version: 66.04
glider: 14
mission: 6
dive: 22
start: 9 2 108 12 56 24
data:
$ID,14
$MISSION,6
$DIVE,22
$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,-650544
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,124126,6332.653,-603.350,62,1.6,62,-8.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.3
$GPS2,125530,6332.929,-603.352,14,1.7,18,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.058,-0.249
$KALMAN_X,48773.8,-123.3,403.5,-50142.0,1100.2
$KALMAN_Y,47553.5,-4.0,355.9,-67726.6,1389.7
$MHEAD_RNG_PITCHd_Wd,201.4,98035,-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,17,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,382,1574,2701
$GC,83,-1.38,-146.6,3.2,-4.8,3,114,11.38,2.45,-11.00,0.000,4,0.179,0.092,2398,233,3139
$GC,374,-1.38,-146.6,45.2,-15.3,16,378,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1623,3140
$GC,702,-1.38,-146.6,89.4,-13.4,32,706,0.00,2.50,0.00,0.000,4,0.000,0.076,2398,231,3143
$GC,788,-1.38,-146.6,100.9,-13.7,36,793,0.00,2.33,0.00,0.000,6,0.000,0.055,2398,1605,3143
$GC,1118,-1.38,-146.6,140.9,-12.2,52,1122,0.00,2.50,0.00,0.000,4,0.000,0.076,2398,224,3144
$GC,1174,-1.38,-146.6,148.7,-13.2,54,1180,0.00,2.33,0.00,0.000,6,0.000,0.055,2398,1608,3144
$GC,1490,-1.38,-146.6,187.1,-12.0,70,1494,0.00,2.45,0.00,0.000,4,0.000,0.077,2398,231,3145
$GC,1546,-1.38,-146.6,194.2,-13.2,72,1550,0.00,2.30,0.00,0.000,6,0.000,0.055,2398,1599,3145
$GC,1862,-1.38,-146.6,232.5,-12.2,87,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3147
$GC,2172,-1.38,-146.6,268.9,-11.3,102,2176,0.00,2.50,0.00,0.000,4,0.000,0.079,2398,228,3147
$GC,2258,-1.38,-146.6,278.9,-11.5,106,2262,0.00,2.33,0.00,0.000,6,0.000,0.056,2398,1604,3148
$GC,2585,-1.38,-146.6,315.8,-11.1,122,2589,0.00,2.50,0.00,0.000,4,0.000,0.078,2398,231,3147
$GC,2719,-1.38,-146.6,332.5,-12.4,128,2723,0.00,2.33,0.00,0.000,6,0.000,0.056,2398,1600,3147
$GC,3040,-1.38,-146.6,369.6,-11.1,144,3044,0.00,2.50,0.00,0.000,4,0.000,0.081,2398,2990,3148
$GC,3091,-1.38,-146.6,375.3,-10.7,146,3095,0.00,2.38,0.00,0.000,6,0.000,0.063,2397,1618,3147
$GC,3412,-1.38,-146.6,410.1,-10.6,162,3417,0.00,2.58,0.00,0.000,4,0.000,0.087,2398,213,3147
$GC,3486,-1.38,-146.6,418.6,-11.7,165,3490,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1603,3147
$GC,3808,-1.38,-146.6,453.3,-10.6,181,3812,0.00,2.55,0.00,0.000,4,0.000,0.082,2398,212,3147
$GC,3854,-1.38,-146.6,458.6,-11.7,183,3858,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1605,3147
$GC,4175,-1.38,-146.6,492.1,-10.2,199,4180,0.00,2.53,0.00,0.000,4,0.000,0.084,2398,2994,3145
$GC,4221,-1.38,-146.6,496.7,-9.8,201,4225,0.00,2.42,0.00,0.000,6,0.000,0.064,2398,1600,3145
$GC,4548,-1.38,-146.6,529.0,-10.0,217,4552,0.00,2.55,0.00,0.000,4,0.000,0.089,2397,213,3143
$GC,4622,-1.38,-146.6,537.0,-11.4,220,4626,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1604,3143
$GC,4944,-1.38,-146.6,570.7,-10.8,236,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3142
$GC,5253,-1.38,-146.6,605.0,-11.4,251,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1605,3140
$GC,5563,-1.38,-146.6,640.4,-11.7,266,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3139
$GC,5873,-1.38,-146.6,675.1,-11.2,281,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3138
