version: 66.04
glider: 14
mission: 6
dive: 67
start: 9 12 108 13 6 15
data:
$ID,14
$MISSION,6
$DIVE,67
$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,-651378.75
$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,24
$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
$GPS1,125926,6351.613,-823.890,36,1.0,37,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.4
$GPS2,130551,6351.592,-823.865,11,1.4,11,-9.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6359.228,-841.276
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,2,0.000,0.000,381,1588,2779
$GC,83,-1.16,-146.6,3.8,-6.0,3,109,11.52,2.53,-8.15,0.000,4,0.177,0.091,2445,213,3141
$GC,379,-1.16,-146.6,45.8,-12.7,16,383,0.00,2.35,0.00,0.000,6,0.000,0.054,2445,1621,3142
$GC,701,-1.16,-146.6,80.9,-10.7,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1622,3142
$GC,1010,-1.16,-146.6,111.5,-9.5,47,1014,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,206,3144
$GC,1073,-1.16,-146.6,118.0,-10.1,50,1077,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1604,3144
$GC,1401,-1.16,-146.6,149.7,-9.5,66,1405,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,203,3145
$GC,1447,-1.16,-146.6,154.3,-10.3,68,1451,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1610,3145
$GC,1780,-1.16,-146.6,184.8,-9.1,84,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1613,3145
$GC,2089,-1.16,-146.6,212.2,-8.6,99,2093,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,209,3145
$GC,2157,-1.16,-146.6,218.6,-9.6,102,2162,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1602,3145
$GC,2485,-1.16,-146.6,245.7,-8.2,118,2489,0.00,2.50,0.00,0.000,4,0.000,0.075,2445,211,3145
$GC,2518,-1.16,-146.6,248.7,-9.3,119,2524,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1605,3145
$GC,2837,-1.16,-146.6,276.7,-9.7,135,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1609,3145
$GC,3144,-1.16,-146.6,308.2,-10.1,150,3148,0.00,2.53,0.00,0.000,4,0.000,0.077,2445,208,3145
$GC,3200,-1.16,-146.6,314.3,-10.7,152,3206,0.00,2.33,0.00,0.000,6,0.000,0.054,2445,1598,3146
$GC,3516,-1.16,-146.6,345.9,-10.5,168,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1602,3146
$GC,3825,-1.16,-146.6,377.5,-9.7,183,3829,0.00,2.50,0.00,0.000,4,0.000,0.078,2445,212,3147
$GC,3910,-1.16,-146.6,386.3,-10.3,186,3916,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1609,3147
$GC,4226,-1.16,-146.6,414.1,-8.4,202,4231,0.00,2.55,0.00,0.000,4,0.000,0.080,2445,208,3147
$GC,4317,-1.16,-146.6,422.3,-9.2,206,4321,0.00,2.35,0.00,0.000,6,0.000,0.055,2445,1598,3147
$GC,4639,-1.16,-146.6,449.0,-8.5,222,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1601,3147
$GC,4949,-1.16,-146.6,475.4,-8.7,237,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1601,3147
$GC,5257,-1.16,-146.6,502.4,-9.1,252,5261,0.00,2.50,0.00,0.000,4,0.000,0.083,2445,2986,3146
$GC,5286,-1.16,-146.6,504.9,-9.3,253,5291,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1594,3146
$GC,5603,-1.16,-146.6,533.7,-9.0,268,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3145
$GC,5912,-1.16,-146.6,561.6,-9.0,283,5916,0.00,2.50,0.00,0.000,4,0.000,0.078,2445,2986,3145
$GC,5951,-1.16,-146.6,565.3,-9.8,284,5957,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1594,3145
$GC,6267,-1.16,-146.6,593.2,-8.6,300,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1593,3143
$GC,6577,-1.16,-146.6,620.2,-8.4,315,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1594,3141
$GC,6886,-1.16,-146.6,647.3,-8.8,330,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1593,3139
