version: 66.04
glider: 14
mission: 6
dive: 79
start: 9 15 108 19 1 8
data:
$ID,14
$MISSION,6
$DIVE,79
$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,-651587.5
$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,27
$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
$GPS1,185407,6412.978,-906.901,34,1.2,35,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.8
$GPS2,190045,6412.981,-906.888,11,1.7,11,-10.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6420.617,-924.524
$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,325.3,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,2,0.000,0.000,378,1600,2765
$GC,83,-1.16,-146.6,3.9,-5.4,3,108,11.57,2.53,-8.73,0.000,4,0.177,0.091,2445,213,3139
$GC,300,-1.16,-146.6,34.9,-12.1,12,306,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1621,3141
$GC,616,-1.16,-146.6,70.9,-10.6,28,621,0.00,2.55,0.00,0.000,4,0.000,0.075,2446,209,3142
$GC,725,-1.16,-146.6,82.5,-10.6,33,729,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1608,3143
$GC,1052,-1.16,-146.6,118.2,-11.4,49,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1612,3145
$GC,1362,-1.16,-146.6,149.8,-9.5,64,1367,0.00,2.50,0.00,0.000,4,0.000,0.076,2446,213,3145
$GC,1418,-1.16,-146.6,155.0,-9.2,66,1422,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1609,3145
$GC,1735,-1.16,-146.6,181.5,-8.7,81,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1612,3146
$GC,2045,-1.16,-146.6,210.5,-9.9,96,2049,0.00,2.53,0.00,0.000,4,0.000,0.077,2446,214,3147
$GC,2177,-1.16,-146.6,225.6,-11.7,102,2181,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1602,3147
$GC,2504,-1.16,-146.6,259.8,-10.1,118,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1606,3148
$GC,2813,-1.16,-146.6,289.5,-9.2,133,2818,0.00,2.45,0.00,0.000,4,0.000,0.076,2446,2978,3148
$GC,2877,-1.16,-146.6,295.4,-9.3,136,2881,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1593,3148
$GC,3204,-1.16,-146.6,322.6,-7.9,152,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1593,3148
$GC,3514,-1.16,-146.6,346.3,-7.8,167,3518,0.00,2.53,0.00,0.000,4,0.000,0.088,2446,215,3148
$GC,3615,-1.16,-146.6,355.1,-9.0,171,3621,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1606,3148
$GC,3931,-1.16,-146.6,380.0,-8.2,187,3935,0.00,2.45,0.00,0.000,4,0.000,0.078,2446,2972,3148
$GC,3987,-1.16,-146.6,384.6,-8.3,189,3993,0.00,2.38,0.00,0.000,6,0.000,0.063,2446,1601,3148
$GC,4303,-1.16,-146.6,410.1,-8.4,205,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3148
$GC,4613,-1.16,-146.6,435.9,-8.4,220,4617,0.00,2.45,0.00,0.000,4,0.000,0.074,2446,2976,3146
$GC,4646,-1.16,-146.6,438.8,-8.5,221,4652,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1596,3146
$GC,4963,-1.16,-146.6,463.6,-7.3,237,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1595,3145
$GC,5272,-1.16,-146.6,486.5,-7.3,252,5276,0.00,2.47,0.00,0.000,4,0.000,0.074,2446,2973,3146
$GC,5306,-1.16,-146.6,489.2,-7.8,253,5312,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1595,3145
$GC,5622,-1.16,-146.6,514.7,-8.3,269,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1595,3144
$GC,5932,-1.16,-146.6,541.9,-8.7,284,5936,0.00,2.45,0.00,0.000,4,0.000,0.074,2446,2972,3143
$GC,5976,-1.16,-146.6,545.9,-8.4,286,5980,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1593,3142
$GC,6298,-1.16,-146.6,574.6,-9.2,302,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1593,3141
$GC,6608,-1.16,-146.6,603.4,-9.5,317,6611,0.00,2.47,0.00,0.000,4,0.000,0.074,2446,2978,3141
$GC,6659,-1.16,-146.6,608.1,-9.1,319,6663,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1601,3140
$GC,6981,-1.16,-146.6,637.5,-8.7,335,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1601,3139
