version: 66.04
glider: 14
mission: 6
dive: 77
start: 9 15 108 5 52 35
data:
$ID,14
$MISSION,6
$DIVE,77
$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,-651554.56
$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,25
$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
$GPS1,054538,6409.386,-852.281,33,2.0,34,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.0
$GPS2,055212,6409.350,-852.353,10,2.5,29,-10.1
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6416.986,-909.951
$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,325.1,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,2,0.000,0.000,376,1602,2721
$GC,83,-1.16,-146.6,3.5,-4.9,3,113,11.57,2.55,-10.27,0.000,4,0.178,0.091,2445,209,3138
$GC,310,-1.16,-146.6,35.6,-13.3,13,314,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1621,3140
$GC,631,-1.16,-146.6,69.4,-10.4,29,636,0.00,2.55,0.00,0.000,4,0.000,0.076,2445,202,3143
$GC,666,-1.16,-146.6,73.1,-10.5,30,672,0.00,2.38,0.00,0.000,6,0.000,0.054,2445,1606,3143
$GC,982,-1.16,-146.6,105.7,-11.2,46,987,0.00,2.53,0.00,0.000,4,0.000,0.076,2445,210,3145
$GC,1061,-1.16,-146.6,115.3,-11.7,49,1067,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1603,3145
$GC,1380,-1.16,-146.6,145.4,-9.5,65,1384,0.00,2.53,0.00,0.000,4,0.000,0.076,2445,212,3145
$GC,1436,-1.16,-146.6,151.5,-9.9,67,1442,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1605,3145
$GC,1752,-1.16,-146.6,184.0,-10.9,83,1756,0.00,2.45,0.00,0.000,4,0.000,0.072,2445,2983,3146
$GC,1786,-1.16,-146.6,187.5,-10.7,84,1792,0.00,2.40,0.00,0.000,6,0.000,0.061,2445,1593,3146
$GC,2102,-1.16,-146.6,217.7,-8.7,100,2106,0.00,2.50,0.00,0.000,4,0.000,0.081,2445,210,3146
$GC,2169,-1.16,-146.6,224.2,-9.4,103,2173,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1597,3147
$GC,2496,-1.16,-146.6,252.8,-8.8,119,2500,0.00,2.53,0.00,0.000,4,0.000,0.080,2445,212,3148
$GC,2553,-1.16,-146.6,258.3,-10.0,121,2559,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1604,3148
$GC,2870,-1.16,-146.6,287.0,-8.9,137,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3148
$GC,3179,-1.16,-146.6,314.3,-8.9,152,3183,0.00,2.55,0.00,0.000,4,0.000,0.082,2445,212,3148
$GC,3219,-1.16,-146.6,318.3,-10.0,154,3223,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1600,3148
$GC,3546,-1.16,-146.6,346.6,-8.7,170,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1604,3148
$GC,3856,-1.16,-146.6,374.2,-8.9,185,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3148
$GC,4165,-1.16,-146.6,400.6,-8.3,200,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1604,3148
$GC,4477,-1.16,-146.6,426.0,-7.8,215,4481,0.00,2.55,0.00,0.000,4,0.000,0.084,2445,215,3147
$GC,4517,-1.16,-146.6,429.6,-7.9,217,4521,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1602,3147
$GC,4844,-1.16,-146.6,458.6,-9.1,233,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3146
$GC,5154,-1.16,-146.6,487.8,-9.8,248,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3146
$GC,5463,-1.16,-146.6,519.0,-10.2,263,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3145
$GC,5773,-1.16,-146.6,550.5,-10.3,278,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1605,3143
$GC,6081,-1.16,-146.6,581.6,-9.8,293,6086,0.00,2.55,0.00,0.000,4,0.000,0.089,2445,2991,3142
$GC,6115,-1.16,-146.6,585.1,-9.1,294,6121,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1600,3142
$GC,6431,-1.16,-146.6,614.7,-8.9,310,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1599,3141
$GC,6741,-1.16,-146.6,641.6,-8.5,325,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1600,3140
$GC,7050,-1.16,-146.6,668.3,-8.7,340,7054,0.00,2.47,0.00,0.000,4,0.000,0.076,2445,2988,3140
$GC,7095,-1.16,-146.6,672.2,-9.3,342,7099,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1595,3140
