version: 66.04
glider: 14
mission: 6
dive: 28
start: 9 3 108 21 25 41
data:
$ID,14
$MISSION,6
$DIVE,28
$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,-650685.88
$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,1525
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,33
$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
$GPS1,211502,6324.646,-602.701,41,1.3,41,-8.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.5
$GPS2,212443,6324.621,-602.533,9,1.3,13,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.172,-0.189
$KALMAN_X,60746.7,-297.3,-488.7,-60378.8,3416.2
$KALMAN_Y,61395.8,-213.3,-529.8,-95858.8,3818.5
$MHEAD_RNG_PITCHd_Wd,230.6,82664,-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,13,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.33,0.000,2,0.000,0.000,383,1599,2729
$GC,83,-1.38,-146.6,3.3,-5.2,3,110,11.35,2.33,-9.73,0.000,4,0.180,0.078,2395,2928,3138
$GC,379,-1.38,-146.6,48.2,-13.0,16,384,0.00,2.40,0.00,0.000,6,0.000,0.061,2395,1522,3139
$GC,702,-1.38,-146.6,89.6,-12.5,32,706,0.00,2.38,0.00,0.000,4,0.000,0.081,2395,206,3141
$GC,769,-1.38,-146.6,98.8,-13.0,35,773,0.00,2.22,0.00,0.000,6,0.000,0.054,2395,1554,3142
$GC,1091,-1.38,-146.6,139.0,-12.4,51,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1558,3143
$GC,1400,-1.38,-146.6,178.4,-12.6,66,1404,0.00,2.42,0.00,0.000,4,0.000,0.078,2395,212,3143
$GC,1440,-1.38,-146.6,183.7,-13.7,68,1444,0.00,2.17,0.00,0.000,6,0.000,0.055,2395,1529,3144
$GC,1774,-1.38,-146.6,225.1,-12.4,84,1778,0.00,2.38,0.00,0.000,4,0.000,0.077,2395,211,3144
$GC,1841,-1.38,-146.6,234.0,-12.7,87,1845,0.00,2.17,0.00,0.000,6,0.000,0.054,2395,1527,3144
$GC,2162,-1.38,-146.6,272.9,-11.8,103,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1531,3144
$GC,2471,-1.38,-146.6,308.8,-11.3,118,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1532,3146
$GC,2781,-1.38,-146.6,340.0,-9.6,133,2785,0.00,2.42,0.00,0.000,4,0.000,0.074,2395,2900,3146
$GC,2845,-1.38,-146.6,346.3,-10.4,136,2849,0.00,2.38,0.00,0.000,6,0.000,0.064,2395,1525,3147
$GC,3172,-1.38,-146.6,377.9,-9.4,152,3177,0.00,2.45,0.00,0.000,4,0.000,0.071,2395,2901,3147
$GC,3203,-1.38,-146.6,380.7,-8.6,153,3207,0.00,2.38,0.00,0.000,6,0.000,0.063,2395,1528,3146
$GC,3519,-1.38,-146.6,414.0,-10.7,168,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1527,3147
$GC,3830,-1.38,-146.6,450.7,-12.0,183,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1528,3146
$GC,4137,-1.38,-146.6,486.3,-11.2,198,4142,0.00,2.42,0.00,0.000,4,0.000,0.072,2395,2898,3147
$GC,4183,-1.38,-146.6,491.4,-11.4,200,4187,0.00,2.40,0.00,0.000,6,0.000,0.064,2395,1522,3146
$GC,4506,-1.38,-146.6,526.7,-10.9,216,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1521,3145
$GC,4814,-1.38,-146.6,560.1,-10.9,231,4818,0.00,2.42,0.00,0.000,4,0.000,0.072,2395,2897,3144
$GC,4871,-1.38,-146.6,566.7,-11.9,233,4875,0.00,2.40,0.00,0.000,6,0.000,0.065,2395,1526,3144
$GC,5188,-1.38,-146.6,601.2,-10.9,248,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1526,3142
$GC,5496,-1.38,-146.6,634.8,-11.0,263,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1526,3141
