version: 66.04
glider: 14
mission: 6
dive: 8
start: 8 30 108 9 56 35
data:
$ID,14
$MISSION,6
$DIVE,8
$D_SURF,3
$D_FLARE,4
$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,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,577
$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,-650275.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2730
$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,1700
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$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,3
$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
$GPS1,093608,6344.875,-550.720,28,1.4,28,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-55.9
$GPS2,095538,6345.134,-550.386,13,1.8,30,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.036,-0.253
$KALMAN_X,17826.6,-1066.7,-55.5,-7151.3,6516.6
$KALMAN_Y,23159.1,-3255.3,318.2,-17388.8,9090.6
$MHEAD_RNG_PITCHd_Wd,196.3,121267,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-117.22,0.000,6,0.000,0.000,374,1829,3139
$GC,142,-1.38,-146.6,7.5,-7.1,6,164,11.52,2.80,0.00,0.000,4,0.177,0.071,2425,297,3142
$GC,282,-1.38,-146.6,39.0,-12.8,12,287,0.00,2.40,0.00,0.000,6,0.000,0.055,2425,1717,3145
$GC,604,-1.38,-146.6,75.1,-11.1,28,608,0.00,2.58,0.00,0.000,4,0.000,0.077,2425,296,3147
$GC,736,-1.38,-146.6,90.5,-12.1,34,740,0.00,2.38,0.00,0.000,6,0.000,0.055,2425,1705,3148
$GC,1065,-1.38,-146.6,126.7,-11.2,50,1069,0.00,2.58,0.00,0.000,4,0.000,0.077,2425,295,3148
$GC,1195,-1.38,-146.6,142.2,-11.6,56,1199,0.00,2.38,0.00,0.000,6,0.000,0.055,2425,1704,3148
$GC,1522,-1.38,-146.6,177.8,-10.6,72,1526,0.00,2.58,0.00,0.000,4,0.000,0.078,2425,294,3148
$GC,1634,-1.38,-146.6,190.4,-11.5,77,1638,0.00,2.38,0.00,0.000,6,0.000,0.055,2425,1701,3148
$GC,1956,-1.38,-146.6,225.2,-11.0,93,1960,0.00,2.55,0.00,0.000,4,0.000,0.078,2425,298,3148
$GC,2034,-1.38,-146.6,234.6,-11.7,96,2041,0.00,2.38,0.00,0.000,6,0.000,0.055,2426,1702,3148
$GC,2351,-1.38,-146.6,269.9,-11.3,112,2355,0.00,2.55,0.00,0.000,4,0.000,0.080,2425,294,3148
$GC,2446,-1.38,-146.6,281.4,-11.9,116,2450,0.00,2.42,0.00,0.000,6,0.000,0.059,2425,1697,3148
$GC,2763,-1.38,-146.6,317.9,-11.4,131,2767,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,300,3149
$GC,2814,-1.38,-146.6,324.1,-11.3,133,2818,0.00,2.45,0.00,0.000,6,0.000,0.061,2425,1706,3149
$GC,3135,-1.38,-146.6,359.2,-11.0,149,3139,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,297,3149
$GC,3198,-1.38,-146.6,366.3,-11.0,152,3202,0.00,2.45,0.00,0.000,6,0.000,0.061,2425,1708,3149
$GC,3525,-1.38,-146.6,399.8,-9.9,168,3530,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,300,3148
$GC,3610,-1.38,-146.6,408.6,-10.4,171,3616,0.00,2.42,0.00,0.000,6,0.000,0.060,2425,1701,3148
$GC,3926,-1.38,-146.6,437.9,-9.0,187,3930,0.00,2.55,0.00,0.000,4,0.000,0.082,2425,300,3147
