version: 66.04
glider: 14
mission: 6
dive: 59
start: 9 10 108 17 11 23
data:
$ID,14
$MISSION,6
$DIVE,59
$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,-651261.06
$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,24
$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
$GPS1,170332,6341.328,-750.137,39,1.7,39,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-53.6
$GPS2,171102,6341.365,-750.238,15,1.1,32,-9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6349.001,-807.544
$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,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,-60.78,0.000,2,0.000,0.000,376,1594,2754
$GC,86,-1.38,-146.6,3.4,-4.6,3,112,11.30,2.47,-9.10,0.000,4,0.177,0.079,2396,2999,3140
$GC,320,-1.38,-146.6,38.0,-14.2,13,326,0.00,2.40,0.00,0.000,6,0.000,0.059,2396,1589,3141
$GC,638,-1.38,-146.6,82.1,-14.0,29,642,0.00,2.47,0.00,0.000,4,0.000,0.079,2397,212,3142
$GC,768,-1.38,-146.6,100.6,-13.8,35,773,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1621,3143
$GC,1096,-1.38,-146.6,142.2,-12.5,51,1101,0.00,2.53,0.00,0.000,4,0.000,0.074,2396,212,3144
$GC,1205,-1.38,-146.6,156.3,-12.5,56,1209,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1604,3144
$GC,1532,-1.38,-146.6,194.4,-11.6,72,1536,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,212,3144
$GC,1618,-1.38,-146.6,205.4,-13.5,76,1622,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1600,3144
$GC,1945,-1.38,-146.6,248.1,-13.1,92,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3145
$GC,2254,-1.38,-146.6,286.3,-12.2,107,2258,0.00,2.50,0.00,0.000,4,0.000,0.075,2396,211,3145
$GC,2406,-1.38,-146.6,305.4,-12.2,114,2410,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1597,3145
$GC,2739,-1.38,-146.6,340.4,-11.0,130,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3145
$GC,3048,-1.38,-146.6,378.5,-11.9,145,3052,0.00,2.50,0.00,0.000,4,0.000,0.078,2396,214,3146
$GC,3128,-1.38,-146.6,388.0,-11.7,148,3134,0.00,2.33,0.00,0.000,6,0.000,0.055,2396,1595,3146
$GC,3445,-1.38,-146.6,418.1,-9.0,164,3448,0.00,2.50,0.00,0.000,4,0.000,0.079,2396,213,3147
$GC,3501,-1.38,-146.6,424.5,-11.1,166,3506,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1606,3147
$GC,3823,-1.38,-146.6,461.2,-12.0,182,3827,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,213,3147
$GC,3879,-1.38,-146.6,468.6,-13.1,184,3885,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1604,3147
$GC,4195,-1.38,-146.6,504.8,-10.7,200,4200,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,216,3148
$GC,4252,-1.38,-146.6,511.2,-11.8,202,4258,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1601,3147
$GC,4568,-1.38,-146.6,544.6,-11.0,218,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3146
$GC,4877,-1.38,-146.6,579.1,-11.2,233,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3146
$GC,5186,-1.38,-146.6,612.6,-10.7,248,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3146
$GC,5496,-1.38,-146.6,643.7,-10.1,263,5500,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,215,3145
$GC,5529,-1.38,-146.6,647.6,-11.3,264,5536,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1601,3143
$GC,5846,-1.38,-146.6,682.3,-11.0,280,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3143
$GC,6155,-1.38,-146.6,715.2,-10.5,295,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1602,3141
$GC,6465,-1.38,-146.6,746.8,-10.0,310,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3140
$GC,6773,-1.38,-146.6,778.2,-10.1,325,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3139
$GC,7083,-1.38,-146.6,809.1,-10.3,340,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3138
$GC,7392,-1.38,-146.6,840.1,-10.2,355,7396,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,213,3136
$GC,7448,-1.38,-146.6,846.0,-10.4,357,7452,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1606,3137
$GC,7767,-1.38,-146.6,876.1,-9.5,372,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1607,3136
$GC,8074,-1.38,-146.6,905.9,-9.6,387,8078,0.00,2.53,0.00,0.000,4,0.000,0.080,2397,213,3134
$GC,8107,-1.38,-146.6,909.4,-10.1,388,8113,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3134
$GC,8424,-1.38,-146.6,939.5,-9.4,404,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3133
$GC,8733,-1.38,-146.6,968.9,-9.8,419,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1605,3132
$STATE,8956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8956,begin apogee
$GC,8965,-0.32,0.0,990.7,9.6,430,9105,1.17,0.00,130.57,1.328,6,0.127,0.000,2630,2191,2540
