version: 66.04
glider: 14
mission: 6
dive: 63
start: 9 11 108 14 3 46
data:
$ID,14
$MISSION,6
$DIVE,63
$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,-651320
$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
$GPS1,135656,6346.894,-810.117,39,1.8,39,-9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.2
$GPS2,140321,6346.921,-810.145,10,1.7,10,-9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6354.558,-827.508
$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,324.6,20000,-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,-60.42,0.000,2,0.000,0.000,376,1603,2727
$GC,83,-1.38,-146.6,3.2,-4.8,3,110,11.30,2.45,-9.90,0.000,4,0.176,0.077,2395,3003,3138
$GC,370,-1.38,-146.6,43.4,-12.4,16,374,0.00,2.40,0.00,0.000,6,0.000,0.058,2395,1594,3141
$GC,697,-1.38,-146.6,88.2,-13.1,32,701,0.00,2.47,0.00,0.000,4,0.000,0.077,2395,212,3142
$GC,828,-1.38,-146.6,105.9,-13.8,38,833,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1623,3143
$GC,1158,-1.38,-146.6,148.6,-13.2,54,1162,0.00,2.53,0.00,0.000,4,0.000,0.074,2395,212,3146
$GC,1253,-1.38,-146.6,162.7,-15.2,58,1257,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1607,3145
$GC,1570,-1.38,-146.6,203.7,-12.4,73,1574,0.00,2.50,0.00,0.000,4,0.000,0.074,2395,212,3146
$GC,1633,-1.38,-146.6,212.1,-14.0,76,1637,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1604,3146
$GC,1966,-1.38,-146.6,252.6,-11.7,92,1970,0.00,2.47,0.00,0.000,4,0.000,0.075,2395,214,3146
$GC,2050,-1.38,-146.6,263.3,-12.6,95,2056,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1605,3146
$GC,2367,-1.38,-146.6,299.7,-11.3,111,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1608,3146
$GC,2676,-1.38,-146.6,338.6,-12.7,126,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1608,3147
$GC,2986,-1.38,-146.6,377.0,-11.5,141,2990,0.00,2.53,0.00,0.000,4,0.000,0.079,2395,210,3147
$GC,3081,-1.38,-146.6,388.5,-11.6,145,3086,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1596,3147
$GC,3398,-1.38,-146.6,420.0,-9.9,160,3402,0.00,2.50,0.00,0.000,4,0.000,0.079,2395,213,3148
$GC,3466,-1.38,-146.6,427.5,-11.8,163,3471,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1607,3148
$GC,3789,-1.38,-146.6,464.9,-12.2,179,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1609,3148
$GC,4098,-1.38,-146.6,501.4,-10.8,194,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3148
$GC,4407,-1.38,-146.6,534.1,-10.5,209,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1609,3148
$GC,4716,-1.38,-146.6,567.1,-11.1,224,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1608,3147
$GC,5026,-1.38,-146.6,601.9,-11.1,239,5031,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,211,3146
$GC,5094,-1.38,-146.6,610.0,-12.3,242,5098,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1602,3146
$GC,5415,-1.38,-146.6,645.7,-11.0,258,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3144
$GC,5725,-1.38,-146.6,678.9,-10.4,273,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3142
$GC,6034,-1.38,-146.6,710.2,-10.0,288,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3140
$GC,6343,-1.38,-146.6,741.9,-10.4,303,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3140
$GC,6652,-1.38,-146.6,773.4,-10.2,318,6657,0.00,2.53,0.00,0.000,4,0.000,0.083,2394,215,3139
$GC,6703,-1.38,-146.6,779.2,-12.6,320,6707,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1605,3139
$GC,7019,-1.38,-146.6,811.7,-10.3,335,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3137
$GC,7329,-1.38,-146.6,842.6,-9.9,350,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3135
$GC,7639,-1.38,-146.6,873.5,-9.9,365,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3134
$GC,7948,-1.38,-146.6,903.2,-9.5,380,7952,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,213,3133
$GC,8003,-1.38,-146.6,909.5,-11.4,382,8010,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1609,3133
$GC,8320,-1.38,-146.6,940.8,-10.3,398,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1613,3133
$GC,8629,-1.38,-146.6,972.3,-10.7,413,8633,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,212,3132
$GC,8685,-1.38,-146.6,978.5,-11.4,415,8691,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1608,3132
$STATE,8730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8730,begin apogee
$GC,8739,-0.32,0.0,983.4,10.3,418,8879,1.15,0.00,130.88,1.330,6,0.115,0.000,2629,2194,2539
