version: 66.04
glider: 14
mission: 6
dive: 29
start: 9 4 108 2 51 29
data:
$ID,14
$MISSION,6
$DIVE,29
$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,576.94562
$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,-650702.19
$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,30
$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
$GPS1,023431,6323.932,-603.756,37,1.5,37,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-58.8
$GPS2,025033,6324.145,-603.739,14,1.7,14,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.101,-0.235
$KALMAN_X,62262.7,-34.1,155.9,-63786.3,1951.8
$KALMAN_Y,63186.5,-27.7,353.3,-99597.6,1591.9
$MHEAD_RNG_PITCHd_Wd,211.4,81763,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.10,0.000,2,0.000,0.000,382,1523,2733
$GC,82,-1.38,-146.6,3.5,-4.2,3,108,11.38,2.40,-9.57,0.000,4,0.181,0.090,2395,202,3139
$GC,379,-1.38,-146.6,50.3,-14.2,16,383,0.00,2.22,0.00,0.000,6,0.000,0.054,2395,1544,3139
$GC,696,-1.38,-146.6,88.0,-11.2,31,700,0.00,2.40,0.00,0.000,4,0.000,0.074,2395,209,3142
$GC,783,-1.38,-146.6,98.6,-12.8,35,787,0.00,2.17,0.00,0.000,6,0.000,0.054,2395,1532,3143
$GC,1111,-1.38,-146.6,139.2,-12.7,51,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1537,3144
$GC,1421,-1.38,-146.6,176.4,-11.6,66,1425,0.00,2.40,0.00,0.000,4,0.000,0.076,2395,201,3144
$GC,1522,-1.38,-146.6,189.5,-12.9,70,1526,0.00,2.20,0.00,0.000,6,0.000,0.054,2395,1533,3144
$GC,1844,-1.38,-146.6,227.6,-11.5,86,1848,0.00,2.38,0.00,0.000,4,0.000,0.076,2395,209,3144
$GC,1890,-1.38,-146.6,233.3,-12.4,88,1894,0.00,2.17,0.00,0.000,6,0.000,0.054,2395,1525,3144
$GC,2223,-1.38,-146.6,273.1,-12.3,104,2227,0.00,2.40,0.00,0.000,4,0.000,0.070,2395,2901,3144
$GC,2257,-1.38,-146.6,277.4,-11.0,105,2264,0.00,2.38,0.00,0.000,6,0.000,0.062,2395,1522,3144
$GC,2574,-1.38,-146.6,314.5,-11.3,121,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1522,3145
$GC,2883,-1.38,-146.6,349.8,-11.5,136,2888,0.00,2.40,0.00,0.000,4,0.000,0.087,2395,207,3145
$GC,2962,-1.38,-146.6,359.8,-13.3,139,2966,0.00,2.20,0.00,0.000,6,0.000,0.055,2394,1531,3145
$GC,3278,-1.38,-146.6,395.3,-11.5,154,3282,0.00,2.40,0.00,0.000,4,0.000,0.074,2395,2896,3146
$GC,3306,-1.38,-146.6,398.4,-11.3,155,3310,0.00,2.35,0.00,0.000,6,0.000,0.061,2395,1526,3145
$GC,3628,-1.38,-146.6,431.9,-10.4,171,3632,0.00,2.42,0.00,0.000,4,0.000,0.071,2395,2903,3145
$GC,3661,-1.38,-146.6,435.5,-10.5,172,3668,0.00,2.38,0.00,0.000,6,0.000,0.063,2394,1529,3145
$GC,3978,-1.38,-146.6,470.0,-11.0,188,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1529,3145
$GC,4287,-1.38,-146.6,504.6,-11.7,203,4291,0.00,2.45,0.00,0.000,4,0.000,0.071,2395,2903,3144
$GC,4327,-1.38,-146.6,509.7,-12.5,205,4331,0.00,2.40,0.00,0.000,6,0.000,0.064,2396,1524,3144
$GC,4655,-1.38,-146.6,548.2,-12.0,221,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3143
$GC,4964,-1.38,-146.6,583.7,-11.2,236,4968,0.00,2.42,0.00,0.000,4,0.000,0.071,2395,2895,3140
$GC,4998,-1.38,-146.6,587.8,-11.5,237,5004,0.00,2.40,0.00,0.000,6,0.000,0.064,2395,1522,3141
$GC,5314,-1.38,-146.6,622.5,-10.8,253,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1521,3140
$GC,5623,-1.38,-146.6,656.0,-11.0,268,5627,0.00,2.42,0.00,0.000,4,0.000,0.071,2395,2895,3138
