version: 66.04
glider: 14
mission: 6
dive: 70
start: 9 13 108 8 3 27
data:
$ID,14
$MISSION,6
$DIVE,70
$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,-651421
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,075325,6356.530,-828.011,23,1.1,41,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.4
$GPS2,080305,6356.630,-827.742,8,1.9,10,-9.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6404.267,-845.206
$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,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-60.12,0.000,2,0.000,0.000,380,1601,2785
$GC,82,-1.16,-146.6,3.1,-3.8,3,108,11.50,2.47,-8.62,0.000,4,0.175,0.078,2443,3005,3140
$GC,351,-1.16,-146.6,36.0,-9.5,15,355,0.00,2.42,0.00,0.000,6,0.000,0.059,2443,1591,3142
$GC,680,-1.16,-146.6,72.7,-10.9,31,684,0.00,2.47,0.00,0.000,4,0.000,0.079,2442,212,3143
$GC,743,-1.16,-146.6,80.0,-11.1,34,748,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1628,3143
$GC,1073,-1.16,-146.6,114.4,-10.4,50,1077,0.00,2.55,0.00,0.000,4,0.000,0.075,2443,212,3144
$GC,1145,-1.16,-146.6,123.0,-11.4,53,1150,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1611,3144
$GC,1462,-1.16,-146.6,157.7,-10.8,68,1466,0.00,2.53,0.00,0.000,4,0.000,0.074,2443,209,3144
$GC,1518,-1.16,-146.6,163.8,-10.4,70,1524,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1625,3144
$GC,1834,-1.16,-146.6,196.0,-9.6,86,1839,0.00,2.53,0.00,0.000,4,0.000,0.074,2443,212,3144
$GC,1936,-1.16,-146.6,206.5,-10.3,90,1943,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1593,3144
$GC,2253,-1.16,-146.6,237.6,-9.9,106,2257,0.00,2.47,0.00,0.000,4,0.000,0.076,2442,212,3144
$GC,2286,-1.16,-146.6,241.3,-11.1,107,2293,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1604,3144
$GC,2603,-1.16,-146.6,272.5,-9.9,123,2607,0.00,2.50,0.00,0.000,4,0.000,0.076,2443,212,3144
$GC,2659,-1.16,-146.6,278.4,-10.9,125,2665,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1604,3144
$GC,2976,-1.16,-146.6,309.9,-10.2,141,2980,0.00,2.53,0.00,0.000,4,0.000,0.077,2443,206,3144
$GC,3043,-1.16,-146.6,317.5,-10.6,144,3047,0.00,2.35,0.00,0.000,6,0.000,0.054,2443,1610,3144
$GC,3364,-1.16,-146.6,348.8,-9.1,160,3369,0.00,2.53,0.00,0.000,4,0.000,0.078,2443,213,3145
$GC,3466,-1.16,-146.6,358.9,-10.0,164,3472,0.00,2.33,0.00,0.000,6,0.000,0.055,2443,1599,3145
$GC,3782,-1.16,-146.6,387.2,-8.9,180,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1603,3145
$GC,4092,-1.16,-146.6,415.7,-9.5,195,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1604,3145
$GC,4401,-1.16,-146.6,443.7,-8.7,210,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1603,3146
$GC,4710,-1.16,-146.6,469.7,-8.4,225,4714,0.00,2.55,0.00,0.000,4,0.000,0.084,2443,212,3146
$GC,4743,-1.16,-146.6,472.7,-8.8,226,4750,0.00,2.35,0.00,0.000,6,0.000,0.056,2443,1598,3146
$GC,5060,-1.16,-146.6,499.1,-8.4,242,5064,0.00,2.50,0.00,0.000,4,0.000,0.085,2443,2988,3146
$GC,5088,-1.16,-146.6,501.7,-8.5,243,5092,0.00,2.42,0.00,0.000,6,0.000,0.066,2443,1598,3146
$GC,5416,-1.16,-146.6,530.4,-8.6,259,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3145
$GC,5725,-1.16,-146.6,556.7,-8.7,274,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3144
$GC,6034,-1.16,-146.6,583.1,-8.4,289,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3143
$GC,6344,-1.16,-146.6,608.3,-8.1,304,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3142
$GC,6654,-1.16,-146.6,632.5,-7.9,319,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3140
$GC,6963,-1.16,-146.6,657.5,-7.9,334,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1598,3139
