version: 66.04
glider: 14
mission: 6
dive: 53
start: 9 9 108 10 6 58
data:
$ID,14
$MISSION,6
$DIVE,53
$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,-651141.94
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,100008,6335.436,-722.395,29,0.9,29,-9.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.2
$GPS2,100633,6335.399,-722.414,11,1.4,11,-9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6343.036,-739.659
$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,324.1,20000,-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,-60.40,0.000,2,0.000,0.000,380,1594,2768
$GC,83,-1.38,-146.6,3.4,-4.7,3,108,11.35,2.47,-8.48,0.000,4,0.179,0.077,2397,2997,3139
$GC,361,-1.38,-146.6,45.3,-12.5,15,366,0.00,2.40,0.00,0.000,6,0.000,0.060,2397,1598,3140
$GC,678,-1.38,-146.6,84.3,-12.5,30,682,0.00,2.50,0.00,0.000,4,0.000,0.079,2397,212,3142
$GC,719,-1.38,-146.6,90.1,-13.9,32,723,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1624,3143
$GC,1053,-1.38,-146.6,133.8,-12.9,48,1057,0.00,2.55,0.00,0.000,4,0.000,0.076,2397,209,3144
$GC,1148,-1.38,-146.6,147.2,-13.9,52,1152,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1601,3144
$GC,1464,-1.38,-146.6,188.2,-12.8,67,1469,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,210,3145
$GC,1543,-1.38,-146.6,199.2,-14.1,70,1550,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1603,3144
$GC,1860,-1.38,-146.6,239.5,-12.5,86,1864,0.00,2.50,0.00,0.000,4,0.000,0.075,2397,212,3145
$GC,1933,-1.38,-146.6,249.4,-13.5,89,1938,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1599,3145
$GC,2260,-1.38,-146.6,289.8,-12.5,105,2264,0.00,2.50,0.00,0.000,4,0.000,0.076,2397,213,3145
$GC,2350,-1.38,-146.6,302.7,-14.1,109,2354,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1598,3145
$GC,2672,-1.38,-146.6,345.9,-13.2,125,2676,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,214,3145
$GC,2723,-1.38,-146.6,353.4,-14.6,127,2727,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1592,3145
$GC,3044,-1.38,-146.6,391.3,-11.1,143,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1596,3146
$GC,3354,-1.38,-146.6,423.8,-10.2,158,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1596,3147
$GC,3663,-1.38,-146.6,454.8,-10.3,173,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1596,3147
$GC,3972,-1.38,-146.6,488.0,-10.9,188,3977,0.00,2.53,0.00,0.000,4,0.000,0.083,2397,215,3146
$GC,4017,-1.38,-146.6,493.5,-12.2,190,4022,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1597,3147
$GC,4340,-1.38,-146.6,529.6,-11.2,206,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1598,3147
$GC,4649,-1.38,-146.6,564.5,-11.0,221,4653,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,210,3147
$GC,4682,-1.38,-146.6,568.6,-12.0,222,4687,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1599,3146
$GC,5000,-1.38,-146.6,601.9,-10.1,237,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3145
$GC,5308,-1.38,-146.6,633.8,-10.4,252,5312,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,215,3144
$GC,5341,-1.38,-146.6,637.6,-11.7,253,5347,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1600,3143
$GC,5658,-1.38,-146.6,670.5,-10.4,269,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3142
$GC,5967,-1.38,-146.6,705.5,-11.6,284,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3141
$GC,6276,-1.38,-146.6,740.9,-11.5,299,6280,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,212,3140
$GC,6326,-1.38,-146.6,747.2,-12.0,301,6331,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1602,3140
$GC,6643,-1.38,-146.6,782.4,-11.1,316,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3138
$GC,6952,-1.38,-146.6,816.1,-11.0,331,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3137
$GC,7262,-1.38,-146.6,849.9,-10.8,346,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3135
$GC,7571,-1.38,-146.6,883.6,-10.8,361,7575,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,215,3134
$GC,7611,-1.38,-146.6,888.3,-12.2,363,7615,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1603,3134
$GC,7938,-1.38,-146.6,922.2,-10.2,379,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3134
$GC,8247,-1.38,-146.6,953.4,-10.1,394,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3133
$GC,8557,-1.38,-146.6,983.9,-10.0,409,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3132
$STATE,8635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8635,begin apogee
$GC,8645,-0.32,0.0,991.9,9.7,413,8784,1.15,0.00,130.85,1.329,6,0.114,0.000,2632,2194,2539
$STATE,8785,end apogee,CONTROL_FINISHED_OK
