version: 66.04
glider: 14
mission: 6
dive: 23
start: 9 2 108 18 29 41
data:
$ID,14
$MISSION,6
$DIVE,23
$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,-650560.88
$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,23
$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
$GPS1,181256,6330.721,-603.554,66,1.4,66,-8.3
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-57.4
$GPS2,182845,6330.822,-603.426,14,1.5,14,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.106,-0.233
$KALMAN_X,50413.3,-18.1,-255.5,-51291.1,2060.5
$KALMAN_Y,49163.7,154.1,-381.2,-72660.7,2223.4
$MHEAD_RNG_PITCHd_Wd,212.7,94131,-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,-60.38,0.000,2,0.000,0.000,383,1593,2736
$GC,85,-1.38,-146.6,3.2,-4.0,3,112,11.38,2.53,-9.85,0.000,4,0.180,0.091,2396,207,3136
$GC,382,-1.38,-146.6,51.5,-15.7,16,386,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1618,3137
$GC,704,-1.38,-146.6,89.8,-11.2,32,708,0.00,2.55,0.00,0.000,4,0.000,0.075,2396,206,3139
$GC,978,-1.38,-146.6,123.7,-12.6,44,982,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1607,3140
$GC,1295,-1.38,-146.6,159.8,-11.6,59,1299,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,209,3141
$GC,1402,-1.38,-146.6,173.4,-12.4,64,1406,0.00,2.33,0.00,0.000,6,0.000,0.055,2396,1602,3141
$GC,1735,-1.38,-146.6,213.6,-12.1,80,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3141
$GC,2045,-1.38,-146.6,251.8,-12.5,95,2050,0.00,2.45,0.00,0.000,4,0.000,0.074,2396,2988,3142
$GC,2079,-1.38,-146.6,256.4,-12.1,96,2085,0.00,2.40,0.00,0.000,6,0.000,0.063,2395,1598,3144
$GC,2396,-1.38,-146.6,294.7,-12.3,112,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1598,3144
$GC,2705,-1.38,-146.6,330.3,-10.8,127,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3144
$GC,3014,-1.38,-146.6,364.1,-11.1,142,3018,0.00,2.55,0.00,0.000,4,0.000,0.088,2396,208,3144
$GC,3048,-1.38,-146.6,368.0,-11.4,143,3054,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1604,3144
$GC,3365,-1.38,-146.6,400.6,-10.0,159,3369,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,209,3144
$GC,3433,-1.38,-146.6,408.1,-11.2,162,3437,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1597,3144
$GC,3755,-1.38,-146.6,440.5,-10.1,178,3758,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,2991,3145
$GC,3783,-1.38,-146.6,443.4,-10.6,179,3787,0.00,2.42,0.00,0.000,6,0.000,0.063,2396,1595,3144
$GC,4105,-1.38,-146.6,476.3,-10.4,195,4109,0.00,2.55,0.00,0.000,4,0.000,0.090,2396,211,3143
$GC,4155,-1.38,-146.6,482.2,-11.2,197,4159,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1604,3143
$GC,4477,-1.38,-146.6,516.4,-10.3,213,4482,0.00,2.58,0.00,0.000,4,0.000,0.084,2396,207,3141
$GC,4518,-1.38,-146.6,521.0,-11.4,215,4522,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3141
$GC,4845,-1.38,-146.6,556.0,-10.5,231,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3139
$GC,5154,-1.38,-146.6,588.6,-10.8,246,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3138
$GC,5464,-1.38,-146.6,622.7,-11.2,261,5468,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,215,3137
$GC,5514,-1.38,-146.6,629.1,-12.5,263,5519,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1592,3137
$GC,5831,-1.38,-146.6,664.3,-10.7,278,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1592,3135
