version: 66.04
glider: 14
mission: 6
dive: 39
start: 9 6 108 8 36 4
data:
$ID,14
$MISSION,6
$DIVE,39
$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,-650929.75
$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,25
$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
$GPS1,082949,6331.656,-625.024,31,1.6,43,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.2
$GPS2,083539,6331.656,-624.826,9,1.8,9,-8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6339.292,-642.033
$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,323.5,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.55,0.000,2,0.000,0.000,379,1591,2666
$GC,83,-1.38,-146.6,3.9,-5.4,3,114,11.48,2.58,-11.12,0.000,4,0.184,0.092,2405,216,3138
$GC,271,-1.38,-146.6,37.5,-16.3,11,275,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1615,3140
$GC,593,-1.38,-146.6,79.8,-12.7,27,597,0.00,2.55,0.00,0.000,4,0.000,0.076,2405,207,3142
$GC,716,-1.38,-146.6,95.9,-12.7,32,723,0.00,2.33,0.00,0.000,6,0.000,0.054,2405,1604,3144
$GC,1033,-1.38,-146.6,132.2,-11.2,48,1037,0.00,2.50,0.00,0.000,4,0.000,0.077,2405,212,3147
$GC,1066,-1.38,-146.6,136.3,-11.6,49,1072,0.00,2.33,0.00,0.000,6,0.000,0.054,2405,1602,3147
$GC,1382,-1.38,-146.6,173.0,-11.2,65,1387,0.00,2.50,0.00,0.000,4,0.000,0.078,2405,215,3149
$GC,1416,-1.38,-146.6,177.1,-10.9,66,1423,0.00,2.33,0.00,0.000,6,0.000,0.054,2405,1598,3148
$GC,1733,-1.38,-146.6,210.5,-10.4,82,1737,0.00,2.53,0.00,0.000,4,0.000,0.080,2405,215,3149
$GC,1899,-1.38,-146.6,229.0,-11.5,89,1904,0.00,2.35,0.00,0.000,6,0.000,0.055,2405,1601,3149
$GC,2216,-1.38,-146.6,264.7,-11.6,104,2220,0.00,2.55,0.00,0.000,4,0.000,0.081,2405,212,3149
$GC,2294,-1.38,-146.6,274.3,-11.9,107,2300,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1603,3149
$GC,2610,-1.38,-146.6,309.6,-10.7,123,2615,0.00,2.55,0.00,0.000,4,0.000,0.081,2405,212,3149
$GC,2712,-1.38,-146.6,321.4,-11.1,127,2718,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1599,3149
$GC,3028,-1.38,-146.6,356.5,-11.4,143,3033,0.00,2.55,0.00,0.000,4,0.000,0.082,2405,215,3149
$GC,3102,-1.38,-146.6,365.6,-12.2,146,3106,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1598,3149
$GC,3419,-1.38,-146.6,399.9,-10.6,161,3426,0.00,2.55,0.00,0.000,4,0.000,0.082,2405,212,3149
$GC,3478,-1.38,-146.6,406.7,-11.3,163,3482,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1607,3149
$GC,3794,-1.38,-146.6,438.1,-9.8,178,3799,0.00,2.55,0.00,0.000,4,0.000,0.082,2405,211,3148
$GC,3835,-1.38,-146.6,442.5,-10.9,180,3839,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1607,3148
$GC,4169,-1.38,-146.6,475.6,-10.1,196,4173,0.00,2.55,0.00,0.000,4,0.000,0.084,2404,216,3147
$GC,4217,-1.38,-146.6,480.8,-10.8,198,4221,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1608,3147
$GC,4544,-1.38,-146.6,514.8,-10.4,214,4548,0.00,2.55,0.00,0.000,4,0.000,0.083,2404,217,3146
$GC,4591,-1.38,-146.6,520.0,-11.2,216,4595,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1601,3146
$GC,4919,-1.38,-146.6,554.7,-10.7,232,4923,0.00,2.55,0.00,0.000,4,0.000,0.083,2405,211,3144
$GC,4986,-1.38,-146.6,562.5,-11.7,235,4990,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1602,3145
$GC,5308,-1.38,-146.6,596.6,-10.3,251,5312,0.00,2.55,0.00,0.000,4,0.000,0.083,2405,212,3144