$GC,7290,-1.16,-146.6,664.4,-8.7,350,7294,0.00,2.45,0.00,0.000,4,0.000,0.074,2446,2975,3139
$GC,7335,-1.16,-146.6,668.5,-9.4,352,7339,0.00,2.40,0.00,0.000,6,0.000,0.064,2445,1599,3139
$GC,7656,-1.16,-146.6,696.6,-8.6,368,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1599,3138
$GC,7966,-1.16,-146.6,723.8,-8.9,383,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1599,3137
$GC,8276,-1.16,-146.6,750.8,-8.7,398,8280,0.00,2.42,0.00,0.000,4,0.000,0.072,2446,2973,3136
$GC,8315,-1.16,-146.6,754.4,-9.3,399,8321,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1598,3136
$GC,8631,-1.16,-146.6,782.2,-9.0,415,8635,0.00,2.45,0.00,0.000,4,0.000,0.072,2446,2978,3135
$GC,8659,-1.16,-146.6,784.9,-10.0,416,8664,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1600,3135
$GC,8977,-1.16,-146.6,813.1,-8.9,431,8981,0.00,2.42,0.00,0.000,4,0.000,0.071,2446,2973,3134
$GC,9005,-1.16,-146.6,815.7,-9.9,432,9009,0.00,2.38,0.00,0.000,6,0.000,0.064,2446,1602,3134
$GC,9326,-1.16,-146.6,844.5,-9.0,448,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1602,3133
$GC,9636,-1.16,-146.6,872.2,-8.8,463,9640,0.00,2.42,0.00,0.000,4,0.000,0.071,2446,2973,3133
$GC,9671,-1.16,-146.6,875.4,-9.3,464,9677,0.00,2.40,0.00,0.000,6,0.000,0.063,2446,1598,3133
$GC,9987,-1.16,-146.6,902.7,-8.5,480,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3133
$GC,10296,-1.16,-146.6,928.6,-8.6,495,10300,0.00,2.42,0.00,0.000,4,0.000,0.070,2446,2974,3133
$GC,10336,-1.16,-146.6,932.0,-8.6,497,10341,0.00,2.40,0.00,0.000,6,0.000,0.062,2446,1593,3133
$GC,10664,-1.16,-146.6,958.9,-8.1,513,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1593,3132
$GC,10974,-1.16,-146.6,983.3,-8.0,528,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1593,3132
$STATE,11073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11073,begin apogee
$GC,11082,-0.32,0.0,991.4,8.0,533,11222,0.93,0.00,131.45,1.341,6,0.117,0.000,2632,2193,2539
$STATE,11223,end apogee,CONTROL_FINISHED_OK
$STATE,11223,begin climb
$GC,11227,1.16,146.6,996.2,0.0,540,11361,1.52,2.67,126.07,1.315,4,0.082,0.087,2957,3590,1941
$GC,11449,1.16,146.6,983.6,9.4,550,11454,0.00,2.47,0.00,0.000,6,0.000,0.060,2957,2188,1939
$GC,11766,1.16,146.6,955.0,9.1,565,11770,0.00,2.53,0.00,0.000,4,0.000,0.075,2957,789,1939
$GC,11812,1.16,146.6,950.6,9.1,567,11817,0.00,2.40,0.00,0.000,6,0.000,0.054,2957,2192,1939
$GC,12140,1.16,146.6,922.1,8.7,583,12144,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,798,1939
$GC,12190,1.16,146.6,917.4,9.1,585,12194,0.00,2.42,0.00,0.000,6,0.000,0.054,2957,2197,1938
$GC,12506,1.16,146.6,890.0,8.6,600,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2198,1938
$GC,12816,1.16,146.6,864.1,8.3,615,12820,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,797,1937
$GC,12917,1.16,146.6,855.1,9.2,619,12921,0.00,2.42,0.00,0.000,6,0.000,0.054,2957,2200,1938
$GC,13234,1.17,148.1,829.3,7.9,634,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2200,1937
$GC,13543,1.18,157.3,805.9,7.6,649,13558,0.00,2.58,10.30,1.119,4,0.000,0.071,2957,794,1896
$GC,13638,1.18,157.3,797.8,8.5,652,13642,0.00,2.45,0.00,0.000,6,0.000,0.054,2957,2200,1896
$GC,13954,1.18,157.3,771.1,8.7,667,13958,0.00,2.53,0.00,0.000,4,0.000,0.071,2955,789,1896
$GC,14005,1.18,157.3,766.3,9.7,669,14009,0.00,2.45,0.00,0.000,6,0.000,0.055,2957,2203,1896
$GC,14327,1.18,157.3,738.3,8.7,685,14331,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,795,1896
$GC,14378,1.18,157.3,733.5,9.2,687,14382,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2199,1896
$GC,14700,1.18,157.3,705.2,8.8,703,14704,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,797,1896
$GC,14756,1.18,157.3,699.8,9.2,705,14763,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2199,1896