$GC,4005,-1.38,-146.6,445.9,-10.1,190,4009,0.00,2.40,0.00,0.000,6,0.000,0.056,2424,1706,3147
$GC,4322,-1.38,-146.6,474.6,-9.1,205,4327,0.00,2.58,0.00,0.000,4,0.000,0.083,2425,295,3145
$GC,4395,-1.38,-146.6,482.3,-10.3,208,4399,0.00,2.42,0.00,0.000,6,0.000,0.056,2425,1708,3145
$GC,4716,-1.38,-146.6,514.3,-10.2,224,4720,0.00,2.55,0.00,0.000,4,0.000,0.082,2425,300,3143
$GC,4794,-1.38,-146.6,522.7,-10.3,227,4800,0.00,2.40,0.00,0.000,6,0.000,0.057,2425,1701,3143
$GC,5111,-1.38,-146.6,553.1,-9.8,243,5115,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,302,3143
$GC,5161,-1.38,-146.6,558.3,-10.1,245,5165,0.00,2.40,0.00,0.000,6,0.000,0.056,2425,1703,3143
$GC,5478,-1.38,-146.6,587.4,-9.2,260,5482,0.00,2.60,0.00,0.000,4,0.000,0.084,2425,295,3142
$GC,5534,-1.38,-146.6,592.9,-9.7,262,5540,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3142
$GC,5851,-1.38,-146.6,620.7,-8.6,278,5855,0.00,2.60,0.00,0.000,4,0.000,0.084,2425,297,3140
$GC,5924,-1.38,-146.6,627.7,-9.4,281,5928,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3140
$GC,6241,-1.38,-146.6,654.8,-8.8,296,6245,0.00,2.55,0.00,0.000,4,0.000,0.083,2425,302,3139
$GC,6314,-1.38,-146.6,661.8,-9.4,299,6318,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3138
$GC,6631,-1.38,-146.6,690.2,-9.0,314,6635,0.00,2.58,0.00,0.000,4,0.000,0.084,2426,299,3138
$GC,6705,-1.38,-146.6,697.6,-10.7,317,6709,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3137
$GC,7021,-1.38,-146.6,727.0,-9.3,332,7026,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,301,3137
$GC,7095,-1.38,-146.6,734.6,-9.8,335,7099,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3137
$GC,7412,-1.38,-146.6,765.1,-9.7,350,7416,0.00,2.58,0.00,0.000,4,0.000,0.083,2425,299,3136
$GC,7513,-1.38,-146.6,775.6,-10.0,354,7517,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1705,3136
$GC,7830,-1.38,-146.6,805.0,-9.0,369,7834,0.00,2.58,0.00,0.000,4,0.000,0.082,2424,299,3135
$GC,7902,-1.38,-146.6,812.2,-10.3,372,7907,0.00,2.40,0.00,0.000,6,0.000,0.056,2425,1704,3135
$GC,8219,-1.38,-146.6,840.9,-9.1,387,8223,0.00,2.58,0.00,0.000,4,0.000,0.082,2425,302,3134
$GC,8286,-1.38,-146.6,847.4,-10.1,390,8290,0.00,2.40,0.00,0.000,6,0.000,0.056,2425,1700,3134
$GC,8609,-1.38,-146.6,876.4,-9.1,406,8613,0.00,2.58,0.00,0.000,4,0.000,0.082,2425,300,3133
$GC,8695,-1.38,-146.6,884.9,-10.0,410,8699,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1702,3133
$GC,9022,-1.38,-146.6,914.9,-9.3,426,9027,0.00,2.58,0.00,0.000,4,0.000,0.083,2425,299,3132
$GC,9090,-1.38,-146.6,921.9,-10.5,429,9094,0.00,2.42,0.00,0.000,6,0.000,0.057,2426,1704,3132
$GC,9418,-1.38,-146.6,951.9,-8.9,445,9422,0.00,2.58,0.00,0.000,4,0.000,0.083,2425,300,3132
$GC,9485,-1.38,-146.6,958.5,-9.5,448,9489,0.00,2.42,0.00,0.000,6,0.000,0.057,2425,1704,3132
$GC,9808,-1.38,-146.6,986.4,-8.6,464,9812,0.00,2.58,0.00,0.000,4,0.000,0.084,2425,297,3131
