version: 66.04
glider: 14
mission: 6
dive: 51
start: 9 8 108 23 35 45
data:
$ID,14
$MISSION,6
$DIVE,51
$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,-651114.62
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,232601,6333.556,-714.894,37,1.0,43,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.5
$GPS2,233520,6333.510,-714.837,7,1.6,12,-9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6341.146,-732.063
$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,324.0,20000,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.55,0.000,2,0.000,0.000,382,1595,2939
$GC,88,-1.38,-146.6,5.1,-6.3,4,111,11.40,2.47,-3.80,0.000,4,0.181,0.078,2396,3002,3138
$GC,375,-1.38,-146.6,51.0,-12.0,16,381,0.00,2.42,0.00,0.000,6,0.000,0.061,2396,1594,3140
$GC,693,-1.38,-146.6,91.2,-13.0,32,697,0.00,2.50,0.00,0.000,4,0.000,0.082,2397,214,3142
$GC,749,-1.38,-146.6,99.2,-13.7,34,755,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1630,3142
$GC,1065,-1.38,-146.6,140.5,-13.5,50,1070,0.00,2.55,0.00,0.000,4,0.000,0.077,2396,212,3143
$GC,1151,-1.38,-146.6,152.9,-14.7,54,1156,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1602,3143
$GC,1479,-1.38,-146.6,195.6,-12.8,70,1483,0.00,2.50,0.00,0.000,4,0.000,0.075,2396,209,3143
$GC,1535,-1.38,-146.6,203.3,-13.9,72,1541,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1603,3144
$GC,1851,-1.38,-146.6,243.2,-12.2,88,1856,0.00,2.50,0.00,0.000,4,0.000,0.076,2396,211,3144
$GC,1925,-1.38,-146.6,252.1,-11.7,91,1929,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1599,3144
$GC,2241,-1.38,-146.6,284.8,-10.0,106,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3144
$GC,2551,-1.38,-146.6,319.7,-12.3,121,2555,0.00,2.53,0.00,0.000,4,0.000,0.080,2397,209,3145
$GC,2624,-1.38,-146.6,329.8,-13.6,124,2628,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1599,3146
$GC,2946,-1.38,-146.6,370.2,-12.5,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3146
$GC,3255,-1.38,-146.6,402.1,-10.0,155,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3146
$GC,3564,-1.38,-146.6,430.8,-9.7,170,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3146
$GC,3873,-1.38,-146.6,463.3,-11.0,185,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3146
$GC,4182,-1.38,-146.6,497.9,-11.1,200,4187,0.00,2.53,0.00,0.000,4,0.000,0.079,2396,212,3146
$GC,4223,-1.38,-146.6,502.8,-11.6,202,4227,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3146
$GC,4557,-1.38,-146.6,538.2,-10.2,218,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3145
$GC,4866,-1.38,-146.6,570.1,-10.1,233,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3144
$GC,5176,-1.38,-146.6,600.3,-9.9,248,5181,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,213,3143
$GC,5217,-1.38,-146.6,604.8,-10.7,250,5221,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3143
$GC,5544,-1.38,-146.6,639.1,-10.6,266,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3141
$GC,5854,-1.38,-146.6,673.2,-11.1,281,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3140
$GC,6163,-1.38,-146.6,707.6,-11.0,296,6167,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,213,3139
$GC,6208,-1.38,-146.6,713.3,-11.9,298,6212,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3139
$GC,6530,-1.38,-146.6,749.1,-10.8,314,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1600,3137
$GC,6840,-1.38,-146.6,783.1,-10.9,329,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1600,3136
$GC,7149,-1.38,-146.6,815.6,-10.4,344,7153,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,212,3135
$GC,7190,-1.38,-146.6,820.0,-11.2,346,7194,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1604,3135
$GC,7517,-1.38,-146.6,853.2,-9.8,362,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3134
$GC,7827,-1.38,-146.6,883.4,-9.7,377,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3132
$GC,8136,-1.38,-146.6,912.8,-9.4,392,8140,0.00,2.53,0.00,0.000,4,0.000,0.080,2396,212,3132
$GC,8170,-1.38,-146.6,916.5,-10.5,393,8176,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3132
$GC,8486,-1.38,-146.6,946.8,-9.6,409,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3132
$GC,8798,-1.38,-146.6,976.1,-9.6,424,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3131
$STATE,8956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8966,-0.32,0.0,991.5,9.3,432,9100,1.17,0.00,128.07,1.356,6,0.119,0.000,2633,2195,2538
