version: 66.04
glider: 14
mission: 6
dive: 78
start: 9 15 108 12 24 8
data:
$ID,14
$MISSION,6
$DIVE,78
$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,-651571.56
$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,22
$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
$GPS1,121726,6411.625,-857.620,39,1.3,40,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.4
$GPS2,122344,6411.627,-857.629,9,1.2,14,-10.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6419.264,-915.251
$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,325.2,20000,-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,13,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,-60.25,0.000,2,0.000,0.000,376,1597,2758
$GC,83,-1.16,-146.6,4.0,-5.8,3,109,11.55,2.55,-8.80,0.000,4,0.176,0.091,2448,210,3140
$GC,272,-1.16,-146.6,31.3,-13.0,11,279,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1618,3142
$GC,589,-1.16,-146.6,65.1,-10.0,27,593,0.00,2.55,0.00,0.000,4,0.000,0.076,2448,208,3142
$GC,846,-1.16,-146.6,95.0,-10.6,38,853,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1605,3144
$GC,1164,-1.16,-146.6,127.1,-10.2,54,1169,0.00,2.53,0.00,0.000,4,0.000,0.076,2448,212,3145
$GC,1238,-1.16,-146.6,135.4,-10.6,57,1242,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1604,3145
$GC,1554,-1.16,-146.6,165.1,-8.7,72,1558,0.00,2.50,0.00,0.000,4,0.000,0.076,2448,203,3146
$GC,1628,-1.16,-146.6,172.0,-9.4,75,1632,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1608,3146
$GC,1950,-1.16,-146.6,202.6,-9.2,91,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1612,3147
$GC,2259,-1.16,-146.6,228.5,-7.6,106,2264,0.00,2.53,0.00,0.000,4,0.000,0.077,2448,209,3148
$GC,2384,-1.16,-146.6,238.4,-8.1,111,2390,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1604,3149
$GC,2700,-1.16,-146.6,265.2,-9.1,127,2704,0.00,2.45,0.00,0.000,4,0.000,0.077,2448,2983,3149
$GC,2751,-1.16,-146.6,270.1,-9.5,129,2755,0.00,2.40,0.00,0.000,6,0.000,0.063,2448,1596,3150
$GC,3073,-1.16,-146.6,300.6,-9.6,145,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1596,3150
$GC,3381,-1.16,-146.6,330.4,-9.3,160,3386,0.00,2.53,0.00,0.000,4,0.000,0.087,2448,215,3151
$GC,3455,-1.16,-146.6,338.3,-11.2,163,3459,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1604,3149
$GC,3777,-1.16,-146.6,368.0,-8.6,179,3781,0.00,2.47,0.00,0.000,4,0.000,0.080,2448,2983,3150
$GC,3827,-1.16,-146.6,372.6,-9.0,181,3831,0.00,2.40,0.00,0.000,6,0.000,0.064,2448,1602,3150
$GC,4148,-1.16,-146.6,399.1,-8.1,197,4152,0.00,2.55,0.00,0.000,4,0.000,0.089,2448,213,3149
$GC,4189,-1.16,-146.6,402.8,-9.5,199,4193,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1607,3149
$GC,4516,-1.16,-146.6,428.9,-7.9,215,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1611,3147
$GC,4825,-1.16,-146.6,453.6,-8.0,230,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1611,3146
$GC,5135,-1.16,-146.6,479.7,-8.7,245,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1611,3146
$GC,5444,-1.16,-146.6,507.1,-8.9,260,5448,0.00,2.58,0.00,0.000,4,0.000,0.084,2448,210,3145
$GC,5494,-1.16,-146.6,511.9,-10.0,262,5498,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1593,3146
$GC,5811,-1.16,-146.6,538.5,-8.1,277,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1593,3144
$GC,6120,-1.16,-146.6,562.8,-7.7,292,6124,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,2994,3143
$GC,6154,-1.16,-146.6,565.5,-7.6,293,6160,0.00,2.42,0.00,0.000,6,0.000,0.064,2448,1601,3142
$GC,6471,-1.16,-146.6,589.1,-7.7,309,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3141
$GC,6779,-1.16,-146.6,614.0,-8.3,324,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1602,3140
