version: 66.04
glider: 14
mission: 6
dive: 69
start: 9 13 108 1 44 33
data:
$ID,14
$MISSION,6
$DIVE,69
$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,412.5
$T_MISSION,440
$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,-651408.06
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,013755,6354.267,-826.465,35,1.6,36,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.8
$GPS2,014409,6354.245,-826.399,11,1.5,11,-9.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6401.881,-843.838
$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,324.8,20000,-14.4,-8.000
$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,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,372,1585,2792
$GC,83,-1.16,-146.6,3.5,-5.6,3,109,11.52,2.50,-7.90,0.000,4,0.174,0.088,2445,221,3139
$GC,379,-1.16,-146.6,44.6,-12.7,16,383,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1628,3140
$GC,701,-1.16,-146.6,75.5,-9.4,32,705,0.00,2.50,0.00,0.000,4,0.000,0.073,2445,220,3141
$GC,764,-1.16,-146.6,81.7,-9.4,35,768,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1606,3141
$GC,1093,-1.16,-146.6,112.8,-9.8,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3144
$GC,1401,-1.16,-146.6,144.9,-10.3,66,1405,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,212,3144
$GC,1453,-1.16,-146.6,150.5,-10.9,68,1457,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1602,3144
$GC,1769,-1.16,-146.6,182.2,-10.1,83,1773,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,211,3144
$GC,1819,-1.16,-146.6,187.6,-11.3,85,1824,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1602,3144
$GC,2136,-1.16,-146.6,218.2,-9.4,100,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1606,3144
$GC,2445,-1.16,-146.6,247.2,-9.5,115,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1606,3144
$GC,2755,-1.16,-146.6,275.4,-8.9,130,2759,0.00,2.50,0.00,0.000,4,0.000,0.075,2445,213,3144
$GC,2839,-1.16,-146.6,283.1,-8.8,133,2845,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1598,3144
$GC,3156,-1.16,-146.6,308.0,-7.9,149,3160,0.00,2.42,0.00,0.000,4,0.000,0.074,2445,2973,3145
$GC,3263,-1.16,-146.6,317.4,-8.8,154,3268,0.00,2.35,0.00,0.000,6,0.000,0.064,2445,1605,3145
$GC,3591,-1.16,-146.6,348.2,-10.1,170,3595,0.00,2.53,0.00,0.000,4,0.000,0.085,2445,212,3145
$GC,3664,-1.16,-146.6,355.8,-10.7,173,3668,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1605,3145
$GC,3980,-1.16,-146.6,384.5,-9.1,188,3984,0.00,2.53,0.00,0.000,4,0.000,0.079,2445,213,3145
$GC,4025,-1.16,-146.6,388.7,-9.3,190,4029,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1599,3146
$GC,4347,-1.16,-146.6,416.4,-8.7,206,4351,0.00,2.47,0.00,0.000,4,0.000,0.080,2445,2981,3145
$GC,4375,-1.16,-146.6,419.0,-9.1,207,4379,0.00,2.40,0.00,0.000,6,0.000,0.064,2445,1599,3146
$GC,4691,-1.16,-146.6,447.9,-9.5,222,4695,0.00,2.53,0.00,0.000,4,0.000,0.089,2444,212,3146
$GC,4731,-1.16,-146.6,452.0,-10.5,223,4737,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1608,3146
$GC,5047,-1.16,-146.6,482.2,-9.7,239,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1611,3146
$GC,5357,-1.16,-146.6,511.0,-8.7,254,5361,0.00,2.50,0.00,0.000,4,0.000,0.084,2445,2984,3146
$GC,5413,-1.16,-146.6,516.2,-9.4,256,5419,0.00,2.42,0.00,0.000,6,0.000,0.067,2445,1601,3145
$GC,5729,-1.16,-146.6,543.6,-8.4,272,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1601,3144
$GC,6038,-1.16,-146.6,569.5,-8.4,287,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1601,3143
$GC,6348,-1.16,-146.6,596.0,-8.3,302,6352,0.00,2.47,0.00,0.000,4,0.000,0.077,2444,2981,3142
$GC,6376,-1.16,-146.6,598.6,-8.8,303,6380,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1593,3142
