version: 66.04
glider: 14
mission: 6
dive: 65
start: 9 12 108 0 24 48
data:
$ID,14
$MISSION,6
$DIVE,65
$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,-651349.12
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,001725,6348.827,-816.963,39,1.4,39,-9.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-56.4
$GPS2,002426,6348.830,-817.031,10,1.2,15,-9.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6356.466,-834.413
$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,324.6,20000,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.03,0.000,2,0.000,0.000,381,1594,2723
$GC,82,-1.16,-146.6,3.1,-4.2,3,112,11.52,2.50,-10.57,0.000,4,0.176,0.090,2448,221,3138
$GC,381,-1.16,-146.6,42.8,-13.6,16,386,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1624,3140
$GC,704,-1.16,-146.6,74.9,-8.0,32,709,0.00,2.53,0.00,0.000,4,0.000,0.073,2448,220,3141
$GC,772,-1.16,-146.6,81.6,-10.1,35,776,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1602,3142
$GC,1094,-1.16,-146.6,111.5,-9.2,51,1098,0.00,2.47,0.00,0.000,4,0.000,0.074,2447,220,3143
$GC,1144,-1.16,-146.6,117.0,-11.9,53,1148,0.00,2.30,0.00,0.000,6,0.000,0.054,2448,1606,3143
$GC,1466,-1.16,-146.6,149.1,-9.9,69,1470,0.00,2.50,0.00,0.000,4,0.000,0.074,2448,211,3144
$GC,1507,-1.16,-146.6,153.4,-11.3,71,1511,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1601,3144
$GC,1835,-1.16,-146.6,186.8,-10.1,87,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1605,3144
$GC,2144,-1.16,-146.6,217.5,-9.8,102,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1605,3144
$GC,2453,-1.16,-146.6,249.3,-10.4,117,2457,0.00,2.50,0.00,0.000,4,0.000,0.075,2447,211,3144
$GC,2554,-1.16,-146.6,260.1,-9.9,121,2560,0.00,2.30,0.00,0.000,6,0.000,0.054,2447,1601,3144
$GC,2870,-1.16,-146.6,286.1,-7.6,137,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1602,3144
$GC,3180,-1.16,-146.6,307.5,-6.6,152,3184,0.00,2.50,0.00,0.000,4,0.000,0.076,2447,210,3144
$GC,3259,-1.16,-146.6,313.7,-7.7,155,3263,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1604,3144
$GC,3575,-1.16,-146.6,339.0,-9.1,170,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3145
$GC,3884,-1.16,-146.6,368.6,-9.5,185,3888,0.00,2.50,0.00,0.000,4,0.000,0.077,2447,221,3145
$GC,3935,-1.16,-146.6,373.6,-9.8,187,3939,0.00,2.33,0.00,0.000,6,0.000,0.055,2447,1604,3145
$GC,4257,-1.16,-146.6,400.3,-8.0,203,4261,0.00,2.45,0.00,0.000,4,0.000,0.078,2447,2983,3145
$GC,4314,-1.16,-146.6,404.8,-7.7,205,4320,0.00,2.38,0.00,0.000,6,0.000,0.064,2447,1603,3145
$GC,4630,-1.16,-146.6,430.4,-8.3,221,4635,0.00,2.47,0.00,0.000,4,0.000,0.075,2447,2983,3145
$GC,4659,-1.16,-146.6,433.0,-9.0,222,4663,0.00,2.40,0.00,0.000,6,0.000,0.064,2447,1596,3145
$GC,4975,-1.16,-146.6,460.0,-8.8,237,4979,0.00,2.53,0.00,0.000,4,0.000,0.087,2446,212,3145
$GC,5014,-1.16,-146.6,463.7,-9.6,238,5020,0.00,2.33,0.00,0.000,6,0.000,0.054,2447,1604,3145
$GC,5330,-1.16,-146.6,490.2,-8.0,254,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3145
$GC,5640,-1.16,-146.6,514.9,-7.9,269,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3144
$GC,5949,-1.16,-146.6,540.2,-8.2,284,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3144
$GC,6258,-1.16,-146.6,565.6,-8.3,299,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1606,3143
$GC,6568,-1.16,-146.6,590.3,-7.9,314,6572,0.00,2.47,0.00,0.000,4,0.000,0.081,2447,2978,3141
$GC,6591,-1.16,-146.6,592.2,-8.1,315,6595,0.00,2.40,0.00,0.000,6,0.000,0.064,2447,1597,3141
$GC,6918,-1.16,-146.6,619.4,-8.3,331,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1597,3139
$GC,7228,-1.16,-146.6,645.9,-8.4,346,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1597,3139