$GC,7272,-1.16,-146.6,682.5,-8.2,349,7276,0.00,2.50,0.00,0.000,4,0.000,0.080,2443,2988,3138
$GC,7306,-1.16,-146.6,685.4,-8.6,350,7312,0.00,2.42,0.00,0.000,6,0.000,0.066,2443,1600,3138
$GC,7623,-1.16,-146.6,711.9,-8.6,366,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1599,3136
$GC,7932,-1.16,-146.6,737.3,-8.2,381,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1599,3135
$GC,8242,-1.16,-146.6,762.2,-8.0,396,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1599,3134
$GC,8551,-1.16,-146.6,786.0,-7.9,411,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1599,3133
$GC,8859,-1.16,-146.6,811.1,-8.1,426,8864,0.00,2.47,0.00,0.000,4,0.000,0.074,2443,2989,3132
$GC,8888,-1.16,-146.6,813.6,-9.1,427,8892,0.00,2.42,0.00,0.000,6,0.000,0.064,2443,1596,3132
$GC,9205,-1.16,-146.6,837.7,-7.5,442,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1596,3131
$GC,9514,-1.16,-146.6,860.6,-7.4,457,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1596,3130
$GC,9823,-1.16,-146.6,884.3,-7.7,472,9828,0.00,2.47,0.00,0.000,4,0.000,0.072,2443,2992,3130
$GC,9852,-1.16,-146.6,886.6,-7.7,473,9856,0.00,2.42,0.00,0.000,6,0.000,0.062,2443,1596,3130
$GC,10169,-1.16,-146.6,909.9,-7.4,488,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1596,3129
$GC,10478,-1.16,-146.6,933.0,-7.7,503,10483,0.00,2.47,0.00,0.000,4,0.000,0.071,2443,2992,3128
$GC,10512,-1.16,-146.6,936.1,-8.3,504,10519,0.00,2.42,0.00,0.000,6,0.000,0.061,2443,1593,3128
$GC,10829,-1.16,-146.6,961.1,-8.0,520,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1593,3128
$STATE,11135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11135,begin apogee
$GC,11144,-0.32,0.0,984.9,7.8,535,11278,0.93,0.00,127.62,1.351,6,0.110,0.000,2633,2203,2539
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11282,1.16,146.6,987.7,0.0,542,11416,1.50,2.67,125.70,1.305,4,0.076,0.090,2957,3590,1941
$GC,11600,1.16,146.6,967.1,9.5,556,11606,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2186,1940
$GC,11916,1.16,146.6,939.4,8.8,572,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2186,1938
$GC,12225,1.16,146.6,912.5,9.0,587,12230,0.00,2.62,0.00,0.000,4,0.000,0.085,2957,3599,1938
$GC,12288,1.16,146.6,906.8,9.3,590,12292,0.00,2.45,0.00,0.000,6,0.000,0.060,2957,2198,1939
$GC,12616,1.16,146.6,879.3,8.4,606,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1938
$GC,12924,1.16,146.6,853.9,8.3,621,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1938
$GC,13234,1.16,146.6,827.4,8.5,636,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1938
$GC,13543,1.16,146.6,799.8,8.8,651,13547,0.00,2.58,0.00,0.000,4,0.000,0.084,2957,3592,1938
$GC,13599,1.16,146.6,794.6,9.2,653,13605,0.00,2.42,0.00,0.000,6,0.000,0.060,2957,2203,1936
$GC,13915,1.16,146.6,766.0,9.0,669,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,14225,1.16,146.6,738.5,8.9,684,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,14534,1.16,146.6,712.3,8.2,699,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,14843,1.16,146.6,687.4,8.1,714,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,15152,1.16,146.6,661.2,8.7,729,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,15461,1.16,146.6,634.1,8.8,744,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,15771,1.16,146.6,606.2,9.1,759,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,16080,1.16,146.6,577.7,9.4,774,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,16389,1.16,146.6,548.8,9.4,789,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,16698,1.16,146.6,520.7,8.7,804,16700,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2203,1936
