version: 66.04
glider: 14
mission: 6
dive: 64
start: 9 11 108 19 14 13
data:
$ID,14
$MISSION,6
$DIVE,64
$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,-651331.94
$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,25
$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
$GPS1,190638,6348.186,-813.792,32,1.3,32,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.6
$GPS2,191351,6348.218,-813.646,9,1.8,9,-9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6355.854,-831.022
$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,324.6,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.38,-146.6,0.0,0.0,0,82,0.00,0.00,-60.53,0.000,2,0.000,0.000,375,1586,2763
$GC,86,-1.38,-146.6,3.3,-4.7,3,112,11.27,2.47,-8.85,0.000,4,0.176,0.089,2396,210,3139
$GC,382,-1.38,-146.6,54.6,-16.3,16,386,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1619,3141
$GC,704,-1.38,-146.6,100.4,-14.0,32,708,0.00,2.53,0.00,0.000,4,0.000,0.073,2396,210,3142
$GC,816,-1.38,-146.6,118.0,-15.3,37,820,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1607,3143
$GC,1137,-1.38,-146.6,160.6,-12.4,53,1141,0.00,2.50,0.00,0.000,4,0.000,0.074,2396,212,3145
$GC,1206,-1.38,-146.6,169.7,-13.6,56,1211,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1611,3145
$GC,1534,-1.38,-146.6,210.1,-12.1,72,1538,0.00,2.53,0.00,0.000,4,0.000,0.074,2396,208,3145
$GC,1642,-1.38,-146.6,224.1,-12.3,77,1646,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1606,3145
$GC,1975,-1.38,-146.6,265.1,-12.7,93,1979,0.00,2.50,0.00,0.000,4,0.000,0.075,2396,212,3145
$GC,2054,-1.38,-146.6,275.5,-13.2,96,2060,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1604,3145
$GC,2370,-1.38,-146.6,313.2,-11.4,112,2375,0.00,2.50,0.00,0.000,4,0.000,0.076,2397,213,3145
$GC,2457,-1.38,-146.6,324.3,-13.1,116,2462,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1599,3145
$GC,2790,-1.38,-146.6,360.7,-10.4,132,2794,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,213,3146
$GC,2830,-1.38,-146.6,365.4,-11.9,134,2834,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1605,3147
$GC,3157,-1.38,-146.6,403.9,-11.7,150,3161,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,212,3147
$GC,3264,-1.38,-146.6,417.2,-12.1,155,3268,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1603,3147
$GC,3592,-1.38,-146.6,453.9,-11.0,171,3596,0.00,2.47,0.00,0.000,4,0.000,0.083,2396,2988,3148
$GC,3621,-1.38,-146.6,457.1,-11.0,172,3625,0.00,2.40,0.00,0.000,6,0.000,0.064,2396,1600,3148
$GC,3943,-1.38,-146.6,490.5,-10.4,188,3947,0.00,2.55,0.00,0.000,4,0.000,0.089,2396,210,3148
$GC,4010,-1.38,-146.6,498.3,-11.6,191,4014,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3148
$GC,4331,-1.38,-146.6,532.7,-10.5,207,4336,0.00,2.55,0.00,0.000,4,0.000,0.082,2396,209,3148
$GC,4382,-1.38,-146.6,538.7,-11.2,209,4386,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3148
$GC,4698,-1.38,-146.6,572.1,-10.7,224,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3146
$GC,5008,-1.38,-146.6,604.5,-10.3,239,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3146
$GC,5317,-1.38,-146.6,635.6,-10.0,254,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3145
$GC,5626,-1.38,-146.6,666.5,-9.9,269,5631,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,212,3143
$GC,5671,-1.38,-146.6,671.6,-10.8,271,5676,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3143
$GC,5993,-1.38,-146.6,704.2,-10.1,287,5997,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,212,3141
$GC,6027,-1.38,-146.6,707.9,-10.3,288,6034,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1599,3141
$GC,6344,-1.38,-146.6,739.2,-9.7,304,6348,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,209,3140
$GC,6385,-1.38,-146.6,743.6,-10.9,306,6389,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3140
$GC,6713,-1.38,-146.6,775.7,-9.7,322,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3139
$GC,7022,-1.38,-146.6,805.4,-9.4,337,7026,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3137
$GC,7073,-1.38,-146.6,810.9,-11.0,339,7077,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3137
$GC,7395,-1.38,-146.6,841.4,-10.0,355,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3135
$GC,7704,-1.38,-146.6,870.8,-9.5,370,7709,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3134
$GC,7745,-1.38,-146.6,874.9,-10.8,372,7750,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1605,3134
$GC,8078,-1.38,-146.6,906.9,-9.7,388,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3133
$GC,8387,-1.38,-146.6,937.1,-9.6,403,8392,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3132
$GC,8438,-1.38,-146.6,942.4,-10.2,405,8442,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1597,3132
$STATE,8730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8730,begin apogee