$GC,5348,-1.38,-146.6,601.0,-10.9,253,5352,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1605,3144
$GC,5675,-1.38,-146.6,634.3,-10.2,269,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1605,3143
$GC,5984,-1.38,-146.6,665.2,-10.0,284,5988,0.00,2.55,0.00,0.000,4,0.000,0.085,2405,217,3143
$GC,6046,-1.38,-146.6,671.7,-10.4,287,6051,0.00,2.38,0.00,0.000,6,0.000,0.054,2404,1612,3143
$GC,6375,-1.38,-146.6,702.3,-9.3,303,6379,0.00,2.55,0.00,0.000,4,0.000,0.083,2404,216,3142
$GC,6415,-1.38,-146.6,706.3,-10.3,305,6419,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1598,3142
$GC,6743,-1.38,-146.6,735.5,-8.8,321,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1599,3142
$GC,7052,-1.38,-146.6,763.4,-9.0,336,7056,0.00,2.53,0.00,0.000,4,0.000,0.083,2405,218,3141
$GC,7120,-1.38,-146.6,770.3,-10.0,339,7125,0.00,2.35,0.00,0.000,6,0.000,0.054,2404,1603,3141
$GC,7443,-1.38,-146.6,799.3,-9.0,355,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1603,3140
$GC,7753,-1.38,-146.6,825.7,-8.5,370,7757,0.00,2.55,0.00,0.000,4,0.000,0.083,2404,212,3140
$GC,7838,-1.38,-146.6,833.6,-9.4,374,7842,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1606,3140
$GC,8166,-1.38,-146.6,861.1,-8.2,390,8170,0.00,2.55,0.00,0.000,4,0.000,0.083,2405,212,3139
$GC,8211,-1.38,-146.6,865.4,-9.3,392,8215,0.00,2.38,0.00,0.000,6,0.000,0.054,2405,1608,3139
$GC,8532,-1.38,-146.6,893.1,-8.8,408,8537,0.00,2.55,0.00,0.000,4,0.000,0.082,2405,215,3139
$GC,8573,-1.38,-146.6,896.9,-9.8,410,8578,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1601,3139
$GC,8903,-1.38,-146.6,926.0,-8.8,426,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1601,3139
$GC,9211,-1.38,-146.6,953.5,-8.9,441,9215,0.00,2.53,0.00,0.000,4,0.000,0.081,2404,216,3138
$GC,9273,-1.38,-146.6,959.6,-9.7,443,9279,0.00,2.35,0.00,0.000,6,0.000,0.054,2405,1601,3138
$GC,9590,-1.38,-146.6,987.6,-8.8,459,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1601,3138
$STATE,9627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9627,begin apogee
$GC,9637,-0.32,0.0,991.1,8.6,461,9771,1.12,0.00,129.82,1.362,6,0.114,0.000,2633,2198,2539
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9775,1.38,146.6,996.0,0.0,468,9910,1.73,2.72,126.22,1.328,4,0.078,0.092,3002,3606,1941
$GC,10152,1.38,146.6,968.4,10.9,485,10157,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2198,1941
$GC,10475,1.39,151.2,936.1,9.8,501,10482,0.00,0.00,5.62,1.078,6,0.000,0.000,3002,2198,1922
$GC,10784,1.39,151.2,904.5,10.3,516,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,1921
$GC,11093,1.40,154.5,873.8,9.8,531,11103,0.00,2.62,4.65,0.910,4,0.000,0.081,3002,3609,1909
$GC,11178,1.40,154.5,864.8,10.5,535,11182,0.00,2.47,0.00,0.000,6,0.000,0.060,3002,2197,1909
$GC,11506,1.40,157.8,832.2,9.8,551,11512,0.00,0.00,4.70,0.922,6,0.000,0.000,3002,2197,1894
$GC,11815,1.40,159.3,800.9,9.9,566,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1894
$GC,12124,1.40,159.3,770.1,10.1,581,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,1895
$GC,12433,1.40,159.3,738.7,10.3,596,12438,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3604,1894
$GC,12529,1.42,168.4,728.7,9.6,600,12544,0.00,2.45,10.40,1.088,6,0.000,0.061,3002,2196,1852
$GC,12866,1.42,168.4,693.8,10.4,617,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,1852