$GC,7089,-1.16,-146.6,640.1,-8.5,339,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3140
$GC,7398,-1.16,-146.6,665.0,-7.8,354,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3140
$GC,7707,-1.16,-146.6,689.3,-8.0,369,7712,0.00,2.50,0.00,0.000,4,0.000,0.077,2448,2992,3139
$GC,7753,-1.16,-146.6,692.9,-8.0,371,7757,0.00,2.42,0.00,0.000,6,0.000,0.064,2448,1599,3138
$GC,8080,-1.16,-146.6,717.8,-7.9,387,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1598,3137
$GC,8390,-1.16,-146.6,741.6,-7.6,402,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1598,3137
$GC,8699,-1.16,-146.6,764.5,-7.4,417,8703,0.00,2.50,0.00,0.000,4,0.000,0.074,2448,2997,3136
$GC,8728,-1.16,-146.6,766.6,-8.2,418,8733,0.00,2.45,0.00,0.000,6,0.000,0.064,2448,1595,3136
$GC,9045,-1.16,-146.6,789.6,-7.0,433,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1594,3135
$GC,9354,-1.16,-146.6,811.9,-7.3,448,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1594,3135
$GC,9663,-1.16,-146.6,834.7,-7.3,463,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1594,3135
$GC,9973,-1.16,-146.6,857.4,-7.4,478,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1594,3134
$GC,10282,-1.16,-146.6,880.5,-7.3,493,10287,0.00,2.47,0.00,0.000,4,0.000,0.071,2448,2991,3134
$GC,10311,-1.16,-146.6,882.9,-8.9,494,10315,0.00,2.42,0.00,0.000,6,0.000,0.061,2447,1595,3134
$GC,10627,-1.16,-146.6,906.9,-7.9,509,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1595,3134
$GC,10937,-1.16,-146.6,930.5,-7.6,524,10941,0.00,2.47,0.00,0.000,4,0.000,0.071,2448,2993,3133
$GC,10971,-1.16,-146.6,933.2,-7.9,525,10977,0.00,2.42,0.00,0.000,6,0.000,0.061,2448,1595,3133
$GC,11288,-1.16,-146.6,957.4,-7.7,541,11292,0.00,2.55,0.00,0.000,4,0.000,0.087,2448,203,3133
$GC,11335,-1.16,-146.6,961.3,-8.7,543,11340,0.00,2.38,0.00,0.000,6,0.000,0.054,2448,1616,3132
$GC,11663,-1.16,-146.6,986.6,-7.6,559,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1617,3132
$STATE,11721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11721,begin apogee
$GC,11731,-0.32,0.0,991.1,7.2,562,11871,0.90,0.00,131.90,1.335,6,0.116,0.000,2630,2193,2539
$STATE,11872,end apogee,CONTROL_FINISHED_OK
$STATE,11872,begin climb
$GC,11876,1.16,146.6,995.9,0.0,569,12013,1.52,2.72,126.32,1.312,4,0.080,0.093,2956,3596,1939
$GC,12121,1.16,146.6,981.2,9.4,580,12126,0.00,2.47,0.00,0.000,6,0.000,0.060,2956,2192,1939
$GC,12437,1.16,146.6,953.4,8.8,595,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2192,1939
$GC,12747,1.16,146.6,925.8,9.0,610,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2192,1937
$GC,13056,1.16,146.6,898.9,8.5,625,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2192,1938
$GC,13365,1.16,146.6,872.9,8.4,640,13369,0.00,2.60,0.00,0.000,4,0.000,0.084,2957,3595,1938
$GC,13443,1.16,146.6,865.5,9.1,643,13448,0.00,2.42,0.00,0.000,6,0.000,0.058,2956,2201,1936
$GC,13760,1.16,146.6,836.7,8.9,658,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,14069,1.16,146.6,810.7,8.3,673,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1936
$GC,14378,1.16,146.6,783.2,8.8,688,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2201,1936
$GC,14688,1.16,146.6,755.8,8.8,703,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,14997,1.16,146.6,728.5,8.7,718,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1936
$GC,15306,1.16,146.6,701.7,8.7,733,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1936
$GC,15615,1.16,146.6,674.7,8.7,748,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1937
