version: 66.04
glider: 14
mission: 6
dive: 24
start: 9 2 108 23 58 38
data:
$ID,14
$MISSION,6
$DIVE,24
$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,-650609.75
$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,23
$R_STBD_OVSHOOT,40
$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
$GPS1,234456,6329.953,-603.393,39,1.7,39,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.4
$GPS2,235744,6330.173,-603.434,35,1.7,46,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.090,-0.240
$KALMAN_X,52062.8,126.4,37.3,-53384.4,1727.8
$KALMAN_Y,51585.8,196.2,559.7,-77277.1,816.4
$MHEAD_RNG_PITCHd_Wd,208.9,92929,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.45,0.000,2,0.000,0.000,382,1623,2871
$GC,88,-1.38,-146.6,4.2,-4.4,4,112,11.38,2.60,-5.62,0.000,4,0.180,0.091,2394,212,3138
$GC,385,-1.38,-146.6,54.5,-15.5,17,389,0.00,2.35,0.00,0.000,6,0.000,0.055,2394,1605,3141
$GC,714,-1.38,-146.6,99.3,-13.2,33,718,0.00,2.53,0.00,0.000,4,0.000,0.076,2395,212,3143
$GC,831,-1.38,-146.6,116.2,-13.2,38,835,0.00,2.35,0.00,0.000,6,0.000,0.055,2394,1602,3144
$GC,1147,-1.38,-146.6,156.9,-12.6,53,1152,0.00,2.53,0.00,0.000,4,0.000,0.076,2395,209,3144
$GC,1249,-1.38,-146.6,170.3,-12.5,57,1255,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1601,3145
$GC,1565,-1.38,-146.6,206.9,-11.1,73,1570,0.00,2.53,0.00,0.000,4,0.000,0.077,2394,209,3145
$GC,1644,-1.38,-146.6,216.7,-12.6,76,1650,0.00,2.35,0.00,0.000,6,0.000,0.055,2394,1602,3145
$GC,1960,-1.38,-146.6,253.5,-12.0,92,1965,0.00,2.53,0.00,0.000,4,0.000,0.078,2394,206,3146
$GC,2024,-1.38,-146.6,261.3,-12.7,95,2028,0.00,2.35,0.00,0.000,6,0.000,0.056,2394,1598,3146
$GC,2352,-1.38,-146.6,295.6,-10.3,111,2356,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,211,3147
$GC,2492,-1.38,-146.6,312.6,-12.7,117,2496,0.00,2.38,0.00,0.000,6,0.000,0.056,2395,1605,3147
$GC,2808,-1.38,-146.6,349.6,-11.6,132,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1610,3147
$GC,3117,-1.38,-146.6,384.8,-11.3,147,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1610,3147
$GC,3427,-1.38,-146.6,420.5,-11.5,162,3431,0.00,2.58,0.00,0.000,4,0.000,0.081,2394,204,3147
$GC,3539,-1.38,-146.6,434.4,-12.4,167,3543,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1599,3147
$GC,3861,-1.38,-146.6,470.8,-11.2,183,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1603,3146
$GC,4170,-1.38,-146.6,507.8,-12.0,198,4174,0.00,2.58,0.00,0.000,4,0.000,0.084,2394,205,3145
$GC,4220,-1.38,-146.6,514.6,-12.7,200,4225,0.00,2.38,0.00,0.000,6,0.000,0.055,2394,1598,3145
$GC,4537,-1.38,-146.6,551.9,-11.8,215,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1600,3143
$GC,4846,-1.38,-146.6,587.6,-11.5,230,4850,0.00,2.55,0.00,0.000,4,0.000,0.084,2394,212,3142
$GC,4896,-1.38,-146.6,593.9,-11.9,232,4900,0.00,2.38,0.00,0.000,6,0.000,0.056,2394,1604,3142
$GC,5217,-1.38,-146.6,630.7,-11.4,248,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1604,3141
$GC,5527,-1.38,-146.6,665.8,-11.1,263,5531,0.00,2.55,0.00,0.000,4,0.000,0.084,2394,209,3139
$GC,5566,-1.38,-146.6,670.7,-12.1,264,5572,0.00,2.38,0.00,0.000,6,0.000,0.056,2394,1598,3139
