version: 66.04
glider: 14
mission: 6
dive: 58
start: 9 10 108 12 1 29
data:
$ID,14
$MISSION,6
$DIVE,58
$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,-651226.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,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,27
$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
$GPS1,115432,6340.197,-744.519,39,1.4,39,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.7
$GPS2,120105,6340.215,-744.563,12,2.9,31,-9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6347.852,-801.857
$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,324.3,20000,-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,-60.83,0.000,2,0.000,0.000,383,1591,2742
$GC,83,-1.38,-146.6,3.5,-5.3,3,109,11.32,2.50,-8.85,0.000,4,0.179,0.079,2396,3004,3140
$GC,352,-1.38,-146.6,44.9,-13.5,15,356,0.00,2.42,0.00,0.000,6,0.000,0.059,2396,1589,3141
$GC,681,-1.38,-146.6,84.8,-11.7,31,685,0.00,2.47,0.00,0.000,4,0.000,0.078,2396,212,3143
$GC,770,-1.38,-146.6,96.8,-13.8,35,775,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1632,3144
$GC,1093,-1.38,-146.6,136.3,-12.5,51,1097,0.00,2.55,0.00,0.000,4,0.000,0.075,2396,212,3144
$GC,1188,-1.38,-146.6,149.8,-14.3,55,1193,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1606,3144
$GC,1510,-1.38,-146.6,193.5,-13.9,71,1514,0.00,2.47,0.00,0.000,4,0.000,0.074,2396,212,3145
$GC,1608,-1.38,-146.6,207.2,-13.9,75,1612,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1604,3145
$GC,1930,-1.38,-146.6,248.1,-11.6,91,1934,0.00,2.47,0.00,0.000,4,0.000,0.075,2396,213,3145
$GC,1998,-1.38,-146.6,256.7,-12.0,94,2002,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1593,3145
$GC,2326,-1.38,-146.6,294.8,-12.5,110,2330,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,209,3145
$GC,2390,-1.38,-146.6,303.4,-13.4,113,2394,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1601,3145
$GC,2717,-1.38,-146.6,347.4,-13.4,129,2721,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,213,3146
$GC,2908,-1.38,-146.6,374.5,-13.4,137,2918,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1598,3146
$GC,3224,-1.38,-146.6,410.8,-11.1,153,3229,0.00,2.50,0.00,0.000,4,0.000,0.078,2396,212,3147
$GC,3310,-1.38,-146.6,421.1,-12.1,157,3314,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1607,3147
$GC,3637,-1.38,-146.6,455.6,-10.7,173,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1607,3147
$GC,3946,-1.38,-146.6,488.6,-10.9,188,3950,0.00,2.53,0.00,0.000,4,0.000,0.080,2396,213,3148
$GC,4010,-1.38,-146.6,496.0,-11.5,191,4015,0.00,2.38,0.00,0.000,6,0.000,0.056,2396,1606,3148
$GC,4338,-1.38,-146.6,529.2,-10.1,207,4342,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,212,3148
$GC,4382,-1.38,-146.6,534.0,-10.5,209,4387,0.00,2.38,0.00,0.000,6,0.000,0.055,2396,1606,3148
$GC,4705,-1.38,-146.6,565.4,-9.5,225,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3147
$GC,5013,-1.38,-146.6,596.6,-10.2,240,5018,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,211,3147
$GC,5059,-1.38,-146.6,601.8,-11.6,242,5063,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1608,3147
$GC,5381,-1.38,-146.6,636.9,-11.1,258,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1607,3145
$GC,5690,-1.38,-146.6,672.8,-11.7,273,5694,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,213,3144
$GC,5757,-1.38,-146.6,681.5,-13.1,276,5761,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1606,3144
$GC,6078,-1.38,-146.6,719.0,-11.5,292,6083,0.00,2.55,0.00,0.000,4,0.000,0.082,2396,209,3142
$GC,6119,-1.38,-146.6,724.0,-13.0,294,6123,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1605,3142
$GC,6446,-1.38,-146.6,760.3,-10.9,310,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3141
$GC,6755,-1.38,-146.6,793.9,-10.9,325,6759,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,213,3140
$GC,6817,-1.38,-146.6,800.8,-11.1,328,6821,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3140
$GC,7145,-1.38,-146.6,834.3,-10.0,344,7149,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,213,3137
$GC,7192,-1.38,-146.6,839.2,-11.2,346,7196,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1599,3137
$GC,7520,-1.38,-146.6,870.9,-9.6,362,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1599,3136
$GC,7830,-1.38,-146.6,900.4,-9.6,377,7834,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,210,3135
$GC,7886,-1.38,-146.6,906.8,-11.0,379,7892,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1603,3135
$GC,8203,-1.38,-146.6,937.1,-9.6,395,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3134
$GC,8512,-1.38,-146.6,966.5,-9.6,410,8516,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,214,3133
$GC,8574,-1.38,-146.6,973.2,-10.5,413,8578,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1609,3133
