version: 66.04
glider: 14
mission: 6
dive: 66
start: 9 12 108 6 46 37
data:
$ID,14
$MISSION,6
$DIVE,66
$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,-651365.25
$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,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
$GPS1,063226,6350.413,-821.663,40,1.8,41,-9.7
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.1
$GPS2,064615,6350.535,-821.421,14,1.4,14,-9.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6358.171,-838.822
$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,324.7,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,81,0.00,0.00,-60.20,0.000,2,0.000,0.000,382,1585,2802
$GC,85,-1.16,-146.6,3.5,-5.1,3,111,11.52,2.53,-7.47,0.000,4,0.176,0.090,2445,220,3138
$GC,381,-1.16,-146.6,50.9,-11.7,16,385,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1627,3138
$GC,704,-1.16,-146.6,81.6,-8.5,32,708,0.00,2.50,0.00,0.000,4,0.000,0.072,2445,215,3139
$GC,861,-1.16,-146.6,98.1,-10.8,39,865,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1603,3139
$GC,1183,-1.16,-146.6,129.4,-9.4,55,1187,0.00,2.47,0.00,0.000,4,0.000,0.073,2445,220,3141
$GC,1246,-1.16,-146.6,135.8,-9.6,58,1250,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1603,3142
$GC,1573,-1.16,-146.6,168.2,-9.7,74,1577,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,209,3141
$GC,1642,-1.16,-146.6,175.5,-10.8,77,1647,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1608,3142
$GC,1964,-1.16,-146.6,207.4,-9.6,93,1969,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,220,3142
$GC,2015,-1.16,-146.6,212.8,-9.7,95,2020,0.00,2.30,0.00,0.000,6,0.000,0.054,2445,1602,3141
$GC,2332,-1.16,-146.6,242.5,-9.2,110,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1606,3141
$GC,2641,-1.16,-146.6,272.1,-10.0,125,2645,0.00,2.50,0.00,0.000,4,0.000,0.075,2445,212,3141
$GC,2726,-1.16,-146.6,281.3,-10.7,129,2730,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1604,3141
$GC,3053,-1.16,-146.6,313.8,-9.9,145,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3142
$GC,3362,-1.16,-146.6,341.8,-8.7,160,3367,0.00,2.50,0.00,0.000,4,0.000,0.077,2446,221,3142
$GC,3426,-1.16,-146.6,347.7,-9.3,163,3430,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1603,3141
$GC,3755,-1.16,-146.6,375.9,-8.7,179,3759,0.00,2.47,0.00,0.000,4,0.000,0.078,2445,2993,3141
$GC,3822,-1.16,-146.6,382.4,-9.5,182,3826,0.00,2.40,0.00,0.000,6,0.000,0.063,2445,1595,3142
$GC,4149,-1.16,-146.6,410.4,-8.2,198,4153,0.00,2.50,0.00,0.000,4,0.000,0.085,2445,221,3142
$GC,4261,-1.16,-146.6,420.4,-8.2,203,4265,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1615,3142
$GC,4588,-1.16,-146.6,446.4,-8.1,219,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1620,3142
$GC,4898,-1.16,-146.6,471.1,-7.6,234,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1619,3141
$GC,5207,-1.16,-146.6,493.8,-7.2,249,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1619,3142
$GC,5517,-1.16,-146.6,516.5,-7.4,264,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1619,3142
$GC,5826,-1.16,-146.6,540.2,-7.8,279,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1620,3140
$GC,6135,-1.16,-146.6,564.6,-7.8,294,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1619,3139
$GC,6444,-1.16,-146.6,588.9,-7.9,309,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1619,3137
$GC,6753,-1.16,-146.6,613.6,-8.0,324,6757,0.00,2.45,0.00,0.000,4,0.000,0.085,2445,2977,3136
$GC,6787,-1.16,-146.6,616.4,-8.1,325,6792,0.00,2.40,0.00,0.000,6,0.000,0.065,2445,1603,3136
$GC,7104,-1.16,-146.6,642.2,-8.3,340,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3135
$GC,7413,-1.16,-146.6,667.2,-8.2,355,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3133
