version: 66.04
glider: 14
mission: 6
dive: 107
start: 9 20 108 13 34 34
data:
$ID,14
$MISSION,6
$DIVE,107
$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,-652124.31
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,132738,6442.112,-959.071,31,2.0,31,-10.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-58.5
$GPS2,133411,6442.115,-958.686,12,2.1,31,-10.9
$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,315.0,39217,-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,-60.78,0.000,2,0.000,0.000,381,1590,2641
$GC,83,-1.16,-146.6,3.3,-5.3,3,115,11.57,2.50,-14.12,0.000,4,0.178,0.091,2447,212,3137
$GC,339,-1.16,-146.6,36.4,-11.7,14,346,0.00,2.38,0.00,0.000,6,0.000,0.054,2448,1627,3139
$GC,656,-1.16,-146.6,67.5,-8.2,30,660,0.00,2.58,0.00,0.000,4,0.000,0.077,2448,209,3140
$GC,697,-1.16,-146.6,71.3,-10.2,32,701,0.00,2.35,0.00,0.000,6,0.000,0.054,2448,1610,3140
$GC,1030,-1.16,-146.6,99.9,-9.6,48,1035,0.00,2.53,0.00,0.000,4,0.000,0.077,2448,215,3142
$GC,1098,-1.16,-146.6,107.2,-10.9,51,1102,0.00,2.33,0.00,0.000,6,0.000,0.054,2448,1604,3143
$GC,1420,-1.16,-146.6,140.2,-10.5,67,1424,0.00,2.53,0.00,0.000,4,0.000,0.077,2448,215,3146
$GC,1506,-1.16,-146.6,149.6,-10.4,71,1511,0.00,2.30,0.00,0.000,6,0.000,0.054,2448,1604,3146
$GC,1839,-1.16,-146.6,182.1,-9.1,87,1843,0.00,2.55,0.00,0.000,4,0.000,0.079,2448,212,3148
$GC,1925,-1.16,-146.6,190.4,-9.2,91,1929,0.00,2.33,0.00,0.000,6,0.000,0.055,2448,1595,3147
$GC,2252,-1.16,-146.6,219.8,-9.1,107,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3149
$GC,2562,-1.16,-146.6,248.3,-9.0,122,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3148
$GC,2871,-1.16,-146.6,275.4,-8.4,137,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3148
$GC,3181,-1.16,-146.6,300.1,-7.5,152,3185,0.00,2.53,0.00,0.000,4,0.000,0.085,2447,220,3148
$GC,3229,-1.16,-146.6,304.3,-9.2,154,3233,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1605,3149
$GC,3557,-1.16,-146.6,328.3,-7.5,170,3562,0.00,2.55,0.00,0.000,4,0.000,0.085,2448,220,3148
$GC,3630,-1.16,-146.6,334.8,-9.2,173,3634,0.00,2.35,0.00,0.000,6,0.000,0.056,2448,1600,3148
$GC,3946,-1.16,-146.6,363.8,-9.7,188,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1605,3148
$GC,4255,-1.16,-146.6,394.6,-9.3,203,4260,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,211,3148
$GC,4301,-1.16,-146.6,398.1,-8.0,205,4305,0.00,2.35,0.00,0.000,6,0.000,0.055,2448,1592,3147
$GC,4623,-1.16,-146.6,428.3,-10.6,221,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1597,3146
$GC,4933,-1.16,-146.6,451.2,-7.3,236,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1597,3145
$GC,5244,-1.16,-146.6,475.9,-8.2,251,5248,0.00,2.55,0.00,0.000,4,0.000,0.089,2449,220,3144
$GC,5284,-1.16,-146.6,479.7,-9.2,253,5288,0.00,2.38,0.00,0.000,6,0.000,0.056,2448,1608,3144
$GC,5611,-1.16,-146.6,506.1,-7.9,269,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3143
$GC,5921,-1.16,-146.6,529.4,-7.5,284,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3142
$GC,6230,-1.16,-146.6,552.1,-7.1,299,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3141
$GC,6539,-1.16,-146.6,572.5,-6.6,314,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1608,3140