$GC,5663,-1.38,-146.6,660.4,-10.9,270,5667,0.00,2.40,0.00,0.000,6,0.000,0.066,2395,1524,3139
$GC,5991,-1.38,-146.6,696.4,-10.9,286,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1525,3137
$GC,6300,-1.38,-146.6,728.8,-10.4,301,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1525,3135
$GC,6610,-1.38,-146.6,759.8,-9.9,316,6614,0.00,2.42,0.00,0.000,4,0.000,0.071,2395,2898,3134
$GC,6666,-1.38,-146.6,765.6,-10.0,318,6672,0.00,2.40,0.00,0.000,6,0.000,0.064,2395,1524,3134
$GC,6983,-1.38,-146.6,795.8,-9.6,334,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3133
$GC,7293,-1.38,-146.6,825.2,-9.5,349,7297,0.00,2.42,0.00,0.000,4,0.000,0.069,2395,2900,3132
$GC,7327,-1.38,-146.6,828.6,-9.8,350,7333,0.00,2.40,0.00,0.000,6,0.000,0.063,2395,1520,3132
$GC,7644,-1.38,-146.6,858.4,-9.3,366,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1520,3130
$GC,7953,-1.38,-146.6,887.3,-9.3,381,7957,0.00,2.42,0.00,0.000,4,0.000,0.067,2395,2900,3129
$GC,7994,-1.38,-146.6,891.2,-9.0,383,7998,0.00,2.40,0.00,0.000,6,0.000,0.062,2395,1516,3129
$GC,8321,-1.38,-146.6,921.1,-9.0,399,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1516,3129
$GC,8630,-1.38,-146.6,948.8,-9.2,414,8635,0.00,2.42,0.00,0.000,4,0.000,0.067,2395,2900,3128
$GC,8672,-1.38,-146.6,952.6,-9.6,416,8676,0.00,2.38,0.00,0.000,6,0.000,0.062,2395,1522,3128
$GC,9006,-1.38,-146.6,982.2,-8.8,432,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1522,3128
$STATE,9104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9104,begin apogee
$GC,9114,-0.32,0.0,991.2,8.8,437,9247,1.17,0.00,127.35,1.360,6,0.118,0.000,2632,2262,2538
$STATE,9248,end apogee,CONTROL_FINISHED_OK
$STATE,9248,begin climb
$GC,9252,1.38,146.6,994.8,0.0,444,9385,1.75,2.72,125.10,1.321,4,0.079,0.091,3006,3667,1940
$GC,9518,1.38,146.6,974.0,11.5,456,9523,0.00,2.47,0.00,0.000,6,0.000,0.060,3006,2257,1940
$GC,9835,1.38,146.6,939.8,10.7,471,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2257,1940
$GC,10144,1.38,146.6,906.8,10.7,486,10149,0.00,2.60,0.00,0.000,4,0.000,0.084,3005,3668,1940
$GC,10200,1.38,146.6,900.8,10.5,488,10207,0.00,2.42,0.00,0.000,6,0.000,0.059,3006,2277,1939
$GC,10517,1.38,146.6,868.8,10.0,504,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,1939
$GC,10826,1.38,146.6,837.1,10.5,519,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,1939
$GC,11135,1.38,146.6,804.4,10.6,534,11139,0.00,2.58,0.00,0.000,4,0.000,0.084,3006,3668,1938
$GC,11191,1.38,146.6,798.1,11.3,536,11195,0.00,2.42,0.00,0.000,6,0.000,0.059,3006,2276,1939
$GC,11508,1.38,146.6,764.9,10.5,551,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,1938
$GC,11817,1.38,146.6,733.3,10.1,566,11821,0.00,2.58,0.00,0.000,4,0.000,0.084,3007,3668,1938
$GC,11850,1.38,146.6,729.6,10.1,567,11856,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2276,1938
$GC,12167,1.38,146.6,698.0,10.0,583,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,1938
$GC,12476,1.40,154.2,667.9,9.6,598,12485,0.00,0.00,7.43,0.999,6,0.000,0.000,3006,2276,1910
$GC,12786,1.41,162.0,637.7,9.6,613,12796,0.00,0.00,8.15,0.989,6,0.000,0.000,3006,2275,1878
$GC,13095,1.41,165.3,607.6,9.8,628,13104,0.00,2.60,4.72,0.825,4,0.000,0.085,3006,3668,1863
$GC,13145,1.42,170.6,602.2,9.8,630,13157,0.00,2.45,6.10,0.896,6,0.000,0.061,3006,2274,1842
