version: 66.04
glider: 14
mission: 6
dive: 21
start: 9 2 108 7 22 42
data:
$ID,14
$MISSION,6
$DIVE,21
$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,-650523.38
$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,18
$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,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
$GPS1,071232,6333.489,-602.689,40,1.2,40,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-56.2
$GPS2,072145,6333.553,-602.758,9,1.5,9,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.154,-0.205
$KALMAN_X,47275.0,-92.6,-679.3,-47098.3,3032.0
$KALMAN_Y,45809.9,-265.9,-522.2,-63680.0,3186.4
$MHEAD_RNG_PITCHd_Wd,225.3,99199,-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,-60.67,0.000,2,0.000,0.000,383,1595,2685
$GC,83,-1.38,-146.6,3.1,-3.9,3,114,11.27,2.55,-12.65,0.000,4,0.175,0.090,2398,207,3139
$GC,120,-1.38,-146.6,9.0,-14.4,4,127,0.00,2.38,0.00,0.000,6,0.000,0.054,2398,1616,3139
$GC,437,-1.38,-146.6,55.4,-12.5,20,441,0.00,2.55,0.00,0.000,4,0.000,0.076,2398,207,3141
$GC,711,-1.38,-146.6,92.8,-13.2,32,715,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1611,3143
$GC,1029,-1.38,-146.6,132.7,-12.9,47,1034,0.00,2.53,0.00,0.000,4,0.000,0.076,2398,205,3145
$GC,1243,-1.38,-146.6,162.8,-13.8,56,1249,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1603,3145
$GC,1559,-1.38,-146.6,203.7,-12.5,72,1564,0.00,2.53,0.00,0.000,4,0.000,0.077,2398,206,3147
$GC,1605,-1.38,-146.6,209.8,-13.9,74,1609,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1603,3147
$GC,1927,-1.38,-146.6,248.1,-11.6,90,1931,0.00,2.55,0.00,0.000,4,0.000,0.078,2398,201,3147
$GC,2027,-1.38,-146.6,261.1,-12.9,94,2034,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1604,3148
$GC,2344,-1.38,-146.6,299.0,-11.3,110,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1608,3148
$GC,2653,-1.38,-146.6,332.3,-10.1,125,2657,0.00,2.55,0.00,0.000,4,0.000,0.080,2399,207,3148
$GC,2698,-1.38,-146.6,337.2,-11.3,127,2702,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1604,3148
$GC,3026,-1.38,-146.6,369.1,-9.6,143,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1609,3148
$GC,3335,-1.38,-146.6,399.3,-10.0,158,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1609,3148
$GC,3644,-1.38,-146.6,430.1,-9.6,173,3648,0.00,2.58,0.00,0.000,4,0.000,0.081,2398,203,3148
$GC,3684,-1.38,-146.6,434.4,-10.5,175,3688,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1600,3148
$GC,4012,-1.38,-146.6,467.1,-10.5,191,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3147
$GC,4321,-1.38,-146.6,498.7,-10.0,206,4325,0.00,2.55,0.00,0.000,4,0.000,0.083,2398,205,3146
$GC,4379,-1.38,-146.6,505.1,-11.6,208,4385,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1599,3146
$GC,4696,-1.38,-146.6,538.1,-10.5,224,4700,0.00,2.55,0.00,0.000,4,0.000,0.082,2398,210,3144
$GC,4741,-1.38,-146.6,543.4,-11.4,226,4745,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1605,3144
$GC,5068,-1.38,-146.6,578.5,-10.7,242,5072,0.00,2.58,0.00,0.000,4,0.000,0.084,2398,201,3143
$GC,5116,-1.38,-146.6,583.7,-11.2,244,5120,0.00,2.40,0.00,0.000,6,0.000,0.055,2398,1605,3143
$GC,5443,-1.38,-146.6,617.7,-10.0,260,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3142
$GC,5752,-1.38,-146.6,648.5,-10.2,275,5756,0.00,2.58,0.00,0.000,4,0.000,0.085,2398,204,3142