$STATE,8785,begin climb
$GC,8789,1.38,146.6,997.7,0.0,420,8923,1.73,2.72,125.82,1.308,4,0.077,0.092,3002,3602,1941
$GC,9146,1.38,146.6,971.2,10.6,436,9150,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2192,1939
$GC,9463,1.39,152.1,940.6,9.7,451,9471,0.00,0.00,6.35,1.102,6,0.000,0.000,3003,2193,1918
$GC,9772,1.41,161.8,910.6,9.5,466,9787,0.00,2.65,9.68,1.173,4,0.000,0.082,3003,3601,1879
$GC,9911,1.41,161.8,895.8,10.2,471,9916,0.00,2.45,0.00,0.000,6,0.000,0.059,3003,2200,1877
$GC,10229,1.42,168.0,864.8,9.7,486,10238,0.00,0.00,7.25,1.070,6,0.000,0.000,3003,2199,1853
$GC,10538,1.42,172.4,834.8,9.8,501,10548,0.00,2.62,5.00,0.933,4,0.000,0.082,3003,3601,1835
$GC,10627,1.42,172.4,825.2,11.1,505,10631,0.00,2.45,0.00,0.000,6,0.000,0.059,3003,2200,1835
$GC,10949,1.42,172.4,792.6,10.2,521,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1835
$GC,11258,1.42,172.4,760.5,10.7,536,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1835
$GC,11568,1.42,172.4,725.8,11.3,551,11572,0.00,2.58,0.00,0.000,4,0.000,0.084,3003,3596,1835
$GC,11681,1.42,172.4,712.2,12.6,556,11686,0.00,2.42,0.00,0.000,6,0.000,0.061,3003,2202,1835
$GC,12002,1.42,172.4,675.0,11.4,572,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2202,1835
$GC,12312,1.42,172.4,640.9,10.6,587,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2202,1835
$GC,12621,1.42,172.4,609.0,10.0,602,12625,0.00,2.55,0.00,0.000,4,0.000,0.083,3003,3596,1835
$GC,12699,1.42,172.4,600.9,10.3,605,12706,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2194,1834
$GC,13016,1.44,185.4,571.1,9.4,621,13034,0.00,0.00,12.48,1.014,6,0.000,0.000,3003,2195,1782
$GC,13345,1.44,185.4,535.8,11.4,637,13349,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3602,1781
$GC,13430,1.44,185.4,525.4,13.0,641,13434,0.00,2.45,0.00,0.000,6,0.000,0.062,3004,2196,1781
$GC,13764,1.44,185.4,485.6,11.9,657,13768,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3600,1781
$GC,13859,1.44,185.4,473.6,12.5,661,13863,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2199,1781
$GC,14176,1.44,185.4,437.4,11.0,676,14180,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3602,1780
$GC,14248,1.44,185.4,429.3,10.1,679,14253,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2199,1780
$GC,14565,1.44,185.4,396.7,10.2,694,14569,0.00,2.58,0.00,0.000,4,0.000,0.086,3003,791,1780
$GC,14610,1.45,185.8,392.0,10.0,696,14614,0.00,2.40,0.00,0.000,6,0.000,0.054,3003,2207,1780
$GC,14931,1.49,213.1,363.0,8.7,712,14961,0.12,2.65,23.50,0.947,4,0.071,0.084,3037,3591,1670
$GC,15020,1.49,213.1,352.8,12.4,716,15025,0.00,2.45,0.00,0.000,6,0.000,0.059,3037,2188,1669
$GC,15348,1.49,213.1,309.0,14.5,732,15352,0.00,2.60,0.00,0.000,4,0.000,0.081,3037,3604,1668
$GC,15443,1.49,213.1,294.4,14.5,736,15447,0.00,2.45,0.00,0.000,6,0.000,0.061,3037,2199,1668
$GC,15760,1.49,213.1,250.5,13.2,751,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,1667
$GC,16069,1.49,213.1,212.4,11.9,766,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,1667
$GC,16379,1.49,213.1,175.5,12.2,781,16383,0.00,2.55,0.00,0.000,4,0.000,0.081,3037,3597,1667
$GC,16487,1.49,213.1,161.7,13.1,785,16494,0.00,2.42,0.00,0.000,6,0.000,0.062,3037,2201,1667
$GC,16804,1.49,213.1,123.4,12.2,801,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,1667
$GC,17113,1.49,213.1,85.2,12.4,816,17118,0.00,2.53,0.00,0.000,4,0.000,0.080,3036,3596,1667
$GC,17199,1.49,213.1,73.9,13.3,820,17204,0.00,2.40,0.00,0.000,6,0.000,0.061,3037,2201,1667
$GC,17527,1.49,213.1,32.8,11.7,836,17529,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,1667
$STATE,17812,end climb,SURFACE_DEPTH_REACHED
$STATE,17813,begin surface coast
$FINISH,0.7,1.018913
$STATE,17834,end surface coast,CONTROL_FINISHED_OK
$STATE,17835,begin surface
$SM_CCo,17861,52.00,0.688,0,0,1315,300.00
$SM_GC,1.22,0.00,0.00,52.00,0.000,0.000,0.688,380,1602,1315,-10.70,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1915
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.4,11.474
$10V_AH,10.1,6.468
$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,25.925,125.675,320.925,52.000,0.000,37.766,36.387,170.277,8.500,0.000,0.000,13.341,1583.839,13706.617,491.723,1916.059,606.676,0.000,1443.314,0.000,1869.069,0.000,56.000,0.000
$DEVICE_MAMPS,178.711,92.040,1329.211,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.599,581.386,447.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44287,851
$CAP_FILE_SIZE,124979,0
$CFSIZE,254472192,248524800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,090908,150637,6336.646,-727.087,23,1.6,23,-9.1