version: 66.04
glider: 14
mission: 6
dive: 80
start: 9 16 108 1 30 13
data:
$ID,14
$MISSION,6
$DIVE,80
$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,-1
$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,-651621.06
$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,27
$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
$GPS1,012307,6414.419,-909.492,35,1.1,36,-10.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.9
$GPS2,012950,6414.347,-909.538,14,1.2,31,-10.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$TGT_RADIUS,5000.000
$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,326.2,102195,-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,-60.72,0.000,2,0.000,0.000,380,1590,2776
$GC,83,-1.16,-146.6,3.6,-4.7,3,109,11.57,2.47,-8.55,0.000,4,0.178,0.091,2447,220,3138
$GC,262,-1.16,-146.6,30.5,-13.7,11,267,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1621,3139
$GC,590,-1.16,-146.6,65.0,-10.3,27,595,0.00,2.53,0.00,0.000,4,0.000,0.074,2447,216,3141
$GC,692,-1.16,-146.6,77.4,-12.4,31,699,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1612,3141
$GC,1010,-1.16,-146.6,112.5,-10.7,47,1014,0.00,2.53,0.00,0.000,4,0.000,0.074,2447,210,3143
$GC,1083,-1.16,-146.6,120.9,-11.1,50,1087,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1605,3143
$GC,1401,-1.16,-146.6,151.8,-9.9,65,1405,0.00,2.50,0.00,0.000,4,0.000,0.074,2447,220,3143
$GC,1469,-1.16,-146.6,159.1,-10.8,68,1474,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1603,3143
$GC,1797,-1.16,-146.6,191.6,-9.2,84,1801,0.00,2.50,0.00,0.000,4,0.000,0.075,2447,215,3143
$GC,1847,-1.16,-146.6,196.6,-9.4,86,1851,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1599,3143
$GC,2164,-1.16,-146.6,224.3,-8.9,101,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3144
$GC,2474,-1.16,-146.6,250.1,-8.2,116,2479,0.00,2.45,0.00,0.000,4,0.000,0.075,2447,2977,3145
$GC,2503,-1.16,-146.6,252.7,-8.5,117,2507,0.00,2.38,0.00,0.000,6,0.000,0.063,2447,1600,3145
$GC,2819,-1.16,-146.6,280.6,-8.9,132,2823,0.00,2.50,0.00,0.000,4,0.000,0.084,2446,214,3145
$GC,2865,-1.16,-146.6,284.8,-9.3,134,2869,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1602,3144
$GC,3198,-1.16,-146.6,309.7,-6.8,150,3203,0.00,2.53,0.00,0.000,4,0.000,0.080,2447,215,3145
$GC,3277,-1.16,-146.6,315.7,-8.1,153,3283,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1605,3145
$GC,3594,-1.16,-146.6,341.1,-8.9,169,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1609,3145
$GC,3903,-1.16,-146.6,371.7,-9.9,184,3907,0.00,2.50,0.00,0.000,4,0.000,0.081,2447,2989,3146
$GC,3953,-1.16,-146.6,376.6,-9.5,186,3958,0.00,2.42,0.00,0.000,6,0.000,0.064,2447,1594,3146
$GC,4271,-1.16,-146.6,403.5,-8.0,201,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3145
$GC,4579,-1.16,-146.6,427.4,-8.1,216,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3145
$GC,4889,-1.16,-146.6,452.3,-7.9,231,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3144
$GC,5198,-1.16,-146.6,478.3,-8.3,246,5202,0.00,2.50,0.00,0.000,4,0.000,0.078,2447,2986,3145
$GC,5231,-1.16,-146.6,481.0,-8.2,247,5238,0.00,2.42,0.00,0.000,6,0.000,0.064,2447,1594,3144
$GC,5548,-1.16,-146.6,505.1,-7.5,263,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3143
$GC,5857,-1.16,-146.6,527.7,-7.4,278,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3142
$GC,6166,-1.16,-146.6,552.7,-8.2,293,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3140
$GC,6475,-1.16,-146.6,578.9,-8.6,308,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1594,3139
$GC,6785,-1.16,-146.6,606.3,-8.9,323,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3138
$GC,7094,-1.16,-146.6,633.8,-8.7,338,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3138
