version: 66.04
glider: 14
mission: 6
dive: 30
start: 9 4 108 8 21 57
data:
$ID,14
$MISSION,6
$DIVE,30
$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,-650719.06
$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,23
$R_STBD_OVSHOOT,28
$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
$GPS1,080508,6321.996,-605.262,35,1.2,41,-8.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-52.6
$GPS2,082103,6321.976,-604.808,14,1.2,14,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,-0.239
$KALMAN_X,63644.3,79.5,-229.6,-65772.9,1841.6
$KALMAN_Y,64767.9,-32.7,-583.5,-104254.1,2948.7
$MHEAD_RNG_PITCHd_Wd,209.5,77740,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-118.43,0.000,6,0.000,0.000,381,1517,3140
$GC,142,-1.38,-146.6,5.2,-4.4,6,164,11.40,2.45,0.00,0.000,4,0.182,0.063,2395,2929,3144
$GC,383,-1.38,-146.6,49.9,-13.4,16,389,0.00,2.40,0.00,0.000,6,0.000,0.060,2395,1522,3150
$GC,701,-1.38,-146.6,88.1,-12.0,32,705,0.00,2.45,0.00,0.000,4,0.000,0.064,2395,2931,3150
$GC,751,-1.38,-146.6,94.5,-11.6,34,755,0.00,2.42,0.00,0.000,6,0.000,0.061,2396,1523,3151
$GC,1069,-1.38,-146.6,134.0,-12.9,49,1074,0.00,2.38,0.00,0.000,4,0.000,0.081,2396,212,3152
$GC,1204,-1.38,-146.6,153.1,-14.6,55,1209,0.00,2.20,0.00,0.000,6,0.000,0.054,2395,1555,3152
$GC,1533,-1.38,-146.6,196.0,-13.1,71,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1559,3153
$GC,1842,-1.38,-146.6,234.6,-12.2,86,1846,0.00,2.42,0.00,0.000,4,0.000,0.077,2395,213,3152
$GC,1937,-1.38,-146.6,246.1,-12.2,90,1941,0.00,2.17,0.00,0.000,6,0.000,0.054,2395,1528,3152
$GC,2260,-1.38,-146.6,281.6,-10.5,106,2264,0.00,2.40,0.00,0.000,4,0.000,0.069,2395,2902,3153
$GC,2304,-1.38,-146.6,286.9,-11.3,108,2309,0.00,2.38,0.00,0.000,6,0.000,0.063,2395,1529,3153
$GC,2626,-1.38,-146.6,324.3,-11.5,124,2631,0.00,2.40,0.00,0.000,4,0.000,0.086,2395,212,3153
$GC,2762,-1.38,-146.6,341.0,-11.9,130,2766,0.00,2.17,0.00,0.000,6,0.000,0.055,2395,1527,3152
$GC,3090,-1.38,-146.6,376.4,-10.5,146,3094,0.00,2.42,0.00,0.000,4,0.000,0.073,2395,2900,3154
$GC,3170,-1.38,-146.6,384.5,-9.7,149,3176,0.00,2.38,0.00,0.000,6,0.000,0.064,2395,1526,3154
$GC,3486,-1.38,-146.6,420.0,-11.7,165,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1526,3154
$GC,3795,-1.38,-146.6,457.5,-12.6,180,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1526,3153
$GC,4105,-1.38,-146.6,496.0,-12.0,195,4109,0.00,2.45,0.00,0.000,4,0.000,0.072,2395,2897,3151
$GC,4133,-1.38,-146.6,499.7,-12.4,196,4141,0.00,2.40,0.00,0.000,6,0.000,0.064,2396,1519,3151
$GC,4457,-1.38,-146.6,535.9,-11.0,212,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1519,3149
$GC,4766,-1.38,-146.6,569.8,-11.1,227,4771,0.00,2.40,0.00,0.000,4,0.000,0.070,2395,2895,3148
$GC,4823,-1.38,-146.6,576.1,-11.0,229,4827,0.00,2.40,0.00,0.000,6,0.000,0.065,2395,1524,3148
$GC,5139,-1.38,-146.6,611.2,-11.1,244,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3147
$GC,5449,-1.38,-146.6,645.1,-10.9,259,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1524,3145
$GC,5758,-1.38,-146.6,678.7,-10.8,274,5762,0.00,2.42,0.00,0.000,4,0.000,0.071,2396,2898,3143