$GC,5883,-1.38,-146.6,704.1,-10.5,280,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1598,3138
$GC,6192,-1.38,-146.6,736.1,-10.5,295,6196,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,206,3137
$GC,6236,-1.38,-146.6,741.2,-12.2,297,6241,0.00,2.40,0.00,0.000,6,0.000,0.055,2394,1602,3137
$GC,6559,-1.38,-146.6,776.3,-11.1,313,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1602,3136
$GC,6868,-1.38,-146.6,809.5,-10.8,328,6872,0.00,2.55,0.00,0.000,4,0.000,0.083,2394,210,3135
$GC,6931,-1.38,-146.6,816.7,-11.7,331,6935,0.00,2.40,0.00,0.000,6,0.000,0.055,2394,1610,3134
$GC,7258,-1.38,-146.6,852.6,-11.1,347,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1610,3134
$GC,7567,-1.38,-146.6,885.8,-10.4,362,7572,0.00,2.58,0.00,0.000,4,0.000,0.084,2394,205,3133
$GC,7612,-1.38,-146.6,890.8,-11.3,364,7616,0.00,2.40,0.00,0.000,6,0.000,0.055,2394,1603,3133
$GC,7934,-1.38,-146.6,923.1,-9.9,380,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1604,3132
$GC,8243,-1.38,-146.6,954.9,-10.4,395,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1604,3131
$GC,8552,-1.38,-146.6,986.9,-10.4,410,8556,0.00,2.55,0.00,0.000,4,0.000,0.083,2394,210,3130
$STATE,8576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8576,begin apogee
$GC,8588,-0.32,0.0,990.2,11.6,411,8720,1.15,0.00,127.43,1.368,6,0.117,0.000,2629,2194,2540
$STATE,8721,end apogee,CONTROL_FINISHED_OK
$STATE,8721,begin climb
$GC,8725,1.38,146.6,996.2,0.0,418,8859,1.75,2.72,125.80,1.328,4,0.079,0.093,3004,3601,1940
$GC,8992,1.41,160.7,979.8,9.3,430,9013,0.00,2.47,13.50,1.317,6,0.000,0.061,3004,2198,1883
$GC,9336,1.41,164.3,945.6,9.8,447,9343,0.00,0.00,4.82,0.986,6,0.000,0.000,3004,2199,1869
$GC,9645,1.41,164.3,913.8,10.5,462,9650,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3601,1869
$GC,9701,1.41,164.3,907.6,11.4,464,9707,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2193,1869
$GC,10018,1.42,167.7,875.5,9.8,480,10028,0.00,2.62,4.75,0.962,4,0.000,0.084,3004,3601,1855
$GC,10062,1.42,167.7,870.7,10.8,482,10066,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2197,1855
$GC,10383,1.42,167.7,838.1,10.2,498,10388,0.00,2.60,0.00,0.000,4,0.000,0.084,3004,3601,1854
$GC,10447,1.42,167.7,831.4,10.6,501,10451,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2200,1854
$GC,10780,1.42,170.2,797.9,9.9,517,10789,0.00,2.62,3.85,0.815,4,0.000,0.085,3004,3602,1843
$GC,10831,1.42,170.2,792.6,11.1,519,10835,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2200,1843
$GC,11152,1.42,170.2,759.8,10.3,535,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1843
$GC,11461,1.42,170.2,727.0,10.7,550,11466,0.00,2.60,0.00,0.000,4,0.000,0.086,3004,3601,1843
$GC,11535,1.42,170.2,718.6,11.9,553,11539,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2193,1843
$GC,11851,1.42,170.2,684.9,10.9,568,11855,0.00,2.62,0.00,0.000,4,0.000,0.086,3004,3605,1843
$GC,11891,1.42,170.2,680.4,11.1,570,11896,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2197,1843
$GC,12219,1.42,170.2,645.9,10.5,586,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,1843