$GC,6181,-1.38,-146.6,708.9,-10.9,296,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3136
$GC,6491,-1.38,-146.6,741.8,-10.6,311,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3136
$GC,6800,-1.38,-146.6,773.7,-10.1,326,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3135
$GC,7109,-1.38,-146.6,804.4,-9.8,341,7114,0.00,2.55,0.00,0.000,4,0.000,0.085,2398,212,3134
$GC,7156,-1.38,-146.6,809.3,-10.3,343,7160,0.00,2.38,0.00,0.000,6,0.000,0.054,2398,1600,3134
$GC,7478,-1.38,-146.6,840.7,-9.4,359,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3133
$GC,7787,-1.38,-146.6,869.4,-8.8,374,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3133
$GC,8096,-1.38,-146.6,897.4,-9.1,389,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3132
$GC,8406,-1.38,-146.6,925.3,-8.8,404,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3131
$GC,8715,-1.38,-146.6,953.1,-8.9,419,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3130
$GC,9024,-1.38,-146.6,980.9,-9.0,434,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3130
$STATE,9123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9123,begin apogee
$GC,9132,-0.32,0.0,990.4,9.3,439,9267,1.15,0.00,127.53,1.361,6,0.117,0.000,2630,2195,2538
$STATE,9267,end apogee,CONTROL_FINISHED_OK
$STATE,9267,begin climb
$GC,9271,1.38,146.6,995.1,0.0,446,9405,1.77,2.70,125.45,1.326,4,0.087,0.091,3002,3594,1940
$GC,9550,1.38,146.6,975.4,10.4,459,9555,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2196,1940
$GC,9877,1.38,146.6,940.9,10.5,475,9881,0.00,2.62,0.00,0.000,4,0.000,0.086,3002,3601,1940
$GC,9911,1.38,146.6,937.3,10.9,476,9917,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2196,1939
$GC,10227,1.38,146.6,905.0,10.3,492,10232,0.00,2.62,0.00,0.000,4,0.000,0.086,3002,3602,1939
$GC,10278,1.38,146.6,899.4,10.9,494,10283,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2196,1940
$GC,10595,1.38,146.6,866.6,10.6,509,10599,0.00,2.60,0.00,0.000,4,0.000,0.085,3002,3596,1939
$GC,10645,1.38,146.6,861.1,10.9,511,10649,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2198,1939
$GC,10966,1.38,146.6,827.5,10.5,527,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1940
$GC,11276,1.38,146.6,795.1,10.6,542,11280,0.00,2.60,0.00,0.000,4,0.000,0.085,3002,3598,1940
$GC,11348,1.38,146.6,786.9,10.6,545,11353,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2191,1939
$GC,11665,1.38,146.6,753.0,10.5,560,11669,0.00,2.62,0.00,0.000,4,0.000,0.084,3002,3604,1939
$GC,11698,1.38,146.6,749.2,11.8,561,11704,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2197,1939
$GC,12014,1.38,146.6,716.9,10.0,577,12019,0.00,2.60,0.00,0.000,4,0.000,0.085,3002,3602,1939
$GC,12071,1.38,146.6,710.7,10.7,579,12077,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2197,1939
$GC,12388,1.39,151.1,678.9,9.8,595,12398,0.00,2.62,5.35,0.904,4,0.000,0.084,3002,3597,1921
$GC,12483,1.39,151.1,668.5,11.0,599,12487,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2197,1921
$GC,12799,1.39,151.1,635.5,10.3,614,12803,0.00,2.60,0.00,0.000,4,0.000,0.085,3003,3602,1921
$GC,12832,1.39,151.1,631.9,10.4,615,12837,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2199,1921
$GC,13149,1.40,159.1,600.6,9.6,630,13163,0.00,2.65,8.02,0.975,4,0.000,0.084,3003,3589,1890