$STATE,9105,end apogee,CONTROL_FINISHED_OK
$STATE,9106,begin climb
$GC,9109,1.38,146.6,996.0,0.0,437,9244,1.75,2.72,125.88,1.305,4,0.079,0.091,3003,3603,1940
$GC,9479,1.38,146.6,967.3,10.3,454,9483,0.00,2.47,0.00,0.000,6,0.000,0.060,3003,2189,1940
$GC,9806,1.39,149.5,934.6,9.9,470,9812,0.00,0.00,3.70,0.828,6,0.000,0.000,3003,2189,1929
$GC,10115,1.39,149.5,903.2,10.5,485,10120,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3596,1929
$GC,10201,1.39,149.5,893.7,12.1,489,10205,0.00,2.42,0.00,0.000,6,0.000,0.059,3003,2200,1929
$GC,10534,1.39,149.5,858.9,10.3,505,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1929
$GC,10843,1.39,149.5,827.1,10.3,520,10847,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3596,1928
$GC,10966,1.39,149.5,813.3,10.8,525,10973,0.00,2.42,0.00,0.000,6,0.000,0.060,3003,2200,1929
$GC,11283,1.39,153.7,780.3,9.8,541,11293,0.00,2.60,5.12,0.929,4,0.000,0.082,3003,3597,1912
$GC,11373,1.39,153.7,770.9,10.6,545,11377,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2197,1912
$GC,11695,1.40,155.6,738.7,9.9,561,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1912
$GC,12004,1.40,158.0,708.3,9.9,576,12011,0.00,0.00,5.25,0.890,6,0.000,0.000,3003,2197,1895
$GC,12313,1.40,158.0,676.1,10.6,591,12318,0.00,2.58,0.00,0.000,4,0.000,0.084,3003,3600,1895
$GC,12403,1.40,158.0,665.8,11.1,595,12408,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2200,1894
$GC,12726,1.40,158.0,632.1,10.1,611,12731,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3601,1895
$GC,12812,1.40,158.0,622.7,10.9,615,12816,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2199,1894
$GC,13140,1.40,158.0,586.1,11.4,631,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1895
$GC,13449,1.40,158.0,552.5,10.6,646,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1894
$GC,13758,1.41,163.1,521.0,9.8,661,13769,0.00,2.62,6.10,0.894,4,0.000,0.081,3003,3604,1874
$GC,13867,1.41,163.1,509.5,10.1,666,13871,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2193,1873
$GC,14200,1.41,163.2,475.8,10.0,682,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,1873
$GC,14509,1.44,183.3,447.3,9.1,697,14529,0.00,0.00,17.95,0.973,6,0.000,0.000,3003,2193,1791
$GC,14839,1.47,198.9,417.2,9.3,713,14857,0.00,0.00,14.30,0.945,6,0.000,0.000,3003,2193,1728
$GC,15167,1.47,198.9,383.6,10.6,729,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2193,1727
$GC,15477,1.47,198.9,348.7,11.2,744,15481,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3603,1725
$GC,15724,1.47,198.9,319.3,12.2,755,15728,0.00,2.42,0.00,0.000,6,0.000,0.060,3003,2198,1725
$GC,16051,1.47,198.9,282.4,11.2,771,16056,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3602,1724
$GC,16119,1.47,198.9,274.3,12.3,774,16124,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2199,1724
$GC,16441,1.47,198.9,235.8,11.9,790,16442,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1724
$GC,16751,1.47,198.9,197.7,12.0,805,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1724
$GC,17060,1.47,198.9,162.7,10.4,820,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1724
$GC,17370,1.47,200.5,132.9,9.9,835,17371,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1725
$GC,17679,1.47,200.5,101.5,10.5,850,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1725
$GC,17988,1.50,221.4,71.6,9.0,865,18014,0.12,2.60,19.85,0.728,4,0.067,0.082,3044,3594,1636
$GC,18160,1.50,221.4,44.6,13.5,872,18167,0.00,2.42,0.00,0.000,6,0.000,0.061,3044,2198,1636
$GC,18477,1.50,221.4,3.1,12.1,888,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,1635
$STATE,18494,end climb,SURFACE_DEPTH_REACHED
$STATE,18494,begin surface coast
$FINISH,0.5,1.026886
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
$SM_CCo,18542,47.58,0.679,0,0,1315,300.00
$SM_GC,1.08,0.00,0.00,47.58,0.000,0.000,0.679,376,1595,1315,-10.71,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1899
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.4,12.312
$10V_AH,10.1,6.959
$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,25.900,110.700,328.725,47.575,0.000,37.764,30.210,224.058,8.500,0.000,0.000,33.767,1635.753,14234.124,496.891,2021.028,654.756,0.000,1473.551,0.000,1956.280,0.000,56.004,0.000
$DEVICE_MAMPS,177.177,91.273,1327.677,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.667,607.803,466.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,890
$CAP_FILE_SIZE,127053,0
$CFSIZE,254472192,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,100908,222237,6342.799,-755.108,36,1.2,41,-9.4