$GC,7537,-1.16,-146.6,673.2,-8.8,361,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1597,3138
$GC,7846,-1.16,-146.6,699.3,-8.5,376,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1597,3137
$GC,8156,-1.16,-146.6,724.9,-8.4,391,8161,0.00,2.47,0.00,0.000,4,0.000,0.076,2448,2986,3135
$GC,8197,-1.16,-146.6,728.5,-8.5,392,8203,0.00,2.42,0.00,0.000,6,0.000,0.064,2447,1597,3135
$GC,8513,-1.16,-146.6,754.2,-8.0,408,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1597,3134
$GC,8822,-1.16,-146.6,779.4,-8.3,423,8827,0.00,2.45,0.00,0.000,4,0.000,0.073,2447,2979,3133
$GC,8863,-1.16,-146.6,782.8,-9.1,425,8867,0.00,2.40,0.00,0.000,6,0.000,0.064,2447,1601,3133
$GC,9191,-1.16,-146.6,808.9,-7.8,441,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1601,3132
$GC,9500,-1.16,-146.6,832.6,-7.5,456,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3132
$GC,9809,-1.16,-146.6,856.2,-7.9,471,9813,0.00,2.45,0.00,0.000,4,0.000,0.072,2447,2986,3131
$GC,9850,-1.16,-146.6,859.7,-7.8,473,9854,0.00,2.42,0.00,0.000,6,0.000,0.063,2447,1592,3131
$GC,10178,-1.16,-146.6,885.6,-7.8,489,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1592,3130
$GC,10487,-1.16,-146.6,909.4,-7.7,504,10491,0.00,2.45,0.00,0.000,4,0.000,0.071,2448,2986,3129
$GC,10535,-1.16,-146.6,913.0,-7.9,506,10539,0.00,2.40,0.00,0.000,6,0.000,0.061,2448,1601,3129
$STATE,10755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10756,begin apogee
$GC,10765,-0.32,0.0,930.3,7.7,517,10898,0.93,0.00,127.12,1.318,6,0.123,0.000,2633,2201,2538
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10903,1.16,146.6,934.7,0.0,524,11039,1.50,2.67,124.32,1.269,4,0.079,0.091,2955,3587,1941
$GC,11157,1.16,146.6,920.2,9.0,535,11164,0.00,2.45,0.00,0.000,6,0.000,0.061,2954,2195,1940
$GC,11474,1.16,146.6,892.7,8.3,551,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1939
$GC,11783,1.16,146.6,867.0,8.7,566,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1938
$GC,12092,1.16,146.6,840.7,8.8,581,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1938
$GC,12402,1.16,146.6,813.2,8.9,596,12406,0.00,2.60,0.00,0.000,4,0.000,0.085,2955,3595,1938
$GC,12458,1.16,146.6,807.7,9.5,598,12464,0.00,2.45,0.00,0.000,6,0.000,0.060,2955,2195,1937
$GC,12774,1.16,146.6,779.8,8.7,614,12778,0.00,2.55,0.00,0.000,4,0.000,0.077,2955,790,1937
$GC,12824,1.16,146.6,775.3,8.6,616,12828,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2199,1937
$GC,13145,1.16,146.6,748.3,8.3,632,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1937
$GC,13455,1.16,146.6,721.9,8.0,647,13459,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,792,1937
$GC,13533,1.16,146.6,714.9,8.7,650,13540,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2203,1937
$GC,13850,1.16,146.6,688.8,8.5,666,13854,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,800,1937
$GC,13906,1.16,146.6,683.6,9.6,668,13912,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2209,1937
$GC,14222,1.16,146.6,657.0,8.3,684,14227,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,800,1938
$GC,14273,1.16,146.6,652.3,9.2,686,14277,0.00,2.40,0.00,0.000,6,0.000,0.055,2956,2201,1937
$GC,14594,1.16,146.6,625.8,8.1,702,14599,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,793,1937
$GC,14651,1.16,146.6,620.9,9.2,704,14657,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2201,1937
$GC,14967,1.18,154.0,595.6,7.7,720,14981,0.00,2.60,7.00,0.969,4,0.000,0.071,2955,799,1910
$GC,15045,1.18,154.0,589.1,9.0,723,15049,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2201,1910
$GC,15362,1.19,161.9,565.0,7.7,738,15376,0.00,2.58,8.00,0.968,4,0.000,0.071,2955,807,1879
$GC,15445,1.19,161.9,558.0,8.4,741,15451,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2208,1879