$GC,7195,-1.16,-146.6,673.3,-8.3,345,7199,0.00,2.50,0.00,0.000,4,0.000,0.078,2445,2985,3139
$GC,7223,-1.16,-146.6,675.7,-8.5,346,7227,0.00,2.42,0.00,0.000,6,0.000,0.065,2445,1599,3139
$GC,7542,-1.16,-146.6,701.4,-8.1,361,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1599,3138
$GC,7850,-1.16,-146.6,726.2,-7.8,376,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1599,3136
$GC,8159,-1.16,-146.6,751.2,-8.2,391,8163,0.00,2.47,0.00,0.000,4,0.000,0.075,2446,2991,3135
$GC,8192,-1.16,-146.6,754.3,-8.5,392,8197,0.00,2.42,0.00,0.000,6,0.000,0.064,2445,1596,3135
$GC,8509,-1.16,-146.6,780.1,-8.1,407,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3134
$GC,8818,-1.16,-146.6,804.5,-8.2,422,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3133
$GC,9128,-1.16,-146.6,829.5,-8.0,437,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1596,3133
$GC,9437,-1.16,-146.6,854.7,-7.8,452,9441,0.00,2.45,0.00,0.000,4,0.000,0.071,2445,2988,3131
$GC,9471,-1.16,-146.6,857.7,-8.0,453,9477,0.00,2.40,0.00,0.000,6,0.000,0.061,2445,1597,3132
$GC,9788,-1.16,-146.6,882.4,-7.8,469,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1597,3130
$GC,10097,-1.16,-146.6,906.9,-7.8,484,10101,0.00,2.45,0.00,0.000,4,0.000,0.071,2445,2988,3130
$GC,10130,-1.16,-146.6,909.8,-9.5,485,10137,0.00,2.40,0.00,0.000,6,0.000,0.061,2445,1598,3130
$STATE,10341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10341,begin apogee
$GC,10350,-0.32,0.0,926.3,7.9,496,10483,0.93,0.00,127.78,1.304,6,0.112,0.000,2633,2197,2539
$STATE,10484,end apogee,CONTROL_FINISHED_OK
$STATE,10484,begin climb
$GC,10488,1.16,146.6,931.6,0.0,503,10624,1.52,2.70,124.85,1.263,4,0.089,0.090,2955,3593,1941
$GC,10733,1.16,146.6,918.5,8.7,514,10737,0.00,2.47,0.00,0.000,6,0.000,0.061,2955,2195,1939
$GC,11054,1.16,146.6,891.2,8.2,530,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1939
$GC,11364,1.16,146.6,865.2,8.2,545,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1938
$GC,11673,1.16,146.8,839.7,8.0,560,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1938
$GC,11982,1.16,146.8,814.9,8.0,575,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1938
$GC,12292,1.17,148.4,790.1,7.9,590,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1937
$GC,12601,1.18,157.8,766.0,7.6,605,12613,0.00,0.00,10.55,1.096,6,0.000,0.000,2954,2195,1895
$GC,12909,1.18,157.8,740.8,8.3,620,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2196,1894
$GC,13219,1.18,157.8,714.8,8.5,635,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1894
$GC,13528,1.18,157.8,688.6,8.5,650,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1893
$GC,13837,1.18,157.8,662.5,8.5,665,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2195,1894
$GC,14146,1.18,157.8,635.6,8.6,680,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1893
$GC,14455,1.18,157.8,608.2,8.8,695,14459,0.00,2.53,0.00,0.000,4,0.000,0.079,2954,795,1893
$GC,14512,1.18,157.8,603.0,9.6,697,14516,0.00,2.38,0.00,0.000,6,0.000,0.054,2954,2191,1894
$GC,14828,1.18,157.8,576.1,8.4,712,14832,0.00,2.50,0.00,0.000,4,0.000,0.071,2954,795,1893
$GC,14896,1.18,157.8,569.9,9.0,715,14901,0.00,2.40,0.00,0.000,6,0.000,0.055,2954,2197,1893
$GC,15224,1.18,157.8,542.8,8.3,731,15229,0.00,2.50,0.00,0.000,4,0.000,0.071,2955,799,1892
$GC,15281,1.18,157.8,537.7,8.7,733,15287,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2201,1892
$GC,15598,1.18,158.5,511.4,8.0,749,15602,0.00,2.50,0.00,0.000,4,0.000,0.071,2954,795,1892
