version: 66.04
glider: 14
mission: 6
dive: 54
start: 9 9 108 15 12 52
data:
$ID,14
$MISSION,6
$DIVE,54
$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,-651154.44
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,150637,6336.646,-727.087,23,1.6,23,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.6
$GPS2,151227,6336.685,-727.101,10,1.9,10,-9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6344.321,-744.359
$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,-60.50,0.000,2,0.000,0.000,380,1596,2767
$GC,83,-1.38,-146.6,3.5,-5.1,3,109,11.38,2.50,-8.38,0.000,4,0.180,0.077,2396,2995,3140
$GC,378,-1.38,-146.6,47.0,-12.2,16,383,0.00,2.40,0.00,0.000,6,0.000,0.059,2396,1591,3141
$GC,701,-1.38,-146.6,84.8,-11.7,32,705,0.00,2.47,0.00,0.000,4,0.000,0.065,2396,3000,3144
$GC,813,-1.38,-146.6,98.5,-12.3,37,817,0.00,2.40,0.00,0.000,6,0.000,0.061,2397,1600,3144
$GC,1136,-1.38,-146.6,137.1,-11.8,53,1140,0.00,2.45,0.00,0.000,4,0.000,0.067,2397,3004,3145
$GC,1186,-1.38,-146.6,143.1,-11.6,55,1191,0.00,2.42,0.00,0.000,6,0.000,0.061,2396,1596,3145
$GC,1503,-1.38,-146.6,179.0,-11.5,70,1507,0.00,2.45,0.00,0.000,4,0.000,0.067,2397,2999,3145
$GC,1570,-1.38,-146.6,186.6,-11.3,73,1574,0.00,2.42,0.00,0.000,6,0.000,0.061,2396,1593,3145
$GC,1891,-1.38,-146.6,224.0,-12.1,89,1895,0.00,2.47,0.00,0.000,4,0.000,0.068,2396,2999,3145
$GC,1938,-1.38,-146.6,229.5,-12.2,91,1942,0.00,2.42,0.00,0.000,6,0.000,0.063,2396,1594,3145
$GC,2265,-1.38,-146.6,268.3,-11.7,107,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3145
$GC,2575,-1.38,-146.6,300.2,-10.2,122,2580,0.00,2.47,0.00,0.000,4,0.000,0.072,2396,3001,3146
$GC,2616,-1.38,-146.6,304.3,-10.2,124,2621,0.00,2.42,0.00,0.000,6,0.000,0.063,2397,1596,3145
$GC,2943,-1.38,-146.6,337.3,-9.4,140,2948,0.00,2.50,0.00,0.000,4,0.000,0.072,2396,3002,3146
$GC,3000,-1.38,-146.6,343.0,-9.6,142,3006,0.00,2.42,0.00,0.000,6,0.000,0.063,2397,1600,3147
$GC,3317,-1.38,-146.6,372.7,-9.6,158,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3147
$GC,3626,-1.38,-146.6,406.2,-12.2,173,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3148
$GC,3935,-1.38,-146.6,446.3,-12.8,188,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3148
$GC,4244,-1.38,-146.6,484.1,-11.9,203,4249,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,2996,3148
$GC,4295,-1.38,-146.6,490.0,-11.1,205,4300,0.00,2.42,0.00,0.000,6,0.000,0.065,2396,1603,3148
$GC,4612,-1.38,-146.6,524.3,-10.6,220,4617,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,2997,3147
$GC,4651,-1.38,-146.6,528.6,-10.6,221,4657,0.00,2.45,0.00,0.000,6,0.000,0.065,2397,1595,3148
$GC,4967,-1.38,-146.6,561.4,-10.4,237,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1595,3147
$GC,5277,-1.38,-146.6,591.8,-9.7,252,5281,0.00,2.50,0.00,0.000,4,0.000,0.074,2396,2997,3147
$GC,5344,-1.38,-146.6,598.4,-10.1,255,5349,0.00,2.45,0.00,0.000,6,0.000,0.065,2396,1596,3147
$GC,5667,-1.38,-146.6,628.7,-9.6,271,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1595,3145
$GC,5976,-1.38,-146.6,658.7,-9.9,286,5980,0.00,2.50,0.00,0.000,4,0.000,0.074,2396,2994,3144
$GC,6004,-1.38,-146.6,661.7,-10.5,287,6008,0.00,2.45,0.00,0.000,6,0.000,0.065,2396,1599,3144
$GC,6320,-1.38,-146.6,693.2,-10.2,302,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3142
$GC,6629,-1.38,-146.6,724.2,-10.3,317,6634,0.00,2.50,0.00,0.000,4,0.000,0.074,2396,3003,3141
$GC,6675,-1.38,-146.6,728.8,-9.9,319,6679,0.00,2.47,0.00,0.000,6,0.000,0.065,2397,1594,3141
$GC,6996,-1.38,-146.6,761.4,-10.3,335,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1594,3141
$GC,7306,-1.38,-146.6,792.6,-9.9,350,7310,0.00,2.50,0.00,0.000,4,0.000,0.071,2396,3001,3139
$GC,7373,-1.38,-146.6,799.1,-10.2,353,7377,0.00,2.45,0.00,0.000,6,0.000,0.064,2396,1599,3138
$GC,7695,-1.38,-146.6,828.9,-9.3,369,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3138
$GC,8004,-1.38,-146.6,858.8,-9.8,384,8008,0.00,2.47,0.00,0.000,4,0.000,0.070,2397,2998,3136
$GC,8049,-1.38,-146.6,863.4,-9.8,386,8053,0.00,2.45,0.00,0.000,6,0.000,0.063,2397,1594,3136
$GC,8371,-1.38,-146.6,895.8,-9.9,402,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1593,3135
$GC,8680,-1.38,-146.6,926.8,-10.0,417,8684,0.00,2.45,0.00,0.000,4,0.000,0.068,2396,2998,3135
$GC,8732,-1.38,-146.6,932.1,-10.0,419,8736,0.00,2.45,0.00,0.000,6,0.000,0.061,2397,1588,3135
$GC,9053,-1.38,-146.6,964.4,-9.9,435,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1587,3134
