version: 66.04
glider: 14
mission: 6
dive: 49
start: 9 8 108 13 7 3
data:
$ID,14
$MISSION,6
$DIVE,49
$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,-651085.88
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,130044,6333.771,-707.525,34,1.6,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.6
$GPS2,130638,6333.733,-707.389,8,2.0,13,-8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6341.369,-724.617
$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,323.9,20000,-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,-60.47,0.000,2,0.000,0.000,377,1592,2760
$GC,83,-1.38,-146.6,3.6,-5.3,3,109,11.38,2.47,-8.68,0.000,4,0.179,0.079,2396,3003,3140
$GC,334,-1.38,-146.6,41.2,-12.8,14,338,0.00,2.40,0.00,0.000,6,0.000,0.059,2396,1601,3141
$GC,656,-1.38,-146.6,81.6,-12.2,30,660,0.00,2.50,0.00,0.000,4,0.000,0.079,2397,213,3143
$GC,818,-1.38,-146.6,103.3,-12.6,37,823,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1626,3144
$GC,1137,-1.38,-146.6,143.4,-12.8,52,1141,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,222,3145
$GC,1254,-1.38,-146.6,159.3,-12.3,57,1259,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1605,3145
$GC,1571,-1.38,-146.6,197.9,-12.4,72,1575,0.00,2.50,0.00,0.000,4,0.000,0.076,2396,211,3145
$GC,1666,-1.38,-146.6,210.2,-12.7,76,1670,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1609,3145
$GC,1984,-1.38,-146.6,250.9,-12.6,91,1988,0.00,2.53,0.00,0.000,4,0.000,0.076,2396,210,3145
$GC,2051,-1.38,-146.6,260.4,-13.3,94,2055,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1603,3146
$GC,2379,-1.38,-146.6,295.3,-9.7,110,2383,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,220,3148
$GC,2441,-1.38,-146.6,301.9,-10.5,113,2445,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1608,3148
$GC,2768,-1.38,-146.6,335.1,-10.7,129,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1611,3148
$GC,3078,-1.38,-146.6,367.7,-10.1,144,3082,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,212,3149
$GC,3145,-1.38,-146.6,374.7,-9.7,147,3150,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1604,3149
$GC,3472,-1.38,-146.6,406.4,-10.3,163,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1608,3149
$GC,3781,-1.38,-146.6,439.1,-10.9,178,3786,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,222,3149
$GC,3849,-1.38,-146.6,447.6,-12.7,181,3853,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1606,3149
$GC,4170,-1.38,-146.6,484.1,-11.1,197,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1610,3148
$GC,4480,-1.38,-146.6,519.2,-11.5,212,4484,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,222,3148
$GC,4553,-1.38,-146.6,528.5,-12.8,215,4557,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1606,3148
$GC,4869,-1.38,-146.6,565.1,-11.8,230,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3146
$GC,5179,-1.38,-146.6,600.5,-11.2,245,5183,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,219,3145
$GC,5265,-1.38,-146.6,610.9,-12.3,249,5269,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1597,3144
$GC,5592,-1.38,-146.6,645.4,-10.4,265,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1597,3142
$GC,5901,-1.38,-146.6,677.3,-10.5,280,5905,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,213,3142
$GC,5951,-1.38,-146.6,682.9,-11.0,282,5955,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1604,3141
$GC,6273,-1.38,-146.6,717.1,-10.7,298,6278,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,220,3141
$GC,6318,-1.38,-146.6,722.5,-11.6,300,6323,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1611,3141
$GC,6641,-1.38,-146.6,757.0,-10.5,316,6645,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,222,3139
$GC,6686,-1.38,-146.6,762.2,-11.2,318,6690,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1601,3139
$GC,7008,-1.38,-146.6,794.8,-10.0,334,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1600,3138
$GC,7318,-1.38,-146.6,825.7,-10.3,349,7322,0.00,2.50,0.00,0.000,4,0.000,0.081,2396,221,3137
$GC,7390,-1.38,-146.6,834.0,-10.8,352,7395,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1608,3137
$GC,7707,-1.38,-146.6,866.7,-10.4,367,7711,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,213,3136
$GC,7758,-1.38,-146.6,872.5,-10.9,369,7762,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1605,3136
$GC,8079,-1.38,-146.6,905.0,-10.3,385,8083,0.00,2.50,0.00,0.000,4,0.000,0.080,2396,222,3135
$GC,8113,-1.38,-146.6,908.8,-11.1,386,8117,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1606,3135
$GC,8435,-1.38,-146.6,940.8,-9.8,402,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3135
$GC,8744,-1.38,-146.6,971.6,-9.8,417,8748,0.00,2.50,0.00,0.000,4,0.000,0.080,2396,222,3134
$GC,8817,-1.38,-146.6,979.7,-11.6,420,8821,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1607,3134