$GC,7722,-1.16,-146.6,692.8,-8.2,370,7726,0.00,2.47,0.00,0.000,4,0.000,0.077,2445,2985,3131
$GC,7762,-1.16,-146.6,696.3,-8.3,372,7767,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1595,3131
$GC,8089,-1.16,-146.6,722.3,-7.8,388,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3129
$GC,8399,-1.16,-146.6,747.0,-8.2,403,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3129
$GC,8708,-1.16,-146.6,771.7,-8.0,418,8712,0.00,2.45,0.00,0.000,4,0.000,0.074,2445,2979,3128
$GC,8758,-1.16,-146.6,776.1,-8.3,420,8762,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1592,3128
$GC,9080,-1.16,-146.6,802.0,-8.2,436,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1592,3127
$GC,9390,-1.16,-146.6,826.2,-7.6,451,9395,0.00,2.47,0.00,0.000,4,0.000,0.073,2446,2986,3126
$GC,9425,-1.16,-146.6,829.0,-7.2,452,9431,0.00,2.42,0.00,0.000,6,0.000,0.063,2445,1592,3126
$GC,9741,-1.16,-146.6,852.6,-7.3,468,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1592,3125
$GC,10051,-1.16,-146.6,876.0,-7.6,483,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1592,3125
$GC,10360,-1.16,-146.6,899.4,-7.4,498,10364,0.00,2.45,0.00,0.000,4,0.000,0.071,2445,2980,3124
$GC,10415,-1.16,-146.6,903.9,-8.7,500,10422,0.00,2.40,0.00,0.000,6,0.000,0.063,2445,1595,3124
$GC,10732,-1.16,-146.6,928.4,-7.9,516,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3124
$STATE,10935,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10935,begin apogee
$GC,10944,-0.32,0.0,944.4,7.8,526,11077,0.93,0.00,126.40,1.320,6,0.117,0.000,2633,2196,2538
$STATE,11078,end apogee,CONTROL_FINISHED_OK
$STATE,11078,begin climb
$GC,11082,1.16,146.6,949.2,0.0,533,11215,1.50,2.70,124.72,1.279,4,0.079,0.091,2955,3593,1941
$GC,11336,1.16,146.6,934.0,9.5,544,11343,0.00,2.47,0.00,0.000,6,0.000,0.061,2955,2190,1939
$GC,11653,1.16,146.6,906.6,8.6,560,11657,0.00,2.53,0.00,0.000,4,0.000,0.076,2955,799,1938
$GC,11715,1.16,146.6,901.0,9.4,563,11719,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2198,1939
$GC,12042,1.16,146.6,872.6,8.5,579,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2197,1938
$GC,12351,1.16,146.6,846.2,8.5,594,12355,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,799,1938
$GC,12469,1.16,146.6,835.4,9.5,599,12474,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2202,1938
$GC,12792,1.16,146.6,808.2,8.3,615,12796,0.00,2.53,0.00,0.000,4,0.000,0.070,2955,796,1938
$GC,12842,1.16,146.6,803.4,9.3,617,12847,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2203,1938
$GC,13164,1.16,146.6,776.6,8.4,633,13168,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,800,1937
$GC,13234,1.16,146.6,770.3,9.2,636,13238,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2208,1937
$GC,13560,1.16,146.6,741.9,8.6,652,13565,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,800,1936
$GC,13624,1.16,146.6,736.0,9.3,655,13628,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2208,1936
$GC,13951,1.16,146.6,707.9,8.6,671,13956,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,800,1936
$GC,14019,1.16,146.6,701.7,9.4,674,14023,0.00,2.40,0.00,0.000,6,0.000,0.055,2956,2200,1936
$GC,14346,1.16,146.6,675.1,8.1,690,14347,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2200,1936
$GC,14655,1.17,148.6,650.6,7.9,705,14660,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,791,1936
$GC,14763,1.17,148.6,641.4,8.3,710,14767,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2200,1936
$GC,15097,1.17,148.6,614.3,8.1,726,15101,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,791,1936
$GC,15148,1.17,148.6,609.9,9.2,728,15152,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2203,1936
$GC,15464,1.18,155.2,584.9,7.8,743,15474,0.00,0.00,8.07,0.964,6,0.000,0.000,2956,2203,1906
$GC,15774,1.19,164.0,560.9,7.7,758,15788,0.00,2.60,8.77,0.967,4,0.000,0.071,2956,799,1870
