version: 66.04
glider: 14
mission: 6
dive: 57
start: 9 10 108 6 47 52
data:
$ID,14
$MISSION,6
$DIVE,57
$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,-651192.5
$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,30
$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
$GPS1,063726,6339.654,-739.720,40,1.1,40,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.4
$GPS2,064727,6339.674,-739.723,10,2.0,10,-9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6347.310,-757.012
$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,324.2,20000,-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,-60.50,0.000,2,0.000,0.000,381,1594,2767
$GC,83,-1.38,-146.6,3.3,-4.5,3,109,11.25,2.50,-8.73,0.000,4,0.176,0.079,2395,3005,3138
$GC,311,-1.38,-146.6,38.6,-12.9,13,316,0.00,2.42,0.00,0.000,6,0.000,0.060,2395,1594,3141
$GC,633,-1.38,-146.6,82.6,-13.2,29,637,0.00,2.50,0.00,0.000,4,0.000,0.079,2395,207,3141
$GC,728,-1.38,-146.6,97.1,-14.5,33,732,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1619,3142
$GC,1045,-1.38,-146.6,139.1,-12.8,48,1049,0.00,2.55,0.00,0.000,4,0.000,0.075,2395,207,3144
$GC,1117,-1.38,-146.6,148.8,-13.3,51,1122,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1609,3143
$GC,1434,-1.38,-146.6,187.1,-11.9,66,1438,0.00,2.53,0.00,0.000,4,0.000,0.075,2395,203,3144
$GC,1502,-1.38,-146.6,195.8,-12.1,69,1506,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1603,3144
$GC,1824,-1.38,-146.6,234.4,-12.1,85,1828,0.00,2.50,0.00,0.000,4,0.000,0.075,2395,203,3144
$GC,1915,-1.38,-146.6,246.7,-13.0,89,1920,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1596,3144
$GC,2249,-1.38,-146.6,289.4,-12.6,105,2253,0.00,2.50,0.00,0.000,4,0.000,0.075,2395,207,3144
$GC,2322,-1.38,-146.6,298.9,-13.0,108,2326,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1603,3144
$GC,2644,-1.38,-146.6,335.1,-9.8,124,2648,0.00,2.42,0.00,0.000,4,0.000,0.074,2395,2978,3144
$GC,2689,-1.38,-146.6,339.4,-9.6,126,2693,0.00,2.38,0.00,0.000,6,0.000,0.062,2395,1592,3145
$GC,3016,-1.38,-146.6,372.7,-10.3,142,3020,0.00,2.50,0.00,0.000,4,0.000,0.083,2396,211,3146
$GC,3128,-1.38,-146.6,386.1,-12.4,147,3132,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1603,3145
$GC,3450,-1.38,-146.6,424.6,-12.4,163,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1609,3145
$GC,3759,-1.38,-146.6,461.6,-11.5,178,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3145
$GC,4068,-1.38,-146.6,494.1,-10.2,193,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3145
$GC,4380,-1.38,-146.6,525.6,-10.2,208,4384,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,212,3145
$GC,4497,-1.38,-146.6,540.1,-12.0,213,4502,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1604,3145
$GC,4814,-1.38,-146.6,574.6,-10.7,228,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1604,3145
$GC,5124,-1.38,-146.6,605.3,-9.6,243,5128,0.00,2.53,0.00,0.000,4,0.000,0.082,2395,213,3145
$GC,5197,-1.38,-146.6,613.2,-11.4,246,5201,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1602,3145
$GC,5514,-1.38,-146.6,644.6,-10.0,261,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3143
$GC,5824,-1.38,-146.6,676.7,-10.5,276,5828,0.00,2.53,0.00,0.000,4,0.000,0.083,2395,218,3140
$GC,5874,-1.38,-146.6,683.0,-12.3,278,5878,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1602,3141
$GC,6190,-1.38,-146.6,716.7,-10.6,293,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3140
$GC,6500,-1.38,-146.6,748.7,-10.1,308,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3139
$GC,6809,-1.38,-146.6,779.1,-9.8,323,6814,0.00,2.53,0.00,0.000,4,0.000,0.082,2395,212,3137
$GC,6883,-1.38,-146.6,787.1,-11.0,326,6887,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1604,3137
$GC,7200,-1.38,-146.6,817.7,-9.7,341,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1604,3136
$GC,7509,-1.38,-146.6,848.7,-10.2,356,7513,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,210,3134
$GC,7553,-1.38,-146.6,853.9,-11.0,358,7557,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1603,3134
$GC,7881,-1.38,-146.6,888.4,-10.8,374,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3133
$GC,8190,-1.38,-146.6,920.7,-10.3,389,8194,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,212,3133
$GC,8232,-1.38,-146.6,925.1,-12.0,391,8236,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3133
$GC,8559,-1.38,-146.6,958.2,-10.0,407,8563,0.00,2.53,0.00,0.000,4,0.000,0.080,2395,212,3132
$GC,8603,-1.38,-146.6,963.2,-11.1,409,8608,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3131
$STATE,8880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8881,begin apogee
$GC,8890,-0.32,0.0,990.9,10.0,423,9024,1.20,0.00,128.62,1.347,6,0.130,0.000,2633,2191,2538
