version: 66.04
glider: 14
mission: 6
dive: 83
start: 9 16 108 18 34 33
data:
$ID,14
$MISSION,6
$DIVE,83
$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,-1
$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,-651668.94
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,182808,6418.239,-924.718,32,1.6,32,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.7
$GPS2,183409,6418.306,-924.661,10,1.8,10,-10.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$TGT_RADIUS,5000.000
$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,328.7,88731,-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,-60.50,0.000,2,0.000,0.000,376,1594,2783
$GC,83,-1.16,-146.6,3.7,-5.1,3,109,11.55,2.50,-8.40,0.000,4,0.176,0.091,2446,222,3138
$GC,300,-1.16,-146.6,34.2,-12.7,12,307,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1622,3140
$GC,617,-1.16,-146.6,69.7,-10.0,28,621,0.00,2.53,0.00,0.000,4,0.000,0.074,2446,221,3141
$GC,852,-1.16,-146.6,95.6,-10.9,38,859,0.00,2.30,0.00,0.000,6,0.000,0.054,2446,1606,3142
$GC,1169,-1.16,-146.6,128.1,-10.1,54,1173,0.00,2.50,0.00,0.000,4,0.000,0.074,2446,216,3143
$GC,1232,-1.16,-146.6,135.0,-11.0,57,1237,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1608,3143
$GC,1559,-1.16,-146.6,168.7,-10.5,73,1564,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,220,3144
$GC,1649,-1.16,-146.6,179.0,-11.1,77,1653,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1610,3144
$GC,1972,-1.16,-146.6,211.8,-9.7,93,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1615,3144
$GC,2281,-1.16,-146.6,240.9,-9.1,108,2285,0.00,2.53,0.00,0.000,4,0.000,0.076,2446,213,3144
$GC,2399,-1.16,-146.6,252.5,-10.0,113,2403,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1602,3144
$GC,2715,-1.16,-146.6,281.3,-8.6,128,2719,0.00,2.50,0.00,0.000,4,0.000,0.077,2446,220,3145
$GC,2772,-1.16,-146.6,286.5,-9.1,130,2778,0.00,2.33,0.00,0.000,6,0.000,0.055,2446,1609,3145
$GC,3089,-1.16,-146.6,314.4,-8.7,146,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3146
$GC,3398,-1.16,-146.6,339.3,-7.8,161,3402,0.00,2.53,0.00,0.000,4,0.000,0.080,2446,213,3146
$GC,3512,-1.16,-146.6,348.8,-8.0,166,3517,0.00,2.33,0.00,0.000,6,0.000,0.056,2446,1594,3146
$GC,3841,-1.16,-146.6,371.2,-6.8,182,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3146
$GC,4150,-1.16,-146.6,391.2,-6.8,197,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3146
$GC,4459,-1.16,-146.6,413.5,-7.2,212,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1597,3146
$GC,4768,-1.16,-146.6,435.9,-7.3,227,4772,0.00,2.53,0.00,0.000,4,0.000,0.084,2446,222,3146
$GC,4876,-1.16,-146.6,444.6,-8.4,232,4880,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1605,3146
$GC,5204,-1.16,-146.6,469.7,-7.8,248,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3145
$GC,5513,-1.16,-146.6,493.8,-7.4,263,5517,0.00,2.55,0.00,0.000,4,0.000,0.084,2446,221,3144
$GC,5586,-1.16,-146.6,500.2,-8.4,266,5591,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1602,3144
$GC,5904,-1.16,-146.6,524.0,-7.6,281,5908,0.00,2.53,0.00,0.000,4,0.000,0.084,2446,221,3142
