version: 66.04
glider: 14
mission: 6
dive: 81
start: 9 16 108 7 46 43
data:
$ID,14
$MISSION,6
$DIVE,81
$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,-651640.94
$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,23
$R_STBD_OVSHOOT,52
$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
$GPS1,074002,6415.807,-917.892,36,1.6,37,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.4
$GPS2,074620,6415.846,-917.823,12,1.6,17,-10.4
$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,328.0,95714,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,379,1637,2930
$GC,88,-1.16,-146.6,4.7,-5.3,4,111,11.57,2.58,-4.20,0.000,4,0.178,0.088,2442,213,3137
$GC,270,-1.16,-146.6,33.6,-12.2,12,274,0.00,2.30,0.00,0.000,6,0.000,0.054,2442,1594,3139
$GC,598,-1.16,-146.6,72.3,-11.8,28,602,0.00,2.50,0.00,0.000,4,0.000,0.074,2443,206,3140
$GC,744,-1.16,-146.6,88.7,-10.4,34,750,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1602,3141
$GC,1062,-1.16,-146.6,118.4,-9.5,50,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1605,3142
$GC,1370,-1.16,-146.6,149.7,-10.4,65,1375,0.00,2.50,0.00,0.000,4,0.000,0.075,2442,212,3143
$GC,1494,-1.16,-146.6,164.0,-11.3,70,1498,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1607,3143
$GC,1810,-1.16,-146.6,197.8,-10.6,85,1815,0.00,2.53,0.00,0.000,4,0.000,0.075,2442,203,3143
$GC,1896,-1.16,-146.6,206.7,-11.3,89,1900,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1597,3143
$GC,2223,-1.16,-146.6,236.2,-9.0,105,2227,0.00,2.50,0.00,0.000,4,0.000,0.076,2442,211,3143
$GC,2279,-1.16,-146.6,241.5,-9.7,107,2285,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1600,3143
$GC,2595,-1.16,-146.6,270.7,-9.7,123,2599,0.00,2.45,0.00,0.000,4,0.000,0.075,2442,2982,3144
$GC,2646,-1.16,-146.6,275.8,-9.8,125,2650,0.00,2.40,0.00,0.000,6,0.000,0.062,2443,1591,3144
$GC,2962,-1.16,-146.6,303.8,-8.9,140,2967,0.00,2.50,0.00,0.000,4,0.000,0.084,2443,212,3145
$GC,2996,-1.16,-146.6,307.4,-9.9,141,3003,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1606,3145
$GC,3313,-1.16,-146.6,336.7,-8.9,157,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1607,3146
$GC,3622,-1.16,-146.6,363.7,-8.5,172,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1607,3146
$GC,3931,-1.16,-146.6,392.4,-9.2,187,3936,0.00,2.55,0.00,0.000,4,0.000,0.085,2442,220,3146
$GC,3982,-1.16,-146.6,397.3,-9.4,189,3986,0.00,2.33,0.00,0.000,6,0.000,0.055,2443,1591,3146
$GC,4299,-1.16,-146.6,423.3,-7.9,204,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1594,3146
$GC,4608,-1.16,-146.6,447.8,-8.3,219,4612,0.00,2.53,0.00,0.000,4,0.000,0.084,2443,2983,3146
$GC,4641,-1.16,-146.6,450.5,-8.5,220,4648,0.00,2.40,0.00,0.000,6,0.000,0.065,2442,1601,3146
$GC,4958,-1.16,-146.6,477.2,-8.6,236,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3145
$GC,5268,-1.16,-146.6,505.7,-9.5,251,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1601,3145
$GC,5577,-1.16,-146.6,533.8,-8.9,266,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3144
$GC,5886,-1.16,-146.6,559.9,-8.1,281,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3142
$GC,6195,-1.16,-146.6,585.4,-8.5,296,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3141
$GC,6505,-1.16,-146.6,611.6,-8.4,311,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3139
$GC,6814,-1.16,-146.6,638.0,-8.4,326,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1601,3139
$GC,7123,-1.16,-146.6,664.9,-8.7,341,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3138
$GC,7432,-1.16,-146.6,692.3,-9.1,356,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1601,3135
$GC,7742,-1.16,-146.6,720.0,-9.0,371,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3135
$GC,8051,-1.16,-146.6,746.4,-8.4,386,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1600,3134
$GC,8360,-1.16,-146.6,773.2,-8.7,401,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3134
$GC,8669,-1.16,-146.6,798.7,-8.5,416,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3132
$GC,8979,-1.16,-146.6,824.6,-8.7,431,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1601,3132
$GC,9288,-1.16,-146.6,849.6,-8.2,446,9297,0.00,2.47,0.00,0.000,4,0.000,0.076,2443,2985,3131
$GC,9326,-1.16,-146.6,852.9,-8.7,447,9330,0.00,2.42,0.00,0.000,6,0.000,0.063,2443,1593,3131
$STATE,9520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9520,begin apogee
$GC,9530,-0.32,0.0,869.3,8.8,457,9668,0.95,0.00,129.52,1.247,6,0.122,0.000,2632,2203,2539
$STATE,9669,end apogee,CONTROL_FINISHED_OK
$STATE,9669,begin climb
$GC,9673,1.16,146.6,874.9,0.0,464,9805,1.52,2.70,124.43,1.220,4,0.080,0.094,2958,3589,1939