$GC,5825,-1.38,-146.6,656.4,-10.9,278,5829,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1600,3140
$GC,6142,-1.38,-146.6,687.6,-9.7,293,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1600,3139
$GC,6451,-1.38,-146.6,718.3,-10.1,308,6455,0.00,2.55,0.00,0.000,4,0.000,0.084,2398,208,3138
$GC,6498,-1.38,-146.6,723.3,-11.0,310,6503,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1601,3138
$GC,6827,-1.38,-146.6,756.2,-9.9,326,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3137
$GC,7136,-1.38,-146.6,786.7,-9.9,341,7140,0.00,2.55,0.00,0.000,4,0.000,0.083,2398,209,3136
$GC,7192,-1.38,-146.6,792.9,-11.2,343,7198,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1603,3136
$GC,7509,-1.38,-146.6,824.0,-10.0,359,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3135
$GC,7818,-1.38,-146.6,853.6,-9.6,374,7822,0.00,2.55,0.00,0.000,4,0.000,0.082,2398,202,3135
$GC,7862,-1.38,-146.6,858.2,-10.6,376,7867,0.00,2.40,0.00,0.000,6,0.000,0.054,2398,1606,3134
$GC,8185,-1.38,-146.6,889.1,-9.6,392,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1606,3134
$GC,8494,-1.38,-146.6,918.8,-9.6,407,8498,0.00,2.55,0.00,0.000,4,0.000,0.082,2398,207,3133
$GC,8557,-1.38,-146.6,925.6,-11.3,410,8561,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1602,3134
$GC,8891,-1.38,-146.6,958.1,-9.5,426,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3132
$GC,9201,-1.38,-146.6,987.3,-9.4,441,9205,0.00,2.55,0.00,0.000,4,0.000,0.082,2399,207,3132
$STATE,9227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9227,begin apogee
$GC,9239,-0.32,0.0,990.2,10.8,442,9371,1.15,0.00,127.72,1.370,6,0.137,0.000,2626,2193,2539
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9372,begin climb
$GC,9375,1.38,146.6,995.3,0.0,449,9510,1.80,2.72,125.80,1.325,4,0.084,0.094,3006,3601,1940
$GC,9637,1.38,146.6,978.2,11.1,461,9641,0.00,2.50,0.00,0.000,6,0.000,0.062,3006,2188,1940
$GC,9958,1.38,146.6,943.9,10.7,477,9962,0.00,2.65,0.00,0.000,4,0.000,0.087,3006,3607,1940
$GC,10036,1.38,146.6,935.3,11.0,480,10043,0.00,2.47,0.00,0.000,6,0.000,0.061,3006,2198,1940
$GC,10353,1.38,146.6,901.6,10.7,496,10358,0.00,2.62,0.00,0.000,4,0.000,0.086,3006,3602,1940
$GC,10416,1.38,146.6,894.4,11.8,499,10420,0.00,2.47,0.00,0.000,6,0.000,0.061,3006,2194,1939
$GC,10743,1.38,146.6,859.2,10.6,515,10747,0.00,2.62,0.00,0.000,4,0.000,0.086,3006,3601,1939
$GC,10800,1.38,146.6,853.0,11.8,517,10806,0.00,2.47,0.00,0.000,6,0.000,0.061,3006,2199,1938
$GC,11116,1.38,146.6,819.1,10.6,533,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1939
$GC,11426,1.38,146.6,786.2,10.5,548,11430,0.00,2.62,0.00,0.000,4,0.000,0.087,3007,3607,1939
$GC,11538,1.38,146.6,773.7,11.3,553,11542,0.00,2.47,0.00,0.000,6,0.000,0.063,3007,2199,1939
$GC,11859,1.38,146.6,739.7,10.5,569,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1939
$GC,12168,1.38,146.6,707.7,10.0,584,12173,0.00,2.60,0.00,0.000,4,0.000,0.086,3006,3601,1939
$GC,12270,1.38,146.6,696.7,10.8,588,12276,0.00,2.47,0.00,0.000,6,0.000,0.063,3007,2199,1939
$GC,12586,1.38,147.1,664.5,10.0,604,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1939
$GC,12896,1.39,151.1,633.5,9.8,619,12906,0.00,2.65,5.22,0.906,4,0.000,0.084,3006,3604,1922
$GC,12946,1.39,151.1,628.3,10.7,621,12950,0.00,2.47,0.00,0.000,6,0.000,0.063,3006,2199,1922
$GC,13262,1.39,151.1,596.6,10.2,636,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1922