$GC,15761,1.19,161.9,530.1,8.8,757,15765,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,801,1878
$GC,15846,1.19,161.9,522.6,8.0,760,15853,0.00,2.40,0.00,0.000,6,0.000,0.055,2955,2206,1878
$GC,16163,1.19,161.9,495.9,8.2,776,16167,0.00,2.55,0.00,0.000,4,0.000,0.071,2955,796,1878
$GC,16235,1.19,161.9,489.9,8.2,779,16240,0.00,2.40,0.00,0.000,6,0.000,0.055,2955,2197,1878
$GC,16558,1.20,171.0,465.2,7.7,795,16572,0.00,2.55,9.10,0.942,4,0.000,0.071,2955,800,1841
$GC,16652,1.20,171.0,457.1,8.7,799,16657,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2205,1841
$GC,16974,1.20,171.0,428.7,8.7,815,16978,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,799,1840
$GC,17036,1.20,171.0,422.9,9.5,818,17040,0.00,2.40,0.00,0.000,6,0.000,0.055,2955,2200,1840
$GC,17364,1.20,171.0,393.6,9.0,834,17368,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,801,1840
$GC,17444,1.20,171.0,386.5,8.8,837,17450,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2204,1840
$GC,17760,1.20,171.0,359.3,8.8,853,17761,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2204,1840
$GC,18069,1.20,171.0,331.5,9.2,868,18073,0.00,2.53,0.00,0.000,4,0.000,0.073,2955,794,1838
$GC,18183,1.20,171.0,320.4,9.3,873,18188,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2211,1838
$GC,18510,1.20,171.2,292.8,8.0,889,18514,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,799,1838
$GC,18567,1.22,184.6,288.0,7.5,891,18587,0.00,2.40,12.45,0.919,6,0.000,0.056,2955,2202,1785
$GC,18910,1.22,184.6,259.2,8.5,908,18914,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,800,1784
$GC,18990,1.22,184.6,252.0,8.1,911,18996,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2201,1784
$GC,19306,1.22,184.6,223.5,9.1,927,19307,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2201,1784
$GC,19615,1.22,184.6,196.2,8.7,942,19620,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,797,1784
$GC,19702,1.22,184.6,188.4,9.2,946,19706,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2205,1784
$GC,20029,1.22,184.6,161.2,8.2,962,20030,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2205,1784
$GC,20339,1.23,190.9,136.3,7.8,977,20353,0.00,2.55,7.50,0.705,4,0.000,0.070,2955,800,1759
$GC,20479,1.23,190.9,123.8,9.2,983,20483,0.00,2.40,0.00,0.000,6,0.000,0.056,2956,2205,1759
$GC,20802,1.23,190.9,93.4,10.0,999,20806,0.00,2.50,0.00,0.000,4,0.000,0.070,2954,794,1759
$GC,20847,1.23,190.9,88.6,10.5,1001,20851,0.00,2.40,0.00,0.000,6,0.000,0.056,2956,2209,1759
$GC,21169,1.25,199.3,59.4,7.7,1017,21183,0.00,2.58,8.65,0.664,4,0.000,0.071,2956,795,1726
$GC,21285,1.25,199.3,49.3,9.1,1022,21290,0.00,2.40,0.00,0.000,6,0.000,0.057,2956,2200,1726
$GC,21608,1.25,199.3,19.3,9.2,1038,21609,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1725
$STATE,21872,end climb,SURFACE_DEPTH_REACHED
$STATE,21872,begin surface coast
$FINISH,0.3,1.026830
$STATE,21894,end surface coast,CONTROL_FINISHED_OK
$STATE,21895,begin surface
$SM_CCo,21920,52.92,0.663,0,0,1314,300.00
$SM_GC,1.22,0.00,0.00,52.92,0.000,0.000,0.663,382,1587,1314,-10.69,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.6,13.2
$24V_AH,23.4,13.127
$10V_AH,10.1,7.463
$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,25.150,178.750,304.150,52.925,0.000,37.760,36.018,206.528,8.750,0.000,0.000,16.559,1943.154,16875.850,516.033,2351.190,711.634,0.000,1687.874,0.000,2289.083,0.000,61.386,0.000
$DEVICE_MAMPS,176.410,91.273,1318.473,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.444,719.109,572.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53809,1052
$CAP_FILE_SIZE,155841,0
$CFSIZE,254472192,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,120908,063226,6350.413,-821.663,40,1.8,41,-9.7