version: 66.04
glider: 14
mission: 6
dive: 11
start: 8 31 108 2 29 26
data:
$ID,14
$MISSION,6
$DIVE,11
$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,350
$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,-650344.88
$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,25
$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
$GPS1,022208,6342.097,-549.953,25,1.6,25,-8.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-61.8
$GPS2,022828,6342.170,-549.879,15,1.6,16,-8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.175,-0.187
$KALMAN_X,24614.4,-61.8,43.9,-14648.7,3066.6
$KALMAN_Y,23971.4,-810.1,602.9,-26478.8,64.2
$MHEAD_RNG_PITCHd_Wd,231.2,115854,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-79.88,0.000,6,0.000,0.000,381,1600,3138
$GC,102,-1.38,-146.6,7.2,-8.9,4,124,11.43,2.55,0.00,0.000,4,0.179,0.077,2397,202,3142
$GC,279,-1.38,-146.6,45.9,-12.8,11,286,0.00,2.38,0.00,0.000,6,0.000,0.055,2397,1617,3144
$GC,597,-1.38,-146.6,85.3,-12.5,27,601,0.00,2.55,0.00,0.000,4,0.000,0.078,2397,207,3146
$GC,670,-1.38,-146.6,95.7,-14.0,30,674,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1607,3146
$GC,987,-1.38,-146.6,136.8,-13.4,45,991,0.00,2.53,0.00,0.000,4,0.000,0.078,2397,208,3148
$GC,1032,-1.38,-146.6,143.4,-14.6,47,1036,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1610,3148
$GC,1353,-1.38,-146.6,188.3,-13.9,63,1358,0.00,2.55,0.00,0.000,4,0.000,0.079,2397,201,3148
$GC,1417,-1.38,-146.6,197.7,-14.1,66,1421,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1602,3148
$GC,1745,-1.38,-146.6,244.1,-14.0,82,1749,0.00,2.55,0.00,0.000,4,0.000,0.079,2398,202,3148
$GC,1830,-1.38,-146.6,256.3,-14.3,86,1834,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1605,3148
$GC,2157,-1.38,-146.6,296.9,-11.8,102,2161,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,208,3149
$GC,2213,-1.38,-146.6,303.9,-12.3,104,2219,0.00,2.35,0.00,0.000,6,0.000,0.056,2397,1599,3149
$GC,2529,-1.38,-146.6,338.6,-11.0,120,2533,0.00,2.55,0.00,0.000,4,0.000,0.081,2398,203,3150
$GC,2615,-1.38,-146.6,348.6,-12.3,124,2619,0.00,2.38,0.00,0.000,6,0.000,0.056,2398,1602,3150
$GC,2942,-1.38,-146.6,383.2,-10.6,140,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1603,3152
$GC,3251,-1.38,-146.6,415.0,-10.0,155,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3152
$GC,3560,-1.38,-146.6,446.5,-10.3,170,3565,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,209,3151
$GC,3634,-1.38,-146.6,454.7,-12.5,173,3638,0.00,2.38,0.00,0.000,6,0.000,0.056,2397,1601,3151
$GC,3950,-1.38,-146.6,487.8,-10.6,188,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3149
$GC,4259,-1.38,-146.6,522.3,-11.5,203,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3149
$GC,4568,-1.38,-146.6,558.6,-11.5,218,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3147
$GC,4878,-1.38,-146.6,594.3,-11.6,233,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3146
$GC,5187,-1.38,-146.6,629.6,-11.1,248,5191,0.00,2.58,0.00,0.000,4,0.000,0.086,2397,204,3145
$GC,5237,-1.38,-146.6,635.8,-12.3,250,5242,0.00,2.40,0.00,0.000,6,0.000,0.055,2397,1604,3144
