version: 66.04
glider: 14
mission: 6
dive: 33
start: 9 5 108 0 23 14
data:
$ID,14
$MISSION,6
$DIVE,33
$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,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$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,-650808.44
$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,1575
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,31
$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
$GPS1,001157,6321.360,-607.690,24,2.8,43,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.9
$GPS2,002253,6321.343,-607.560,13,2.9,32,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6328.979,-624.663
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,323.3,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.38,-146.6,0.0,0.0,0,82,0.00,0.00,-60.80,0.000,2,0.000,0.000,374,1516,2802
$GC,86,-1.38,-146.6,3.9,-5.7,3,112,11.40,2.60,-7.10,0.000,4,0.180,0.077,2396,2971,3139
$GC,199,-1.38,-146.6,25.7,-14.4,8,204,0.00,2.40,0.00,0.000,6,0.000,0.061,2396,1576,3141
$GC,529,-1.38,-146.6,73.5,-14.1,24,533,0.00,2.47,0.00,0.000,4,0.000,0.081,2396,209,3141
$GC,624,-1.38,-146.6,87.9,-15.3,28,628,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1601,3143
$GC,947,-1.38,-146.6,129.9,-13.1,44,951,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,212,3144
$GC,1048,-1.38,-146.6,143.4,-13.5,48,1054,0.00,2.28,0.00,0.000,6,0.000,0.054,2396,1581,3144
$GC,1364,-1.38,-146.6,183.2,-12.8,64,1368,0.00,2.47,0.00,0.000,4,0.000,0.076,2396,212,3145
$GC,1449,-1.38,-146.6,194.9,-13.8,68,1453,0.00,2.28,0.00,0.000,6,0.000,0.054,2396,1581,3145
$GC,1776,-1.38,-146.6,237.8,-12.8,84,1780,0.00,2.47,0.00,0.000,4,0.000,0.077,2396,212,3146
$GC,1861,-1.38,-146.6,249.4,-14.1,88,1869,0.00,2.28,0.00,0.000,6,0.000,0.054,2396,1582,3146
$GC,2197,-1.38,-146.6,291.3,-12.0,104,2201,0.00,2.47,0.00,0.000,4,0.000,0.077,2396,212,3147
$GC,2275,-1.38,-146.6,301.2,-12.0,107,2281,0.00,2.28,0.00,0.000,6,0.000,0.054,2396,1572,3146
$GC,2592,-1.38,-146.6,335.7,-10.6,123,2596,0.00,2.47,0.00,0.000,4,0.000,0.080,2396,209,3147
$GC,2704,-1.38,-146.6,349.7,-11.6,128,2712,0.00,2.30,0.00,0.000,6,0.000,0.055,2396,1577,3148
$GC,3034,-1.38,-146.6,388.1,-11.1,144,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1580,3148
$GC,3343,-1.38,-146.6,420.9,-10.2,159,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1580,3148
$GC,3653,-1.38,-146.6,453.9,-11.1,174,3657,0.00,2.50,0.00,0.000,4,0.000,0.081,2396,209,3148
$GC,3716,-1.38,-146.6,461.6,-12.1,177,3720,0.00,2.30,0.00,0.000,6,0.000,0.055,2396,1578,3148
$GC,4050,-1.38,-146.6,501.4,-11.6,193,4054,0.00,2.47,0.00,0.000,4,0.000,0.081,2396,210,3148
$GC,4096,-1.38,-146.6,507.1,-12.8,195,4100,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1580,3148
$GC,4429,-1.38,-146.6,543.4,-10.6,211,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1580,3146
$GC,4739,-1.38,-146.6,576.2,-10.5,226,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1580,3144
$GC,5048,-1.38,-146.6,609.1,-11.0,241,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1580,3144
$GC,5357,-1.38,-146.6,642.5,-10.6,256,5361,0.00,2.47,0.00,0.000,4,0.000,0.083,2395,215,3142