$GC,12529,1.42,172.6,614.6,9.9,601,12533,0.00,2.60,0.00,0.000,4,0.000,0.087,3004,3601,1843
$GC,12601,1.42,172.6,606.9,10.1,604,12606,0.00,2.45,0.00,0.000,6,0.000,0.062,3004,2200,1843
$GC,12918,1.43,173.7,576.0,10.0,619,12924,0.00,0.00,4.43,0.805,6,0.000,0.000,3002,2200,1831
$GC,13227,1.44,180.9,545.8,9.7,634,13237,0.00,0.00,7.88,0.958,6,0.000,0.000,3004,2200,1801
$GC,13537,1.46,192.7,516.4,9.4,649,13554,0.00,0.00,11.57,1.002,6,0.000,0.000,3004,2200,1752
$GC,13865,1.46,192.7,483.6,10.0,665,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1752
$GC,14174,1.47,201.9,453.2,9.6,680,14189,0.00,2.65,9.30,0.953,4,0.000,0.086,3004,3601,1714
$GC,14258,1.47,201.9,444.2,10.7,683,14264,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2200,1714
$GC,14574,1.49,213.3,413.8,9.5,699,14591,0.12,2.65,10.73,0.945,4,0.074,0.084,3036,3600,1668
$GC,14625,1.49,213.3,407.9,11.3,700,14630,0.00,2.47,0.00,0.000,6,0.000,0.061,3036,2200,1668
$GC,14942,1.49,213.3,370.5,12.2,715,14946,0.00,2.55,0.00,0.000,4,0.000,0.080,3036,795,1668
$GC,15004,1.49,213.3,362.2,13.4,718,15008,0.00,2.42,0.00,0.000,6,0.000,0.055,3036,2206,1667
$GC,15331,1.49,213.3,318.6,13.2,734,15335,0.00,2.58,0.00,0.000,4,0.000,0.087,3036,3601,1667
$GC,15510,1.49,213.3,295.3,13.0,742,15515,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2197,1667
$GC,15838,1.49,213.3,254.2,12.7,758,15842,0.00,2.58,0.00,0.000,4,0.000,0.083,3034,3598,1666
$GC,16041,1.49,213.3,228.8,12.7,767,16045,0.00,2.45,0.00,0.000,6,0.000,0.063,3036,2202,1667
$GC,16362,1.49,213.3,191.1,11.5,783,16366,0.00,2.58,0.00,0.000,4,0.000,0.084,3036,3602,1666
$GC,16441,1.49,213.3,181.3,13.3,786,16447,0.00,2.45,0.00,0.000,6,0.000,0.063,3036,2199,1666
$GC,16757,1.49,213.3,144.8,11.6,802,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,1667
$GC,17068,1.49,213.3,107.1,12.8,817,17073,0.00,2.58,0.00,0.000,4,0.000,0.084,3036,3602,1666
$GC,17118,1.49,213.3,100.3,12.8,819,17123,0.00,2.45,0.00,0.000,6,0.000,0.062,3036,2196,1666
$GC,17436,1.49,213.3,61.2,12.8,834,17441,0.00,2.55,0.00,0.000,4,0.000,0.081,3036,3597,1665
$GC,17638,1.49,213.3,34.6,10.6,843,17643,0.00,2.42,0.00,0.000,6,0.000,0.061,3036,2198,1666
$STATE,17938,end climb,SURFACE_DEPTH_REACHED
$STATE,17938,begin surface coast
$FINISH,0.6,1.026848
$STATE,17958,end surface coast,CONTROL_FINISHED_OK
$STATE,17958,begin surface
$SM_CCo,17984,49.15,0.709,0,0,1315,300.00
$SM_GC,1.67,0.00,0.00,49.15,0.000,0.000,0.709,378,1595,1315,-10.70,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1923
$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,23.3,7.055
$10V_AH,10.1,3.998
$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,26.100,152.125,324.050,49.150,0.000,78.132,88.387,358.086,8.750,0.000,0.000,48.260,1625.454,13707.284,509.345,2054.706,906.296,33.372,1515.995,0.000,1970.576,0.000,55.990,0.000
$DEVICE_MAMPS,180.245,92.807,1367.561,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.593,586.763,444.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44266,859
$CAP_FILE_SIZE,136936,0
$CFSIZE,254472192,250376192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,030908,050033,6328.753,-602.216,37,1.8,38,-8.3