$GC,5554,-1.38,-146.6,670.3,-10.6,265,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3141
$GC,5863,-1.38,-146.6,704.5,-11.2,280,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3142
$GC,6172,-1.38,-146.6,739.1,-11.3,295,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3142
$GC,6481,-1.38,-146.6,774.2,-11.2,310,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3140
$GC,6791,-1.38,-146.6,809.1,-11.1,325,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3139
$GC,7100,-1.38,-146.6,843.0,-10.7,340,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1611,3138
$GC,7410,-1.38,-146.6,876.8,-11.0,355,7414,0.00,2.58,0.00,0.000,4,0.000,0.084,2397,209,3138
$GC,7455,-1.38,-146.6,882.3,-12.0,357,7459,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1603,3138
$GC,7776,-1.38,-146.6,916.6,-10.5,373,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1603,3138
$GC,8085,-1.38,-146.6,948.4,-10.1,388,8090,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,209,3136
$GC,8158,-1.38,-146.6,956.7,-11.1,391,8163,0.00,2.38,0.00,0.000,6,0.000,0.055,2398,1601,3136
$GC,8475,-1.38,-146.6,988.7,-10.2,406,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3135
$STATE,8492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8492,begin apogee
$GC,8501,-0.32,0.0,990.8,9.9,407,8639,1.15,0.00,129.52,1.349,6,0.117,0.000,2630,2195,2539
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8644,1.38,146.6,996.4,0.0,414,8778,1.75,2.72,125.25,1.331,4,0.075,0.093,3005,3604,1941
$GC,8983,1.38,146.6,976.4,10.1,429,8990,0.00,2.50,0.00,0.000,6,0.000,0.061,3005,2187,1941
$GC,9300,1.39,151.5,945.5,9.8,445,9308,0.00,0.00,6.30,1.127,6,0.000,0.000,3005,2187,1921
$GC,9609,1.39,153.0,914.8,9.9,460,9614,0.00,2.60,0.00,0.000,4,0.000,0.080,3005,3603,1921
$GC,9660,1.39,153.0,909.3,10.6,462,9664,0.00,2.45,0.00,0.000,6,0.000,0.059,3005,2200,1921
$GC,9977,1.41,160.6,877.9,9.6,477,9988,0.00,0.00,9.32,1.145,6,0.000,0.000,3005,2200,1884
$GC,10286,1.41,160.6,846.7,10.1,492,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2200,1883
$GC,10595,1.41,161.3,815.8,10.0,507,10600,0.00,2.58,0.00,0.000,4,0.000,0.080,3005,3607,1882
$GC,10703,1.41,161.3,804.5,10.2,512,10708,0.00,2.47,0.00,0.000,6,0.000,0.060,3005,2191,1883
$GC,11031,1.41,165.6,772.2,9.8,528,11039,0.00,0.00,5.97,0.979,6,0.000,0.000,3005,2191,1863
$GC,11340,1.41,165.6,740.7,10.4,543,11344,0.00,2.60,0.00,0.000,4,0.000,0.081,3005,3609,1863
$GC,11380,1.41,165.6,736.5,10.6,545,11384,0.00,2.47,0.00,0.000,6,0.000,0.060,3005,2192,1862
$GC,11713,1.41,165.6,701.8,10.3,561,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2192,1862
$GC,12023,1.41,165.6,670.4,10.0,576,12027,0.00,2.58,0.00,0.000,4,0.000,0.081,3006,3601,1862
$GC,12079,1.42,168.3,664.5,9.9,578,12088,0.00,2.45,4.15,0.821,6,0.000,0.061,3005,2200,1851
$GC,12418,1.42,170.5,631.6,9.9,595,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2200,1851
$GC,12727,1.46,192.6,602.7,9.0,610,12754,0.00,2.67,21.52,1.090,4,0.000,0.081,3006,3608,1753
$GC,12800,1.46,192.6,595.6,10.4,613,12804,0.00,2.50,0.00,0.000,6,0.000,0.061,3005,2196,1753
