version: 66.04
glider: 14
mission: 6
dive: 68
start: 9 12 108 19 19 3
data:
$ID,14
$MISSION,6
$DIVE,68
$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,-651394.69
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,190607,6353.275,-825.705,25,1.3,26,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.6
$GPS2,191841,6353.367,-825.381,11,1.7,13,-9.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6401.003,-842.811
$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,324.8,20000,-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,-60.08,0.000,2,0.000,0.000,380,1603,2808
$GC,82,-1.16,-146.6,3.8,-5.6,3,108,11.52,2.55,-7.22,0.000,4,0.176,0.089,2446,209,3138
$GC,114,-1.16,-146.6,12.2,-20.2,4,119,0.00,2.38,0.00,0.000,6,0.000,0.054,2446,1621,3138
$GC,431,-1.16,-146.6,48.3,-10.3,19,435,0.00,2.55,0.00,0.000,4,0.000,0.074,2446,201,3140
$GC,705,-1.16,-146.6,77.2,-10.2,31,710,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1610,3141
$GC,1023,-1.16,-146.6,108.5,-9.7,46,1028,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,204,3143
$GC,1080,-1.16,-146.6,114.4,-10.3,48,1086,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1611,3143
$GC,1397,-1.16,-146.6,145.5,-9.8,64,1401,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,206,3143
$GC,1453,-1.16,-146.6,151.3,-10.4,66,1459,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1604,3143
$GC,1769,-1.16,-146.6,182.3,-9.9,82,1773,0.00,2.50,0.00,0.000,4,0.000,0.074,2446,211,3143
$GC,1819,-1.16,-146.6,187.6,-10.4,84,1823,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1605,3143
$GC,2136,-1.16,-146.6,218.3,-10.0,99,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1610,3143
$GC,2445,-1.16,-146.6,249.5,-10.1,114,2450,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,201,3143
$GC,2536,-1.16,-146.6,259.2,-10.1,118,2540,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1599,3143
$GC,2863,-1.16,-146.6,290.7,-9.4,134,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1603,3143
$GC,3173,-1.16,-146.6,318.0,-8.9,149,3177,0.00,2.53,0.00,0.000,4,0.000,0.077,2446,203,3143
$GC,3307,-1.16,-146.6,330.5,-9.5,155,3312,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1604,3143
$GC,3630,-1.16,-146.6,360.4,-9.9,171,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3144
$GC,3939,-1.16,-146.6,389.8,-9.3,186,3943,0.00,2.47,0.00,0.000,4,0.000,0.080,2446,2987,3144
$GC,3989,-1.16,-146.6,394.4,-9.2,188,3993,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1594,3144
$GC,4306,-1.16,-146.6,422.2,-8.6,203,4310,0.00,2.47,0.00,0.000,4,0.000,0.076,2446,2987,3144
$GC,4362,-1.16,-146.6,427.4,-9.7,205,4368,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1600,3144
$GC,4679,-1.16,-146.6,457.0,-10.1,221,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3144
$GC,4988,-1.16,-146.6,485.6,-8.8,236,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3144
$GC,5297,-1.16,-146.6,511.4,-8.4,251,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3144
$GC,5607,-1.16,-146.6,537.4,-8.2,266,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3143
$GC,5916,-1.16,-146.6,563.4,-8.4,281,5920,0.00,2.55,0.00,0.000,4,0.000,0.091,2446,212,3142
$GC,5960,-1.16,-146.6,567.5,-8.9,283,5965,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1604,3143
$GC,6282,-1.16,-146.6,594.5,-8.2,299,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3140
$GC,6592,-1.16,-146.6,620.1,-8.4,314,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3138