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9028,1.38,146.6,996.0,0.0,430,9162,1.73,2.70,125.65,1.305,4,0.079,0.090,3002,3600,1941
$GC,9363,1.38,146.6,970.7,11.4,445,9367,0.00,2.47,0.00,0.000,6,0.000,0.060,3000,2191,1940
$GC,9685,1.39,148.2,938.4,9.9,461,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2191,1940
$GC,9994,1.39,148.2,907.1,10.1,476,9998,0.00,2.60,0.00,0.000,4,0.000,0.081,3002,3602,1938
$GC,10072,1.39,148.2,898.7,10.2,479,10079,0.00,2.45,0.00,0.000,6,0.000,0.058,3002,2196,1938
$GC,10388,1.39,148.2,866.4,10.3,495,10393,0.00,2.58,0.00,0.000,4,0.000,0.081,3002,3600,1938
$GC,10456,1.39,148.2,859.2,11.1,498,10460,0.00,2.45,0.00,0.000,6,0.000,0.059,3002,2196,1937
$GC,10777,1.39,148.2,826.1,10.5,514,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,1937
$GC,11087,1.40,156.3,794.8,9.6,529,11101,0.00,2.62,9.12,1.087,4,0.000,0.081,3002,3597,1901
$GC,11164,1.40,156.3,786.6,10.8,532,11168,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2199,1901
$GC,11480,1.41,165.0,755.8,9.6,547,11491,0.00,0.00,8.77,1.053,6,0.000,0.000,3002,2201,1866
$GC,11790,1.42,169.4,725.4,9.8,562,11800,0.00,2.62,5.70,0.928,4,0.000,0.081,3002,3601,1847
$GC,11863,1.42,169.4,717.6,10.6,565,11868,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2202,1847
$GC,12180,1.42,169.4,684.4,10.6,580,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,1847
$GC,12489,1.42,169.4,649.6,11.7,595,12493,0.00,2.58,0.00,0.000,4,0.000,0.084,3002,3596,1846
$GC,12552,1.42,169.4,642.0,12.1,598,12556,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2197,1846
$GC,12879,1.42,169.4,604.6,11.1,614,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1846
$GC,13189,1.43,173.6,573.0,9.8,629,13196,0.00,0.00,5.12,0.838,6,0.000,0.000,3002,2197,1831
$GC,13498,1.43,173.6,540.9,10.5,644,13502,0.00,2.58,0.00,0.000,4,0.000,0.083,3002,3602,1831
$GC,13651,1.43,173.6,524.0,10.8,651,13655,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2200,1830
$GC,13978,1.43,173.6,490.0,10.4,667,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1830
$GC,14287,1.43,173.6,458.0,10.8,682,14291,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3601,1830
$GC,14405,1.43,173.6,444.2,13.0,687,14409,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2198,1830
$GC,14721,1.43,173.6,407.7,11.3,702,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,1830
$GC,15031,1.43,175.0,376.2,9.9,717,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,1829
$GC,15340,1.43,175.2,346.6,10.0,732,15344,0.00,2.55,0.00,0.000,4,0.000,0.081,3003,3604,1828
$GC,15476,1.43,175.2,332.7,10.9,738,15480,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2198,1828
$GC,15803,1.43,179.0,299.4,9.8,754,15810,0.00,0.00,5.38,0.779,6,0.000,0.000,3002,2198,1809
$GC,16112,1.48,208.3,270.2,8.6,769,16144,0.12,2.60,25.65,0.945,4,0.069,0.075,3037,793,1689
$GC,16212,1.48,208.3,258.8,11.9,773,16218,0.00,2.42,0.00,0.000,6,0.000,0.054,3037,2209,1687
$GC,16528,1.48,208.3,219.4,13.0,789,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2208,1687
$GC,16837,1.48,208.3,179.2,13.0,804,16842,0.00,2.50,0.00,0.000,4,0.000,0.071,3038,799,1687
$GC,16905,1.48,208.3,169.8,15.1,807,16909,0.00,2.40,0.00,0.000,6,0.000,0.055,3037,2210,1688
$GC,17227,1.48,208.3,127.7,13.3,823,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2210,1687
$GC,17536,1.48,208.3,85.7,13.3,838,17540,0.00,2.50,0.00,0.000,4,0.000,0.071,3037,798,1687
$GC,17625,1.48,208.3,72.6,16.1,842,17629,0.00,2.38,0.00,0.000,6,0.000,0.056,3038,2197,1687
$GC,17953,1.48,208.3,33.6,10.8,858,17958,0.00,2.47,0.00,0.000,4,0.000,0.070,3038,797,1687
$GC,18010,1.48,208.3,26.5,14.4,860,18016,0.00,2.38,0.00,0.000,6,0.000,0.056,3037,2204,1688
$STATE,18220,end climb,SURFACE_DEPTH_REACHED
$STATE,18220,begin surface coast
$FINISH,0.6,1.026858
$STATE,18242,end surface coast,CONTROL_FINISHED_OK
$STATE,18242,begin surface
$SM_CCo,18268,49.30,0.691,0,0,1315,300.00
$SM_GC,1.21,0.00,0.00,49.30,0.000,0.000,0.691,381,1592,1315,-10.69,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1910
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.4,12.034
$10V_AH,10.1,6.793
$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,26.000,140.100,314.025,49.300,0.000,76.765,58.237,266.719,8.750,0.000,0.000,12.365,1635.937,14030.052,480.034,2005.457,774.940,0.000,1477.505,0.000,1957.176,0.000,55.990,0.000
$DEVICE_MAMPS,175.643,89.739,1346.852,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.770,596.200,447.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44362,872
$CAP_FILE_SIZE,133132,0
$CFSIZE,254472192,248270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,100908,115432,6340.197,-744.519,39,1.4,39,-9.3