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9318,begin apogee
$GC,9327,-0.32,0.0,990.5,9.7,448,9461,1.15,0.00,129.12,1.348,6,0.115,0.000,2630,2218,2538
$STATE,9462,end apogee,CONTROL_FINISHED_OK
$STATE,9462,begin climb
$GC,9465,1.38,146.6,996.3,0.0,455,9599,1.75,2.62,125.55,1.309,4,0.080,0.087,3003,3587,1941
$GC,9637,1.39,149.3,989.3,9.9,463,9646,0.00,2.47,4.10,0.887,6,0.000,0.060,3003,2188,1929
$GC,9963,1.39,149.3,956.5,10.2,479,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2188,1929
$GC,10272,1.39,149.3,924.1,10.4,494,10277,0.00,2.58,0.00,0.000,4,0.000,0.080,3003,3587,1929
$GC,10336,1.39,149.3,916.9,11.5,497,10340,0.00,2.42,0.00,0.000,6,0.000,0.060,3003,2199,1929
$GC,10669,1.39,149.3,881.2,10.7,513,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1929
$GC,10978,1.39,149.3,848.3,10.7,528,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1927
$GC,11288,1.39,150.0,816.6,10.0,543,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1928
$GC,11597,1.39,152.2,785.8,9.9,558,11602,0.00,0.00,3.62,0.790,6,0.000,0.000,3003,2199,1918
$GC,11906,1.41,165.9,756.0,9.4,573,11928,0.00,2.65,13.30,1.118,4,0.000,0.082,3004,3586,1862
$GC,11991,1.42,168.7,747.3,9.9,576,12000,0.00,2.45,3.97,0.774,6,0.000,0.061,3003,2196,1851
$GC,12329,1.44,179.8,714.1,9.5,593,12342,0.00,0.00,11.12,1.078,6,0.000,0.000,3003,2196,1806
$GC,12638,1.44,179.8,682.3,10.3,608,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,1804
$GC,12947,1.44,179.8,651.1,10.1,623,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,1804
$GC,13256,1.44,179.8,619.3,10.2,638,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,1804
$GC,13566,1.44,179.8,587.9,10.1,653,13570,0.00,2.55,0.00,0.000,4,0.000,0.082,3003,799,1804
$GC,13627,1.44,179.8,581.2,10.6,655,13634,0.00,2.38,0.00,0.000,6,0.000,0.054,3004,2192,1804
$GC,13944,1.44,179.8,548.8,10.2,671,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2193,1804
$GC,14254,1.47,203.3,520.1,8.9,686,14279,0.00,2.60,20.55,1.022,4,0.000,0.073,3004,799,1709
$GC,14370,1.47,203.3,508.9,10.2,691,14374,0.00,2.42,0.00,0.000,6,0.000,0.055,3003,2199,1708
$GC,14687,1.52,232.4,481.2,8.6,706,14714,0.15,0.00,24.95,1.003,6,0.070,0.000,3043,2199,1589
$GC,15016,1.52,232.4,437.5,14.9,722,15020,0.00,2.53,0.00,0.000,4,0.000,0.074,3043,798,1588
$GC,15113,1.52,232.4,421.4,16.7,726,15117,0.00,2.42,0.00,0.000,6,0.000,0.055,3043,2201,1588
$GC,15434,1.52,232.4,370.2,15.8,742,15439,0.00,2.53,0.00,0.000,4,0.000,0.071,3043,795,1587
$GC,15491,1.52,232.4,360.9,15.8,744,15497,0.00,2.42,0.00,0.000,6,0.000,0.055,3043,2204,1586
$GC,15807,1.52,232.4,319.8,11.9,760,15811,0.00,2.58,0.00,0.000,4,0.000,0.087,3043,3602,1585
$GC,15925,1.52,232.4,305.3,12.4,765,15929,0.00,2.42,0.00,0.000,6,0.000,0.060,3043,2196,1585
$GC,16247,1.52,232.4,267.5,12.5,781,16248,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,16556,1.52,232.4,225.0,14.1,796,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,16865,1.52,232.4,180.1,14.5,811,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,17174,1.52,232.4,136.5,13.9,826,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,17484,1.52,232.4,94.6,13.1,841,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,17793,1.52,232.4,54.7,13.7,856,17794,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1585
$GC,18104,1.52,232.4,13.1,12.8,871,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,1586
$STATE,18203,end climb,SURFACE_DEPTH_REACHED
$STATE,18203,begin surface coast
$FINISH,0.6,1.026884
$STATE,18224,end surface coast,CONTROL_FINISHED_OK
$STATE,18224,begin surface
$SM_CCo,18250,36.75,0.687,0,0,1315,300.00
$SM_GC,1.75,0.00,0.00,36.75,0.000,0.000,0.687,381,1593,1315,-10.69,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1924
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.4,11.614
$10V_AH,10.1,6.547
$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,26.050,115.950,336.300,36.750,0.000,37.766,26.879,151.469,8.500,0.000,0.000,11.890,1602.939,14144.037,485.911,1835.428,576.214,0.000,1402.664,0.000,1797.609,0.000,56.006,0.000
$DEVICE_MAMPS,180.245,87.438,1348.386,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.465,599.231,456.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44215,877
$CAP_FILE_SIZE,123753,0
$CFSIZE,254472192,248463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,090908,201902,6338.343,-730.477,40,1.4,40,-9.1