$GC,7423,-1.16,-146.6,701.0,-8.8,358,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3139
$GC,7731,-1.16,-146.6,726.7,-8.3,373,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3138
$GC,8042,-1.16,-146.6,751.1,-7.4,388,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3137
$GC,8350,-1.16,-146.6,773.4,-7.1,403,8355,0.00,2.47,0.00,0.000,4,0.000,0.074,2445,2988,3137
$GC,8379,-1.16,-146.6,775.7,-8.2,404,8383,0.00,2.42,0.00,0.000,6,0.000,0.062,2445,1594,3136
$GC,8695,-1.16,-146.6,797.7,-7.1,419,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3136
$GC,9005,-1.16,-146.6,820.1,-7.4,434,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3135
$GC,9314,-1.16,-146.6,843.3,-7.6,449,9318,0.00,2.47,0.00,0.000,4,0.000,0.073,2445,2988,3135
$GC,9365,-1.16,-146.6,847.3,-7.8,451,9369,0.00,2.40,0.00,0.000,6,0.000,0.062,2445,1598,3135
$GC,9687,-1.16,-146.6,871.6,-7.4,467,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1597,3134
$GC,9996,-1.16,-146.6,894.9,-7.5,482,10000,0.00,2.47,0.00,0.000,4,0.000,0.072,2445,2991,3133
$GC,10029,-1.16,-146.6,897.8,-8.3,483,10036,0.00,2.42,0.00,0.000,6,0.000,0.061,2445,1596,3133
$GC,10346,-1.16,-146.6,922.3,-7.8,499,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3133
$GC,10655,-1.16,-146.6,945.8,-7.4,514,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1596,3133
$GC,10965,-1.16,-146.6,968.6,-7.4,529,10969,0.00,2.47,0.00,0.000,4,0.000,0.071,2445,2993,3132
$GC,10992,-1.16,-146.6,970.8,-8.0,530,10997,0.00,2.42,0.00,0.000,6,0.000,0.061,2445,1594,3133
$STATE,11269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11270,begin apogee
$GC,11279,-0.32,0.0,991.2,7.1,544,11419,0.93,0.00,131.60,1.338,6,0.112,0.000,2633,2203,2539
$STATE,11420,end apogee,CONTROL_FINISHED_OK
$STATE,11420,begin climb
$GC,11424,1.16,146.6,995.8,0.0,551,11558,1.50,2.67,126.28,1.308,4,0.079,0.090,2955,3589,1940
$GC,11652,1.16,146.6,982.7,9.6,561,11658,0.00,2.45,0.00,0.000,6,0.000,0.060,2955,2194,1938
$GC,11968,1.16,146.6,954.1,8.9,577,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,12277,1.16,146.6,926.5,9.1,592,12278,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,12587,1.16,146.6,898.9,8.9,607,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,12896,1.16,146.6,871.7,8.7,622,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,13205,1.16,146.6,844.1,8.9,637,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2194,1937
$GC,13514,1.16,146.6,816.3,9.0,652,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,13824,1.16,146.6,789.3,8.6,667,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,14133,1.16,146.6,762.6,8.6,682,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1938
$GC,14442,1.16,146.6,736.5,8.3,697,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1937
$GC,14752,1.16,146.6,711.5,8.2,712,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1936
$GC,15061,1.17,147.3,687.5,8.0,727,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1936
$GC,15370,1.17,147.3,661.8,8.6,742,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1936
$GC,15679,1.17,147.3,635.0,8.6,757,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1936
$GC,15989,1.19,162.8,610.5,7.4,772,16007,0.00,0.00,14.30,1.067,6,0.000,0.000,2955,2194,1874
$GC,16318,1.19,165.7,584.8,7.9,788,16324,0.00,0.00,3.95,0.738,6,0.000,0.000,2955,2194,1864
$GC,16627,1.19,165.7,558.0,8.8,803,16628,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2194,1863
$GC,16937,1.22,178.9,532.9,7.5,818,16955,0.00,0.00,13.00,1.005,6,0.000,0.000,2955,2194,1808
$GC,17266,1.22,178.9,506.4,8.2,834,17270,0.00,2.58,0.00,0.000,4,0.000,0.086,2955,3590,1806
$GC,17328,1.22,178.9,501.1,8.5,837,17333,0.00,2.42,0.00,0.000,6,0.000,0.060,2955,2200,1806