$GC,5954,-1.16,-146.6,528.4,-8.4,283,5959,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1602,3142
$GC,6277,-1.16,-146.6,553.7,-8.1,299,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1602,3141
$GC,6586,-1.16,-146.6,578.6,-8.2,314,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1602,3139
$GC,6895,-1.16,-146.6,603.2,-7.8,329,6900,0.00,2.53,0.00,0.000,4,0.000,0.084,2446,222,3138
$GC,6963,-1.16,-146.6,609.1,-9.0,332,6967,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1601,3138
$GC,7285,-1.16,-146.6,635.3,-7.9,348,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1602,3137
$GC,7594,-1.16,-146.6,659.7,-8.0,363,7598,0.00,2.53,0.00,0.000,4,0.000,0.084,2446,222,3136
$GC,7639,-1.16,-146.6,663.7,-8.7,365,7643,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1601,3136
$GC,7961,-1.16,-146.6,690.3,-7.5,381,7966,0.00,2.53,0.00,0.000,4,0.000,0.082,2446,222,3135
$GC,8035,-1.16,-146.6,697.3,-9.6,384,8039,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1605,3135
$GC,8352,-1.16,-146.6,723.9,-7.8,399,8356,0.00,2.53,0.00,0.000,4,0.000,0.082,2446,222,3134
$GC,8465,-1.16,-146.6,734.3,-8.1,404,8469,0.00,2.35,0.00,0.000,6,0.000,0.055,2447,1599,3133
$STATE,8721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8721,begin apogee
$GC,8731,-0.32,0.0,757.2,9.2,417,8868,0.93,0.00,128.80,1.166,6,0.115,0.000,2633,2190,2538
$STATE,8869,end apogee,CONTROL_FINISHED_OK
$STATE,8869,begin climb
$GC,8873,1.16,146.6,760.3,0.0,424,9006,1.50,2.62,122.88,1.139,4,0.078,0.071,2956,796,1940
$GC,9279,1.18,158.5,741.3,7.5,442,9296,0.00,2.45,11.48,1.137,6,0.000,0.058,2956,2202,1892
$GC,9618,1.18,158.5,712.5,9.0,459,9623,0.00,2.55,0.00,0.000,4,0.000,0.072,2956,794,1891
$GC,9726,1.18,158.5,702.6,9.6,464,9731,0.00,2.45,0.00,0.000,6,0.000,0.057,2957,2212,1891
$GC,10054,1.20,167.5,677.4,7.7,480,10068,0.00,2.60,8.57,1.042,4,0.000,0.071,2956,799,1856
$GC,10145,1.20,167.5,670.2,8.7,484,10149,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2199,1856
$GC,10472,1.20,167.5,644.2,8.1,500,10476,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,798,1856
$GC,10552,1.20,167.5,637.3,8.8,503,10558,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2203,1856
$GC,10868,1.20,169.2,611.8,7.9,519,10873,0.00,2.55,0.00,0.000,4,0.000,0.071,2956,790,1856
$GC,10926,1.20,169.2,607.1,8.4,521,10933,0.00,2.45,0.00,0.000,6,0.000,0.055,2957,2204,1856
$GC,11243,1.21,178.4,582.3,7.7,537,11259,0.00,2.58,10.85,1.015,4,0.000,0.071,2956,799,1810
$GC,11310,1.21,178.4,576.5,9.3,539,11314,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2200,1810
$GC,11638,1.21,178.4,548.0,9.1,555,11642,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,799,1809
$GC,11694,1.21,178.4,542.7,9.4,557,11700,0.00,2.45,0.00,0.000,6,0.000,0.056,2956,2210,1809
$GC,12010,1.21,178.4,515.0,8.9,573,12015,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,799,1809
$GC,12084,1.21,178.4,508.2,8.2,576,12088,0.00,2.42,0.00,0.000,6,0.000,0.056,2956,2202,1809