$GC,15896,1.19,164.0,549.9,8.5,763,15901,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2201,1870
$GC,16213,1.19,164.0,521.5,8.9,778,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2202,1870
$GC,16522,1.19,164.0,493.5,9.2,793,16526,0.00,2.53,0.00,0.000,4,0.000,0.071,2954,793,1869
$GC,16617,1.19,164.0,484.2,11.0,797,16621,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2207,1868
$GC,16934,1.19,164.0,456.8,8.4,812,16938,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,793,1868
$GC,17007,1.19,164.0,450.2,8.3,815,17011,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2202,1868
$GC,17329,1.22,179.5,425.2,7.4,831,17351,0.00,2.58,14.15,0.960,4,0.000,0.071,2956,800,1807
$GC,17397,1.22,179.5,419.8,8.6,834,17402,0.00,2.45,0.00,0.000,6,0.000,0.055,2955,2204,1806
$GC,17725,1.22,179.5,394.1,8.1,850,17726,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2204,1805
$GC,18034,1.22,179.5,367.3,8.6,865,18039,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,794,1805
$GC,18142,1.22,179.5,357.1,9.8,870,18147,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2200,1804
$GC,18470,1.22,179.5,327.0,9.2,886,18475,0.00,2.53,0.00,0.000,4,0.000,0.073,2956,800,1804
$GC,18534,1.22,179.5,320.6,8.8,889,18538,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2203,1804
$GC,18861,1.22,179.5,289.9,9.2,905,18865,0.00,2.60,0.00,0.000,4,0.000,0.091,2956,3604,1803
$GC,18917,1.22,179.5,284.8,8.3,907,18923,0.00,2.42,0.00,0.000,6,0.000,0.060,2955,2202,1803
$GC,19233,1.22,179.5,256.3,9.1,923,19234,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2202,1803
$GC,19542,1.22,179.5,230.1,8.2,938,19546,0.00,2.50,0.00,0.000,4,0.000,0.074,2956,799,1803
$GC,19615,1.23,188.9,223.5,7.6,941,19631,0.00,2.42,8.70,0.809,6,0.000,0.054,2956,2216,1767
$GC,19942,1.23,188.9,196.0,8.4,957,19946,0.00,2.55,0.00,0.000,4,0.000,0.071,2955,789,1768
$GC,20026,1.23,188.9,188.3,8.8,960,20033,0.00,2.40,0.00,0.000,6,0.000,0.056,2956,2198,1768
$GC,20343,1.23,188.9,159.8,9.2,976,20344,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2198,1768
$GC,20652,1.23,188.9,131.9,9.0,991,20656,0.00,2.53,0.00,0.000,4,0.000,0.070,2956,787,1768
$GC,20738,1.23,188.9,123.9,10.2,995,20742,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2204,1768
$GC,21067,1.23,188.9,94.3,9.2,1011,21071,0.00,2.50,0.00,0.000,4,0.000,0.069,2956,788,1768
$GC,21168,1.23,188.9,84.1,10.0,1015,21174,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2207,1768
$GC,21484,1.23,188.9,56.4,9.1,1031,21485,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2207,1768
$GC,21794,1.24,193.3,30.0,7.8,1046,21807,0.00,2.53,6.70,0.606,4,0.000,0.070,2956,794,1749
$GC,21877,1.24,193.3,23.0,9.4,1049,21883,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2207,1749
$STATE,22171,end climb,SURFACE_DEPTH_REACHED
$STATE,22171,begin surface coast
$FINISH,0.5,1.026867
$STATE,22191,end surface coast,CONTROL_FINISHED_OK
$STATE,22191,begin surface
$SM_CCo,22218,60.67,0.638,2,0,1316,300.00
$SM_GC,1.20,0.00,0.00,60.67,0.000,0.000,0.638,381,1593,1316,-10.70,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,900.5,53.1
$24V_AH,23.4,13.273
$10V_AH,10.1,7.566
$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,25.175,174.175,297.525,60.675,0.000,119.940,87.943,343.854,8.500,0.000,0.000,15.517,1976.054,17210.443,519.305,2413.161,998.245,0.000,1709.205,0.000,2357.220,0.000,54.105,0.000
$DEVICE_MAMPS,176.410,90.506,1320.007,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.506,728.788,570.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53669,1065
$CAP_FILE_SIZE,161999,0
$CFSIZE,254472192,247644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,2,0
$GPS,120908,125926,6351.613,-823.890,36,1.0,37,-9.7