$STATE,9845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9845,begin apogee
$GC,9857,-0.32,0.0,990.0,9.6,466,9987,1.15,0.00,123.18,1.372,6,0.118,0.000,2657,2119,2539
$STATE,9988,end apogee,CONTROL_FINISHED_OK
$STATE,9988,begin climb
$GC,9992,1.38,146.6,994.9,0.0,473,10137,1.70,2.80,128.48,1.315,4,0.068,0.097,3031,3529,1941
$GC,10232,1.38,146.6,986.4,10.4,484,10236,0.00,2.53,0.00,0.000,6,0.000,0.066,3031,2120,1941
$GC,10559,1.38,146.6,952.7,10.3,500,10563,0.00,2.62,0.00,0.000,4,0.000,0.084,3031,3531,1941
$GC,10615,1.38,146.6,946.7,10.6,502,10621,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2124,1941
$GC,10931,1.39,150.8,914.8,9.8,518,10942,0.00,2.65,5.53,1.077,4,0.000,0.081,3031,3530,1923
$GC,10995,1.39,150.8,908.1,10.6,521,10999,0.00,2.50,0.00,0.000,6,0.000,0.063,3031,2124,1922
$GC,11322,1.39,150.8,875.5,10.2,537,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2124,1923
$GC,11631,1.40,156.7,845.0,9.7,552,11645,0.00,2.67,6.88,1.048,4,0.000,0.081,3031,3530,1899
$GC,11714,1.40,156.7,836.3,10.2,555,11720,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2123,1900
$GC,12030,1.40,156.7,804.1,10.2,571,12035,0.00,2.60,0.00,0.000,4,0.000,0.081,3031,3530,1900
$GC,12087,1.40,156.7,798.2,10.3,573,12093,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2120,1900
$GC,12403,1.42,167.1,767.7,9.5,589,12415,0.00,0.00,10.35,1.114,6,0.000,0.000,3031,2120,1857
$GC,12712,1.42,167.1,736.6,10.2,604,12716,0.00,2.60,0.00,0.000,4,0.000,0.082,3031,3530,1857
$GC,12753,1.42,167.1,732.4,11.1,606,12757,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2122,1857
$GC,13080,1.43,177.9,700.1,9.5,622,13096,0.00,2.67,10.73,1.075,4,0.000,0.082,3031,3531,1813
$GC,13143,1.43,177.9,693.7,10.9,624,13147,0.00,2.53,0.00,0.000,6,0.000,0.065,3031,2122,1813
$GC,13470,1.43,177.9,661.2,10.0,640,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2121,1813
$GC,13779,1.43,177.9,630.0,10.2,655,13783,0.00,2.60,0.00,0.000,4,0.000,0.082,3031,3530,1813
$GC,13864,1.43,177.9,620.9,10.3,659,13869,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2124,1812
$GC,14191,1.43,177.9,588.2,10.1,675,14195,0.00,2.58,0.00,0.000,4,0.000,0.081,3031,3530,1813
$GC,14287,1.43,177.9,578.0,10.1,679,14291,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2122,1813
$GC,14603,1.43,177.9,546.1,10.3,694,14607,0.00,2.60,0.00,0.000,4,0.000,0.081,3031,3535,1813
$GC,14653,1.43,177.9,540.6,10.9,696,14657,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2125,1813
$GC,14974,1.43,177.9,506.4,10.6,712,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2125,1813
$GC,15284,1.43,177.9,473.4,10.6,727,15288,0.00,2.58,0.00,0.000,4,0.000,0.081,3031,3530,1813
$GC,15373,1.43,177.9,464.0,10.2,731,15378,0.00,2.50,0.00,0.000,6,0.000,0.065,3031,2121,1813
$GC,15695,1.45,189.4,432.6,9.5,747,15716,0.00,2.65,11.18,0.983,4,0.000,0.079,3031,3529,1765