$GC,12401,1.22,178.5,482.2,8.0,591,12405,0.00,2.53,0.00,0.000,4,0.000,0.072,2957,793,1809
$GC,12464,1.23,185.1,477.0,7.7,594,12477,0.00,2.42,6.72,0.895,6,0.000,0.056,2957,2202,1783
$GC,12796,1.24,191.4,450.7,7.8,610,12810,0.00,2.60,6.97,0.878,4,0.000,0.071,2957,796,1758
$GC,12941,1.24,191.4,438.0,9.9,616,12945,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2207,1758
$GC,13257,1.24,191.4,408.8,9.7,631,13261,0.00,2.53,0.00,0.000,4,0.000,0.072,2956,799,1756
$GC,13309,1.24,191.4,403.5,10.0,633,13313,0.00,2.42,0.00,0.000,6,0.000,0.055,2957,2202,1756
$GC,13630,1.24,194.6,375.3,7.9,649,13639,0.00,2.55,4.00,0.723,4,0.000,0.073,2956,793,1746
$GC,13686,1.24,194.6,370.6,8.2,651,13690,0.00,2.45,0.00,0.000,6,0.000,0.055,2956,2208,1745
$GC,14008,1.30,231.0,348.6,6.6,667,14044,0.15,2.60,30.48,0.929,4,0.071,0.071,2995,798,1598
$GC,14114,1.30,231.0,339.0,9.8,671,14118,0.00,2.45,0.00,0.000,6,0.000,0.056,2995,2200,1596
$GC,14441,1.30,231.0,305.1,10.7,687,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,1595
$GC,14750,1.30,231.0,271.0,10.9,702,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,1593
$GC,15060,1.30,231.0,238.0,10.2,717,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,1593
$GC,15369,1.30,231.0,204.9,11.0,732,15373,0.00,2.53,0.00,0.000,4,0.000,0.073,2995,797,1592
$GC,15498,1.30,231.0,189.5,12.7,737,15504,0.00,2.42,0.00,0.000,6,0.000,0.056,2995,2203,1592
$GC,15814,1.30,231.0,153.5,11.6,753,15819,0.00,2.50,0.00,0.000,4,0.000,0.072,2995,791,1592
$GC,15866,1.30,231.0,147.4,11.6,755,15870,0.00,2.42,0.00,0.000,6,0.000,0.056,2995,2203,1592
$GC,16182,1.30,231.0,113.3,10.5,770,16187,0.00,2.53,0.00,0.000,4,0.000,0.071,2995,792,1592
$GC,16227,1.30,231.0,107.8,11.1,772,16231,0.00,2.42,0.00,0.000,6,0.000,0.056,2995,2205,1592
$GC,16556,1.30,231.0,70.1,10.8,788,16560,0.00,2.53,0.00,0.000,4,0.000,0.071,2995,794,1592
$GC,16634,1.30,231.0,61.7,12.1,791,16640,0.00,2.42,0.00,0.000,6,0.000,0.057,2995,2206,1592
$GC,16951,1.30,231.0,32.1,9.8,807,16955,0.00,2.53,0.00,0.000,4,0.000,0.073,2995,798,1592
$GC,17038,1.30,231.0,22.7,12.9,811,17042,0.00,2.40,0.00,0.000,6,0.000,0.056,2995,2199,1592
$STATE,17217,end climb,SURFACE_DEPTH_REACHED
$STATE,17217,begin surface coast
$FINISH,0.7,1.013406
$STATE,17241,end surface coast,CONTROL_FINISHED_OK
$STATE,17241,begin surface
$SM_CCo,17267,39.50,0.677,0,0,1315,300.00
$SM_GC,1.78,0.00,0.00,39.50,0.000,0.000,0.677,378,1598,1315,-10.70,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,90.8
$24V_AH,23.5,15.602
$10V_AH,10.1,9.203
$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,25.450,159.775,330.750,39.500,0.000,37.764,26.047,159.472,5.750,0.000,0.000,12.188,1582.497,12947.725,498.945,2046.005,597.791,0.000,1527.662,0.000,2001.450,0.000,39.641,0.000
$DEVICE_MAMPS,176.410,90.506,1165.840,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.697,559.757,462.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41053,821
$CAP_FILE_SIZE,131975,0
$CFSIZE,254472192,246489088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,160908,232408,6420.531,-923.981,25,1.7,25,-10.5