version: 66.04
glider: 14
mission: 6
dive: 75
start: 9 14 108 16 44 44
data:
$ID,14
$MISSION,6
$DIVE,75
$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,-651506
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,163756,6405.868,-841.847,37,1.4,38,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.7
$GPS2,164420,6405.853,-841.805,10,0.9,15,-10.0
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6413.488,-859.366
$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,325.0,20000,-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,-60.28,0.000,2,0.000,0.000,380,1604,2730
$GC,83,-1.16,-146.6,3.8,-5.6,3,113,11.55,2.55,-10.20,0.000,4,0.176,0.091,2451,209,3139
$GC,343,-1.16,-146.6,37.1,-11.5,14,350,0.00,2.35,0.00,0.000,6,0.000,0.054,2451,1624,3141
$GC,660,-1.16,-146.6,70.4,-9.9,30,664,0.00,2.55,0.00,0.000,4,0.000,0.074,2451,211,3142
$GC,711,-1.16,-146.6,76.0,-10.9,32,715,0.00,2.33,0.00,0.000,6,0.000,0.054,2451,1607,3142
$GC,1027,-1.16,-146.6,109.8,-10.6,47,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1612,3145
$GC,1337,-1.16,-146.6,142.5,-10.3,62,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1611,3146
$GC,1646,-1.16,-146.6,173.2,-10.7,77,1650,0.00,2.53,0.00,0.000,4,0.000,0.077,2451,209,3148
$GC,1718,-1.16,-146.6,181.3,-10.5,80,1723,0.00,2.33,0.00,0.000,6,0.000,0.054,2451,1600,3148
$GC,2035,-1.16,-146.6,211.4,-9.0,95,2039,0.00,2.45,0.00,0.000,4,0.000,0.073,2451,2982,3149
$GC,2063,-1.16,-146.6,214.0,-9.5,96,2068,0.00,2.40,0.00,0.000,6,0.000,0.063,2451,1598,3149
$GC,2380,-1.16,-146.6,240.2,-8.4,111,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1598,3150
$GC,2689,-1.16,-146.6,265.8,-8.2,126,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1598,3150
$GC,2999,-1.16,-146.6,291.7,-8.1,141,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1598,3149
$GC,3308,-1.16,-146.6,316.5,-8.2,156,3312,0.00,2.47,0.00,0.000,4,0.000,0.077,2451,2978,3150
$GC,3352,-1.16,-146.6,320.7,-9.4,158,3357,0.00,2.40,0.00,0.000,6,0.000,0.064,2451,1601,3150
$GC,3675,-1.16,-146.6,346.4,-8.1,174,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1601,3150
$GC,3984,-1.16,-146.6,370.5,-7.8,189,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1601,3149
$GC,4293,-1.16,-146.6,395.7,-8.0,204,4297,0.00,2.47,0.00,0.000,4,0.000,0.077,2451,2980,3149
$GC,4344,-1.16,-146.6,399.9,-7.7,206,4349,0.00,2.40,0.00,0.000,6,0.000,0.064,2451,1602,3147
$GC,4666,-1.16,-146.6,425.6,-8.4,222,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1602,3148
$GC,4977,-1.16,-146.6,450.9,-8.4,237,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1602,3147
$GC,5284,-1.16,-146.6,478.7,-9.4,252,5288,0.00,2.45,0.00,0.000,4,0.000,0.075,2451,2973,3147
$GC,5334,-1.16,-146.6,483.2,-8.2,254,5339,0.00,2.40,0.00,0.000,6,0.000,0.063,2451,1594,3147
$GC,5651,-1.16,-146.6,512.5,-9.5,269,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1595,3146
$GC,5960,-1.16,-146.6,541.0,-8.8,284,5964,0.00,2.47,0.00,0.000,4,0.000,0.075,2451,2978,3144
$GC,5987,-1.16,-146.6,543.4,-8.8,285,5992,0.00,2.40,0.00,0.000,6,0.000,0.064,2451,1602,3144
$GC,6304,-1.16,-146.6,569.8,-8.5,300,6308,0.00,2.45,0.00,0.000,4,0.000,0.074,2451,2976,3143
$GC,6332,-1.16,-146.6,572.3,-8.6,301,6336,0.00,2.42,0.00,0.000,6,0.000,0.064,2451,1590,3142
$GC,6660,-1.16,-146.6,597.7,-8.0,317,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1590,3142
$GC,6969,-1.16,-146.6,625.0,-9.2,332,6974,0.00,2.47,0.00,0.000,4,0.000,0.074,2451,2976,3141
$GC,7009,-1.16,-146.6,628.9,-9.2,333,7016,0.00,2.42,0.00,0.000,6,0.000,0.064,2451,1591,3141
$GC,7326,-1.16,-146.6,659.2,-9.4,349,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1591,3140