$GC,5808,-1.38,-146.6,684.5,-11.6,276,5812,0.00,2.40,0.00,0.000,6,0.000,0.065,2395,1525,3142
$GC,6129,-1.38,-146.6,719.2,-10.6,292,6134,0.00,2.42,0.00,0.000,4,0.000,0.090,2395,205,3142
$GC,6175,-1.38,-146.6,724.5,-12.0,294,6182,0.00,2.20,0.00,0.000,6,0.000,0.054,2395,1534,3142
$GC,6504,-1.38,-146.6,759.2,-10.3,310,6509,0.00,2.42,0.00,0.000,4,0.000,0.072,2396,2904,3140
$GC,6550,-1.38,-146.6,764.1,-10.6,312,6554,0.00,2.40,0.00,0.000,6,0.000,0.063,2395,1517,3140
$GC,6877,-1.38,-146.6,798.1,-10.4,328,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1518,3139
$GC,7187,-1.38,-146.6,830.7,-10.5,343,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1518,3137
$GC,7496,-1.38,-146.6,862.7,-10.2,358,7500,0.00,2.42,0.00,0.000,4,0.000,0.067,2395,2901,3136
$GC,7546,-1.38,-146.6,868.0,-10.6,360,7550,0.00,2.40,0.00,0.000,6,0.000,0.061,2395,1518,3136
$GC,7863,-1.38,-146.6,899.7,-10.1,375,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1517,3136
$GC,8172,-1.38,-146.6,931.3,-10.2,390,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1517,3135
$GC,8481,-1.38,-146.6,962.7,-10.2,405,8485,0.00,2.40,0.00,0.000,4,0.000,0.065,2395,2898,3134
$GC,8537,-1.38,-146.6,968.3,-10.6,407,8541,0.00,2.38,0.00,0.000,6,0.000,0.061,2396,1524,3134
$STATE,8767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8767,begin apogee
$GC,8777,-0.32,0.0,991.7,10.3,418,8911,1.17,0.00,128.95,1.305,6,0.119,0.000,2632,2265,2539
$STATE,8911,end apogee,CONTROL_FINISHED_OK
$STATE,8911,begin climb
$GC,8915,1.38,146.6,997.1,0.0,425,9061,1.73,2.75,127.93,1.307,4,0.078,0.088,3002,3667,1940
$GC,9255,1.38,146.6,974.3,10.3,440,9260,0.00,2.45,0.00,0.000,6,0.000,0.059,3002,2267,1941
$GC,9572,1.40,156.1,944.0,9.6,455,9583,0.00,0.00,9.38,1.222,6,0.000,0.000,3002,2267,1902
$GC,9881,1.40,159.0,913.5,9.9,470,9891,0.00,2.62,4.47,0.945,4,0.000,0.084,3002,3669,1890
$GC,9926,1.41,161.1,908.8,9.9,472,9930,0.00,2.45,0.00,0.000,6,0.000,0.059,3002,2270,1890
$GC,10247,1.41,162.0,876.6,10.0,488,10253,0.00,0.00,3.85,0.849,6,0.000,0.000,3002,2270,1879
$GC,10556,1.41,162.0,845.2,10.4,503,10560,0.00,2.58,0.00,0.000,4,0.000,0.083,3002,3666,1879
$GC,10612,1.41,162.0,839.2,11.2,505,10619,0.00,2.42,0.00,0.000,6,0.000,0.059,3002,2276,1880
$GC,10929,1.41,162.0,806.1,10.5,521,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2276,1879
$GC,11238,1.41,162.0,773.4,10.5,536,11242,0.00,2.58,0.00,0.000,4,0.000,0.084,3002,3662,1879
$GC,11277,1.41,162.0,769.1,10.8,537,11283,0.00,2.42,0.00,0.000,6,0.000,0.059,3002,2270,1879
$GC,11594,1.41,164.6,737.1,9.9,553,11600,0.00,0.00,4.15,0.811,6,0.000,0.000,3002,2270,1868
$GC,11903,1.42,168.3,706.3,9.8,568,11910,0.00,0.00,5.10,0.887,6,0.000,0.000,3002,2270,1852
$GC,12212,1.44,182.2,676.6,9.3,583,12233,0.00,2.67,12.95,1.080,4,0.000,0.085,3002,3661,1796
$GC,12281,1.44,182.2,669.8,10.2,586,12285,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2270,1796
$GC,12614,1.45,189.0,637.2,9.7,602,12623,0.00,0.00,7.35,0.963,6,0.000,0.000,3002,2270,1768
$GC,12923,1.45,189.0,605.7,10.2,617,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2270,1768
