version: 66.04
glider: 14
mission: 6
dive: 55
start: 9 9 108 20 25 33
data:
$ID,14
$MISSION,6
$DIVE,55
$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,-651165.06
$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,21
$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
$GPS1,201902,6338.343,-730.477,40,1.4,40,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.8
$GPS2,202509,6338.317,-730.470,8,1.6,8,-9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6345.954,-747.745
$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,-60.65,0.000,2,0.000,0.000,381,1589,2765
$GC,83,-1.38,-146.6,3.7,-5.8,3,108,11.27,2.53,-8.32,0.000,4,0.177,0.077,2395,3008,3140
$GC,329,-1.38,-146.6,44.2,-14.1,14,334,0.00,2.42,0.00,0.000,6,0.000,0.060,2395,1595,3142
$GC,657,-1.38,-146.6,83.0,-11.9,30,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1596,3143
$GC,967,-1.38,-146.6,117.8,-11.5,45,971,0.00,2.47,0.00,0.000,4,0.000,0.079,2395,213,3144
$GC,1075,-1.38,-146.6,131.9,-12.4,50,1079,0.00,2.35,0.00,0.000,6,0.000,0.054,2393,1634,3145
$GC,1403,-1.38,-146.6,173.8,-13.0,66,1407,0.00,2.55,0.00,0.000,4,0.000,0.076,2396,208,3145
$GC,1504,-1.38,-146.6,188.1,-14.0,70,1510,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1624,3145
$GC,1820,-1.38,-146.6,229.3,-12.8,86,1825,0.00,2.53,0.00,0.000,4,0.000,0.074,2395,213,3145
$GC,1894,-1.38,-146.6,239.5,-13.9,89,1898,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1600,3145
$GC,2211,-1.38,-146.6,277.2,-11.3,104,2215,0.00,2.47,0.00,0.000,4,0.000,0.076,2395,213,3145
$GC,2245,-1.38,-146.6,281.5,-11.4,105,2249,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1600,3145
$GC,2561,-1.38,-146.6,315.4,-10.8,120,2565,0.00,2.50,0.00,0.000,4,0.000,0.077,2395,213,3145
$GC,2624,-1.38,-146.6,322.6,-11.4,123,2628,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1595,3145
$GC,2951,-1.38,-146.6,365.2,-13.9,139,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3146
$GC,3261,-1.38,-146.6,403.1,-11.2,154,3265,0.00,2.50,0.00,0.000,4,0.000,0.079,2395,210,3147
$GC,3362,-1.38,-146.6,415.1,-11.3,158,3367,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1606,3148
$GC,3679,-1.38,-146.6,446.7,-9.8,173,3683,0.00,2.47,0.00,0.000,4,0.000,0.081,2395,2987,3148
$GC,3707,-1.38,-146.6,449.8,-10.3,174,3712,0.00,2.40,0.00,0.000,6,0.000,0.064,2395,1603,3149
$GC,4029,-1.38,-146.6,481.5,-10.0,190,4034,0.00,2.55,0.00,0.000,4,0.000,0.090,2395,213,3149
$GC,4075,-1.38,-146.6,486.5,-10.8,192,4079,0.00,2.33,0.00,0.000,6,0.000,0.055,2395,1603,3148
$GC,4396,-1.38,-146.6,519.9,-10.7,208,4400,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,210,3149
$GC,4446,-1.38,-146.6,525.9,-11.9,210,4451,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1606,3149
$GC,4763,-1.38,-146.6,561.1,-11.2,225,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3149
$GC,5072,-1.38,-146.6,597.5,-11.8,240,5076,0.00,2.55,0.00,0.000,4,0.000,0.082,2395,212,3147
$GC,5139,-1.38,-146.6,606.3,-13.2,243,5143,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1606,3148
$GC,5460,-1.38,-146.6,642.9,-11.2,259,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1607,3147
$GC,5770,-1.38,-146.6,676.0,-10.7,274,5775,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,208,3145
$GC,5811,-1.38,-146.6,680.7,-11.8,276,5815,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1603,3145
$GC,6139,-1.38,-146.6,714.0,-9.9,292,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1604,3143
$GC,6448,-1.38,-146.6,745.6,-10.4,307,6452,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,205,3142
$GC,6493,-1.38,-146.6,751.0,-12.0,309,6497,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1609,3142
$GC,6820,-1.38,-146.6,786.7,-11.0,325,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1610,3141
$GC,7129,-1.38,-146.6,818.4,-10.1,340,7134,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,210,3140
$GC,7197,-1.38,-146.6,825.9,-11.3,343,7201,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1603,3140
$GC,7520,-1.38,-146.6,857.9,-9.9,359,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3138
$GC,7829,-1.38,-146.6,887.7,-9.6,374,7833,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,207,3137
$GC,7886,-1.38,-146.6,893.7,-11.7,376,7892,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1600,3137
$GC,8203,-1.38,-146.6,923.7,-9.4,392,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3136
$GC,8512,-1.38,-146.6,953.2,-9.4,407,8517,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,210,3136
$GC,8576,-1.38,-146.6,959.8,-10.7,410,8580,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1599,3135
$GC,8904,-1.38,-146.6,989.8,-8.8,426,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1599,3135
$STATE,8920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8920,begin apogee