$GC,7403,-1.16,-146.6,661.0,-9.0,353,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3138
$GC,7712,-1.16,-146.6,687.5,-8.3,368,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1595,3136
$GC,8022,-1.16,-146.6,712.8,-8.2,383,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3135
$GC,8331,-1.16,-146.6,736.2,-7.2,398,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1594,3134
$GC,8641,-1.16,-146.6,757.8,-7.0,413,8645,0.00,2.50,0.00,0.000,4,0.000,0.077,2447,2987,3133
$GC,8669,-1.16,-146.6,760.0,-7.9,414,8673,0.00,2.42,0.00,0.000,6,0.000,0.063,2446,1596,3134
$GC,8986,-1.16,-146.6,782.5,-7.4,429,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1596,3132
$GC,9295,-1.16,-146.6,805.1,-7.4,444,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1596,3132
$GC,9604,-1.16,-146.6,827.7,-7.4,459,9608,0.00,2.47,0.00,0.000,4,0.000,0.073,2447,2988,3131
$GC,9632,-1.16,-146.6,829.8,-7.8,460,9636,0.00,2.42,0.00,0.000,6,0.000,0.062,2447,1593,3131
$GC,9949,-1.16,-146.6,852.9,-7.5,475,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1593,3131
$GC,10260,-1.16,-146.6,875.4,-6.9,490,10265,0.00,2.47,0.00,0.000,4,0.000,0.073,2447,2988,3130
$GC,10301,-1.16,-146.6,878.6,-8.2,492,10305,0.00,2.40,0.00,0.000,6,0.000,0.062,2447,1601,3130
$GC,10629,-1.16,-146.6,902.0,-7.1,508,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1601,3130
$GC,10941,-1.16,-146.6,926.3,-8.2,523,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1601,3129
$GC,11248,-1.16,-146.6,944.4,-0.8,538,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1601,3129
$STATE,11368,end dive,NO_VERTICAL_VELOCITY
$STATE,11368,begin apogee
$GC,11377,-0.32,0.0,944.4,0.0,544,11511,0.88,0.00,128.05,1.322,6,0.091,0.000,2635,2197,2538
$STATE,11512,end apogee,CONTROL_FINISHED_OK
$STATE,11512,begin climb
$GC,11515,1.16,146.6,944.5,0.0,551,11646,1.52,0.00,125.32,1.275,6,0.077,0.000,2959,2197,1940
$GC,11964,1.16,146.6,913.4,8.4,573,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2197,1939
$GC,12274,1.16,146.6,885.8,9.0,588,12278,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,793,1939
$GC,12341,1.16,146.6,879.2,9.8,591,12345,0.00,2.42,0.00,0.000,6,0.000,0.054,2959,2196,1939
$GC,12662,1.16,146.6,850.4,8.7,607,12667,0.00,2.53,0.00,0.000,4,0.000,0.070,2959,791,1939
$GC,12725,1.16,146.6,844.6,8.9,610,12729,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2197,1939
$GC,13059,1.16,146.6,813.7,9.2,626,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2197,1939
$GC,13368,1.16,146.6,785.2,9.1,641,13373,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,783,1938
$GC,13458,1.16,146.6,776.3,9.3,645,13462,0.00,2.45,0.00,0.000,6,0.000,0.054,2959,2202,1938
$GC,13781,1.16,146.6,746.7,9.1,661,13785,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,792,1938
$GC,13843,1.16,146.6,740.6,9.8,664,13848,0.00,2.45,0.00,0.000,6,0.000,0.054,2959,2211,1938
$GC,14171,1.16,146.6,710.9,9.2,680,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2212,1938
$GC,14480,1.16,146.6,682.8,9.0,695,14484,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,791,1938
$GC,14581,1.16,146.6,673.3,9.8,699,14587,0.00,2.42,0.00,0.000,6,0.000,0.055,2960,2197,1938
$GC,14898,1.17,151.8,647.7,7.8,715,14908,0.00,2.55,5.35,0.907,4,0.000,0.070,2959,793,1920
$GC,14960,1.17,151.8,642.5,8.3,718,14965,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2205,1919
$GC,15288,1.19,161.7,617.5,7.6,734,15303,0.00,2.60,10.18,1.013,4,0.000,0.071,2960,787,1878
$GC,15361,1.19,162.3,611.5,8.0,736,15365,0.00,2.47,0.00,0.000,6,0.000,0.055,2959,2207,1878
$GC,15678,1.19,162.3,585.8,8.3,751,15682,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,793,1878