$GC,15924,1.16,146.6,647.7,8.8,763,15926,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,16234,1.16,146.6,620.0,8.9,778,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,16543,1.16,146.6,592.4,8.9,793,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,16852,1.16,146.6,564.9,8.9,808,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1936
$GC,17161,1.16,146.6,538.5,8.4,823,17163,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,17471,1.16,146.6,512.0,8.8,838,17472,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2201,1936
$GC,17780,1.16,146.6,485.1,8.9,853,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1936
$GC,18089,1.16,146.6,457.4,9.1,868,18094,0.00,2.55,0.00,0.000,4,0.000,0.086,2957,3592,1936
$GC,18153,1.16,146.6,451.4,9.5,871,18157,0.00,2.42,0.00,0.000,6,0.000,0.060,2956,2196,1936
$GC,18480,1.16,146.6,422.9,8.4,887,18484,0.00,2.53,0.00,0.000,4,0.000,0.077,2957,797,1936
$GC,18547,1.16,146.6,416.9,9.8,890,18551,0.00,2.38,0.00,0.000,6,0.000,0.054,2957,2197,1936
$GC,18869,1.20,167.2,392.0,7.2,906,18889,0.00,0.00,17.73,0.953,6,0.000,0.000,2956,2197,1856
$GC,19198,1.24,192.9,368.7,7.0,922,19227,0.00,2.62,22.12,0.927,4,0.000,0.071,2957,800,1752
$GC,19302,1.24,197.2,360.3,7.8,926,19312,0.00,2.42,5.10,0.794,6,0.000,0.054,2956,2202,1734
$GC,19634,1.24,197.2,331.4,9.0,943,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2202,1734
$GC,19944,1.24,197.2,302.3,9.0,958,19948,0.00,2.53,0.00,0.000,4,0.000,0.072,2957,799,1733
$GC,20029,1.24,197.2,294.7,8.6,962,20033,0.00,2.40,0.00,0.000,6,0.000,0.054,2956,2202,1733
$GC,20356,1.24,197.2,266.6,8.8,978,20360,0.00,2.50,0.00,0.000,4,0.000,0.071,2956,800,1732
$GC,20430,1.24,197.2,259.4,9.8,981,20434,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2206,1732
$GC,20751,1.24,197.2,228.9,9.5,997,20756,0.00,2.55,0.00,0.000,4,0.000,0.072,2957,793,1732
$GC,20808,1.24,197.2,222.9,9.8,999,20814,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2198,1732
$GC,21124,1.24,197.2,191.0,9.9,1015,21125,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2199,1732
$GC,21433,1.25,199.4,164.3,7.9,1030,21437,0.00,2.50,0.00,0.000,4,0.000,0.073,2956,800,1732
$GC,21535,1.25,199.4,155.9,9.4,1034,21539,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2203,1732
$GC,21854,1.26,204.4,131.1,7.8,1049,21863,0.00,0.00,7.30,0.742,6,0.000,0.000,2957,2203,1705
$GC,22162,1.26,204.4,104.1,9.0,1064,22167,0.00,2.50,0.00,0.000,4,0.000,0.071,2956,799,1705
$GC,22226,1.26,204.4,97.9,9.6,1067,22231,0.10,2.42,0.00,0.000,6,0.072,0.056,2986,2207,1705
$GC,22556,1.26,204.4,66.9,9.4,1083,22560,0.00,2.50,0.00,0.000,4,0.000,0.071,2987,798,1704
$GC,22634,1.26,204.4,59.1,8.9,1086,22640,0.00,2.40,0.00,0.000,6,0.000,0.056,2987,2209,1704
$GC,22952,1.26,204.4,29.4,10.4,1102,22956,0.00,2.58,0.00,0.000,4,0.000,0.092,2987,3596,1705
$GC,23016,1.26,204.4,22.3,10.2,1105,23020,0.00,2.40,0.00,0.000,6,0.000,0.061,2987,2199,1705
$STATE,23218,end climb,SURFACE_DEPTH_REACHED
$STATE,23218,begin surface coast
$FINISH,0.8,1.002061
$STATE,23238,end surface coast,CONTROL_FINISHED_OK
$STATE,23238,begin surface
$SM_CCo,23264,55.62,0.698,0,0,1315,300.00
$SM_GC,1.48,0.00,0.00,55.62,0.000,0.000,0.698,377,1602,1315,-10.71,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.4,14.945
$10V_AH,10.1,8.753
$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,25.400,140.075,310.475,55.625,0.000,37.763,33.498,162.693,8.500,0.000,0.000,16.349,2015.139,18192.023,507.671,2314.379,670.758,0.000,1640.543,0.000,2265.829,0.000,55.982,0.000
$DEVICE_MAMPS,175.643,92.807,1335.347,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,846.748,763.366,578.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56778,1116
$CAP_FILE_SIZE,152161,0
$CFSIZE,254472192,246796288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,150908,185407,6412.978,-906.901,34,1.2,35,-10.3