$GC,6698,-1.16,-146.6,626.3,-8.9,319,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1592,3140
$GC,7007,-1.16,-146.6,654.9,-9.4,334,7011,0.00,2.47,0.00,0.000,4,0.000,0.076,2445,2980,3138
$GC,7034,-1.16,-146.6,657.6,-10.2,335,7039,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1595,3139
$GC,7351,-1.16,-146.6,685.9,-8.7,350,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3137
$GC,7660,-1.16,-146.6,711.9,-8.6,365,7665,0.00,2.47,0.00,0.000,4,0.000,0.075,2445,2983,3136
$GC,7694,-1.16,-146.6,714.8,-8.1,366,7701,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1597,3136
$GC,8010,-1.16,-146.6,740.5,-8.0,382,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3134
$GC,8320,-1.16,-146.6,766.0,-8.3,397,8324,0.00,2.45,0.00,0.000,4,0.000,0.073,2445,2981,3133
$GC,8370,-1.16,-146.6,770.4,-7.9,399,8375,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1596,3134
$GC,8687,-1.16,-146.6,796.7,-8.5,414,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3132
$GC,8996,-1.16,-146.6,822.8,-8.5,429,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3132
$GC,9305,-1.16,-146.6,848.2,-8.1,444,9310,0.00,2.45,0.00,0.000,4,0.000,0.072,2445,2983,3131
$GC,9368,-1.16,-146.6,853.7,-9.0,447,9373,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1591,3130
$GC,9696,-1.16,-146.6,880.8,-8.2,463,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1591,3130
$GC,10005,-1.16,-146.6,905.8,-8.6,478,10009,0.00,2.47,0.00,0.000,4,0.000,0.071,2445,2988,3129
$GC,10038,-1.16,-146.6,908.7,-8.5,479,10045,0.00,2.42,0.00,0.000,6,0.000,0.062,2445,1594,3129
$GC,10355,-1.16,-146.6,932.6,-7.5,495,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1592,3128
$STATE,10496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10496,begin apogee
$GC,10505,-0.32,0.0,943.4,7.5,502,10639,0.93,0.00,127.80,1.322,6,0.124,0.000,2629,2195,2539
$STATE,10639,end apogee,CONTROL_FINISHED_OK
$STATE,10639,begin climb
$GC,10643,1.16,146.6,948.4,0.0,509,10776,1.52,2.67,124.97,1.278,4,0.079,0.091,2957,3586,1941
$GC,10842,1.16,146.6,939.2,8.4,518,10847,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2190,1939
$GC,11158,1.16,146.6,911.3,8.6,533,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2190,1940
$GC,11468,1.16,146.6,884.8,8.8,548,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2190,1938
$GC,11777,1.16,146.6,859.6,8.4,563,11781,0.00,2.58,0.00,0.000,4,0.000,0.084,2958,3587,1938
$GC,11833,1.18,154.6,854.8,7.7,565,11848,0.00,2.42,7.97,1.111,6,0.000,0.061,2957,2199,1907
$GC,12172,1.18,156.1,828.1,7.9,582,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2199,1907
$GC,12480,1.18,156.1,802.6,8.2,597,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1907
$GC,12790,1.18,156.1,777.1,8.4,612,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1907
$GC,13099,1.19,162.1,752.3,7.8,627,13109,0.00,0.00,7.72,1.046,6,0.000,0.000,2957,2198,1878
$GC,13426,1.19,162.1,725.8,8.2,643,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2199,1877
$GC,13735,1.19,162.1,700.2,8.4,658,13740,0.00,2.58,0.00,0.000,4,0.000,0.087,2958,3586,1877
$GC,13804,1.19,162.1,694.1,8.8,661,13808,0.00,2.42,0.00,0.000,6,0.000,0.062,2958,2200,1876
$GC,14125,1.19,162.1,666.4,8.8,677,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1876
$GC,14434,1.19,162.1,639.7,8.4,692,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1876
$GC,14743,1.19,162.1,613.3,8.6,707,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1876
$GC,15053,1.19,162.1,587.4,8.6,722,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1876
$GC,15362,1.19,162.1,560.4,8.7,737,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2200,1876
$GC,15671,1.19,162.1,533.5,8.5,752,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1876
