version: 66.04
glider: 14
mission: 6
dive: 44
start: 9 7 108 10 52 49
data:
$ID,14
$MISSION,6
$DIVE,44
$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,-651008
$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,19
$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,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
$GPS1,103937,6335.715,-649.326,38,1.1,38,-8.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.2
$GPS2,105227,6335.616,-649.216,12,1.2,12,-8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6343.252,-706.463
$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,323.7,20000,-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,13,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,382,1611,2880
$GC,89,-1.38,-146.6,4.4,-4.9,4,112,11.50,2.55,-5.22,0.000,4,0.185,0.092,2401,209,3138
$GC,293,-1.38,-146.6,43.2,-15.2,13,297,0.00,2.38,0.00,0.000,6,0.000,0.054,2401,1622,3140
$GC,621,-1.38,-146.6,88.1,-13.1,29,625,0.00,2.40,0.00,0.000,4,0.000,0.071,2402,2986,3143
$GC,716,-1.38,-146.6,100.5,-12.4,33,721,0.00,2.42,0.00,0.000,6,0.000,0.061,2402,1584,3144
$GC,1033,-1.38,-146.6,140.9,-13.3,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1584,3146
$GC,1342,-1.38,-146.6,182.1,-13.6,63,1346,0.00,2.50,0.00,0.000,4,0.000,0.084,2401,214,3146
$GC,1488,-1.38,-146.6,202.9,-14.3,69,1494,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1613,3146
$GC,1804,-1.38,-146.6,243.7,-13.0,85,1808,0.00,2.58,0.00,0.000,4,0.000,0.080,2401,209,3147
$GC,1844,-1.38,-146.6,249.1,-14.1,87,1848,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1604,3147
$GC,2170,-1.38,-146.6,290.0,-12.4,103,2175,0.00,2.55,0.00,0.000,4,0.000,0.079,2401,209,3147
$GC,2204,-1.38,-146.6,294.7,-13.9,104,2210,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1603,3147
$GC,2521,-1.38,-146.6,333.9,-11.8,120,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1606,3147
$GC,2830,-1.38,-146.6,371.3,-12.0,135,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1607,3147
$GC,3139,-1.38,-146.6,405.4,-10.5,150,3144,0.00,2.55,0.00,0.000,4,0.000,0.083,2401,215,3147
$GC,3280,-1.38,-146.6,420.8,-11.3,156,3284,0.00,2.33,0.00,0.000,6,0.000,0.054,2401,1595,3147
$GC,3598,-1.38,-146.6,451.5,-10.1,171,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1595,3146
$GC,3906,-1.38,-146.6,483.1,-10.1,186,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1595,3145
$GC,4215,-1.38,-146.6,514.9,-10.7,201,4220,0.00,2.53,0.00,0.000,4,0.000,0.082,2401,211,3143
$GC,4294,-1.38,-146.6,523.8,-10.7,204,4300,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1598,3143
$GC,4611,-1.38,-146.6,554.7,-9.5,220,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1598,3142
$GC,4920,-1.38,-146.6,583.8,-9.5,235,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1598,3142
$GC,5229,-1.38,-146.6,614.3,-10.0,250,5234,0.00,2.53,0.00,0.000,4,0.000,0.084,2401,215,3141
$GC,5298,-1.38,-146.6,622.0,-11.1,253,5302,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1594,3141
$GC,5626,-1.38,-146.6,655.0,-9.9,269,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1593,3140
$GC,5935,-1.38,-146.6,686.5,-10.3,284,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1593,3139
$GC,6244,-1.38,-146.6,717.7,-10.1,299,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1593,3138
$GC,6554,-1.38,-146.6,749.7,-10.4,314,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1595,3137
$GC,6863,-1.38,-146.6,781.6,-10.2,329,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1594,3137
$GC,7172,-1.38,-146.6,811.8,-9.9,344,7177,0.00,2.53,0.00,0.000,4,0.000,0.083,2401,214,3136
$GC,7214,-1.38,-146.6,816.2,-11.2,346,7218,0.00,2.38,0.00,0.000,6,0.000,0.054,2401,1612,3136
$GC,7542,-1.38,-146.6,848.1,-9.8,362,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1611,3135
$GC,7851,-1.38,-146.6,877.1,-9.3,377,7855,0.00,2.55,0.00,0.000,4,0.000,0.081,2401,214,3134
$GC,7890,-1.38,-146.6,881.0,-9.3,378,7897,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1602,3136
$GC,8207,-1.38,-146.6,910.3,-9.2,394,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1602,3134
$GC,8516,-1.38,-146.6,938.6,-9.2,409,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1602,3134
$GC,8826,-1.38,-146.6,967.0,-9.1,424,8830,0.00,2.53,0.00,0.000,4,0.000,0.081,2401,213,3134
$GC,8866,-1.38,-146.6,971.1,-10.5,426,8871,0.00,2.35,0.00,0.000,6,0.000,0.054,2401,1602,3134
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9077,-0.32,0.0,990.4,9.4,436,9210,1.15,0.00,128.60,1.368,6,0.123,0.000,2631,2190,2539
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9215,1.38,146.6,995.3,0.0,443,9349,1.75,2.72,125.65,1.327,4,0.079,0.093,3004,3595,1940