$GC,13194,1.40,159.1,596.1,10.4,632,13198,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2196,1889
$GC,13521,1.41,163.9,564.0,9.8,648,13532,0.00,2.65,6.12,0.912,4,0.000,0.084,3002,3601,1870
$GC,13562,1.41,164.6,559.9,10.0,650,13567,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2199,1870
$GC,13891,1.42,171.6,527.9,9.7,666,13900,0.00,0.00,7.78,0.937,6,0.000,0.000,3003,2199,1839
$GC,14200,1.43,173.2,497.0,9.9,681,14204,0.00,2.58,0.00,0.000,4,0.000,0.085,3002,3596,1839
$GC,14255,1.43,173.2,490.7,11.1,683,14262,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2194,1839
$GC,14572,1.44,184.4,460.1,9.5,699,14593,0.00,2.65,12.02,0.974,4,0.000,0.080,3001,796,1786
$GC,14640,1.44,184.4,453.4,10.7,702,14644,0.00,2.42,0.00,0.000,6,0.000,0.055,3003,2200,1786
$GC,14973,1.46,197.1,421.6,9.4,718,14994,0.00,2.65,11.93,0.943,4,0.000,0.072,3003,787,1734
$GC,15041,1.46,197.1,414.7,10.9,721,15045,0.00,2.45,0.00,0.000,6,0.000,0.056,3003,2200,1735
$GC,15374,1.46,197.1,380.4,10.5,737,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1733
$GC,15684,1.46,197.1,348.3,10.5,752,15688,0.00,2.55,0.00,0.000,4,0.000,0.072,3002,793,1733
$GC,15797,1.46,197.1,334.6,13.5,757,15802,0.00,2.42,0.00,0.000,6,0.000,0.056,3003,2199,1733
$GC,16119,1.46,197.1,293.8,13.0,773,16124,0.00,2.62,0.00,0.000,4,0.000,0.091,3002,3607,1732
$GC,16209,1.46,197.1,282.4,11.9,777,16214,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2191,1732
$GC,16531,1.46,197.1,247.8,10.7,793,16535,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3600,1732
$GC,16789,1.46,197.1,219.8,11.3,804,16796,0.00,2.45,0.00,0.000,6,0.000,0.062,3003,2201,1732
$GC,17106,1.46,197.1,185.4,11.4,820,17110,0.00,2.58,0.00,0.000,4,0.000,0.085,3003,3603,1731
$GC,17277,1.46,197.1,165.6,11.6,827,17283,0.00,2.45,0.00,0.000,6,0.000,0.062,3003,2200,1731
$GC,17595,1.46,197.1,129.8,11.0,843,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1731
$GC,17903,1.46,197.1,97.2,10.4,858,17907,0.00,2.60,0.00,0.000,4,0.000,0.085,3002,3606,1731
$GC,17953,1.46,197.1,91.4,10.5,860,17957,0.00,2.42,0.00,0.000,6,0.000,0.062,3003,2200,1731
$GC,18276,1.46,197.1,56.4,11.3,876,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1731
$GC,18585,1.50,217.9,25.7,9.0,891,18606,0.12,0.00,18.35,0.732,6,0.067,0.000,3041,2200,1649
$STATE,18788,end climb,SURFACE_DEPTH_REACHED
$STATE,18788,begin surface coast
$FINISH,0.5,1.026826
$STATE,18809,end surface coast,CONTROL_FINISHED_OK
$STATE,18809,begin surface
$SM_CCo,18835,46.80,0.715,0,0,1315,300.25
$SM_GC,1.35,0.00,0.00,46.80,0.000,0.000,0.715,382,1595,1315,-10.69,-0.14,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1922
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,23.3,6.740
$10V_AH,10.1,3.820
$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,26.150,157.000,322.550,46.800,0.000,117.243,104.392,346.792,9.000,0.000,0.000,20.017,1699.019,14470.950,511.442,2082.350,963.914,33.372,1550.196,0.000,2024.296,0.000,55.982,0.000
$DEVICE_MAMPS,179.478,92.040,1360.658,714.844,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.970,616.204,477.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47429,902
$CAP_FILE_SIZE,142416,0
$CFSIZE,254472192,250494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,020908,181256,6330.721,-603.554,66,1.4,66,-8.3