$STATE,8929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8929,begin apogee
$GC,8939,-0.32,0.0,990.9,9.7,426,9072,1.20,0.00,128.75,1.351,6,0.130,0.000,2633,2193,2538
$STATE,9073,end apogee,CONTROL_FINISHED_OK
$STATE,9073,begin climb
$GC,9077,1.38,146.6,996.1,0.0,433,9211,1.73,2.70,125.75,1.312,4,0.078,0.091,3002,3596,1940
$GC,9411,1.38,146.6,971.2,10.1,448,9416,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2196,1940
$GC,9728,1.38,146.6,939.8,10.0,463,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,1940
$GC,10037,1.38,146.6,908.8,10.2,478,10042,0.00,2.60,0.00,0.000,4,0.000,0.082,3002,3603,1939
$GC,10155,1.38,146.6,896.3,10.5,483,10159,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2197,1939
$GC,10471,1.38,146.6,865.1,10.2,498,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2198,1939
$GC,10781,1.40,158.5,835.3,9.4,513,10797,0.00,2.65,11.12,1.154,4,0.000,0.081,3001,3602,1892
$GC,10882,1.40,158.5,824.9,11.0,516,10888,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2200,1892
$GC,11199,1.42,167.1,793.9,9.6,532,11209,0.00,0.00,8.75,1.075,6,0.000,0.000,3002,2200,1856
$GC,11508,1.42,171.6,763.2,9.8,547,11518,0.00,2.62,5.55,0.946,4,0.000,0.082,3002,3600,1838
$GC,11598,1.42,171.6,753.3,11.3,551,11602,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2200,1838
$GC,11920,1.42,171.6,719.9,10.5,567,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1838
$GC,12229,1.42,171.6,688.0,10.5,582,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1838
$GC,12538,1.42,171.6,656.4,10.3,597,12543,0.00,2.60,0.00,0.000,4,0.000,0.084,3002,3601,1838
$GC,12601,1.42,171.6,649.5,10.1,600,12605,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2200,1837
$GC,12935,1.42,171.6,615.3,10.0,616,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1837
$GC,13244,1.42,171.6,583.9,10.2,631,13249,0.00,2.60,0.00,0.000,4,0.000,0.083,3002,3604,1837
$GC,13340,1.42,171.7,573.7,10.0,635,13345,0.00,2.45,0.00,0.000,6,0.000,0.062,3001,2199,1837
$GC,13663,1.43,174.7,542.1,9.9,651,13669,0.00,0.00,4.30,0.808,6,0.000,0.000,3002,2199,1826
$GC,13972,1.44,184.3,512.2,9.6,666,13987,0.00,2.62,9.60,0.946,4,0.000,0.082,3002,3600,1787
$GC,14089,1.44,184.3,499.9,10.2,670,14093,0.00,2.47,0.00,0.000,6,0.000,0.061,3001,2193,1787
$GC,14406,1.45,189.7,469.4,9.7,685,14414,0.00,0.00,6.25,0.857,6,0.000,0.000,3001,2193,1765
$GC,14715,1.47,200.3,439.6,9.5,700,14731,0.10,2.65,10.50,0.933,4,0.075,0.081,3031,3602,1721
$GC,14800,1.47,200.3,430.0,11.7,703,14805,0.00,2.47,0.00,0.000,6,0.000,0.061,3031,2198,1721
$GC,15128,1.47,200.3,390.5,12.9,719,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,1720
$GC,15437,1.47,200.3,349.2,13.9,734,15441,0.00,2.55,0.00,0.000,4,0.000,0.081,3031,3597,1719
$GC,15533,1.47,200.3,336.2,13.1,738,15537,0.00,2.42,0.00,0.000,6,0.000,0.061,3031,2200,1719
$GC,15849,1.47,200.3,294.6,13.3,753,15853,0.00,2.58,0.00,0.000,4,0.000,0.082,3031,3599,1719
$GC,16039,1.47,200.3,269.1,13.2,761,16045,0.00,2.45,0.00,0.000,6,0.000,0.062,3032,2198,1719
$GC,16355,1.47,200.3,232.3,10.9,777,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,1717
$GC,16665,1.48,209.3,201.1,9.6,792,16679,0.00,2.62,8.18,0.823,4,0.000,0.080,3031,3600,1684
$GC,16825,1.50,217.8,185.5,9.6,799,16839,0.00,2.45,8.65,0.811,6,0.000,0.061,3031,2197,1651
$GC,17157,1.50,217.8,151.2,10.6,815,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,1650
$GC,17467,1.50,217.8,116.1,11.4,830,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,1650
$GC,17776,1.50,217.8,78.6,12.0,845,17780,0.00,2.55,0.00,0.000,4,0.000,0.081,3031,3599,1650
$GC,17877,1.50,217.8,65.5,12.7,849,17883,0.00,2.42,0.00,0.000,6,0.000,0.062,3032,2199,1651
$GC,18195,1.50,217.8,27.7,11.6,865,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,1650
$STATE,18418,end climb,SURFACE_DEPTH_REACHED
$STATE,18418,begin surface coast
$FINISH,0.7,1.017976
$STATE,18439,end surface coast,CONTROL_FINISHED_OK
$STATE,18439,begin surface
$SM_CCo,18465,47.15,0.701,0,0,1315,300.00
$SM_GC,1.49,0.00,0.00,47.15,0.000,0.000,0.701,376,1605,1315,-10.72,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1920
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.4,10.909
$10V_AH,10.1,6.142
$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,26.000,145.325,327.400,47.150,0.000,37.765,24.976,152.167,8.500,0.000,0.000,15.095,1671.008,14030.892,489.778,2088.286,591.624,0.000,1525.988,0.000,2036.357,0.000,55.998,0.000
$DEVICE_MAMPS,179.478,91.273,1351.454,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.942,599.585,461.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44347,877
$CAP_FILE_SIZE,134643,0
$CFSIZE,254472192,248762368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,080908,181701,6333.634,-710.610,37,1.6,42,-8.9