,735.8,10.7,557,11644,0.00,2.62,0.00,0.000,4,0.000,0.086,3006,3604,1940
$GC,11713,1.38,146.6,727.6,11.0,560,11717,0.00,2.50,0.00,0.000,6,0.000,0.063,3006,2193,1940
$GC,12029,1.38,146.6,694.3,10.6,575,12033,0.00,2.60,0.00,0.000,4,0.000,0.085,3006,3602,1940
$GC,12069,1.38,146.6,689.9,11.1,577,12073,0.00,2.47,0.00,0.000,6,0.000,0.064,3006,2199,1940
$GC,12396,1.38,146.6,656.6,10.2,593,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1940
$GC,12706,1.40,155.8,626.4,9.6,608,12720,0.00,2.65,8.95,1.036,4,0.000,0.085,3006,3599,1904
$GC,12783,1.40,155.8,618.4,10.4,611,12788,0.00,2.50,0.00,0.000,6,0.000,0.064,3006,2200,1903
$GC,13100,1.40,156.1,586.6,10.0,626,13105,0.00,2.60,0.00,0.000,4,0.000,0.085,3006,3605,1903
$GC,13173,1.40,156.1,578.9,10.3,629,13178,0.00,2.50,0.00,0.000,6,0.000,0.064,3006,2198,1903
$GC,13490,1.42,170.5,549.0,9.3,644,13508,0.00,0.00,13.95,1.024,6,0.000,0.000,3006,2198,1842
$GC,13819,1.44,180.1,517.2,9.6,660,13833,0.00,2.65,9.35,0.969,4,0.000,0.085,3007,3602,1804
$GC,13943,1.44,181.6,504.2,9.9,665,13947,0.00,2.50,0.00,0.000,6,0.000,0.064,3006,2198,1804
$GC,14259,1.44,181.6,470.6,10.8,680,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1803
$GC,14568,1.44,181.6,436.4,11.5,695,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1802
$GC,14877,1.44,181.6,401.0,11.6,710,14882,0.00,2.60,0.00,0.000,4,0.000,0.087,3006,792,1801
$GC,14923,1.44,181.6,395.7,11.9,712,14927,0.00,2.42,0.00,0.000,6,0.000,0.055,3006,2211,1802
$GC,15250,1.44,181.6,359.9,11.6,728,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2211,1803
$GC,15560,1.44,181.6,325.8,10.4,743,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2211,1802
$GC,15869,1.44,181.6,293.9,10.4,758,15873,0.00,2.58,0.00,0.000,4,0.000,0.087,3006,3600,1802
$GC,16009,1.44,181.6,278.7,10.8,764,16013,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2193,1803
$GC,16325,1.44,183.8,247.7,9.9,779,16335,0.00,2.60,4.47,0.752,4,0.000,0.083,3006,3596,1788
$GC,16392,1.44,183.8,241.0,10.4,782,16396,0.00,2.45,0.00,0.000,6,0.000,0.062,3006,2202,1788
$GC,16714,1.45,186.8,209.4,9.9,798,16723,0.00,2.60,4.50,0.726,4,0.000,0.084,3006,3598,1776
$GC,16862,1.45,191.7,194.1,9.8,804,16872,0.00,2.45,5.55,0.762,6,0.000,0.062,3006,2200,1757
$GC,17195,1.45,191.7,158.9,10.7,821,17199,0.00,2.60,0.00,0.000,4,0.000,0.084,3006,3602,1756
$GC,17273,1.45,191.7,149.7,12.9,824,17280,0.00,2.45,0.00,0.000,6,0.000,0.062,3006,2199,1756
$GC,17590,1.45,191.7,113.3,11.8,840,17591,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1756
$GC,17900,1.45,191.7,77.4,11.4,855,17901,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1756
$GC,18210,1.47,200.3,45.2,9.6,870,18221,0.00,0.00,8.93,0.716,6,0.000,0.000,3006,2199,1722
$GC,18519,1.59,276.3,17.4,6.4,885,18584,0.17,0.00,59.95,0.738,6,0.064,0.000,3058,2199,1412
$STATE,18622,end climb,SURFACE_DEPTH_REACHED
$STATE,18622,begin surface coast
$FINISH,0.5,1.013313
$STATE,18645,end surface coast,CONTROL_FINISHED_OK
$STATE,18645,begin surface
$SM_CCo,18671,16.25,0.632,1,0,1315,300.00
$SM_GC,1.42,0.00,0.00,16.25,0.000,0.000,0.632,383,1606,1315,-10.68,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1930
$TCM_TEMP,17.10
$XPDR_PINGS,1
$24V_AH,23.3,6.441
$10V_AH,10.1,3.639
$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,26.600,142.525,368.800,16.250,0.000,75.528,63.375,202.364,8.750,0.000,0.000,13.020,1658.815,14359.199,504.332,1995.107,721.513,33.373,1511.664,0.000,1949.393,0.000,55.984,0.000
$DEVICE_MAMPS,178.711,95.875,1369.862,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.609,608.504,468.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44385,891
$CAP_FILE_SIZE,134745,0
$CFSIZE,254472192,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,020908,071232,6333.489,-602.689,40,1.2,40,-8.3