$GC,15981,1.19,162.1,506.7,8.6,767,15985,0.00,2.55,0.00,0.000,4,0.000,0.087,2958,3587,1876
$GC,16031,1.19,162.1,502.3,8.6,769,16036,0.00,2.42,0.00,0.000,6,0.000,0.061,2958,2199,1876
$GC,16348,1.19,162.1,474.2,9.3,784,16352,0.00,2.55,0.00,0.000,4,0.000,0.078,2958,791,1876
$GC,16426,1.19,162.1,467.0,10.0,787,16433,0.00,2.40,0.00,0.000,6,0.000,0.054,2956,2201,1876
$GC,16743,1.19,162.1,440.1,8.3,803,16747,0.00,2.58,0.00,0.000,4,0.000,0.087,2958,3598,1876
$GC,16821,1.20,170.2,433.1,7.7,806,16836,0.00,2.42,7.90,0.941,6,0.000,0.060,2957,2197,1844
$GC,17164,1.20,170.2,404.2,8.5,823,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2197,1844
$GC,17474,1.20,170.2,378.2,8.1,838,17478,0.00,2.53,0.00,0.000,4,0.000,0.077,2958,801,1843
$GC,17530,1.20,170.2,373.1,8.5,840,17536,0.00,2.38,0.00,0.000,6,0.000,0.054,2958,2206,1843
$GC,17846,1.20,170.2,346.9,8.5,856,17851,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,796,1842
$GC,17965,1.20,170.2,335.6,8.8,861,17969,0.00,2.40,0.00,0.000,6,0.000,0.055,2958,2198,1842
$GC,18286,1.20,170.2,307.8,8.9,877,18290,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,800,1842
$GC,18359,1.20,170.2,301.6,8.2,880,18363,0.00,2.40,0.00,0.000,6,0.000,0.055,2958,2203,1842
$GC,18681,1.20,170.2,274.7,8.6,896,18682,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2204,1842
$GC,18990,1.20,170.2,248.9,8.2,911,18994,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,799,1842
$GC,19058,1.20,170.2,243.0,8.0,914,19062,0.00,2.40,0.00,0.000,6,0.000,0.055,2958,2205,1842
$GC,19379,1.20,170.2,217.8,8.0,930,19383,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,800,1841
$GC,19442,1.20,170.2,212.3,9.1,933,19446,0.00,2.38,0.00,0.000,6,0.000,0.056,2958,2199,1843
$GC,19770,1.21,177.0,186.7,7.7,949,19784,0.00,2.55,7.53,0.744,4,0.000,0.071,2958,799,1817
$GC,19838,1.21,177.0,181.1,9.1,952,19842,0.00,2.40,0.00,0.000,6,0.000,0.056,2958,2202,1817
$GC,20165,1.21,177.0,154.7,8.0,968,20169,0.00,2.47,0.00,0.000,4,0.000,0.071,2958,799,1816
$GC,20250,1.21,177.0,147.3,8.1,971,20256,0.00,2.40,0.00,0.000,6,0.000,0.056,2958,2210,1816
$GC,20567,1.24,194.0,123.8,7.4,987,20586,0.00,0.00,15.68,0.759,6,0.000,0.000,2958,2210,1747
$GC,20897,1.24,194.0,97.3,8.6,1003,20902,0.00,2.53,0.00,0.000,4,0.000,0.070,2958,790,1747
$GC,20999,1.24,194.0,87.4,9.9,1007,21005,0.00,2.40,0.00,0.000,6,0.000,0.057,2958,2199,1747
$GC,21315,1.24,194.0,59.5,8.7,1023,21320,0.00,2.47,0.00,0.000,4,0.000,0.069,2958,798,1747
$GC,21367,1.24,194.0,54.8,8.5,1025,21371,0.00,2.40,0.00,0.000,6,0.000,0.057,2958,2206,1747
$GC,21684,1.28,217.6,29.5,7.1,1040,21710,0.10,2.58,20.52,0.683,4,0.071,0.069,2991,792,1650
$GC,21829,1.30,232.1,15.7,7.4,1046,21848,0.00,2.40,12.70,0.645,6,0.000,0.056,2992,2200,1591
$STATE,21957,end climb,SURFACE_DEPTH_REACHED
$STATE,21958,begin surface coast
$FINISH,0.6,1.026865
$STATE,21978,end surface coast,CONTROL_FINISHED_OK
$STATE,21978,begin surface
$SM_CCo,22004,42.55,0.663,0,0,1316,300.00
$SM_GC,1.30,0.00,0.00,42.55,0.000,0.000,0.663,380,1601,1316,-10.70,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1871
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.4,26.4
$24V_AH,23.4,13.681
$10V_AH,10.1,7.854
$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,25.475,163.825,332.800,42.550,0.000,39.031,32.255,161.578,8.500,0.000,0.000,12.752,1925.918,17025.869,517.293,2287.799,666.251,0.000,1659.505,0.000,2238.466,0.000,58.570,0.000
$DEVICE_MAMPS,174.109,91.273,1321.541,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.671,720.667,569.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53789,1054
$CAP_FILE_SIZE,151483,0
$CFSIZE,254472192,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
$GPS,130908,075325,6356.530,-828.011,23,1.1,41,-9.8