$GC,5806,-1.38,-146.6,667.5,-10.4,278,5810,0.00,2.45,0.00,0.000,4,0.000,0.074,2395,2901,3140
$GC,5856,-1.38,-146.6,672.9,-11.1,280,5860,0.00,2.42,0.00,0.000,6,0.000,0.066,2394,1522,3140
$GC,6172,-1.38,-146.6,704.6,-10.0,295,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1522,3138
$GC,6482,-1.38,-146.6,737.7,-10.8,310,6486,0.00,2.42,0.00,0.000,4,0.000,0.071,2394,2895,3137
$GC,6522,-1.38,-146.6,741.8,-10.4,312,6526,0.00,2.40,0.00,0.000,6,0.000,0.065,2395,1524,3137
$GC,6850,-1.38,-146.6,776.2,-10.4,328,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3136
$GC,7158,-1.38,-146.6,808.0,-10.2,343,7162,0.00,2.40,0.00,0.000,4,0.000,0.068,2395,2897,3134
$GC,7197,-1.38,-146.6,812.3,-10.6,344,7203,0.00,2.40,0.00,0.000,6,0.000,0.064,2395,1520,3134
$GC,7514,-1.38,-146.6,843.3,-9.6,360,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1520,3133
$GC,7823,-1.38,-146.6,873.7,-9.8,375,7827,0.00,2.42,0.00,0.000,4,0.000,0.067,2395,2901,3132
$GC,7851,-1.38,-146.6,876.8,-10.4,376,7855,0.00,2.40,0.00,0.000,6,0.000,0.062,2395,1522,3132
$GC,8168,-1.38,-146.6,908.2,-9.8,391,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1521,3132
$GC,8477,-1.38,-146.6,938.6,-9.7,406,8481,0.00,2.42,0.00,0.000,4,0.000,0.067,2395,2898,3131
$GC,8522,-1.38,-146.6,943.4,-9.9,408,8526,0.00,2.38,0.00,0.000,6,0.000,0.061,2395,1524,3131
$GC,8844,-1.38,-146.6,975.6,-10.2,424,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3130
$STATE,9005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9005,begin apogee
$GC,9014,-0.32,0.0,992.3,9.9,432,9148,1.17,0.00,127.70,1.364,6,0.117,0.000,2632,2264,2539
$STATE,9149,end apogee,CONTROL_FINISHED_OK
$STATE,9149,begin climb
$GC,9152,1.38,146.6,997.9,0.0,439,9286,1.75,2.70,125.10,1.327,4,0.084,0.090,3001,3665,1940
$GC,9386,1.38,147.0,983.2,10.0,450,9391,0.00,2.45,0.00,0.000,6,0.000,0.060,3001,2263,1940
$GC,9714,1.38,147.0,949.4,10.3,466,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2262,1939
$GC,10024,1.38,147.0,917.0,10.7,481,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2263,1940
$GC,10333,1.38,147.0,884.4,10.4,496,10337,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3665,1939
$GC,10373,1.38,147.0,880.0,10.4,498,10377,0.00,2.42,0.00,0.000,6,0.000,0.060,3001,2275,1939
$GC,10706,1.38,147.0,845.0,10.3,514,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2275,1939
$GC,11015,1.38,147.0,813.7,10.1,529,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2275,1939
$GC,11325,1.39,149.5,783.0,9.9,544,11330,0.00,0.00,3.45,0.771,6,0.000,0.000,3001,2275,1929
$GC,11634,1.39,149.5,751.8,10.1,559,11638,0.00,2.58,0.00,0.000,4,0.000,0.084,3001,3665,1929
$GC,11675,1.39,149.5,747.6,10.9,561,11679,0.00,2.42,0.00,0.000,6,0.000,0.061,3001,2276,1929
$GC,12002,1.39,149.5,712.8,10.9,577,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2276,1929
$GC,12312,1.39,149.5,679.5,10.7,592,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2276,1929
$GC,12621,1.39,154.0,648.1,9.8,607,12632,0.00,2.60,5.75,0.920,4,0.000,0.084,3001,3665,1911
$GC,12694,1.39,154.0,640.3,10.4,610,12699,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2272,1911
$GC,13011,1.43,173.3,610.9,9.1,625,13030,0.00,0.00,17.30,1.081,6,0.000,0.000,3001,2272,1832
