version: 66.04
glider: 14
mission: 6
dive: 62
start: 9 11 108 8 48 22
data:
$ID,14
$MISSION,6
$DIVE,62
$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,-651307.5
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,084137,6346.192,-804.855,35,1.4,35,-9.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.0
$GPS2,084757,6346.199,-804.916,11,1.4,11,-9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6353.835,-822.271
$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,324.5,20000,-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,-60.47,0.000,2,0.000,0.000,378,1594,2828
$GC,83,-1.38,-146.6,4.5,-7.8,3,106,11.32,2.55,-6.35,0.000,4,0.177,0.090,2398,212,3140
$GC,113,-1.38,-146.6,14.8,-31.5,4,117,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1622,3140
$GC,435,-1.38,-146.6,62.2,-13.0,20,439,0.00,2.38,0.00,0.000,4,0.000,0.068,2398,2983,3142
$GC,681,-1.38,-146.6,93.4,-12.8,31,686,0.00,2.38,0.00,0.000,6,0.000,0.061,2398,1595,3144
$GC,1004,-1.38,-146.6,135.8,-12.9,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1595,3144
$GC,1312,-1.38,-146.6,174.3,-12.6,62,1317,0.00,2.47,0.00,0.000,4,0.000,0.079,2398,212,3145
$GC,1363,-1.38,-146.6,181.1,-12.7,64,1368,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1604,3145
$GC,1685,-1.38,-146.6,218.4,-11.5,80,1689,0.00,2.50,0.00,0.000,4,0.000,0.076,2397,208,3145
$GC,1747,-1.38,-146.6,226.5,-12.3,82,1753,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1600,3146
$GC,2064,-1.38,-146.6,265.6,-12.1,98,2068,0.00,2.50,0.00,0.000,4,0.000,0.075,2398,209,3146
$GC,2131,-1.38,-146.6,274.5,-13.5,101,2136,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1602,3145
$GC,2458,-1.38,-146.6,314.4,-12.5,117,2463,0.00,2.50,0.00,0.000,4,0.000,0.077,2398,213,3146
$GC,2532,-1.38,-146.6,324.3,-12.5,120,2536,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1603,3146
$GC,2854,-1.38,-146.6,364.1,-11.9,136,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1608,3146
$GC,3163,-1.38,-146.6,397.6,-10.6,151,3167,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,209,3147
$GC,3209,-1.38,-146.6,402.6,-11.4,153,3213,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1607,3147
$GC,3536,-1.38,-146.6,439.9,-12.1,169,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1608,3147
$GC,3846,-1.38,-146.6,478.1,-12.2,184,3850,0.00,2.53,0.00,0.000,4,0.000,0.079,2398,211,3147
$GC,3886,-1.38,-146.6,483.0,-12.4,186,3890,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1608,3147
$GC,4213,-1.38,-146.6,516.4,-9.6,202,4218,0.00,2.53,0.00,0.000,4,0.000,0.078,2398,212,3147
$GC,4259,-1.38,-146.6,521.1,-9.8,204,4263,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1604,3147
$GC,4582,-1.38,-146.6,550.1,-8.5,220,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1605,3147
$GC,4892,-1.38,-146.6,576.8,-9.2,235,4896,0.00,2.53,0.00,0.000,4,0.000,0.081,2398,212,3146
$GC,4965,-1.38,-146.6,584.8,-11.0,238,4969,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1604,3146
$GC,5281,-1.38,-146.6,618.0,-10.6,253,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3145
$GC,5591,-1.38,-146.6,648.8,-9.4,268,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3144
$GC,5900,-1.38,-146.6,676.9,-9.0,283,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3142
$GC,6209,-1.38,-146.6,705.3,-9.1,298,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3140
$GC,6518,-1.38,-146.6,734.8,-9.6,313,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3139
$GC,6828,-1.38,-146.6,764.7,-9.7,328,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3138
$GC,7137,-1.38,-146.6,793.7,-9.2,343,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3136
$GC,7446,-1.38,-146.6,821.8,-9.0,358,7451,0.00,2.55,0.00,0.000,4,0.000,0.084,2398,212,3135
$GC,7487,-1.38,-146.6,825.8,-9.9,360,7492,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1608,3135
$GC,7816,-1.38,-146.6,856.3,-9.2,376,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1610,3134
$GC,8125,-1.38,-146.6,885.3,-9.4,391,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1611,3133
$GC,8434,-1.38,-146.6,913.9,-9.2,406,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1611,3133
$GC,8744,-1.38,-146.6,942.9,-9.4,421,8748,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,212,3132
$GC,8806,-1.38,-146.6,949.4,-10.3,424,8811,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1602,3132
$GC,9141,-1.38,-146.6,979.8,-9.1,440,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1606,3131
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9269,-0.32,0.0,991.3,9.3,446,9409,1.15,0.00,130.73,1.335,6,0.121,0.000,2628,2195,2539