$GC,9566,1.38,146.6,969.9,11.1,459,9571,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2197,1939
$GC,9888,1.38,146.6,937.3,10.0,475,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2198,1939
$GC,10198,1.39,151.0,907.1,9.8,490,10208,0.00,2.60,5.07,1.033,4,0.000,0.081,3004,3595,1923
$GC,10312,1.41,163.0,895.8,9.4,495,10329,0.00,2.45,11.80,1.172,6,0.000,0.059,3003,2196,1874
$GC,10639,1.41,165.4,863.4,9.9,511,10644,0.00,0.00,3.72,0.782,6,0.000,0.000,3004,2197,1864
$GC,10948,1.42,172.9,833.1,9.6,526,10962,0.00,2.65,8.30,1.086,4,0.000,0.081,3004,3590,1833
$GC,11053,1.42,172.9,822.1,10.1,530,11060,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2199,1833
$GC,11370,1.44,182.3,791.6,9.6,546,11382,0.00,0.00,9.23,1.085,6,0.000,0.000,3004,2199,1795
$GC,11679,1.44,182.3,760.2,10.4,561,11684,0.00,2.58,0.00,0.000,4,0.000,0.083,3004,3597,1795
$GC,11775,1.44,182.3,749.7,10.6,565,11779,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2197,1795
$GC,12097,1.44,182.3,716.5,10.4,581,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,1795
$GC,12406,1.44,182.3,684.6,10.4,596,12410,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3596,1795
$GC,12501,1.44,182.3,674.2,10.7,600,12505,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2201,1795
$GC,12818,1.44,182.5,642.0,10.0,615,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2201,1795
$GC,13127,1.44,182.5,609.8,10.6,630,13131,0.00,2.55,0.00,0.000,4,0.000,0.082,3004,3595,1795
$GC,13244,1.44,182.5,596.5,11.7,635,13249,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2200,1795
$GC,13561,1.44,182.5,563.0,10.6,650,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1795
$GC,13870,1.44,182.5,530.3,10.7,665,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1795
$GC,14179,1.44,182.5,496.5,10.8,680,14183,0.00,2.55,0.00,0.000,4,0.000,0.083,3004,3596,1795
$GC,14270,1.44,182.5,486.2,12.0,684,14274,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2199,1795
$GC,14591,1.44,182.5,452.3,10.3,700,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1795
$GC,14901,1.44,182.5,420.6,10.2,715,14905,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3602,1795
$GC,14996,1.44,182.5,410.0,10.8,719,15000,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2199,1795
$GC,15312,1.44,182.5,377.5,10.3,734,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1795
$GC,15622,1.46,194.7,347.5,9.4,749,15643,0.00,2.67,11.52,0.936,4,0.000,0.081,3004,3602,1745
$GC,15782,1.46,194.7,331.5,10.6,756,15787,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2198,1745
$GC,16110,1.47,199.4,299.4,9.8,772,16121,0.00,2.62,5.90,0.837,4,0.000,0.081,3004,3602,1725
$GC,16260,1.47,199.4,283.0,11.6,778,16266,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2194,1725
$GC,16576,1.47,199.4,249.0,10.5,794,16580,0.00,2.55,0.00,0.000,4,0.000,0.081,3004,3596,1725
$GC,16626,1.47,199.4,243.2,10.7,796,16630,0.00,2.45,0.00,0.000,6,0.000,0.063,3004,2203,1725
$GC,16943,1.48,209.1,210.7,9.5,811,16958,0.10,2.62,9.07,0.865,4,0.076,0.085,3031,795,1687
$GC,17060,1.48,209.1,197.4,12.7,816,17064,0.00,2.40,0.00,0.000,6,0.000,0.054,3031,2200,1686
$GC,17387,1.48,209.1,161.5,11.1,832,17391,0.00,2.55,0.00,0.000,4,0.000,0.082,3030,3597,1686
$GC,17518,1.48,209.1,145.0,13.8,838,17523,0.00,2.42,0.00,0.000,6,0.000,0.059,3031,2190,1685
$GC,17846,1.48,209.1,105.1,12.4,854,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2191,1685
$GC,18156,1.48,209.1,67.9,11.9,869,18160,0.00,2.58,0.00,0.000,4,0.000,0.081,3031,3599,1686
$GC,18309,1.48,209.1,49.5,12.3,876,18313,0.00,2.42,0.00,0.000,6,0.000,0.061,3031,2199,1685
$GC,18636,1.50,217.1,15.0,9.6,892,18646,0.00,0.00,8.30,0.704,6,0.000,0.000,3031,2200,1652
$STATE,18777,end climb,SURFACE_DEPTH_REACHED
$STATE,18777,begin surface coast
$FINISH,0.8,1.004865
$STATE,18799,end surface coast,CONTROL_FINISHED_OK
$STATE,18799,begin surface
$SM_CCo,18825,53.75,0.752,0,0,1315,300.00
$SM_GC,1.59,0.00,0.00,53.75,0.000,0.000,0.752,381,1602,1315,-10.69,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1968
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.3,10.215
$10V_AH,10.1,5.730
$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,26.200,126.475,327.175,53.750,0.000,113.285,80.310,306.974,9.000,0.000,0.000,14.191,1674.988,14528.134,503.618,2065.659,879.735,0.000,1517.184,0.000,2016.557,0.000,55.977,0.000
$DEVICE_MAMPS,184.847,92.807,1367.561,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.409,615.348,467.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44221,900
$CAP_FILE_SIZE,137354,0
$CFSIZE,254472192,249081856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,070908,160838,6335.995,-653.691,26,1.2,26,-8.8