$GC,15780,1.45,189.4,424.0,10.3,750,15786,0.00,2.53,0.00,0.000,6,0.000,0.065,3031,2115,1765
$GC,16096,1.45,189.4,390.5,10.7,766,16101,0.00,2.60,0.00,0.000,4,0.000,0.080,3031,3531,1765
$GC,16164,1.45,189.4,382.6,11.5,769,16169,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2119,1765
$GC,16486,1.45,189.4,347.9,10.9,785,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2119,1765
$GC,16795,1.45,189.4,312.3,11.1,800,16800,0.00,2.58,0.00,0.000,4,0.000,0.081,3031,3531,1765
$GC,16863,1.45,189.4,304.2,11.5,803,16868,0.00,2.47,0.00,0.000,6,0.000,0.064,3031,2126,1765
$GC,17184,1.45,189.4,269.8,10.2,819,17189,0.00,2.58,0.00,0.000,4,0.000,0.080,3031,3531,1765
$GC,17308,1.45,189.4,256.9,10.1,824,17314,0.00,2.50,0.00,0.000,6,0.000,0.065,3031,2119,1765
$GC,17625,1.47,200.7,226.9,9.5,840,17641,0.00,2.65,10.75,0.918,4,0.000,0.078,3031,3539,1720
$GC,17703,1.47,200.7,218.6,10.6,842,17709,0.00,2.50,0.00,0.000,6,0.000,0.064,3031,2125,1719
$GC,18019,1.47,200.7,185.9,10.5,858,18024,0.00,2.58,0.00,0.000,4,0.000,0.079,3031,3531,1720
$GC,18083,1.47,200.7,178.8,11.7,861,18088,0.00,2.47,0.00,0.000,6,0.000,0.063,3031,2122,1720
$GC,18412,1.47,200.7,141.8,11.7,877,18416,0.00,2.58,0.00,0.000,4,0.000,0.079,3031,3534,1719
$GC,18467,1.47,200.7,135.1,12.3,879,18474,0.00,2.47,0.00,0.000,6,0.000,0.063,3031,2119,1720
$GC,18784,1.47,200.7,98.4,11.3,895,18788,0.00,2.58,0.00,0.000,4,0.000,0.079,3031,3536,1720
$GC,18874,1.47,200.7,87.6,13.2,899,18878,0.00,2.47,0.00,0.000,6,0.000,0.062,3032,2117,1720
$GC,19197,1.47,200.7,51.5,11.0,915,19201,0.00,2.58,0.00,0.000,4,0.000,0.079,3031,3536,1720
$GC,19292,1.47,200.7,40.9,10.5,919,19296,0.00,2.45,0.00,0.000,6,0.000,0.062,3031,2123,1720
$GC,19614,1.51,225.4,11.3,8.8,935,19641,0.12,2.62,21.52,0.729,4,0.068,0.078,3067,3530,1619
$STATE,19683,end climb,SURFACE_DEPTH_REACHED
$STATE,19684,begin surface coast
$FINISH,0.8,1.026800
$STATE,19710,end surface coast,CONTROL_FINISHED_OK
$STATE,19710,begin surface
$SM_CCo,19738,193.55,0.700,0,0,186,576.95
$SM_CCo,19936,-0.15,0.000,0,0,186,577.19
$SM_GC,1.31,0.00,0.00,-0.15,0.000,0.000,0.000,376,1695,186,-10.83,-0.14,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,19.50
$XPDR_PINGS,4
$24V_AH,23.3,4.698
$10V_AH,10.1,2.620
$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,26.250,233.850,328.575,193.550,0.000,198.069,142.662,408.618,9.500,0.000,0.000,31.717,1831.804,14942.787,758.319,2380.824,1195.393,33.342,1966.894,0.000,2300.469,0.000,58.799,0.000
$DEVICE_MAMPS,177.177,97.409,1372.163,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.907,640.097,494.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47339,939
$CAP_FILE_SIZE,171337,0
$CFSIZE,254472192,251387904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,49,1,0
$GPS,300808,153028,6343.825,-548.867,33,3.3,52,-8.2