$GC,13466,1.42,170.6,568.5,10.6,646,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2274,1842
$GC,13776,1.42,170.6,534.3,11.2,661,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2273,1842
$GC,14085,1.42,170.6,498.3,12.0,676,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2273,1842
$GC,14394,1.42,170.6,461.7,11.9,691,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2273,1842
$GC,14704,1.42,170.6,428.3,10.3,706,14708,0.00,2.55,0.00,0.000,4,0.000,0.084,3006,3668,1841
$GC,14750,1.42,170.6,423.5,10.7,708,14754,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2276,1840
$GC,15071,1.47,198.8,394.8,8.7,724,15101,0.00,2.65,24.00,0.977,4,0.000,0.079,3006,877,1728
$GC,15125,1.47,198.8,389.4,11.3,726,15129,0.00,2.42,0.00,0.000,6,0.000,0.054,3006,2282,1727
$GC,15441,1.47,198.8,356.6,10.6,741,15446,0.00,2.58,0.00,0.000,4,0.000,0.087,3006,3672,1726
$GC,15554,1.47,198.8,343.3,12.3,746,15558,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2274,1726
$GC,15875,1.47,198.8,304.4,12.4,762,15880,0.00,2.58,0.00,0.000,4,0.000,0.083,3006,3674,1726
$GC,15909,1.47,198.8,299.9,13.4,763,15915,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2275,1725
$GC,16226,1.47,198.8,261.5,11.1,779,16230,0.00,2.53,0.00,0.000,4,0.000,0.078,3006,871,1725
$GC,16253,1.47,198.8,258.2,12.4,780,16258,0.00,2.40,0.00,0.000,6,0.000,0.054,3006,2283,1725
$GC,16570,1.48,208.2,225.9,9.6,795,16584,0.00,2.60,8.80,0.851,4,0.000,0.084,3006,3674,1689
$GC,16675,1.48,208.2,215.1,10.3,799,16681,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2269,1689
$GC,16991,1.48,208.2,181.9,11.1,815,16993,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2269,1689
$GC,17301,1.48,208.2,146.1,11.9,830,17306,0.00,2.53,0.00,0.000,4,0.000,0.078,3006,870,1689
$GC,17335,1.48,208.2,141.6,11.4,831,17342,0.00,2.40,0.00,0.000,6,0.000,0.055,3006,2282,1689
$GC,17654,1.48,208.2,104.2,11.9,847,17658,0.00,2.53,0.00,0.000,4,0.000,0.070,3006,869,1689
$GC,17698,1.48,208.2,98.4,11.5,849,17703,0.00,2.40,0.00,0.000,6,0.000,0.055,3006,2278,1689
$GC,18021,1.50,220.4,64.2,9.4,865,18043,0.12,2.65,12.23,0.726,4,0.069,0.088,3044,3668,1640
$GC,18262,1.50,220.4,31.3,15.8,875,18269,0.00,2.40,0.00,0.000,6,0.000,0.061,3044,2269,1639
$STATE,18493,end climb,SURFACE_DEPTH_REACHED
$STATE,18493,begin surface coast
$FINISH,0.6,1.010146
$STATE,18517,end surface coast,CONTROL_FINISHED_OK
$STATE,18517,begin surface
$SM_CCo,18543,191.27,0.670,0,0,187,576.95
$SM_GC,1.07,0.00,0.00,191.27,0.000,0.000,0.670,380,1518,187,-10.69,-0.20,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1842
$TCM_TEMP,17.40
$XPDR_PINGS,4
$24V_AH,23.4,7.804
$10V_AH,10.1,4.433
$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,26.125,143.825,323.875,191.275,0.000,199.029,375.787,0.000,9.500,0.000,0.000,15.697,1640.444,14516.793,652.017,1932.157,959.580,33.373,1628.712,0.000,1885.649,0.000,56.000,0.000
$DEVICE_MAMPS,181.012,90.506,1359.891,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.801,606.060,462.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44308,888
$CAP_FILE_SIZE,130444,0
$CFSIZE,254472192,250032128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,040908,080508,6321.996,-605.262,35,1.2,41,-8.3