$GC,15722,1.19,162.3,581.7,9.2,753,15727,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2208,1878
$GC,16044,1.19,162.3,552.2,9.3,769,16049,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,793,1878
$GC,16125,1.19,162.3,544.4,9.3,772,16131,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2199,1878
$GC,16441,1.19,162.3,516.1,8.8,788,16446,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,788,1878
$GC,16498,1.19,162.3,510.8,10.0,790,16504,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2205,1878
$GC,16814,1.19,162.3,483.9,8.5,806,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2204,1878
$GC,17124,1.19,162.3,457.8,8.2,821,17128,0.00,2.55,0.00,0.000,4,0.000,0.071,2960,791,1878
$GC,17247,1.19,162.3,446.9,8.4,826,17253,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2207,1878
$GC,17563,1.19,162.3,420.1,8.2,842,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2207,1878
$GC,17873,1.19,162.3,393.2,8.7,857,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2207,1876
$GC,18182,1.19,162.3,366.4,8.9,872,18186,0.00,2.50,0.00,0.000,4,0.000,0.071,2959,793,1876
$GC,18296,1.19,162.3,355.9,9.2,877,18300,0.00,2.42,0.00,0.000,6,0.000,0.056,2959,2200,1876
$GC,18623,1.19,162.3,328.4,8.2,893,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2200,1876
$GC,18933,1.24,195.2,305.5,6.7,908,18963,0.00,0.00,28.17,0.907,6,0.000,0.000,2959,2200,1742
$GC,19262,1.25,200.1,279.0,7.8,924,19272,0.00,2.58,5.32,0.750,4,0.000,0.072,2959,788,1722
$GC,19392,1.26,205.6,268.1,7.8,930,19405,0.00,2.45,6.50,0.803,6,0.000,0.057,2959,2199,1699
$GC,19724,1.28,219.5,243.5,7.5,946,19743,0.12,0.00,13.00,0.900,6,0.071,0.000,2993,2199,1643
$GC,20053,1.28,219.5,214.5,9.0,962,20057,0.00,2.53,0.00,0.000,4,0.000,0.073,2993,788,1641
$GC,20154,1.28,219.5,204.5,10.6,966,20160,0.00,2.45,0.00,0.000,6,0.000,0.057,2994,2199,1641
$GC,20470,1.28,219.5,174.2,10.0,982,20475,0.00,2.53,0.00,0.000,4,0.000,0.072,2994,786,1640
$GC,20521,1.28,219.5,168.5,12.6,984,20525,0.00,2.45,0.00,0.000,6,0.000,0.057,2994,2202,1640
$GC,20838,1.28,219.5,134.6,10.8,999,20842,0.00,2.53,0.00,0.000,4,0.000,0.071,2993,784,1640
$GC,20883,1.28,219.5,129.3,11.3,1001,20887,0.00,2.45,0.00,0.000,6,0.000,0.056,2993,2207,1640
$GC,21205,1.28,219.5,92.6,12.0,1017,21209,0.00,2.53,0.00,0.000,4,0.000,0.071,2994,785,1640
$GC,21245,1.28,219.5,87.6,11.8,1019,21249,0.00,2.42,0.00,0.000,6,0.000,0.056,2994,2197,1640
$GC,21578,1.28,219.5,49.3,11.6,1035,21582,0.00,2.50,0.00,0.000,4,0.000,0.070,2993,788,1640
$GC,21629,1.28,219.5,43.3,11.8,1037,21633,0.00,2.42,0.00,0.000,6,0.000,0.056,2994,2200,1640
$GC,21952,1.28,219.5,10.5,10.5,1053,21956,0.00,2.50,0.00,0.000,4,0.000,0.071,2994,789,1640
$STATE,22021,end climb,SURFACE_DEPTH_REACHED
$STATE,22021,begin surface coast
$FINISH,1.5,1.026892
$STATE,22028,end surface coast,CONTROL_FINISHED_OK
$STATE,22028,begin surface
$SM_CCo,22055,48.03,0.673,1,0,1315,300.00
$SM_GC,1.53,0.00,0.00,48.03,0.000,0.000,0.673,379,1636,1315,-10.70,1.05,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1889
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.4,15.221
$10V_AH,10.1,8.948
$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,25.500,157.650,321.900,48.025,0.000,39.134,27.236,174.750,8.500,0.000,0.000,32.946,1924.217,17121.752,530.352,2262.829,671.744,0.000,1639.464,0.000,2195.318,0.000,58.342,0.000
$DEVICE_MAMPS,177.944,90.506,1322.308,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.844,722.081,539.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53721,1056
$CAP_FILE_SIZE,150581,0
$CFSIZE,254472192,246657024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,160908,074002,6415.807,-917.892,36,1.6,37,-10.4