$GC,5396,-1.38,-146.6,647.2,-12.0,257,5402,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1569,3142
$GC,5712,-1.38,-146.6,683.4,-11.9,273,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1568,3141
$GC,6022,-1.38,-146.6,718.2,-11.1,288,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1568,3139
$GC,6331,-1.38,-146.6,754.0,-11.4,303,6335,0.00,2.47,0.00,0.000,4,0.000,0.084,2396,214,3138
$GC,6364,-1.38,-146.6,758.1,-12.9,304,6370,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1585,3138
$GC,6680,-1.38,-146.6,794.4,-11.6,320,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1585,3137
$GC,6990,-1.38,-146.6,830.4,-11.6,335,6994,0.00,2.50,0.00,0.000,4,0.000,0.082,2396,212,3136
$GC,7040,-1.38,-146.6,836.6,-12.1,337,7044,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1584,3136
$GC,7357,-1.38,-146.6,871.8,-10.9,352,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1585,3135
$GC,7666,-1.38,-146.6,904.6,-10.4,367,7671,0.00,2.50,0.00,0.000,4,0.000,0.081,2396,212,3134
$GC,7711,-1.38,-146.6,910.0,-11.8,369,7716,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1583,3134
$GC,8034,-1.38,-146.6,943.0,-10.3,385,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1584,3134
$GC,8343,-1.38,-146.6,974.0,-9.8,400,8347,0.00,2.50,0.00,0.000,4,0.000,0.083,2396,212,3133
$GC,8389,-1.38,-146.6,978.9,-10.9,402,8393,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1583,3133
$STATE,8501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8501,begin apogee
$GC,8510,-0.32,0.0,990.0,9.5,408,8644,1.17,0.00,127.20,1.361,6,0.125,0.000,2630,2263,2538
$STATE,8644,end apogee,CONTROL_FINISHED_OK
$STATE,8645,begin climb
$GC,8648,1.38,146.6,995.2,0.0,415,8782,1.75,2.75,125.43,1.317,4,0.077,0.094,3007,3677,1941
$GC,9017,1.38,146.6,968.3,11.1,432,9022,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2272,1941
$GC,9344,1.38,146.6,934.2,10.5,448,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2272,1940
$GC,9654,1.40,157.1,903.8,9.5,463,9666,0.00,0.00,10.38,1.190,6,0.000,0.000,3007,2272,1898
$GC,9963,1.40,157.1,872.0,10.3,478,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2272,1898
$GC,10272,1.40,157.1,840.4,10.2,493,10276,0.00,2.60,0.00,0.000,4,0.000,0.085,3007,3680,1897
$GC,10345,1.40,157.1,832.6,11.4,496,10349,0.00,2.47,0.00,0.000,6,0.000,0.061,3007,2265,1898
$GC,10661,1.40,157.1,800.2,10.1,511,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2265,1898
$GC,10971,1.41,163.6,769.7,9.7,526,10980,0.00,0.00,6.95,1.019,6,0.000,0.000,3007,2266,1872
$GC,11280,1.43,175.9,739.7,9.4,541,11298,0.00,0.00,12.27,1.111,6,0.000,0.000,3007,2266,1820
$GC,11609,1.43,175.9,707.2,10.0,557,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2266,1820
$GC,11918,1.44,181.1,676.6,9.8,572,11926,0.00,0.00,5.72,0.922,6,0.000,0.000,3007,2266,1799
$GC,12227,1.44,181.1,645.9,10.0,587,12232,0.00,2.60,0.00,0.000,4,0.000,0.085,3007,3675,1799
$GC,12290,1.44,181.1,639.1,10.2,590,12295,0.00,2.45,0.00,0.000,6,0.000,0.061,3007,2275,1800
$GC,12619,1.45,191.2,606.7,9.5,606,12634,0.00,2.62,10.20,1.016,4,0.000,0.081,3007,864,1758
$GC,12691,1.45,191.2,599.1,10.5,608,12695,0.00,2.42,0.00,0.000,6,0.000,0.054,3007,2278,1758