$GC,13232,1.45,189.0,574.2,10.1,632,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2270,1769
$GC,13542,1.45,189.0,542.5,10.3,647,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2270,1768
$GC,13851,1.45,189.0,509.9,10.7,662,13855,0.00,2.58,0.00,0.000,4,0.000,0.084,3003,3666,1768
$GC,13912,1.45,189.0,502.9,11.5,664,13919,0.00,2.42,0.00,0.000,6,0.000,0.060,3002,2274,1769
$GC,14229,1.45,189.0,469.3,10.6,680,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2274,1769
$GC,14538,1.45,189.0,436.1,10.5,695,14542,0.00,2.55,0.00,0.000,4,0.000,0.084,3002,3665,1769
$GC,14584,1.45,189.0,431.2,10.7,697,14588,0.00,2.42,0.00,0.000,6,0.000,0.060,3002,2270,1769
$GC,14911,1.50,218.5,400.8,8.6,713,14939,0.12,0.00,25.17,0.982,6,0.074,0.000,3035,2270,1648
$GC,15240,1.50,218.5,362.1,12.3,729,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2269,1648
$GC,15549,1.50,218.5,321.9,13.3,744,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2269,1648
$GC,15859,1.50,218.5,280.1,13.7,759,15863,0.00,2.58,0.00,0.000,4,0.000,0.084,3035,3670,1648
$GC,15915,1.50,218.5,272.4,13.4,761,15919,0.00,2.42,0.00,0.000,6,0.000,0.061,3035,2275,1648
$GC,16232,1.50,218.5,234.3,11.9,776,16236,0.00,2.55,0.00,0.000,4,0.000,0.077,3035,862,1648
$GC,16272,1.50,218.5,229.1,13.1,778,16276,0.00,2.40,0.00,0.000,6,0.000,0.054,3035,2278,1648
$GC,16599,1.50,218.5,189.2,12.5,794,16603,0.00,2.53,0.00,0.000,4,0.000,0.069,3035,864,1648
$GC,16639,1.50,218.5,184.0,14.4,796,16644,0.00,2.42,0.00,0.000,6,0.000,0.055,3035,2282,1648
$GC,16968,1.50,218.5,142.1,12.7,812,16969,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2282,1648
$GC,17277,1.50,218.5,103.9,12.2,827,17281,0.00,2.53,0.00,0.000,4,0.000,0.070,3035,869,1648
$GC,17372,1.50,218.5,91.2,12.6,831,17376,0.00,2.40,0.00,0.000,6,0.000,0.056,3035,2273,1648
$GC,17689,1.50,218.5,51.2,12.5,846,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2273,1648
$GC,17998,1.50,218.5,15.4,11.9,861,18003,0.00,2.60,0.00,0.000,4,0.000,0.092,3035,3675,1648
$GC,18021,1.50,218.5,12.1,14.1,862,18025,0.00,2.42,0.00,0.000,6,0.000,0.060,3035,2261,1648
$STATE,18112,end climb,SURFACE_DEPTH_REACHED
$STATE,18112,begin surface coast
$FINISH,0.6,1.026887
$STATE,18134,end surface coast,CONTROL_FINISHED_OK
$STATE,18134,begin surface
$SM_CCo,18160,190.05,0.685,0,0,186,576.95
$SM_GC,1.21,0.00,0.00,190.05,0.000,0.000,0.685,376,1512,186,-10.71,-0.37,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1862
$TCM_TEMP,17.30
$XPDR_PINGS,4
$24V_AH,23.4,7.980
$10V_AH,10.1,4.521
$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,26.075,129.375,329.300,190.050,0.000,191.260,375.788,0.000,9.500,0.000,0.000,16.247,1592.920,14197.187,704.731,1876.440,936.790,33.379,1649.260,0.000,1831.321,0.000,56.030,0.000
$DEVICE_MAMPS,181.779,92.040,1306.968,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.843,592.502,453.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44341,868
$CAP_FILE_SIZE,124570,0
$CFSIZE,254472192,249950208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,040908,132908,6320.763,-604.538,37,1.2,37,-8.2