$GC,6849,-1.16,-146.6,593.7,-7.3,329,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1608,3139
$GC,7158,-1.16,-146.6,616.6,-7.8,344,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1609,3139
$GC,7467,-1.16,-146.6,638.1,-7.1,359,7471,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,212,3139
$GC,7518,-1.16,-146.6,642.3,-8.2,361,7522,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1599,3138
$GC,7840,-1.16,-146.6,666.2,-8.0,377,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3138
$GC,8149,-1.16,-146.6,692.3,-7.7,392,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3138
$GC,8459,-1.16,-146.6,714.6,-7.6,407,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3137
$GC,8768,-1.16,-146.6,737.5,-7.1,422,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3137
$GC,9077,-1.16,-146.6,760.0,-7.3,437,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1600,3137
$GC,9386,-1.16,-146.6,783.3,-7.3,452,9390,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,213,3135
$GC,9431,-1.16,-146.6,786.9,-8.3,454,9435,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1603,3135
$GC,9753,-1.16,-146.6,810.1,-7.3,470,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1603,3135
$GC,10062,-1.16,-146.6,834.3,-8.0,485,10066,0.00,2.55,0.00,0.000,4,0.000,0.086,2448,215,3135
$GC,10102,-1.16,-146.6,837.5,-8.2,487,10106,0.00,2.38,0.00,0.000,6,0.000,0.055,2448,1605,3135
$GC,10429,-1.16,-146.6,864.0,-8.4,503,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1611,3133
$GC,10738,-1.16,-146.6,888.5,-8.5,518,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1612,3134
$GC,11047,-1.16,-146.6,915.6,-8.1,533,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1612,3133
$STATE,11250,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11250,begin apogee
$GC,11260,-0.32,0.0,933.2,8.8,543,11401,0.93,0.00,132.20,1.296,6,0.122,0.000,2633,2196,2539
$STATE,11401,end apogee,CONTROL_FINISHED_OK
$STATE,11401,begin climb
$GC,11405,1.16,146.6,939.5,0.0,550,11540,1.52,2.72,126.05,1.279,4,0.081,0.095,2956,3593,1941
$GC,11813,1.16,146.6,912.9,9.8,568,11819,0.00,2.45,0.00,0.000,6,0.000,0.060,2956,2196,1940
$GC,12130,1.19,162.2,887.9,7.4,584,12151,0.00,2.67,14.73,1.204,4,0.000,0.086,2956,3595,1877
$GC,12284,1.19,162.2,874.2,8.8,590,12291,0.00,2.45,0.00,0.000,6,0.000,0.059,2956,2194,1876
$GC,12601,1.19,162.2,847.1,8.5,606,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2194,1875
$GC,12910,1.19,162.2,819.0,9.7,621,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2194,1875
$GC,13219,1.19,162.2,791.1,9.3,636,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2194,1875
$GC,13529,1.19,162.2,763.6,8.8,651,13533,0.00,2.60,0.00,0.000,4,0.000,0.086,2956,3596,1874
$GC,13585,1.19,162.2,758.3,9.1,653,13591,0.00,2.42,0.00,0.000,6,0.000,0.058,2956,2199,1874
$GC,13901,1.19,162.2,731.0,8.9,669,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2199,1874
$GC,14210,1.19,162.2,704.2,8.4,684,14215,0.00,2.60,0.00,0.000,4,0.000,0.086,2956,3601,1875
$GC,14269,1.19,162.2,698.7,10.2,686,14275,0.00,2.42,0.00,0.000,6,0.000,0.058,2956,2200,1874
$GC,14585,1.19,162.2,668.8,9.7,702,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2198,1875