$GC,8740,-0.32,0.0,971.4,9.8,419,8879,1.15,0.00,130.35,1.322,6,0.118,0.000,2629,2193,2539
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8884,1.38,146.6,977.1,0.0,426,9017,1.75,2.72,124.80,1.294,4,0.078,0.094,3004,3597,1940
$GC,9290,1.38,146.6,941.0,11.8,444,9294,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2197,1939
$GC,9607,1.38,146.6,908.1,10.2,459,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2197,1939
$GC,9916,1.38,146.6,876.0,10.4,474,9920,0.00,2.58,0.00,0.000,4,0.000,0.082,3005,3600,1938
$GC,10011,1.38,146.6,865.4,10.5,478,10015,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2197,1938
$GC,10327,1.38,146.6,832.2,10.5,493,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,1938
$GC,10636,1.38,146.6,799.8,10.3,508,10641,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3606,1937
$GC,10722,1.38,146.6,790.3,11.8,512,10726,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2197,1937
$GC,11049,1.38,146.6,755.3,10.7,528,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,1937
$GC,11358,1.38,146.6,723.0,10.4,543,11362,0.00,2.58,0.00,0.000,4,0.000,0.083,3005,3599,1937
$GC,11443,1.38,146.6,714.0,10.2,547,11447,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2197,1936
$GC,11771,1.40,157.3,681.8,9.5,563,11782,0.00,0.00,9.75,1.045,6,0.000,0.000,3004,2197,1897
$GC,12079,1.40,159.9,650.9,9.9,578,12088,0.00,2.60,3.83,0.767,4,0.000,0.082,3005,3598,1886
$GC,12179,1.40,159.9,640.2,10.5,582,12184,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2202,1886
$GC,12496,1.40,159.9,608.7,10.2,597,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2202,1886
$GC,12805,1.42,169.4,577.8,9.6,612,12820,0.00,2.62,9.62,0.994,4,0.000,0.083,3004,3600,1848
$GC,12937,1.44,181.1,565.0,9.5,617,12953,0.00,2.47,11.15,0.988,6,0.000,0.062,3005,2193,1800
$GC,13264,1.44,181.1,530.3,10.8,632,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,1799
$GC,13573,1.44,181.1,496.0,11.3,647,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,1798
$GC,13882,1.44,181.1,458.7,12.2,662,13887,0.00,2.58,0.00,0.000,4,0.000,0.081,3004,3602,1798
$GC,13968,1.44,181.1,447.5,13.1,666,13972,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2194,1798
$GC,14302,1.44,181.1,408.4,11.0,682,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1797
$GC,14611,1.44,181.1,376.2,10.3,697,14615,0.00,2.58,0.00,0.000,4,0.000,0.081,3005,3603,1796
$GC,14689,1.44,181.1,367.7,10.3,700,14695,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2197,1797
$GC,15006,1.44,181.1,335.1,10.1,716,15010,0.00,2.58,0.00,0.000,4,0.000,0.081,3005,3606,1796
$GC,15068,1.44,181.1,328.1,11.3,719,15073,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2198,1797
$GC,15396,1.47,199.1,296.6,9.2,735,15417,0.00,0.00,15.60,0.959,6,0.000,0.000,3005,2199,1726
$GC,15728,1.47,199.1,262.8,10.9,751,15732,0.00,2.53,0.00,0.000,4,0.000,0.078,3004,799,1726
$GC,15774,1.47,199.1,257.4,11.4,753,15779,0.00,2.38,0.00,0.000,6,0.000,0.054,3005,2207,1725
$GC,16108,1.47,199.1,220.9,11.5,769,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2206,1725
$GC,16417,1.47,199.1,185.1,11.4,784,16421,0.00,2.55,0.00,0.000,4,0.000,0.073,3004,790,1726
$GC,16484,1.47,199.1,177.0,12.4,787,16488,0.00,2.40,0.00,0.000,6,0.000,0.055,3005,2204,1725
$GC,16806,1.47,199.1,139.8,11.7,803,16810,0.00,2.50,0.00,0.000,4,0.000,0.071,3005,797,1726
$GC,16856,1.47,199.1,133.3,13.7,805,16860,0.00,2.38,0.00,0.000,6,0.000,0.055,3005,2209,1724
$GC,17178,1.47,199.1,93.9,12.2,821,17179,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,1725
$GC,17488,1.48,210.5,60.6,9.5,836,17510,0.10,2.62,11.38,0.703,4,0.071,0.085,3037,3596,1680
$GC,17579,1.48,210.5,49.9,13.9,840,17584,0.00,2.42,0.00,0.000,6,0.000,0.061,3037,2193,1679
$GC,17907,1.48,210.5,7.8,11.6,856,17908,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2193,1679
$STATE,18007,end climb,SURFACE_DEPTH_REACHED
$STATE,18007,begin surface coast
$FINISH,0.5,1.014626
$STATE,18029,end surface coast,CONTROL_FINISHED_OK
$STATE,18029,begin surface
$SM_CCo,18055,49.28,0.661,1,0,1315,300.00
$SM_GC,1.22,0.00,0.00,49.28,0.000,0.000,0.661,380,1602,1315,-10.70,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,951.3,29.9
$24V_AH,23.4,12.994
$10V_AH,10.1,7.366
$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,25.850,149.950,316.475,49.275,0.000,37.764,27.806,232.591,8.750,0.000,0.000,11.329,1631.450,13715.618,496.033,2027.699,675.524,0.000,1512.820,0.000,1974.360,0.000,60.175,0.000
$DEVICE_MAMPS,175.643,94.341,1321.541,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.980,589.500,450.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44267,862
$CAP_FILE_SIZE,133893,0
$CFSIZE,254472192,247820288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,120908,001725,6348.827,-816.963,39,1.4,39,-9.6