$GC,7635,-1.16,-146.6,687.9,-9.2,364,7639,0.00,2.47,0.00,0.000,4,0.000,0.074,2451,2978,3140
$GC,7692,-1.16,-146.6,693.3,-9.5,366,7698,0.00,2.42,0.00,0.000,6,0.000,0.065,2451,1595,3140
$GC,8008,-1.16,-146.6,721.1,-8.8,382,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1595,3138
$GC,8318,-1.16,-146.6,746.3,-7.8,397,8322,0.00,2.45,0.00,0.000,4,0.000,0.072,2449,2974,3137
$GC,8351,-1.16,-146.6,749.0,-7.5,398,8358,0.00,2.40,0.00,0.000,6,0.000,0.064,2451,1599,3138
$GC,8668,-1.16,-146.6,773.3,-7.8,414,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1599,3137
$GC,8978,-1.16,-146.6,796.8,-7.4,429,8982,0.00,2.45,0.00,0.000,4,0.000,0.071,2451,2980,3136
$GC,9024,-1.16,-146.6,800.4,-8.1,431,9029,0.00,2.42,0.00,0.000,6,0.000,0.062,2451,1589,3136
$GC,9346,-1.16,-146.6,826.7,-8.4,447,9350,0.00,2.45,0.00,0.000,4,0.000,0.071,2451,2982,3135
$GC,9380,-1.16,-146.6,829.7,-8.3,448,9385,0.00,2.40,0.00,0.000,6,0.000,0.062,2451,1602,3135
$GC,9697,-1.16,-146.6,856.7,-8.9,463,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1602,3135
$GC,10006,-1.16,-146.6,882.1,-7.8,478,10011,0.00,2.42,0.00,0.000,4,0.000,0.069,2451,2977,3134
$GC,10052,-1.16,-146.6,885.7,-8.0,480,10057,0.00,2.40,0.00,0.000,6,0.000,0.061,2451,1593,3134
$GC,10375,-1.16,-146.6,909.3,-7.3,496,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1593,3134
$GC,10684,-1.16,-146.6,932.6,-7.4,511,10688,0.00,2.42,0.00,0.000,4,0.000,0.068,2451,2978,3134
$GC,10723,-1.16,-146.6,935.8,-8.3,512,10729,0.00,2.40,0.00,0.000,6,0.000,0.061,2451,1592,3134
$GC,11040,-1.16,-146.6,959.7,-7.8,528,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1592,3134
$GC,11349,-1.16,-146.6,983.6,-7.8,543,11353,0.00,2.42,0.00,0.000,4,0.000,0.067,2451,2983,3133
$GC,11401,-1.16,-146.6,987.6,-7.5,545,11405,0.00,2.40,0.00,0.000,6,0.000,0.061,2451,1599,3133
$STATE,11432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11432,begin apogee
$GC,11441,-0.32,0.0,990.5,8.5,547,11581,0.88,0.00,131.85,1.339,6,0.109,0.000,2630,2189,2539
$STATE,11582,end apogee,CONTROL_FINISHED_OK
$STATE,11582,begin climb
$GC,11586,1.16,146.6,996.9,0.0,554,11720,1.52,2.67,126.25,1.313,4,0.081,0.088,2955,3586,1939
$GC,11821,1.16,146.6,984.9,9.1,565,11825,0.00,2.45,0.00,0.000,6,0.000,0.061,2955,2194,1939
$GC,12154,1.16,146.6,957.0,8.4,581,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,12463,1.16,146.6,931.3,8.2,596,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,12773,1.16,147.0,905.9,8.0,611,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2194,1937
$GC,13082,1.16,147.0,881.0,8.6,626,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,13391,1.16,147.0,852.1,9.1,641,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,13700,1.16,147.0,824.2,9.0,656,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,14010,1.16,147.0,797.6,8.1,671,14011,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,14319,1.16,147.0,772.2,8.1,686,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,14628,1.16,147.0,747.9,8.1,701,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,14937,1.16,147.0,723.0,8.2,716,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,15246,1.16,147.0,697.2,8.3,731,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,15556,1.16,147.0,671.0,8.6,746,15557,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,15865,1.16,147.0,643.9,8.9,761,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,16174,1.16,147.0,617.3,8.1,776,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,16484,1.17,150.1,591.8,7.9,791,16490,0.00,0.00,4.03,0.794,6,0.000,0.000,2955,2194,1926
$GC,16793,1.17,152.7,567.5,7.9,806,16799,0.00,0.00,4.00,0.735,6,0.000,0.000,2955,2194,1916