$STATE,8753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8753,begin apogee
$GC,8763,-0.32,0.0,990.7,9.6,422,8903,1.20,0.00,131.02,1.328,6,0.130,0.000,2633,2199,2538
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin climb
$GC,8907,1.38,146.6,996.3,0.0,429,9041,1.73,2.72,125.28,1.304,4,0.079,0.094,3002,3602,1941
$GC,9230,1.38,146.6,972.0,11.4,443,9236,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2196,1940
$GC,9546,1.38,146.6,939.9,10.2,459,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,1940
$GC,9856,1.38,146.6,908.3,10.1,474,9860,0.00,2.60,0.00,0.000,4,0.000,0.083,3002,3611,1940
$GC,9973,1.38,146.6,895.7,10.5,479,9977,0.00,2.47,0.00,0.000,6,0.000,0.060,3002,2196,1938
$GC,10290,1.40,154.9,864.6,9.6,494,10300,0.00,0.00,8.50,1.103,6,0.000,0.000,3002,2196,1906
$GC,10599,1.40,154.9,833.8,10.1,509,10603,0.00,2.60,0.00,0.000,4,0.000,0.081,3002,3606,1906
$GC,10716,1.40,154.9,821.3,10.8,514,10721,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2202,1905
$GC,11033,1.40,154.9,789.5,10.2,529,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2203,1905
$GC,11342,1.40,154.9,758.5,10.0,544,11346,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3602,1905
$GC,11443,1.40,154.9,747.7,10.2,548,11447,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2200,1906
$GC,11760,1.42,172.6,717.6,9.2,563,11779,0.00,0.00,15.77,1.118,6,0.000,0.000,3002,2199,1835
$GC,12089,1.43,175.2,685.8,9.9,579,12098,0.00,2.62,4.25,0.794,4,0.000,0.083,3002,3607,1823
$GC,12167,1.43,175.2,677.1,11.2,582,12171,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2202,1823
$GC,12483,1.43,175.2,643.2,11.0,597,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1823
$GC,12792,1.43,175.2,609.7,10.4,612,12796,0.00,2.60,0.00,0.000,4,0.000,0.083,3002,3611,1824
$GC,12865,1.43,175.2,601.9,10.3,615,12869,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2199,1823
$GC,13182,1.47,202.5,573.2,8.7,630,13208,0.10,0.00,23.98,1.056,6,0.075,0.000,3030,2199,1712
$GC,13511,1.47,202.5,537.4,11.4,646,13515,0.00,2.60,0.00,0.000,4,0.000,0.084,3030,3611,1711
$GC,13651,1.47,202.5,519.2,12.8,652,13655,0.00,2.47,0.00,0.000,6,0.000,0.061,3030,2200,1711
$GC,13967,1.47,202.5,479.9,12.2,667,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2200,1710
$GC,14277,1.47,202.5,441.4,12.8,682,14281,0.00,2.58,0.00,0.000,4,0.000,0.083,3030,3604,1709
$GC,14400,1.47,202.5,424.8,14.7,687,14406,0.00,2.45,0.00,0.000,6,0.000,0.061,3031,2199,1709
$GC,14717,1.47,202.5,381.7,13.0,703,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2199,1708
$GC,15026,1.48,206.8,347.6,9.8,718,15036,0.00,2.60,4.75,0.772,4,0.000,0.083,3030,3603,1695
$GC,15098,1.48,206.8,339.8,10.6,721,15103,0.00,2.45,0.00,0.000,6,0.000,0.061,3030,2199,1695
$GC,15415,1.48,206.8,303.8,12.2,736,15419,0.00,2.55,0.00,0.000,4,0.000,0.081,3031,797,1694
$GC,15455,1.48,206.8,298.4,12.8,738,15460,0.00,2.40,0.00,0.000,6,0.000,0.054,3030,2207,1694
$GC,15783,1.48,206.8,255.3,13.6,754,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2207,1694
$GC,16092,1.48,206.8,216.3,12.2,769,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2207,1694
$GC,16402,1.48,206.8,178.3,11.9,784,16403,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2207,1694
$GC,16711,1.48,206.8,141.4,11.9,799,16716,0.00,2.53,0.00,0.000,4,0.000,0.071,3030,792,1694
$GC,16757,1.48,206.8,135.8,12.7,801,16761,0.00,2.40,0.00,0.000,6,0.000,0.055,3030,2212,1694
$GC,17079,1.48,206.8,99.1,11.1,817,17080,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2212,1694
$GC,17388,1.48,206.8,62.0,11.8,832,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2212,1694
$GC,17697,1.48,206.8,28.1,10.9,847,17698,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2212,1694
$STATE,17941,end climb,SURFACE_DEPTH_REACHED
$STATE,17941,begin surface coast
$FINISH,0.4,1.026893
$STATE,17963,end surface coast,CONTROL_FINISHED_OK
$STATE,17963,begin surface
$SM_CCo,17989,51.92,0.685,0,0,1315,300.00
$SM_GC,1.11,0.00,0.00,51.92,0.000,0.000,0.685,377,1596,1315,-10.71,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1917
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.4,12.172
$10V_AH,10.1,6.875
$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,25.975,140.525,313.550,51.925,0.000,37.764,30.159,166.556,8.500,0.000,0.000,33.560,1620.908,13700.061,498.408,2016.097,603.709,0.000,1486.929,0.000,1948.831,0.000,56.013,0.000
$DEVICE_MAMPS,178.711,94.341,1327.677,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.606,587.703,460.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44323,860
$CAP_FILE_SIZE,129347,0
$CFSIZE,254472192,248209408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,100908,170332,6341.328,-750.137,39,1.7,39,-9.3