$GC,6901,-1.16,-146.6,645.4,-8.0,329,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1608,3137
$GC,7210,-1.16,-146.6,670.6,-8.1,344,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1608,3136
$GC,7520,-1.16,-146.6,697.0,-8.8,359,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3134
$GC,7829,-1.16,-146.6,723.7,-8.6,374,7833,0.00,2.50,0.00,0.000,4,0.000,0.086,2446,2986,3133
$GC,7857,-1.16,-146.6,726.3,-9.0,375,7861,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1601,3134
$GC,8173,-1.16,-146.6,752.4,-8.3,390,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3132
$GC,8482,-1.16,-146.6,777.5,-8.4,405,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3131
$GC,8792,-1.16,-146.6,802.3,-8.0,420,8796,0.00,2.47,0.00,0.000,4,0.000,0.074,2446,2991,3130
$GC,8826,-1.16,-146.6,805.1,-8.5,421,8832,0.00,2.42,0.00,0.000,6,0.000,0.063,2446,1597,3130
$GC,9142,-1.16,-146.6,829.9,-7.8,437,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1595,3129
$GC,9452,-1.16,-146.6,852.7,-7.2,452,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1595,3128
$GC,9762,-1.16,-146.6,875.9,-7.4,467,9766,0.00,2.47,0.00,0.000,4,0.000,0.072,2446,2991,3127
$GC,9808,-1.16,-146.6,879.6,-8.0,469,9812,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1597,3127
$GC,10141,-1.16,-146.6,904.1,-7.6,485,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3127
$GC,10450,-1.16,-146.6,927.1,-7.9,500,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3126
$GC,10759,-1.16,-146.6,951.4,-7.7,515,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3126
$STATE,10921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10921,begin apogee
$GC,10930,-0.32,0.0,965.6,8.9,523,11063,0.93,0.00,127.07,1.341,6,0.125,0.000,2630,2197,2538
$STATE,11064,end apogee,CONTROL_FINISHED_OK
$STATE,11064,begin climb
$GC,11068,1.16,146.6,970.0,0.0,530,11201,1.52,2.67,124.88,1.297,4,0.081,0.089,2956,3588,1941
$GC,11330,1.16,146.6,954.1,8.8,542,11334,0.00,2.45,0.00,0.000,6,0.000,0.061,2956,2195,1940
$GC,11657,1.16,146.6,925.0,8.6,558,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1940
$GC,11966,1.16,146.6,897.4,9.0,573,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1938
$GC,12275,1.16,146.6,869.5,9.2,588,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1939
$GC,12584,1.16,146.6,840.7,9.2,603,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1938
$GC,12894,1.16,146.6,812.3,9.1,618,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1938
$GC,13203,1.16,146.6,784.6,8.8,633,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1938
$GC,13512,1.16,146.6,757.4,8.9,648,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,13821,1.16,146.6,730.5,8.3,663,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,14131,1.16,146.6,703.9,8.6,678,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,14440,1.16,146.6,676.7,8.8,693,14441,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,14749,1.16,146.6,649.8,8.6,708,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,15059,1.16,146.6,623.7,8.4,723,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2195,1936
$GC,15368,1.16,146.6,597.5,8.5,738,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,15677,1.16,146.6,570.9,8.6,753,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,15986,1.16,146.6,543.9,8.7,768,15988,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,16295,1.16,146.6,518.5,8.1,783,16297,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1936
$GC,16605,1.19,164.1,495.5,7.3,798,16624,0.00,0.00,14.95,1.008,6,0.000,0.000,2956,2195,1869