$GC,6140,-1.38,-146.6,698.3,-11.0,293,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1592,3134
$GC,6449,-1.38,-146.6,731.7,-10.8,308,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1592,3132
$GC,6759,-1.38,-146.6,763.4,-9.9,323,6763,0.00,2.53,0.00,0.000,4,0.000,0.085,2396,216,3132
$GC,6815,-1.38,-146.6,769.5,-11.2,325,6821,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1606,3131
$GC,7132,-1.38,-146.6,799.5,-9.3,341,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3130
$GC,7441,-1.38,-146.6,827.8,-9.0,356,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3129
$GC,7750,-1.38,-146.6,855.4,-9.0,371,7754,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,210,3129
$GC,7798,-1.38,-146.6,860.0,-10.3,373,7802,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1605,3129
$GC,8125,-1.38,-146.6,890.2,-9.2,389,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3127
$GC,8435,-1.38,-146.6,919.4,-9.3,404,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3127
$GC,8744,-1.38,-146.6,947.7,-9.1,419,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3127
$GC,9054,-1.38,-146.6,975.9,-9.2,434,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3126
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9224,-0.32,0.0,991.1,9.2,442,9357,1.17,0.00,126.50,1.365,6,0.117,0.000,2634,2197,2539
$STATE,9358,end apogee,CONTROL_FINISHED_OK
$STATE,9358,begin climb
$GC,9362,1.38,146.6,996.0,0.0,449,9496,1.73,2.72,125.43,1.328,4,0.081,0.093,3002,3601,1941
$GC,9663,1.38,146.6,974.5,11.5,463,9668,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2199,1940
$GC,9991,1.38,146.6,941.2,10.2,479,9995,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3601,1940
$GC,10041,1.38,146.6,935.7,10.9,481,10045,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2200,1940
$GC,10358,1.38,146.6,903.9,10.1,496,10362,0.00,2.62,0.00,0.000,4,0.000,0.084,3002,3605,1940
$GC,10398,1.39,151.5,900.0,9.8,498,10409,0.00,2.47,5.85,1.066,6,0.000,0.061,3002,2196,1921
$GC,10726,1.39,151.5,867.1,10.1,514,10730,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3601,1921
$GC,10788,1.39,151.5,860.7,11.8,517,10792,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2200,1921
$GC,11115,1.39,151.5,827.9,10.0,533,11120,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3602,1920
$GC,11165,1.39,151.5,822.5,10.7,535,11170,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2197,1921
$GC,11482,1.39,151.5,791.0,10.2,550,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1921
$GC,11791,1.39,151.5,759.3,10.3,565,11795,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3601,1919
$GC,11836,1.39,151.5,754.4,10.5,567,11840,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2196,1919
$GC,12158,1.40,154.6,722.1,9.9,583,12164,0.00,0.00,4.12,0.829,6,0.000,0.000,3002,2196,1908
$GC,12467,1.40,157.9,691.9,9.8,598,12477,0.00,2.62,4.62,0.876,4,0.000,0.084,3002,3601,1894
$GC,12511,1.41,164.1,687.4,9.7,600,12528,0.00,2.47,6.88,0.992,6,0.000,0.062,3002,2202,1870
$GC,12838,1.42,170.0,655.5,9.7,616,12846,0.00,0.00,6.53,0.980,6,0.000,0.000,3002,2202,1845
$GC,13147,1.42,170.0,624.1,10.1,631,13151,0.00,2.60,0.00,0.000,4,0.000,0.085,3002,3604,1845
$GC,13180,1.42,170.0,620.4,10.3,632,13185,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2201,1845