$GC,17656,1.22,178.9,473.8,8.4,853,17660,0.00,2.55,0.00,0.000,4,0.000,0.077,2955,795,1806
$GC,17706,1.22,178.9,469.3,9.1,855,17710,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2200,1806
$GC,18023,1.22,178.9,443.8,8.3,870,18027,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,794,1806
$GC,18085,1.22,178.9,438.3,8.6,873,18089,0.00,2.42,0.00,0.000,6,0.000,0.054,2955,2203,1806
$GC,18412,1.22,178.9,408.8,9.4,889,18416,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,800,1807
$GC,18481,1.22,178.9,401.7,11.3,892,18485,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2200,1806
$GC,18808,1.22,178.9,371.0,8.8,908,18812,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,792,1807
$GC,18881,1.22,178.9,364.4,9.2,911,18885,0.00,2.42,0.00,0.000,6,0.000,0.054,2955,2200,1806
$GC,19203,1.24,191.6,339.2,7.5,927,19224,0.00,2.62,11.65,0.909,4,0.000,0.071,2955,793,1757
$GC,19271,1.24,192.8,333.5,8.0,930,19275,0.00,2.45,0.00,0.000,6,0.000,0.054,2955,2200,1757
$GC,19598,1.24,192.8,305.0,8.9,946,19603,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,794,1756
$GC,19694,1.24,192.8,295.3,10.2,950,19698,0.00,2.42,0.00,0.000,6,0.000,0.054,2955,2200,1756
$GC,20011,1.24,192.8,264.9,9.5,965,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1756
$GC,20320,1.24,192.8,235.8,8.9,980,20324,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,792,1755
$GC,20388,1.24,192.8,228.9,10.5,983,20393,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2201,1755
$GC,20716,1.24,192.8,198.6,9.3,999,20720,0.00,2.53,0.00,0.000,4,0.000,0.072,2955,800,1754
$GC,20767,1.24,192.8,193.4,10.5,1001,20771,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2203,1754
$GC,21084,1.24,192.8,164.6,8.6,1016,21088,0.00,2.50,0.00,0.000,4,0.000,0.072,2955,798,1754
$GC,21140,1.24,192.8,159.1,10.7,1018,21146,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2202,1754
$GC,21458,1.24,192.8,131.9,8.1,1034,21462,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,799,1754
$GC,21543,1.24,192.8,124.4,8.7,1038,21548,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2209,1754
$GC,21872,1.24,192.8,95.2,9.3,1054,21876,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,789,1753
$GC,21944,1.24,192.8,87.7,10.4,1057,21948,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2202,1754
$GC,22262,1.24,192.8,56.3,10.1,1072,22267,0.00,2.50,0.00,0.000,4,0.000,0.070,2955,791,1753
$GC,22330,1.24,192.8,49.1,10.5,1075,22334,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2206,1754
$GC,22653,1.24,192.8,21.7,8.3,1091,22657,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,797,1753
$GC,22743,1.24,192.8,13.7,9.2,1095,22747,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2201,1754
$STATE,22896,end climb,SURFACE_DEPTH_REACHED
$STATE,22896,begin surface coast
$FINISH,1.0,1.003580
$STATE,22919,end surface coast,CONTROL_FINISHED_OK
$STATE,22919,begin surface
$SM_CCo,22945,61.65,0.700,0,0,1315,300.00
$SM_GC,1.65,0.00,0.00,61.65,0.000,0.000,0.700,376,1600,1315,-10.71,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1899
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.4,14.809
$10V_AH,10.1,8.654
$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,25.100,149.950,300.775,61.650,0.000,37.764,29.524,164.831,8.500,0.000,0.000,31.726,1982.857,17952.770,525.049,2273.323,667.227,0.000,1640.482,0.000,2211.562,0.000,55.982,0.000
$DEVICE_MAMPS,177.944,91.273,1338.415,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,835.787,755.204,582.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56813,1104
$CAP_FILE_SIZE,150779,0
$CFSIZE,254472192,246870016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,150908,121726,6411.625,-857.620,39,1.3,40,-10.2