version: 66.04
glider: 14
mission: 6
dive: 82
start: 9 16 108 13 9 51
data:
$ID,14
$MISSION,6
$DIVE,82
$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,-651656.12
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,130331,6417.680,-918.170,41,1.1,41,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.5
$GPS2,130927,6417.654,-918.120,13,1.1,13,-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,326.7,93107,-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,-60.40,0.000,2,0.000,0.000,380,1594,2768
$GC,83,-1.16,-146.6,3.6,-5.0,3,109,11.55,2.55,-8.75,0.000,4,0.177,0.091,2447,201,3138
$GC,256,-1.16,-146.6,29.9,-13.5,11,261,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1616,3141
$GC,584,-1.16,-146.6,68.7,-11.7,27,589,0.00,2.53,0.00,0.000,4,0.000,0.075,2447,204,3142
$GC,680,-1.16,-146.6,81.0,-13.6,31,685,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1612,3142
$GC,997,-1.16,-146.6,117.1,-10.9,46,1001,0.00,2.53,0.00,0.000,4,0.000,0.074,2447,205,3144
$GC,1047,-1.16,-146.6,122.9,-11.2,48,1051,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1602,3144
$GC,1364,-1.16,-146.6,156.6,-10.8,63,1368,0.00,2.53,0.00,0.000,4,0.000,0.075,2447,203,3144
$GC,1465,-1.16,-146.6,168.3,-11.8,67,1471,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1602,3144
$GC,1782,-1.16,-146.6,200.6,-10.0,83,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3145
$GC,2090,-1.16,-146.6,227.5,-8.2,98,2095,0.00,2.53,0.00,0.000,4,0.000,0.076,2447,202,3145
$GC,2158,-1.16,-146.6,233.3,-8.9,101,2162,0.00,2.35,0.00,0.000,6,0.000,0.054,2447,1605,3146
$GC,2480,-1.16,-146.6,256.7,-7.2,117,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1609,3146
$GC,2788,-1.16,-146.6,282.4,-8.7,132,2793,0.00,2.53,0.00,0.000,4,0.000,0.077,2447,206,3146
$GC,2845,-1.16,-146.6,288.0,-10.1,134,2851,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1603,3147
$GC,3161,-1.16,-146.6,317.6,-9.3,150,3166,0.00,2.55,0.00,0.000,4,0.000,0.079,2447,201,3147
$GC,3224,-1.16,-146.6,323.5,-9.2,153,3229,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1599,3147
$GC,3553,-1.16,-146.6,351.2,-8.4,169,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1603,3147
$GC,3863,-1.16,-146.6,376.1,-7.8,184,3867,0.00,2.55,0.00,0.000,4,0.000,0.081,2447,204,3147
$GC,3935,-1.16,-146.6,382.3,-8.2,187,3940,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1607,3147
$GC,4252,-1.16,-146.6,405.6,-7.5,202,4256,0.00,2.55,0.00,0.000,4,0.000,0.082,2447,207,3147
$GC,4308,-1.16,-146.6,410.5,-8.7,204,4314,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1607,3147
$GC,4625,-1.16,-146.6,432.6,-6.8,220,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1610,3147
$GC,4934,-1.16,-146.6,458.5,-8.4,235,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1611,3147
$GC,5243,-1.16,-146.6,483.3,-8.2,250,5247,0.00,2.58,0.00,0.000,4,0.000,0.085,2447,207,3146
$GC,5306,-1.16,-146.6,489.1,-8.9,253,5311,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1603,3146
$GC,5634,-1.16,-146.6,520.3,-10.0,269,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1603,3145
$GC,5943,-1.16,-146.6,549.7,-9.3,284,5948,0.00,2.55,0.00,0.000,4,0.000,0.084,2447,208,3145
$GC,6016,-1.16,-146.6,556.9,-10.2,287,6020,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1601,3143
$GC,6338,-1.16,-146.6,585.3,-9.1,303,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1602,3143
$GC,6646,-1.16,-146.6,611.7,-8.4,318,6651,0.00,2.55,0.00,0.000,4,0.000,0.086,2447,209,3142
$GC,6675,-1.16,-146.6,614.1,-9.3,319,6679,0.00,2.38,0.00,0.000,6,0.000,0.055,2447,1601,3142
$GC,6992,-1.16,-146.6,639.9,-8.1,334,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1602,3140
$GC,7301,-1.16,-146.6,665.7,-8.2,349,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1602,3139
$GC,7610,-1.16,-146.6,692.7,-8.7,364,7614,0.00,2.55,0.00,0.000,4,0.000,0.084,2447,207,3139
$GC,7689,-1.16,-146.6,699.9,-9.4,367,7696,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1604,3139
$GC,8005,-1.16,-146.6,723.3,-7.2,383,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1605,3137
$GC,8315,-1.16,-146.6,746.8,-7.7,398,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1604,3135
$GC,8624,-1.16,-146.6,772.7,-8.6,413,8628,0.00,2.55,0.00,0.000,4,0.000,0.081,2447,205,3134
$GC,8687,-1.16,-146.6,778.2,-9.0,416,8691,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1599,3134
$GC,9014,-1.16,-146.6,803.1,-7.7,432,9018,0.00,2.55,0.00,0.000,4,0.000,0.083,2447,207,3134
$GC,9065,-1.16,-146.6,807.9,-10.8,434,9069,0.00,2.38,0.00,0.000,6,0.000,0.054,2447,1603,3134
$STATE,9274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9275,begin apogee
$GC,9284,-0.32,0.0,826.4,8.3,444,9422,0.90,0.00,129.57,1.212,6,0.112,0.000,2630,2197,2538