$GC,13341,1.44,180.5,579.6,9.7,641,13350,0.00,0.00,7.62,0.953,6,0.000,0.000,3001,2272,1803
$GC,13650,1.44,184.3,549.8,9.8,656,13657,0.00,0.00,4.90,0.823,6,0.000,0.000,3001,2272,1786
$GC,13959,1.46,195.2,519.7,9.5,671,13972,0.00,0.00,10.73,0.992,6,0.000,0.000,3001,2272,1743
$GC,14268,1.47,201.1,489.7,9.7,686,14277,0.10,0.00,6.62,0.903,6,0.076,0.000,3029,2271,1719
$GC,14577,1.47,201.1,455.0,11.7,701,14581,0.00,2.58,0.00,0.000,4,0.000,0.084,3029,3665,1719
$GC,14634,1.47,201.1,448.0,12.5,703,14638,0.00,2.45,0.00,0.000,6,0.000,0.061,3029,2267,1718
$GC,14950,1.47,201.1,410.3,12.0,718,14954,0.00,2.58,0.00,0.000,4,0.000,0.083,3029,3666,1718
$GC,14995,1.47,201.1,404.7,12.3,720,14999,0.00,2.45,0.00,0.000,6,0.000,0.061,3029,2267,1718
$GC,15317,1.47,201.1,368.7,10.6,736,15321,0.00,2.58,0.00,0.000,4,0.000,0.083,3029,3665,1718
$GC,15361,1.47,201.1,363.4,11.6,738,15365,0.00,2.45,0.00,0.000,6,0.000,0.061,3029,2266,1718
$GC,15683,1.47,201.1,327.1,11.6,754,15684,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2266,1717
$GC,15992,1.47,201.1,289.2,12.7,769,15996,0.00,2.55,0.00,0.000,4,0.000,0.081,3029,861,1716
$GC,16081,1.47,201.1,276.3,13.8,773,16086,0.00,2.40,0.00,0.000,6,0.000,0.054,3029,2273,1716
$GC,16409,1.47,201.1,232.7,13.7,789,16413,0.00,2.58,0.00,0.000,4,0.000,0.086,3029,3671,1716
$GC,16487,1.47,201.1,221.9,14.0,792,16493,0.00,2.42,0.00,0.000,6,0.000,0.059,3029,2265,1716
$GC,16804,1.47,201.1,183.2,12.2,808,16808,0.00,2.47,0.00,0.000,4,0.000,0.075,3029,873,1716
$GC,16877,1.47,201.1,173.7,11.9,811,16881,0.00,2.40,0.00,0.000,6,0.000,0.054,3029,2276,1716
$GC,17199,1.47,201.1,135.8,11.4,827,17203,0.00,2.50,0.00,0.000,4,0.000,0.068,3029,872,1716
$GC,17244,1.47,201.1,130.3,12.1,829,17248,0.00,2.40,0.00,0.000,6,0.000,0.055,3029,2284,1716
$GC,17566,1.47,201.1,91.9,12.2,845,17567,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2283,1716
$GC,17877,1.47,201.1,54.3,12.2,860,17881,0.00,2.53,0.00,0.000,4,0.000,0.069,3029,866,1716
$GC,17955,1.47,201.1,43.8,12.2,863,17961,0.00,2.40,0.00,0.000,6,0.000,0.056,3029,2274,1716
$GC,18273,1.51,229.3,10.5,8.7,879,18299,0.00,0.00,23.73,0.713,6,0.000,0.000,3029,2273,1603
$STATE,18356,end climb,SURFACE_DEPTH_REACHED
$STATE,18356,begin surface coast
$FINISH,0.5,1.026866
$STATE,18376,end surface coast,CONTROL_FINISHED_OK
$STATE,18376,begin surface
$SM_CCo,18403,41.38,0.686,1,0,1315,300.00
$SM_GC,1.26,0.00,0.00,41.38,0.000,0.000,0.686,382,1525,1315,-10.69,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1924
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.4,7.630
$10V_AH,10.1,4.345
$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,26.125,124.425,332.900,41.375,0.000,75.520,62.113,225.385,8.750,0.000,0.000,14.528,1624.039,14317.976,495.842,1849.234,748.510,33.373,1421.064,0.000,1807.891,0.000,55.989,0.000
$DEVICE_MAMPS,180.245,89.739,1363.726,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.707,604.353,465.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44276,884
$CAP_FILE_SIZE,128507,0
$CFSIZE,254472192,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,040908,023431,6323.932,-603.756,37,1.5,37,-8.2