$GC,13176,1.42,168.4,662.1,10.1,632,13180,0.00,2.60,0.00,0.000,4,0.000,0.082,3003,3610,1852
$GC,13243,1.42,168.4,654.9,10.9,635,13247,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2201,1852
$GC,13571,1.42,168.4,621.9,10.2,651,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2202,1852
$GC,13880,1.42,168.4,589.9,10.4,666,13884,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3605,1852
$GC,13958,1.42,168.4,581.3,10.4,669,13965,0.00,2.45,0.00,0.000,6,0.000,0.062,3003,2201,1852
$GC,14275,1.42,168.4,548.2,10.6,685,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1852
$GC,14584,1.42,168.4,515.9,10.3,700,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1852
$GC,14893,1.42,168.4,482.9,10.7,715,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1852
$GC,15202,1.42,168.4,450.3,10.5,730,15207,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3606,1852
$GC,15258,1.42,168.4,444.2,10.8,732,15264,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2201,1852
$GC,15575,1.42,171.5,412.3,9.9,748,15581,0.00,0.00,4.35,0.736,6,0.000,0.000,3002,2200,1839
$GC,15884,1.42,171.5,380.7,10.1,763,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1838
$GC,16193,1.42,171.5,349.8,10.0,778,16197,0.00,2.55,0.00,0.000,4,0.000,0.082,3002,3602,1839
$GC,16278,1.42,171.5,341.0,10.6,782,16282,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2200,1839
$GC,16612,1.46,193.7,309.9,9.0,798,16633,0.00,0.00,19.50,0.920,6,0.000,0.000,3003,2200,1749
$GC,16941,1.51,226.9,280.9,8.4,814,16972,0.15,0.00,28.00,0.885,6,0.071,0.000,3041,2200,1613
$GC,17270,1.51,226.9,246.1,11.1,830,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,1612
$GC,17579,1.51,226.9,208.8,12.3,845,17584,0.00,2.60,0.00,0.000,4,0.000,0.082,3041,3608,1611
$GC,17832,1.51,226.9,174.0,15.0,856,17836,0.00,2.47,0.00,0.000,6,0.000,0.062,3041,2199,1611
$GC,18148,1.51,226.9,131.8,12.9,871,18149,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,1611
$GC,18458,1.51,226.9,96.0,11.5,886,18462,0.00,2.58,0.00,0.000,4,0.000,0.082,3041,3604,1611
$GC,18655,1.51,226.9,76.5,11.0,895,18660,0.00,2.45,0.00,0.000,6,0.000,0.061,3041,2198,1610
$GC,18984,1.53,242.0,46.0,9.3,911,19002,0.00,0.00,13.18,0.790,6,0.000,0.000,3041,2198,1552
$GC,19314,1.53,242.0,12.4,11.4,927,19318,0.00,2.55,0.00,0.000,4,0.000,0.081,3041,794,1551
$STATE,19400,end climb,SURFACE_DEPTH_REACHED
$STATE,19400,begin surface coast
$FINISH,1.1,1.026827
$STATE,19407,end surface coast,CONTROL_FINISHED_OK
$STATE,19407,begin surface
$SM_CCo,19434,39.40,0.768,0,0,1316,300.00
$SM_GC,1.89,0.00,0.00,39.40,0.000,0.000,0.768,374,1629,1316,-10.72,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2008
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.3,9.474
$10V_AH,10.1,5.309
$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,26.150,153.400,346.450,39.400,0.000,37.762,28.927,149.548,8.500,0.000,0.000,11.135,1747.746,14780.328,531.955,2157.124,612.847,0.000,1599.947,0.000,2108.236,0.000,55.986,0.000
$DEVICE_MAMPS,184.080,92.040,1362.192,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.281,636.701,485.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47343,931
$CAP_FILE_SIZE,140775,0
$CFSIZE,254472192,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,060908,140201,6332.723,-629.848,40,1.4,40,-8.5