$GC,8929,-0.32,0.0,991.7,9.0,427,9063,1.17,0.00,128.82,1.348,6,0.121,0.000,2631,2189,2539
$STATE,9064,end apogee,CONTROL_FINISHED_OK
$STATE,9064,begin climb
$GC,9068,1.38,146.6,995.4,0.0,434,9202,1.75,2.70,125.18,1.300,4,0.082,0.091,3004,3601,1941
$GC,9397,1.38,146.6,966.9,12.1,449,9401,0.00,2.47,0.00,0.000,6,0.000,0.060,3005,2186,1940
$GC,9718,1.38,146.6,929.2,11.8,465,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2186,1940
$GC,10027,1.38,146.6,892.6,11.9,480,10032,0.00,2.60,0.00,0.000,4,0.000,0.081,3004,3599,1940
$GC,10113,1.38,146.6,882.2,11.8,484,10117,0.00,2.42,0.00,0.000,6,0.000,0.059,3002,2202,1938
$GC,10440,1.38,146.6,845.1,11.2,500,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2202,1938
$GC,10749,1.38,146.6,811.9,10.4,515,10754,0.00,2.55,0.00,0.000,4,0.000,0.082,3004,3596,1938
$GC,10845,1.38,146.6,801.6,11.0,519,10849,0.00,2.42,0.00,0.000,6,0.000,0.059,3004,2200,1938
$GC,11162,1.39,154.0,770.6,9.7,534,11171,0.00,0.00,7.45,1.045,6,0.000,0.000,3004,2200,1911
$GC,11471,1.41,166.2,740.9,9.4,549,11489,0.00,0.00,11.95,1.091,6,0.000,0.000,3004,2200,1861
$GC,11799,1.41,166.2,708.2,10.1,565,11804,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3595,1859
$GC,11873,1.41,166.2,700.5,10.3,568,11877,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2194,1859
$GC,12189,1.41,166.2,669.0,10.1,583,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1859
$GC,12498,1.41,166.2,636.3,11.0,598,12502,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3596,1858
$GC,12600,1.41,166.2,624.4,12.0,602,12604,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2191,1858
$GC,12916,1.41,166.2,588.1,11.7,617,12921,0.00,2.58,0.00,0.000,4,0.000,0.081,3004,3596,1858
$GC,13024,1.41,166.2,574.8,12.5,622,13028,0.00,2.42,0.00,0.000,6,0.000,0.061,3004,2199,1858
$GC,13358,1.41,166.2,538.2,10.6,638,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1858
$GC,13667,1.41,166.2,505.9,10.3,653,13671,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3597,1858
$GC,13762,1.41,166.2,495.9,10.7,657,13766,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2194,1856
$GC,14078,1.41,166.2,463.7,10.0,672,14079,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1856
$GC,14388,1.45,191.3,436.0,8.8,687,14415,0.00,2.67,21.65,0.986,4,0.000,0.081,3004,3599,1758
$GC,14506,1.45,191.3,422.7,12.7,692,14510,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2201,1756
$GC,14822,1.45,191.3,384.9,11.4,707,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1756
$GC,15131,1.45,191.3,348.7,11.3,722,15136,0.00,2.58,0.00,0.000,4,0.000,0.083,3004,3605,1754
$GC,15250,1.45,191.3,335.8,10.8,727,15254,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2197,1755
$GC,15566,1.45,191.3,302.5,10.8,742,15570,0.00,2.53,0.00,0.000,4,0.000,0.080,3004,797,1755
$GC,15639,1.45,191.3,294.0,11.9,745,15643,0.00,2.40,0.00,0.000,6,0.000,0.054,3004,2209,1754
$GC,15961,1.45,191.3,259.9,11.0,761,15962,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,1754
$GC,16270,1.45,191.3,227.3,10.4,776,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,1754
$GC,16579,1.46,192.8,196.2,9.9,791,16584,0.00,2.55,0.00,0.000,4,0.000,0.072,3004,789,1754
$GC,16648,1.46,197.3,188.9,9.8,794,16659,0.00,2.40,6.20,0.721,6,0.000,0.055,3004,2207,1733
$GC,16969,1.50,220.4,158.6,8.9,809,16995,0.12,2.60,20.45,0.814,4,0.068,0.070,3041,789,1639
$GC,17035,1.50,220.4,151.1,11.5,812,17040,0.00,2.40,0.00,0.000,6,0.000,0.055,3041,2197,1639
$GC,17364,1.50,220.4,111.5,12.6,828,17365,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,1638
$GC,17673,1.50,220.4,69.6,14.1,843,17677,0.00,2.58,0.00,0.000,4,0.000,0.088,3042,3598,1639
$GC,17790,1.50,220.4,53.3,14.0,848,17795,0.00,2.40,0.00,0.000,6,0.000,0.060,3041,2192,1638
$GC,18113,1.50,220.4,10.9,13.1,864,18114,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,1638
$STATE,18192,end climb,SURFACE_DEPTH_REACHED
$STATE,18192,begin surface coast
$FINISH,0.5,1.026169
$STATE,18214,end surface coast,CONTROL_FINISHED_OK
$STATE,18214,begin surface
$SM_CCo,18240,43.80,0.684,0,0,1315,300.00
$SM_GC,1.30,0.00,0.00,43.80,0.000,0.000,0.684,383,1594,1315,-10.68,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1903
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.4,11.750
$10V_AH,10.1,6.629
$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,25.975,145.225,321.700,43.800,0.000,37.766,42.031,153.813,8.500,0.000,0.000,9.994,1630.513,13929.751,488.621,2001.025,607.021,0.000,1488.733,0.000,1955.163,0.000,56.006,0.000
$DEVICE_MAMPS,177.177,90.506,1347.619,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.131,593.997,453.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44331,869
$CAP_FILE_SIZE,131929,0
$CFSIZE,254472192,248389632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,100908,013138,6338.769,-735.927,38,1.0,38,-9.2