$GC,15073,1.18,157.3,673.5,8.2,721,15077,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,797,1896
$GC,15140,1.18,157.3,667.4,9.1,724,15144,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2210,1896
$GC,15467,1.19,161.3,641.0,7.8,740,15477,0.00,2.55,4.72,0.852,4,0.000,0.071,2957,795,1881
$GC,15552,1.19,161.3,633.9,8.6,744,15556,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2198,1881
$GC,15879,1.19,161.3,606.9,8.5,760,15880,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2199,1881
$GC,16189,1.19,163.0,581.6,7.9,775,16193,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,797,1882
$GC,16284,1.19,163.0,573.5,8.2,779,16288,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2210,1881
$GC,16601,1.20,166.9,548.3,7.8,794,16614,0.00,2.58,6.65,0.933,4,0.000,0.071,2957,797,1857
$GC,16691,1.20,166.9,540.6,8.0,798,16695,0.00,2.45,0.00,0.000,6,0.000,0.055,2959,2208,1857
$GC,17018,1.20,166.9,513.8,8.3,814,17022,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,797,1857
$GC,17103,1.20,166.9,506.6,8.6,818,17108,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2199,1857
$GC,17431,1.21,174.1,481.4,7.7,834,17445,0.00,2.58,7.72,0.934,4,0.000,0.071,2957,798,1829
$GC,17509,1.21,174.4,474.8,8.0,837,17514,0.00,2.45,0.00,0.000,6,0.000,0.055,2957,2207,1829
$GC,17826,1.21,174.4,449.6,8.1,852,17830,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,797,1829
$GC,17877,1.21,174.4,445.0,8.2,854,17881,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2199,1828
$GC,18198,1.21,174.4,417.1,8.8,870,18202,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,798,1829
$GC,18255,1.21,174.4,411.6,11.0,872,18261,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2202,1828
$GC,18572,1.21,174.4,380.4,10.3,888,18576,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,799,1828
$GC,18635,1.21,174.4,373.4,11.2,891,18639,0.00,2.40,0.00,0.000,6,0.000,0.055,2957,2200,1828
$GC,18962,1.21,174.4,341.9,9.3,907,18966,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,790,1827
$GC,19040,1.21,174.4,334.1,10.0,910,19045,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2207,1828
$GC,19357,1.21,174.4,306.2,8.4,925,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2207,1827
$GC,19666,1.24,195.8,284.2,7.2,940,19691,0.00,2.60,18.65,0.923,4,0.000,0.070,2958,804,1739
$GC,19789,1.24,195.8,274.2,9.6,945,19793,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2203,1738
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$GC,21904,1.24,195.8,74.0,8.4,1045,21910,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2199,1738
$GC,22221,1.27,213.6,51.5,7.3,1061,22244,0.10,2.55,15.90,0.715,4,0.071,0.069,2991,791,1667
$GC,22301,1.27,213.6,43.9,10.6,1064,22305,0.00,2.45,0.00,0.000,6,0.000,0.056,2991,2206,1667
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$STATE,22737,end climb,SURFACE_DEPTH_REACHED
$STATE,22737,begin surface coast
$FINISH,0.9,1.015244
$STATE,22760,end surface coast,CONTROL_FINISHED_OK
$STATE,22760,begin surface
$SM_CCo,22786,53.53,0.684,0,0,1315,300.00
$SM_GC,1.62,0.00,0.00,53.53,0.000,0.000,0.684,380,1594,1315,-10.70,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,975.2,71.9
$24V_AH,23.4,15.085
$10V_AH,10.1,8.853
$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,25.575,198.675,321.475,53.525,0.000,37.764,27.825,190.604,9.000,0.000,0.000,15.295,2015.814,17532.201,539.544,2433.654,716.114,0.000,1764.101,0.000,2376.999,0.000,61.948,0.000
$DEVICE_MAMPS,177.177,90.506,1341.483,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,819.367,742.517,567.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56780,1086
$CAP_FILE_SIZE,163519,0
$CFSIZE,254472192,246718464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
$GPS,160908,012307,6414.419,-909.492,35,1.1,36,-10.3