$STATE,9423,end apogee,CONTROL_FINISHED_OK
$STATE,9423,begin climb
$GC,9427,1.16,146.6,830.6,0.0,451,9561,1.55,2.75,123.70,1.187,4,0.078,0.104,2960,3596,1940
$GC,9690,1.16,146.6,815.9,8.2,463,9697,0.00,2.50,0.00,0.000,6,0.000,0.064,2959,2185,1938
$GC,10007,1.16,146.6,786.0,9.8,479,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2185,1938
$GC,10316,1.16,146.6,758.5,9.0,494,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2185,1938
$GC,10625,1.16,146.6,730.2,9.2,509,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2185,1937
$GC,10935,1.16,146.6,704.4,8.0,524,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2185,1938
$GC,11244,1.16,146.6,679.6,8.0,539,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2185,1937
$GC,11553,1.16,146.6,654.1,8.1,554,11557,0.00,2.62,0.00,0.000,4,0.000,0.088,2960,3604,1937
$GC,11616,1.16,146.6,648.7,8.5,557,11620,0.00,2.45,0.00,0.000,6,0.000,0.062,2959,2204,1936
$GC,11943,1.16,146.6,621.8,8.4,573,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2202,1936
$GC,12252,1.17,151.5,596.6,7.8,588,12262,0.00,2.58,4.88,0.855,4,0.000,0.078,2960,794,1921
$GC,12308,1.17,151.5,591.8,8.4,590,12315,0.00,2.42,0.00,0.000,6,0.000,0.054,2960,2210,1920
$GC,12625,1.17,151.5,565.6,8.4,606,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2210,1920
$GC,12934,1.17,151.5,539.9,8.3,621,12938,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,793,1920
$GC,13048,1.17,151.5,530.1,9.4,626,13052,0.00,2.40,0.00,0.000,6,0.000,0.054,2960,2196,1921
$GC,13369,1.17,151.5,504.4,8.1,642,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2197,1921
$GC,13678,1.17,151.5,480.2,8.3,657,13682,0.00,2.55,0.00,0.000,4,0.000,0.073,2959,788,1921
$GC,13830,1.17,151.5,465.1,9.6,663,13837,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2198,1921
$GC,14147,1.17,151.5,436.0,9.6,679,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2198,1920
$GC,14456,1.17,151.5,403.2,11.1,694,14461,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,787,1920
$GC,14552,1.17,151.5,392.2,11.8,698,14556,0.00,2.42,0.00,0.000,6,0.000,0.056,2960,2201,1920
$GC,14868,1.17,151.5,359.1,9.8,713,14873,0.00,2.60,0.00,0.000,4,0.000,0.094,2960,3601,1920
$GC,15026,1.17,151.5,344.0,8.9,720,15031,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2190,1920
$GC,15348,1.22,184.7,320.4,6.7,736,15378,0.00,0.00,27.92,0.918,6,0.000,0.000,2960,2189,1785
$GC,15677,1.23,189.5,296.0,7.8,752,15684,0.00,0.00,5.38,0.776,6,0.000,0.000,2960,2189,1766
$GC,15986,1.23,189.5,268.6,9.3,767,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2189,1765
$GC,16295,1.23,189.5,235.9,11.2,782,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2189,1765
$GC,16605,1.23,189.5,205.1,9.3,797,16609,0.00,2.50,0.00,0.000,4,0.000,0.074,2959,792,1764
$GC,16678,1.23,189.5,198.3,8.7,800,16682,0.00,2.40,0.00,0.000,6,0.000,0.054,2960,2208,1764
$GC,17001,1.25,201.1,173.6,7.6,816,17017,0.00,0.00,10.85,0.805,6,0.000,0.000,2959,2209,1718
$GC,17329,1.25,201.1,146.3,8.6,832,17333,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,802,1718
$GC,17419,1.25,201.1,137.5,10.6,836,17423,0.00,2.38,0.00,0.000,6,0.000,0.055,2959,2200,1718
$GC,17741,1.25,201.1,107.7,9.5,852,17745,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,800,1718
$GC,17804,1.25,201.1,101.0,9.7,855,17808,0.00,2.38,0.00,0.000,6,0.000,0.056,2960,2198,1718
$GC,18131,1.25,201.1,68.4,9.8,871,18136,0.00,2.47,0.00,0.000,4,0.000,0.070,2960,800,1718
$GC,18195,1.25,201.1,61.9,10.3,874,18200,0.00,2.38,0.00,0.000,6,0.000,0.056,2960,2201,1718
$GC,18525,1.25,201.1,33.0,8.1,890,18529,0.00,2.47,0.00,0.000,4,0.000,0.070,2960,800,1718
$GC,18610,1.25,201.1,25.5,8.1,894,18615,0.00,2.38,0.00,0.000,6,0.000,0.056,2960,2200,1718
$STATE,18914,end climb,SURFACE_DEPTH_REACHED
$STATE,18914,begin surface coast
$FINISH,0.8,1.004914
$STATE,18936,end surface coast,CONTROL_FINISHED_OK
$STATE,18936,begin surface
$SM_CCo,18962,58.28,0.682,0,0,1317,300.00
$SM_GC,1.57,0.00,0.00,58.28,0.000,0.000,0.682,375,1598,1317,-10.72,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.5,33.4
$24V_AH,23.5,15.476
$10V_AH,10.1,9.121
$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,25.225,135.300,302.300,58.275,0.000,37.757,27.040,151.245,7.000,0.000,0.000,14.575,1670.745,14600.692,507.405,2007.035,595.058,0.000,1493.675,0.000,1965.010,0.000,47.592,0.000
$DEVICE_MAMPS,177.177,103.545,1211.860,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.348,621.231,505.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47423,910
$CAP_FILE_SIZE,130612,0
$CFSIZE,254472192,246550528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,160908,182808,6418.239,-924.718,32,1.6,32,-10.5