$GC,9934,1.16,146.6,859.1,10.6,476,9939,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2197,1938
$GC,10262,1.16,146.6,831.7,8.0,492,10266,0.00,2.53,0.00,0.000,4,0.000,0.077,2959,797,1938
$GC,10536,1.19,163.5,808.1,7.4,504,10557,0.00,2.42,15.18,1.168,6,0.000,0.054,2958,2205,1871
$GC,10874,1.19,163.5,780.5,8.1,521,10878,0.00,2.55,0.00,0.000,4,0.000,0.071,2959,794,1870
$GC,10885,1.19,163.5,779.5,8.1,521,10891,0.00,2.42,0.00,0.000,6,0.000,0.054,2957,2199,1870
$GC,11201,1.19,163.5,753.0,8.4,537,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2199,1870
$GC,11511,1.19,163.5,726.9,8.5,552,11515,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,793,1869
$GC,11769,1.19,163.5,703.2,9.4,563,11775,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2201,1869
$GC,12085,1.19,163.5,675.6,8.8,579,12089,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,793,1869
$GC,12332,1.19,163.5,652.3,9.1,590,12337,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2207,1869
$GC,12661,1.19,163.5,624.0,8.5,606,12665,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,796,1868
$GC,12908,1.20,169.4,601.9,7.8,617,12919,0.00,2.45,6.00,0.903,6,0.000,0.056,2959,2209,1848
$GC,13229,1.20,169.4,574.8,8.6,632,13233,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,796,1848
$GC,13504,1.20,169.4,549.8,8.6,644,13508,0.00,2.45,0.00,0.000,6,0.000,0.056,2959,2210,1849
$GC,13826,1.20,169.4,521.4,8.7,660,13830,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,795,1848
$GC,14084,1.20,169.4,498.7,8.8,671,14088,0.00,2.42,0.00,0.000,6,0.000,0.055,2959,2199,1848
$GC,14401,1.25,199.5,475.9,6.9,686,14432,0.00,2.60,26.25,1.011,4,0.000,0.071,2959,796,1724
$GC,14601,1.29,226.1,460.5,7.0,695,14631,0.12,2.45,22.73,0.976,6,0.074,0.055,2991,2204,1616
$GC,14951,1.29,226.1,429.7,9.5,712,14955,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,796,1615
$GC,15097,1.29,226.1,413.5,11.3,718,15103,0.00,2.45,0.00,0.000,6,0.000,0.056,2992,2205,1614
$GC,15413,1.29,226.1,375.6,12.1,734,15418,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,795,1613
$GC,15585,1.29,226.1,354.4,11.4,741,15591,0.00,2.45,0.00,0.000,6,0.000,0.056,2990,2209,1613
$GC,15902,1.29,226.1,321.0,10.3,757,15906,0.00,2.55,0.00,0.000,4,0.000,0.071,2990,792,1613
$GC,16032,1.29,226.1,306.2,11.0,763,16036,0.00,2.45,0.00,0.000,6,0.000,0.057,2991,2207,1612
$GC,16359,1.29,226.1,270.1,10.7,779,16363,0.00,2.53,0.00,0.000,4,0.000,0.072,2990,796,1612
$GC,16483,1.29,226.1,257.5,9.6,784,16488,0.00,2.42,0.00,0.000,6,0.000,0.057,2991,2198,1612
$GC,16800,1.30,231.8,232.0,7.8,799,16810,0.00,2.55,5.57,0.746,4,0.000,0.072,2990,793,1592
$GC,16867,1.30,231.8,226.1,8.9,802,16872,0.00,2.45,0.00,0.000,6,0.000,0.056,2990,2206,1592
$GC,17189,1.30,231.8,194.5,10.5,818,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2206,1592
$GC,17499,1.30,231.8,156.7,12.4,833,17503,0.00,2.53,0.00,0.000,4,0.000,0.071,2991,794,1592
$GC,17550,1.30,231.8,149.8,13.9,835,17554,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2203,1592
$GC,17872,1.30,231.8,110.1,12.2,851,17876,0.00,2.50,0.00,0.000,4,0.000,0.071,2991,794,1592
$GC,17923,1.30,231.8,103.2,12.4,853,17927,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2204,1593
$GC,18239,1.30,231.8,67.4,10.6,868,18244,0.00,2.50,0.00,0.000,4,0.000,0.071,2991,794,1592
$GC,18352,1.30,231.8,53.7,12.9,873,18356,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2206,1592
$GC,18674,1.30,231.8,20.2,10.5,889,18678,0.00,2.50,0.00,0.000,4,0.000,0.070,2990,793,1592
$GC,18786,1.30,231.8,7.1,12.5,894,18790,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2212,1592
$STATE,18837,end climb,SURFACE_DEPTH_REACHED
$STATE,18838,begin surface coast
$FINISH,0.7,1.010131
$STATE,18858,end surface coast,CONTROL_FINISHED_OK
$STATE,18858,begin surface
$SM_CCo,18884,39.10,0.684,0,0,1316,300.00
$SM_GC,1.66,0.00,0.00,39.10,0.000,0.000,0.684,380,1596,1316,-10.69,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1920
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.1,28.0
$24V_AH,23.4,15.353
$10V_AH,10.1,9.037
$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,25.575,140.350,329.675,39.100,0.000,39.109,27.490,164.807,7.750,0.000,0.000,19.237,1705.035,14184.909,495.370,2289.631,627.898,0.000,1609.201,0.000,2227.084,0.000,56.468,0.000
$DEVICE_MAMPS,177.944,94.341,1247.142,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.674,612.727,484.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44411,898
$CAP_FILE_SIZE,136697,0
$CFSIZE,254472192,246616064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,160908,130331,6417.680,-918.170,41,1.1,41,-10.4