$GC,13572,1.39,153.5,565.8,9.9,651,13581,0.00,2.65,3.65,0.716,4,0.000,0.085,3006,3597,1913
$GC,13644,1.39,153.5,558.3,10.2,654,13649,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2193,1913
$GC,13967,1.41,161.0,527.0,9.7,670,13981,0.00,2.67,7.88,0.947,4,0.000,0.084,3007,3599,1881
$GC,14022,1.41,161.0,521.4,10.2,672,14026,0.00,2.47,0.00,0.000,6,0.000,0.061,3007,2195,1881
$GC,14338,1.42,168.2,490.9,9.7,687,14352,0.00,2.67,7.65,0.943,4,0.000,0.084,3007,3599,1852
$GC,14429,1.42,168.2,481.4,10.9,691,14433,0.00,2.47,0.00,0.000,6,0.000,0.062,3006,2199,1852
$GC,14756,1.43,177.9,449.8,9.5,707,14771,0.00,2.65,9.77,0.958,4,0.000,0.084,3007,3602,1812
$GC,14835,1.43,177.9,441.8,10.2,709,14841,0.00,2.50,0.00,0.000,6,0.000,0.062,3006,2193,1812
$GC,15151,1.46,191.8,411.3,9.3,725,15173,0.00,2.70,12.85,0.966,4,0.000,0.083,3006,3602,1755
$GC,15291,1.46,192.1,396.6,10.0,731,15296,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2199,1756
$GC,15619,1.46,192.1,362.2,10.3,747,15623,0.00,2.60,0.00,0.000,4,0.000,0.084,3007,3609,1755
$GC,15742,1.46,192.1,348.3,12.0,752,15748,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2198,1755
$GC,16058,1.46,192.1,314.1,11.0,768,16063,0.00,2.60,0.00,0.000,4,0.000,0.084,3007,3604,1755
$GC,16104,1.46,192.1,308.8,11.4,770,16109,0.00,2.47,0.00,0.000,6,0.000,0.062,3006,2199,1754
$GC,16426,1.46,192.1,271.2,11.7,786,16430,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,795,1754
$GC,16477,1.46,192.1,265.0,11.3,788,16482,0.00,2.42,0.00,0.000,6,0.000,0.054,3007,2213,1755
$GC,16799,1.46,192.1,229.3,11.0,804,16800,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2213,1753
$GC,17108,1.46,192.1,196.1,10.6,819,17110,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2213,1753
$GC,17418,1.46,192.1,165.3,10.0,834,17422,0.00,2.55,0.00,0.000,4,0.000,0.073,3006,792,1753
$GC,17583,1.47,199.6,147.4,9.6,841,17600,0.00,2.40,7.18,0.779,6,0.000,0.056,3007,2197,1724
$GC,17912,1.47,199.6,112.8,10.2,857,17916,0.00,2.53,0.00,0.000,4,0.000,0.071,3007,787,1724
$GC,17945,1.47,199.6,108.9,12.8,858,17951,0.00,2.42,0.00,0.000,6,0.000,0.056,3007,2202,1724
$GC,18263,1.47,199.6,74.9,11.2,874,18264,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2202,1724
$GC,18571,1.47,199.6,40.4,12.3,889,18575,0.00,2.53,0.00,0.000,4,0.000,0.071,3006,784,1724
$GC,18791,1.47,199.6,16.3,12.6,899,18795,0.00,2.42,0.00,0.000,6,0.000,0.058,3007,2196,1724
$STATE,18909,end climb,SURFACE_DEPTH_REACHED
$STATE,18909,begin surface coast
$FINISH,0.5,1.025087
$STATE,18931,end surface coast,CONTROL_FINISHED_OK
$STATE,18931,begin surface
$SM_CCo,18957,61.15,0.728,0,0,1316,300.00
$SM_GC,1.66,0.00,0.00,61.15,0.000,0.000,0.728,381,1575,1316,-10.69,-0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,23.3,6.584
$10V_AH,10.1,3.729
$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,25.850,172.575,307.725,61.150,0.000,76.880,132.148,151.722,8.750,0.000,0.000,10.437,1726.148,14425.680,523.186,2142.166,758.908,33.360,1600.941,0.000,2090.634,0.000,55.985,0.000
$DEVICE_MAMPS,174.876,93.574,1369.862,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.166,618.564,473.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47497,906
$CAP_FILE_SIZE,141946,0
$CFSIZE,254472192,250560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,020908,124126,6332.653,-603.350,62,1.6,62,-8.3