$GC,16935,1.20,166.5,470.7,7.9,814,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2195,1868
$GC,17243,1.20,166.5,445.8,8.1,829,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1869
$GC,17553,1.20,166.5,419.7,8.5,844,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2195,1868
$GC,17862,1.20,166.5,394.3,8.0,859,17866,0.00,2.53,0.00,0.000,4,0.000,0.076,2956,794,1868
$GC,17923,1.20,166.5,389.0,8.5,861,17930,0.00,2.38,0.00,0.000,6,0.000,0.053,2956,2196,1868
$GC,18240,1.22,181.2,364.7,7.4,877,18262,0.00,2.60,14.95,0.943,4,0.000,0.071,2956,793,1800
$GC,18336,1.22,181.2,356.3,8.8,881,18340,0.00,2.42,0.00,0.000,6,0.000,0.054,2956,2201,1799
$GC,18657,1.22,181.2,329.6,8.2,897,18661,0.00,2.60,0.00,0.000,4,0.000,0.091,2956,3604,1798
$GC,18797,1.22,181.2,317.1,8.3,903,18802,0.00,2.42,0.00,0.000,6,0.000,0.060,2956,2201,1798
$GC,19114,1.22,181.2,289.0,8.3,918,19117,0.00,2.53,0.00,0.000,4,0.000,0.075,2956,798,1798
$GC,19176,1.22,181.2,283.6,8.0,920,19182,0.00,2.40,0.00,0.000,6,0.000,0.054,2957,2209,1798
$GC,19492,1.22,181.2,258.1,8.2,936,19496,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,795,1798
$GC,19594,1.22,181.2,249.3,9.5,940,19598,0.00,2.38,0.00,0.000,6,0.000,0.055,2957,2197,1798
$GC,19916,1.22,181.2,222.8,8.4,956,19920,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,791,1798
$GC,19983,1.22,181.2,216.3,9.7,959,19987,0.00,2.40,0.00,0.000,6,0.000,0.055,2956,2199,1798
$GC,20305,1.22,181.2,187.1,9.3,975,20309,0.00,2.53,0.00,0.000,4,0.000,0.070,2956,787,1798
$GC,20355,1.22,181.2,182.2,10.0,977,20359,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2202,1798
$GC,20677,1.22,181.2,153.9,8.8,993,20679,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2202,1798
$GC,20987,1.22,181.2,127.3,8.4,1008,20991,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,789,1798
$GC,21133,1.22,181.2,114.5,9.4,1014,21139,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2208,1798
$GC,21450,1.22,181.2,87.9,8.6,1030,21454,0.00,2.50,0.00,0.000,4,0.000,0.069,2956,791,1798
$GC,21505,1.22,181.2,83.0,9.3,1032,21512,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2208,1798
$GC,21822,1.22,181.2,57.0,8.4,1048,21827,0.00,2.50,0.00,0.000,4,0.000,0.069,2956,790,1798
$GC,21902,1.23,185.9,51.0,7.8,1051,21913,0.00,2.42,6.32,0.609,6,0.000,0.056,2957,2208,1781
$GC,22236,1.23,185.9,26.9,8.5,1068,22240,0.00,2.58,0.00,0.000,4,0.000,0.091,2957,3600,1781
$GC,22298,1.23,185.9,21.3,11.0,1071,22303,0.00,2.40,0.00,0.000,6,0.000,0.059,2957,2197,1781
$STATE,22540,end climb,SURFACE_DEPTH_REACHED
$STATE,22540,begin surface coast
$FINISH,0.6,1.014425
$STATE,22562,end surface coast,CONTROL_FINISHED_OK
$STATE,22562,begin surface
$SM_CCo,22587,64.43,0.664,0,0,1315,300.00
$SM_GC,1.40,0.00,0.00,64.43,0.000,0.000,0.664,371,1594,1315,-10.73,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1855
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,925.5,49.7
$24V_AH,23.4,13.547
$10V_AH,10.1,7.758
$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,25.075,125.025,288.175,64.425,0.000,113.285,82.990,282.825,8.750,0.000,0.000,15.340,1929.134,17849.248,488.774,2236.739,902.970,0.000,1577.246,0.000,2190.993,0.000,55.723,0.000
$DEVICE_MAMPS,176.410,91.273,1341.483,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.903,741.799,585.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53664,1084
$CAP_FILE_SIZE,148284,0
$CFSIZE,254472192,247513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,130908,013755,6354.267,-826.465,35,1.6,36,-9.8