$GC,13013,1.49,212.0,569.1,9.0,624,13033,0.00,0.00,18.45,1.042,6,0.000,0.000,3007,2279,1674
$GC,13342,1.49,212.0,536.0,10.8,640,13346,0.00,2.55,0.00,0.000,4,0.000,0.073,3007,870,1674
$GC,13433,1.49,212.0,525.7,11.7,644,13437,0.00,2.42,0.00,0.000,6,0.000,0.054,3007,2283,1674
$GC,13754,1.49,212.0,488.1,11.8,660,13758,0.00,2.58,0.00,0.000,4,0.000,0.089,3007,3669,1674
$GC,13804,1.49,212.0,482.1,12.3,662,13808,0.00,2.42,0.00,0.000,6,0.000,0.060,3007,2269,1674
$GC,14126,1.49,212.0,444.6,12.5,678,14130,0.00,2.55,0.00,0.000,4,0.000,0.080,3007,871,1673
$GC,14309,1.49,212.0,420.6,13.0,686,14313,0.00,2.40,0.00,0.000,6,0.000,0.054,3007,2278,1673
$GC,14630,1.49,212.0,381.9,11.5,702,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2277,1673
$GC,14940,1.49,212.8,349.6,10.0,717,14944,0.00,2.53,0.00,0.000,4,0.000,0.071,3007,864,1672
$GC,15128,1.49,212.8,329.5,10.6,725,15132,0.00,2.40,0.00,0.000,6,0.000,0.054,3007,2274,1672
$GC,15450,1.49,212.8,297.7,10.4,741,15454,0.00,2.53,0.00,0.000,4,0.000,0.069,3007,862,1672
$GC,15512,1.49,212.8,290.7,10.6,744,15517,0.00,2.42,0.00,0.000,6,0.000,0.055,3007,2282,1672
$GC,15840,1.49,212.8,256.3,10.4,760,15844,0.00,2.53,0.00,0.000,4,0.000,0.068,3007,869,1672
$GC,15929,1.49,212.8,246.4,11.2,764,15934,0.00,2.40,0.00,0.000,6,0.000,0.055,3007,2270,1672
$GC,16251,1.49,212.8,212.2,11.0,780,16256,0.00,2.50,0.00,0.000,4,0.000,0.070,3007,864,1672
$GC,16353,1.49,212.8,199.9,11.7,784,16359,0.00,2.42,0.00,0.000,6,0.000,0.056,3007,2280,1672
$GC,16669,1.49,212.8,163.8,11.3,800,16673,0.00,2.53,0.00,0.000,4,0.000,0.070,3007,869,1672
$GC,16726,1.49,212.8,157.1,11.4,802,16732,0.00,2.40,0.00,0.000,6,0.000,0.056,3007,2278,1672
$GC,17042,1.49,212.8,120.4,11.9,818,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2278,1672
$GC,17351,1.49,212.8,84.6,11.5,833,17356,0.00,2.53,0.00,0.000,4,0.000,0.070,3007,862,1672
$GC,17498,1.49,212.8,66.8,11.6,839,17504,0.00,2.40,0.00,0.000,6,0.000,0.056,3007,2278,1672
$GC,17816,1.49,212.8,33.4,10.0,855,17820,0.00,2.58,0.00,0.000,4,0.000,0.092,3007,3669,1672
$GC,17879,1.49,212.8,26.9,11.5,858,17884,0.00,2.40,0.00,0.000,6,0.000,0.061,3007,2266,1672
$STATE,18121,end climb,SURFACE_DEPTH_REACHED
$STATE,18121,begin surface coast
$FINISH,0.7,1.026854
$STATE,18145,end surface coast,CONTROL_FINISHED_OK
$STATE,18145,begin surface
$SM_CCo,18171,48.28,0.708,0,0,1315,300.00
$SM_GC,1.81,0.00,0.00,48.28,0.000,0.000,0.708,371,1585,1315,-10.74,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1925
$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,23.4,8.464
$10V_AH,10.1,4.781
$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,25.750,139.475,316.600,48.275,0.000,76.788,55.022,302.077,8.750,0.000,0.000,34.781,1632.318,13914.582,505.789,2018.978,805.867,0.000,1496.129,0.000,1949.648,0.000,56.009,0.000
$DEVICE_MAMPS,180.245,94.341,1361.425,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.191,594.857,460.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44183,871
$CAP_FILE_SIZE,132530,0
$CFSIZE,254472192,249798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,050908,052808,6323.032,-610.814,31,1.7,31,-8.3