$GC,13116,1.47,200.0,564.7,9.7,628,13126,0.00,0.00,7.85,0.962,6,0.000,0.000,3005,2197,1723
$GC,13425,1.47,200.0,533.6,10.1,643,13429,0.00,2.58,0.00,0.000,4,0.000,0.081,3005,3602,1722
$GC,13488,1.47,200.0,527.0,10.1,646,13493,0.00,2.47,0.00,0.000,6,0.000,0.061,3005,2193,1723
$GC,13815,1.47,200.0,493.0,10.3,662,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2194,1723
$GC,14124,1.47,200.0,460.4,10.7,677,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2194,1723
$GC,14434,1.47,200.0,427.3,10.4,692,14438,0.00,2.58,0.00,0.000,4,0.000,0.079,3005,3602,1723
$GC,14474,1.47,200.0,423.0,10.6,694,14478,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2198,1723
$GC,14801,1.48,209.2,390.3,9.6,710,14812,0.00,0.00,9.20,0.951,6,0.000,0.000,3005,2198,1686
$GC,15110,1.49,212.9,360.3,9.8,725,15121,0.10,2.62,5.10,0.748,4,0.078,0.087,3031,791,1670
$GC,15166,1.49,212.9,353.8,11.3,727,15173,0.00,2.42,0.00,0.000,6,0.000,0.054,3032,2206,1670
$GC,15483,1.49,212.9,318.2,12.1,743,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2206,1669
$GC,15792,1.49,212.9,280.8,11.8,758,15796,0.00,2.58,0.00,0.000,4,0.000,0.086,3032,3602,1668
$GC,15870,1.49,212.9,271.1,11.9,761,15877,0.00,2.45,0.00,0.000,6,0.000,0.060,3032,2191,1669
$GC,16187,1.49,212.9,234.7,11.6,777,16191,0.00,2.58,0.00,0.000,4,0.000,0.078,3032,3605,1668
$GC,16372,1.49,212.9,212.6,12.0,785,16376,0.00,2.42,0.00,0.000,6,0.000,0.059,3032,2200,1668
$GC,16688,1.49,212.9,176.2,11.6,800,16692,0.00,2.55,0.00,0.000,4,0.000,0.079,3032,3596,1668
$GC,16751,1.49,212.9,168.5,12.7,803,16755,0.00,2.42,0.00,0.000,6,0.000,0.061,3032,2199,1668
$GC,17080,1.49,212.9,129.4,12.1,819,17081,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,1668
$GC,17387,1.49,212.9,91.4,12.3,834,17392,0.00,2.55,0.00,0.000,4,0.000,0.080,3032,3602,1668
$GC,17466,1.49,212.9,81.5,12.1,837,17473,0.00,2.42,0.00,0.000,6,0.000,0.061,3032,2202,1668
$GC,17785,1.49,212.9,42.7,12.5,853,17789,0.00,2.53,0.00,0.000,4,0.000,0.078,3032,3596,1668
$GC,17908,1.49,212.9,27.9,10.8,858,17915,0.00,2.40,0.00,0.000,6,0.000,0.061,3030,2202,1668
$STATE,18139,end climb,SURFACE_DEPTH_REACHED
$STATE,18139,begin surface coast
$FINISH,0.4,1.026950
$STATE,18162,end surface coast,CONTROL_FINISHED_OK
$STATE,18163,begin surface
$SM_CCo,18188,71.45,0.710,0,0,1111,350.04
$SM_GC,1.30,0.00,0.00,71.45,0.000,0.000,0.710,372,1604,1111,-10.73,0.11,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1929
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.3,5.169
$10V_AH,10.1,2.881
$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,25.975,126.850,324.200,71.450,0.000,38.927,39.239,161.705,8.500,0.000,0.000,18.318,1607.756,13994.479,541.617,1904.661,597.462,33.339,1487.498,0.000,1858.738,0.000,55.986,0.000
$DEVICE_MAMPS,179.478,92.807,1349.153,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.185,594.503,451.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44177,871
$CAP_FILE_SIZE,126742,0
$CFSIZE,254472192,251232256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,310808,073508,6340.820,-551.544,38,1.3,38,-8.2