$GC,17102,1.17,152.7,542.5,8.2,821,17103,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1916
$GC,17411,1.17,152.7,517.0,8.4,836,17412,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1916
$GC,17721,1.17,152.7,489.4,9.1,851,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1916
$GC,18030,1.17,152.7,461.9,8.8,866,18031,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1916
$GC,18339,1.17,152.7,435.0,8.6,881,18343,0.00,2.50,0.00,0.000,4,0.000,0.077,2955,800,1916
$GC,18401,1.17,152.7,429.6,9.0,883,18407,0.00,2.38,0.00,0.000,6,0.000,0.054,2955,2194,1916
$GC,18717,1.23,189.9,407.9,6.6,899,18756,0.00,0.00,31.98,0.969,6,0.000,0.000,2955,2194,1764
$GC,19066,1.23,189.9,379.6,8.9,916,19070,0.00,2.50,0.00,0.000,4,0.000,0.072,2955,798,1763
$GC,19206,1.23,189.9,365.9,9.3,922,19211,0.00,2.42,0.00,0.000,6,0.000,0.054,2955,2199,1762
$GC,19528,1.23,189.9,338.0,8.5,938,19533,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,793,1762
$GC,19618,1.23,189.9,329.9,9.5,942,19623,0.00,2.42,0.00,0.000,6,0.000,0.054,2956,2203,1761
$GC,19941,1.23,189.9,302.7,8.6,958,19945,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,799,1761
$GC,20038,1.23,189.9,293.7,8.1,962,20042,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2203,1761
$GC,20359,1.23,189.9,265.4,9.0,978,20364,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,793,1761
$GC,20445,1.23,189.9,257.2,9.7,982,20449,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2202,1761
$GC,20772,1.23,189.9,225.5,10.0,998,20776,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,791,1761
$GC,20867,1.23,189.9,215.6,10.6,1002,20872,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2212,1761
$GC,21184,1.23,189.9,186.7,8.8,1017,21188,0.00,2.55,0.00,0.000,4,0.000,0.071,2955,796,1761
$GC,21279,1.23,189.9,178.1,8.1,1021,21283,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2202,1761
$GC,21596,1.27,211.6,154.2,7.2,1036,21622,0.12,2.60,18.42,0.861,4,0.070,0.071,2990,802,1676
$GC,21701,1.27,211.6,143.4,10.3,1040,21708,0.00,2.45,0.00,0.000,6,0.000,0.056,2990,2209,1675
$GC,22020,1.27,211.6,107.0,11.8,1056,22024,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,794,1674
$GC,22064,1.27,211.6,101.3,11.0,1058,22068,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2201,1674
$GC,22386,1.27,211.6,67.2,10.8,1074,22390,0.00,2.50,0.00,0.000,4,0.000,0.071,2990,800,1674
$GC,22482,1.27,211.6,56.7,10.2,1078,22486,0.00,2.40,0.00,0.000,6,0.000,0.056,2990,2202,1674
$GC,22798,1.27,211.6,22.6,10.8,1093,22803,0.00,2.50,0.00,0.000,4,0.000,0.071,2990,798,1674
$GC,22894,1.27,211.6,12.1,11.0,1097,22898,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2208,1674
$STATE,23001,end climb,SURFACE_DEPTH_REACHED
$STATE,23001,begin surface coast
$FINISH,0.7,1.026807
$STATE,23023,end surface coast,CONTROL_FINISHED_OK
$STATE,23023,begin surface
$SM_CCo,23049,54.38,0.686,2,0,1316,300.00
$SM_GC,1.81,0.00,0.00,54.38,0.000,0.000,0.686,379,1587,1316,-10.70,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1924
$TCM_TEMP,16.80
$XPDR_PINGS,4
$24V_AH,23.4,14.526
$10V_AH,10.1,8.457
$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,25.475,144.275,316.525,54.375,0.000,37.768,35.402,166.397,9.500,0.000,0.000,16.699,1989.327,18028.738,530.690,2275.204,675.016,0.000,1653.875,0.000,2226.946,0.000,56.008,0.000
$DEVICE_MAMPS,176.410,91.273,1339.182,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,835.331,755.295,557.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56924,1103
$CAP_FILE_SIZE,151057,0
$CFSIZE,254472192,247009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,3,0
$GPS,140908,231108,6408.986,-842.581,26,1.6,27,-10.0