$GC,17008,1.16,146.6,494.4,8.7,819,17012,0.00,2.55,0.00,0.000,4,0.000,0.079,2957,794,1936
$GC,17076,1.16,146.6,488.3,9.4,822,17080,0.00,2.40,0.00,0.000,6,0.000,0.054,2957,2204,1936
$GC,17403,1.16,146.6,461.6,8.3,838,17407,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,794,1936
$GC,17539,1.16,146.6,449.5,9.1,844,17544,0.00,2.40,0.00,0.000,6,0.000,0.054,2957,2198,1936
$GC,17861,1.16,146.6,422.1,8.3,860,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2198,1937
$GC,18170,1.20,171.3,398.9,7.1,875,18193,0.00,0.00,20.80,0.967,6,0.000,0.000,2957,2198,1839
$GC,18500,1.22,179.5,374.0,7.7,891,18514,0.00,2.58,8.30,0.890,4,0.000,0.071,2957,803,1806
$GC,18664,1.22,179.5,360.4,8.2,898,18668,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2208,1806
$GC,18986,1.22,179.5,334.2,8.2,914,18990,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,797,1805
$GC,19071,1.22,179.5,326.4,10.0,918,19075,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2210,1805
$GC,19398,1.22,179.5,296.9,9.2,934,19399,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2210,1804
$GC,19707,1.22,179.5,269.0,8.7,949,19711,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,790,1804
$GC,19853,1.22,179.5,255.8,8.1,955,19859,0.00,2.42,0.00,0.000,6,0.000,0.057,2957,2203,1803
$GC,20170,1.22,179.5,228.1,9.1,971,20174,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,797,1803
$GC,20242,1.22,179.5,221.4,8.8,974,20246,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2201,1803
$GC,20558,1.22,179.5,194.9,8.3,989,20563,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,797,1803
$GC,20622,1.22,179.5,189.1,8.6,992,20626,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2202,1803
$GC,20949,1.22,179.5,160.8,8.6,1008,20953,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,793,1803
$GC,21022,1.22,179.5,153.9,9.1,1011,21026,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2202,1803
$GC,21338,1.22,179.5,126.7,8.6,1026,21343,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,791,1803
$GC,21412,1.22,179.5,120.0,10.1,1029,21416,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2200,1803
$GC,21729,1.22,179.5,92.5,8.7,1044,21733,0.00,2.47,0.00,0.000,4,0.000,0.069,2957,796,1803
$GC,21837,1.22,179.5,82.4,9.2,1049,21841,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2207,1803
$GC,22164,1.22,179.5,52.6,8.2,1065,22169,0.00,2.58,0.00,0.000,4,0.000,0.091,2957,3601,1803
$GC,22206,1.26,204.3,49.6,7.1,1067,22233,0.00,2.40,21.55,0.706,6,0.000,0.060,2957,2195,1706
$GC,22556,1.26,204.3,22.2,8.1,1084,22560,0.00,2.47,0.00,0.000,4,0.000,0.071,2957,800,1706
$GC,22600,1.26,204.3,18.3,8.5,1086,22605,0.00,2.38,0.00,0.000,6,0.000,0.055,2957,2202,1705
$STATE,22780,end climb,SURFACE_DEPTH_REACHED
$STATE,22780,begin surface coast
$FINISH,0.6,1.013685
$STATE,22802,end surface coast,CONTROL_FINISHED_OK
$STATE,22802,begin surface
$SM_CCo,22828,56.00,0.647,1,0,1314,300.00
$SM_GC,1.57,0.00,0.00,56.00,0.000,0.000,0.647,381,1601,1314,-10.69,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,951.2,42.6
$24V_AH,23.4,13.821
$10V_AH,10.1,7.954
$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,25.175,149.550,303.975,56.000,0.000,76.764,58.844,240.786,8.750,0.000,0.000,12.284,1982.513,17828.463,512.669,2336.306,809.701,0.000,1659.863,0.000,2289.592,0.000,57.312,0.000
$DEVICE_MAMPS,174.876,90.506,1350.687,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,827.381,749.999,580.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57056,1096
$CAP_FILE_SIZE,155148,0
$CFSIZE,254472192,247369728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,130908,142608,6357.628,-830.053,26,1.4,27,-9.8