$GC,13496,1.42,170.0,587.4,10.2,647,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1845
$GC,13806,1.42,170.0,555.8,10.2,662,13810,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3605,1845
$GC,13884,1.42,170.0,547.5,10.0,665,13888,0.00,2.47,0.00,0.000,6,0.000,0.063,3002,2200,1845
$GC,14201,1.44,179.8,516.7,9.5,680,14216,0.00,2.65,9.90,1.004,4,0.000,0.084,3002,3603,1804
$GC,14269,1.44,179.8,509.8,10.5,682,14273,0.00,2.50,0.00,0.000,6,0.000,0.062,3002,2197,1804
$GC,14591,1.44,183.3,478.1,9.8,698,14600,0.00,2.62,4.45,0.807,4,0.000,0.084,3001,3604,1791
$GC,14659,1.44,183.3,470.8,10.6,701,14664,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2200,1791
$GC,14987,1.46,197.4,438.7,9.3,717,15008,0.00,2.67,13.00,0.979,4,0.000,0.084,3002,3597,1733
$GC,15082,1.46,197.4,428.8,10.4,721,15086,0.00,2.47,0.00,0.000,6,0.000,0.063,3002,2200,1733
$GC,15404,1.48,205.0,397.4,9.6,737,15419,0.10,2.65,8.10,0.920,4,0.078,0.083,3028,3597,1702
$GC,15471,1.48,205.0,389.4,11.8,740,15475,0.00,2.47,0.00,0.000,6,0.000,0.063,3028,2196,1702
$GC,15798,1.48,205.0,349.2,12.3,756,15803,0.00,2.60,0.00,0.000,4,0.000,0.084,3029,3602,1701
$GC,15844,1.48,205.0,343.2,12.6,758,15848,0.00,2.47,0.00,0.000,6,0.000,0.063,3029,2200,1701
$GC,16165,1.48,205.0,306.6,10.6,774,16170,0.00,2.60,0.00,0.000,4,0.000,0.085,3028,3608,1701
$GC,16319,1.48,205.0,289.5,11.4,781,16323,0.00,2.47,0.00,0.000,6,0.000,0.063,3029,2199,1701
$GC,16646,1.48,205.0,254.4,10.7,797,16650,0.00,2.58,0.00,0.000,4,0.000,0.083,3028,793,1700
$GC,16719,1.48,205.0,245.6,12.7,800,16723,0.00,2.42,0.00,0.000,6,0.000,0.054,3028,2213,1700
$GC,17035,1.48,205.0,207.6,11.7,815,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2213,1700
$GC,17344,1.48,205.0,169.1,12.6,830,17349,0.00,2.53,0.00,0.000,4,0.000,0.073,3029,794,1700
$GC,17407,1.48,205.0,160.8,13.5,833,17412,0.00,2.40,0.00,0.000,6,0.000,0.055,3028,2200,1700
$GC,17735,1.48,205.0,119.9,12.1,849,17740,0.00,2.53,0.00,0.000,4,0.000,0.071,3028,785,1700
$GC,17764,1.48,205.0,116.1,13.5,850,17768,0.00,2.42,0.00,0.000,6,0.000,0.056,3028,2202,1699
$GC,18082,1.48,205.0,78.2,12.0,865,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2203,1699
$GC,18390,1.48,205.0,41.5,11.8,880,18391,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2203,1700
$GC,18699,1.48,205.0,4.8,13.0,895,18703,0.00,2.50,0.00,0.000,4,0.000,0.071,3028,794,1700
$STATE,18729,end climb,SURFACE_DEPTH_REACHED
$STATE,18729,begin surface coast
$FINISH,0.8,1.026828
$STATE,18752,end surface coast,CONTROL_FINISHED_OK
$STATE,18752,begin surface
$SM_CCo,18779,53.38,0.732,0,0,1315,300.00
$SM_GC,1.39,0.00,0.00,53.38,0.000,0.000,0.732,382,1623,1315,-10.69,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1957
$TCM_TEMP,19.30
$XPDR_PINGS,3
$24V_AH,23.3,6.897
$10V_AH,10.1,3.911
$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,26.050,155.075,315.375,53.375,0.000,153.744,106.167,349.974,9.250,0.000,0.000,16.260,1684.765,14560.152,502.270,2027.988,1010.217,33.371,1519.999,0.000,1977.519,0.000,55.987,0.000
$DEVICE_MAMPS,180.245,92.807,1365.260,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.472,613.339,465.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44221,897
$CAP_FILE_SIZE,141837,0
$CFSIZE,254472192,250433536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,020908,234456,6329.953,-603.393,39,1.7,39,-8.3