$STATE,9409,end apogee,CONTROL_FINISHED_OK
$STATE,9409,begin climb
$GC,9413,1.38,146.6,996.7,0.0,453,9547,1.75,2.70,125.93,1.309,4,0.081,0.090,3002,3601,1940
$GC,9748,1.38,146.6,969.7,11.4,468,9752,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2198,1938
$GC,10064,1.38,146.6,935.6,11.1,483,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,1938
$GC,10373,1.38,146.6,901.4,10.8,498,10378,0.00,2.58,0.00,0.000,4,0.000,0.081,3002,3598,1937
$GC,10452,1.38,146.6,892.4,11.7,501,10458,0.00,2.42,0.00,0.000,6,0.000,0.058,3002,2199,1937
$GC,10768,1.38,146.6,858.2,10.7,517,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2199,1937
$GC,11078,1.38,146.6,826.2,10.5,532,11082,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3601,1936
$GC,11185,1.38,146.6,814.4,10.5,537,11189,0.00,2.42,0.00,0.000,6,0.000,0.059,3002,2200,1936
$GC,11512,1.38,146.6,781.2,10.1,553,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1936
$GC,11821,1.38,146.6,749.6,10.1,568,11825,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3605,1936
$GC,11939,1.38,146.6,736.7,10.6,573,11944,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2199,1936
$GC,12262,1.38,146.6,703.5,10.3,589,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2199,1936
$GC,12571,1.38,146.6,671.1,10.5,604,12575,0.00,2.55,0.00,0.000,4,0.000,0.083,3002,3596,1936
$GC,12678,1.38,146.6,659.2,11.9,609,12682,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2200,1936
$GC,13005,1.38,146.6,625.4,10.5,625,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1936
$GC,13314,1.38,146.6,593.4,10.3,640,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,1935
$GC,13624,1.38,146.6,561.0,10.7,655,13628,0.00,2.55,0.00,0.000,4,0.000,0.083,3002,3600,1936
$GC,13715,1.38,146.6,550.7,10.5,659,13719,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2200,1936
$GC,14036,1.38,146.6,514.1,11.4,675,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1936
$GC,14346,1.39,148.9,481.1,9.9,690,14350,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3599,1936
$GC,14459,1.39,148.9,469.7,10.0,695,14464,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2202,1936
$GC,14782,1.49,211.5,444.6,7.1,711,14845,0.12,2.70,52.45,0.995,4,0.074,0.081,3035,794,1675
$GC,14921,1.49,211.5,430.3,11.9,717,14926,0.00,2.42,0.00,0.000,6,0.000,0.054,3035,2203,1675
$GC,15243,1.49,211.5,391.5,12.4,733,15244,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2203,1673
$GC,15553,1.49,211.5,353.7,12.1,748,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2203,1672
$GC,15862,1.49,211.5,314.3,13.5,763,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2203,1671
$GC,16171,1.49,211.5,273.0,13.4,778,16175,0.00,2.50,0.00,0.000,4,0.000,0.071,3035,792,1670
$GC,16255,1.49,211.5,261.1,14.0,781,16261,0.00,2.40,0.00,0.000,6,0.000,0.055,3035,2199,1670
$GC,16571,1.49,211.5,218.7,13.4,797,16576,0.00,2.50,0.00,0.000,4,0.000,0.071,3035,797,1670
$GC,16612,1.49,211.5,213.0,14.7,799,16616,0.00,2.40,0.00,0.000,6,0.000,0.055,3035,2204,1670
$GC,16939,1.49,211.5,170.4,12.9,815,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2204,1670
$GC,17250,1.49,211.5,131.6,12.3,830,17254,0.00,2.50,0.00,0.000,4,0.000,0.071,3035,796,1671
$GC,17295,1.49,211.5,125.7,12.0,832,17299,0.00,2.40,0.00,0.000,6,0.000,0.055,3035,2210,1671
$GC,17617,1.49,211.5,90.1,12.0,848,17621,0.00,2.55,0.00,0.000,4,0.000,0.088,3035,3597,1671
$GC,17657,1.49,211.5,85.3,10.3,850,17661,0.00,2.40,0.00,0.000,6,0.000,0.060,3035,2189,1671
$GC,17990,1.49,211.5,47.2,10.7,866,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,1671
$GC,18301,1.49,211.5,7.5,12.6,881,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,1671
$STATE,18337,end climb,SURFACE_DEPTH_REACHED
$STATE,18337,begin surface coast
$FINISH,0.5,1.026857
$STATE,18359,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18385,46.10,0.676,0,0,1316,300.00
$SM_GC,1.06,0.00,0.00,46.10,0.000,0.000,0.676,375,1605,1316,-10.72,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.4,12.718
$10V_AH,10.1,7.201
$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,25.875,120.075,309.100,46.100,0.000,37.762,26.754,179.504,8.750,0.000,0.000,13.188,1624.688,14194.875,467.557,1920.073,611.135,0.000,1420.611,0.000,1873.672,0.000,58.903,0.000
$DEVICE_MAMPS,177.177,89.739,1334.580,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.113,604.423,460.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44245,884
$CAP_FILE_SIZE,126132,0
$CFSIZE,254472192,247955456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,110908,135656,6346.894,-810.117,39,1.8,39,-9.6