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8883,1.38,146.6,988.2,0.0,425,9018,1.77,2.72,125.53,1.302,4,0.087,0.092,3001,3602,1940
$GC,9218,1.38,146.6,961.0,12.3,440,9222,0.00,2.47,0.00,0.000,6,0.000,0.061,3001,2191,1939
$GC,9535,1.39,150.6,929.6,9.8,455,9545,0.00,2.62,4.75,0.973,4,0.000,0.081,3000,3602,1924
$GC,9613,1.39,150.6,921.4,11.3,458,9619,0.00,2.45,0.00,0.000,6,0.000,0.058,3001,2196,1925
$GC,9929,1.39,150.6,889.6,10.2,474,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2196,1925
$GC,10239,1.39,150.6,859.0,10.0,489,10243,0.00,2.58,0.00,0.000,4,0.000,0.081,3001,3602,1924
$GC,10307,1.39,150.6,851.8,10.6,492,10312,0.00,2.45,0.00,0.000,6,0.000,0.059,3001,2193,1924
$GC,10635,1.41,162.5,820.5,9.4,508,10653,0.00,0.00,11.55,1.144,6,0.000,0.000,3001,2193,1876
$GC,10964,1.42,169.2,788.9,9.7,524,10973,0.00,0.00,7.35,1.035,6,0.000,0.000,3001,2193,1849
$GC,11290,1.42,172.6,756.8,9.8,540,11299,0.00,2.62,4.40,0.866,4,0.000,0.083,3001,3603,1835
$GC,11397,1.42,172.6,745.4,11.4,544,11403,0.00,2.45,0.00,0.000,6,0.000,0.060,3001,2203,1835
$GC,11713,1.42,172.6,713.6,10.2,560,11718,0.00,2.55,0.00,0.000,4,0.000,0.083,3001,3597,1835
$GC,11776,1.42,172.6,707.0,10.8,563,11780,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2197,1835
$GC,12103,1.42,172.6,673.3,10.1,579,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,1835
$GC,12412,1.43,174.2,642.3,9.9,594,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,1835
$GC,12722,1.44,182.9,611.8,9.6,609,12736,0.00,0.00,10.15,1.016,6,0.000,0.000,3001,2196,1791
$GC,13054,1.44,182.9,578.7,10.2,625,13059,0.00,2.58,0.00,0.000,4,0.000,0.083,3001,3598,1791
$GC,13140,1.44,182.9,569.2,11.1,629,13144,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2197,1791
$GC,13467,1.44,182.9,533.8,11.1,645,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,1790
$GC,13776,1.44,182.9,499.7,10.7,660,13780,0.00,2.58,0.00,0.000,4,0.000,0.081,3002,3602,1791
$GC,13890,1.44,182.9,487.1,11.0,665,13895,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2196,1791
$GC,14218,1.44,182.9,453.1,10.5,681,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,1791
$GC,14527,1.44,182.9,418.3,11.3,696,14531,0.00,2.58,0.00,0.000,4,0.000,0.081,3001,3604,1791
$GC,14692,1.44,182.9,399.1,10.4,703,14696,0.00,2.45,0.00,0.000,6,0.000,0.061,3001,2194,1791
$GC,15009,1.47,202.1,369.2,9.1,718,15028,0.12,0.00,16.83,0.951,6,0.069,0.000,3036,2194,1715
$GC,15338,1.47,202.1,333.5,10.6,734,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2194,1712
$GC,15647,1.47,202.1,301.0,11.8,749,15652,0.00,2.58,0.00,0.000,4,0.000,0.081,3036,3605,1711
$GC,15759,1.47,202.1,287.1,12.7,754,15763,0.00,2.45,0.00,0.000,6,0.000,0.061,3037,2197,1711
$GC,16080,1.47,202.1,244.9,13.6,770,16085,0.00,2.55,0.00,0.000,4,0.000,0.081,3036,3602,1711
$GC,16172,1.47,202.1,232.0,15.0,774,16176,0.00,2.42,0.00,0.000,6,0.000,0.062,3037,2202,1711
$GC,16493,1.47,202.1,189.6,12.8,790,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,1711
$GC,16802,1.47,202.1,149.7,13.0,805,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,1711
$GC,17114,1.47,202.1,108.6,13.3,820,17118,0.00,2.55,0.00,0.000,4,0.000,0.081,3037,3606,1711
$GC,17321,1.47,202.1,80.1,14.8,829,17325,0.00,2.42,0.00,0.000,6,0.000,0.061,3037,2198,1711
$GC,17640,1.47,202.1,43.5,10.4,844,17644,0.00,2.53,0.00,0.000,4,0.000,0.077,3037,789,1711
$GC,17735,1.47,202.1,31.9,11.5,848,17739,0.00,2.38,0.00,0.000,6,0.000,0.055,3037,2209,1711
$STATE,17991,end climb,SURFACE_DEPTH_REACHED
$STATE,17991,begin surface coast
$FINISH,0.5,1.026806
$STATE,18015,end surface coast,CONTROL_FINISHED_OK
$STATE,18015,begin surface
$SM_CCo,18041,55.60,0.680,0,0,1316,300.00
$SM_GC,1.12,0.00,0.00,55.60,0.000,0.000,0.680,375,1589,1316,-10.72,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,951.4,40.1
$24V_AH,23.4,12.855
$10V_AH,10.1,7.283
$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,25.950,115.725,311.425,55.600,0.000,39.112,26.462,179.472,8.500,0.000,0.000,11.847,1611.993,13811.355,486.350,1969.209,609.275,0.000,1453.134,0.000,1924.062,0.000,57.292,0.000
$DEVICE_MAMPS,176.410,92.040,1329.978,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,648.703,589.273,450.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44231,862
$CAP_FILE_SIZE,124955,0
$CFSIZE,254472192,247894016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,110908,190638,6348.186,-813.792,32,1.3,32,-9.6