$GC,15666,1.18,158.5,505.6,8.1,752,15671,0.00,2.40,0.00,0.000,6,0.000,0.055,2954,2200,1892
$GC,15994,1.19,160.8,479.2,7.9,768,16000,0.00,0.00,3.78,0.761,6,0.000,0.000,2954,2200,1883
$GC,16303,1.19,160.8,454.4,8.2,783,16307,0.00,2.50,0.00,0.000,4,0.000,0.072,2954,797,1883
$GC,16387,1.19,160.8,447.2,8.1,786,16393,0.00,2.40,0.00,0.000,6,0.000,0.055,2955,2199,1883
$GC,16703,1.19,160.8,421.1,8.8,802,16708,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,790,1883
$GC,16754,1.19,160.8,416.4,8.7,804,16759,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2204,1883
$GC,17071,1.19,160.8,389.7,8.1,819,17075,0.00,2.58,0.00,0.000,4,0.000,0.091,2955,3599,1883
$GC,17140,1.19,160.8,383.7,8.8,822,17144,0.00,2.42,0.00,0.000,6,0.000,0.059,2954,2194,1883
$GC,17467,1.22,179.9,359.1,7.3,838,17489,0.00,2.62,17.00,0.956,4,0.000,0.077,2954,804,1805
$GC,17574,1.22,179.9,350.5,8.0,842,17580,0.00,2.40,0.00,0.000,6,0.000,0.054,2955,2206,1804
$GC,17890,1.22,179.9,324.7,8.3,858,17895,0.00,2.53,0.00,0.000,4,0.000,0.073,2954,795,1803
$GC,17969,1.22,179.9,317.0,8.4,861,17976,0.00,2.40,0.00,0.000,6,0.000,0.055,2954,2196,1803
$GC,18286,1.22,179.9,289.2,8.4,877,18290,0.00,2.50,0.00,0.000,4,0.000,0.072,2954,795,1802
$GC,18378,1.24,197.3,281.7,7.3,881,18400,0.00,2.40,15.38,0.922,6,0.000,0.056,2955,2206,1733
$GC,18709,1.24,197.3,254.8,8.4,897,18710,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2206,1732
$GC,19018,1.24,197.3,228.2,8.8,912,19022,0.00,2.53,0.00,0.000,4,0.000,0.072,2954,801,1732
$GC,19087,1.24,197.3,221.7,10.0,915,19091,0.00,2.40,0.00,0.000,6,0.000,0.056,2954,2204,1732
$GC,19415,1.24,197.3,191.5,9.5,931,19419,0.00,2.50,0.00,0.000,4,0.000,0.071,2954,800,1733
$GC,19482,1.24,197.3,184.7,10.7,934,19486,0.00,2.40,0.00,0.000,6,0.000,0.056,2954,2208,1732
$GC,19803,1.24,197.3,153.5,9.7,950,19807,0.00,2.53,0.00,0.000,4,0.000,0.071,2954,799,1732
$GC,19866,1.24,197.3,147.0,12.2,953,19870,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2208,1732
$GC,20200,1.24,197.3,114.1,9.6,969,20204,0.00,2.50,0.00,0.000,4,0.000,0.070,2955,801,1733
$GC,20272,1.24,197.3,106.3,10.2,972,20277,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2208,1732
$GC,20591,1.24,197.3,73.8,9.8,987,20595,0.00,2.50,0.00,0.000,4,0.000,0.070,2954,794,1732
$GC,20654,1.24,197.3,67.6,8.3,990,20658,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2206,1732
$GC,20983,1.24,197.3,39.5,8.5,1006,20987,0.00,2.50,0.00,0.000,4,0.000,0.070,2955,791,1732
$GC,21095,1.24,197.3,28.9,9.0,1011,21100,0.00,2.40,0.00,0.000,6,0.000,0.056,2955,2202,1732
$STATE,21414,end climb,SURFACE_DEPTH_REACHED
$STATE,21414,begin surface coast
$FINISH,0.5,1.002425
$STATE,21435,end surface coast,CONTROL_FINISHED_OK
$STATE,21438,begin surface
$SM_CCo,21464,57.47,0.666,0,0,1315,300.00
$SM_GC,1.47,0.00,0.00,57.47,0.000,0.000,0.666,379,1606,1315,-10.70,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1877
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.4,35.1
$24V_AH,23.4,13.405
$10V_AH,10.1,7.659
$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,25.175,154.225,299.325,57.475,0.000,37.776,28.495,177.251,8.000,0.000,0.000,12.897,1870.253,16665.656,501.627,2207.561,663.157,0.000,1592.642,0.000,2160.652,0.000,54.061,0.000
$DEVICE_MAMPS,177.177,91.273,1303.900,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,772.756,702.935,549.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53683,1028
$CAP_FILE_SIZE,145200,0
$CFSIZE,254472192,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,120908,190607,6353.275,-825.705,25,1.3,26,-9.8