$STATE,9100,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9104,1.38,146.6,996.5,0.0,439,9238,1.75,2.70,125.32,1.322,4,0.084,0.089,3003,3602,1940
$GC,9467,1.38,146.6,967.2,11.0,455,9473,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2197,1940
$GC,9783,1.38,146.6,933.6,10.7,471,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,1940
$GC,10093,1.38,146.6,900.8,10.6,486,10097,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3597,1938
$GC,10178,1.38,146.6,891.8,11.4,490,10182,0.00,2.42,0.00,0.000,6,0.000,0.058,3003,2198,1938
$GC,10505,1.38,146.6,858.3,10.3,506,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1938
$GC,10815,1.39,150.7,827.5,9.8,521,10821,0.00,0.00,4.72,0.897,6,0.000,0.000,3003,2197,1924
$GC,11124,1.40,160.3,797.6,9.6,536,11139,0.00,2.62,9.65,1.094,4,0.000,0.081,3003,3597,1885
$GC,11231,1.42,169.9,786.9,9.6,540,11246,0.00,2.45,9.68,1.085,6,0.000,0.060,3003,2199,1846
$GC,11563,1.44,180.2,754.9,9.5,556,11575,0.00,0.00,10.40,1.094,6,0.000,0.000,3003,2199,1803
$GC,11872,1.44,180.2,724.3,10.0,571,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1802
$GC,12181,1.44,180.2,692.9,10.1,586,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1803
$GC,12491,1.44,180.2,660.8,10.3,601,12494,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3599,1801
$GC,12552,1.44,180.2,653.8,10.6,603,12559,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2197,1801
$GC,12869,1.44,180.2,619.9,11.0,619,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1802
$GC,13178,1.44,180.2,586.4,10.7,634,13183,0.00,2.55,0.00,0.000,4,0.000,0.081,3003,3597,1801
$GC,13291,1.44,180.2,573.4,11.3,639,13295,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2197,1801
$GC,13612,1.44,180.2,538.9,10.6,655,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1801
$GC,13921,1.44,180.2,505.4,11.0,670,13926,0.00,2.55,0.00,0.000,4,0.000,0.082,3003,3597,1801
$GC,13994,1.44,180.2,496.9,11.6,673,13998,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2195,1801
$GC,14311,1.44,180.2,463.9,10.3,688,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,1801
$GC,14620,1.44,180.2,431.9,10.2,703,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,1801
$GC,14929,1.44,183.9,401.3,9.8,718,14938,0.00,2.60,4.12,0.748,4,0.000,0.081,3003,3604,1788
$GC,15072,1.46,192.0,387.0,9.6,724,15089,0.00,2.45,8.75,0.919,6,0.000,0.061,3003,2199,1755
$GC,15399,1.50,217.3,357.3,8.8,740,15424,0.12,0.00,22.20,0.927,6,0.073,0.000,3037,2199,1652
$GC,15729,1.50,217.3,320.3,11.9,756,15733,0.00,2.58,0.00,0.000,4,0.000,0.082,3037,3599,1651
$GC,15813,1.50,217.3,309.5,12.9,759,15819,0.00,2.45,0.00,0.000,6,0.000,0.060,3036,2196,1650
$GC,16129,1.50,217.3,268.1,13.4,775,16134,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3602,1649
$GC,16237,1.50,217.3,253.4,12.5,780,16241,0.00,2.45,0.00,0.000,6,0.000,0.062,3037,2199,1649
$GC,16565,1.50,217.3,211.5,13.0,796,16569,0.00,2.58,0.00,0.000,4,0.000,0.083,3036,3602,1648
$GC,16717,1.50,217.3,191.2,13.0,803,16722,0.00,2.45,0.00,0.000,6,0.000,0.061,3037,2197,1649
$GC,17045,1.50,217.3,147.9,13.2,819,17046,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2197,1649
$GC,17356,1.50,217.3,106.9,13.5,834,17360,0.00,2.55,0.00,0.000,4,0.000,0.082,3037,3597,1649
$GC,17429,1.50,217.3,96.2,14.9,837,17433,0.00,2.42,0.00,0.000,6,0.000,0.061,3036,2196,1649
$GC,17746,1.50,217.3,52.4,13.6,852,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,1648
$GC,18056,1.50,217.3,14.0,11.5,867,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,1649
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FINISH,0.5,1.003609
$STATE,18197,end surface coast,CONTROL_FINISHED_OK
$STATE,18197,begin surface
$SM_CCo,18223,46.30,0.698,0,0,1315,300.00
$SM_GC,1.24,0.00,0.00,46.30,0.000,0.000,0.698,383,1606,1315,-10.68,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1926
$TCM_TEMP,17.20
$XPDR_PINGS,1
$24V_AH,23.4,11.198
$10V_AH,10.1,6.306
$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,26.150,110.825,322.925,46.300,0.000,75.522,53.072,228.701,8.750,0.000,0.000,14.394,1603.939,14118.470,487.909,1906.339,719.489,0.000,1426.886,0.000,1862.027,0.000,55.992,0.000
$DEVICE_MAMPS,181.012,88.972,1356.056,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.651,597.009,449.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44267,874
$CAP_FILE_SIZE,125570,0
$CFSIZE,254472192,248647680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,090908,044138,6334.418,-718.335,40,0.8,40,-9.0