$GC,14894,1.19,162.2,638.1,10.4,717,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,15204,1.19,162.2,606.4,10.3,732,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,15513,1.19,162.2,575.1,10.3,747,15514,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1875
$GC,15822,1.19,162.2,542.0,10.7,762,15823,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,16131,1.19,162.2,509.3,10.3,777,16133,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,16440,1.19,162.2,480.0,9.0,792,16442,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,16750,1.19,162.2,453.1,8.5,807,16751,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,17059,1.19,162.2,425.5,9.1,822,17063,0.00,2.53,0.00,0.000,4,0.000,0.077,2956,798,1874
$GC,17110,1.19,162.2,420.8,9.3,824,17114,0.00,2.40,0.00,0.000,6,0.000,0.054,2956,2203,1874
$GC,17432,1.19,162.2,394.2,8.3,840,17436,0.00,2.53,0.00,0.000,4,0.000,0.071,2956,792,1875
$GC,17490,1.19,162.2,389.4,9.1,842,17496,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2204,1875
$GC,17806,1.19,164.5,363.8,7.9,858,17811,0.00,2.50,0.00,0.000,4,0.000,0.070,2956,800,1874
$GC,17847,1.19,164.5,360.3,8.3,860,17851,0.00,2.40,0.00,0.000,6,0.000,0.056,2957,2200,1874
$GC,18175,1.19,164.5,332.2,9.2,876,18176,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2200,1874
$GC,18484,1.19,164.5,302.4,10.3,891,18488,0.00,2.50,0.00,0.000,4,0.000,0.071,2957,798,1874
$GC,18598,1.19,164.5,289.7,11.1,896,18602,0.00,2.42,0.00,0.000,6,0.000,0.057,2956,2198,1874
$GC,18919,1.19,164.5,261.5,8.2,912,18920,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2198,1874
$GC,19229,1.20,166.0,236.9,7.9,927,19234,0.00,0.00,4.12,0.684,6,0.000,0.000,2956,2198,1862
$GC,19538,1.20,166.0,212.4,8.3,942,19542,0.00,2.50,0.00,0.000,4,0.000,0.072,2956,797,1862
$GC,19594,1.20,166.0,207.5,9.3,944,19598,0.00,2.42,0.00,0.000,6,0.000,0.056,2957,2200,1861
$GC,19910,1.21,173.2,182.6,7.7,959,19924,0.00,2.55,8.07,0.843,4,0.000,0.072,2956,804,1831
$GC,19988,1.21,178.3,176.7,7.8,962,20000,0.00,2.42,6.00,0.761,6,0.000,0.057,2956,2200,1809
$GC,20310,1.24,194.2,152.2,7.4,978,20329,0.00,0.00,14.32,0.861,6,0.000,0.000,2956,2199,1746
$GC,20640,1.24,194.2,124.8,8.7,994,20644,0.00,2.53,0.00,0.000,4,0.000,0.073,2956,799,1746
$GC,20707,1.24,194.2,118.8,8.2,997,20712,0.00,2.42,0.00,0.000,6,0.000,0.058,2956,2198,1745
$GC,21030,1.29,225.1,95.0,6.8,1013,21062,0.12,2.60,26.23,0.833,4,0.069,0.072,2991,796,1620
$GC,21119,1.29,225.1,86.7,10.8,1017,21124,0.00,2.47,0.00,0.000,6,0.000,0.057,2992,2210,1620
$GC,21442,1.29,225.1,54.2,10.9,1033,21446,0.00,2.65,0.00,0.000,4,0.000,0.102,2991,3599,1619
$GC,21492,1.29,225.1,48.9,9.9,1035,21496,0.00,2.45,0.00,0.000,6,0.000,0.061,2991,2195,1619
$GC,21809,1.29,225.1,21.5,8.5,1050,21813,0.00,2.47,0.00,0.000,4,0.000,0.074,2991,799,1618
$GC,21873,1.29,225.1,14.6,12.2,1053,21877,0.00,2.40,0.00,0.000,6,0.000,0.056,2991,2201,1617
$STATE,21992,end climb,SURFACE_DEPTH_REACHED
$STATE,21992,begin surface coast
$FINISH,0.6,1.006750
$STATE,22012,end surface coast,CONTROL_FINISHED_OK
$STATE,22012,begin surface
$SM_CCo,22039,50.53,0.742,0,0,1315,300.00
$SM_GC,1.37,0.00,0.00,50.53,0.000,0.000,0.742,374,1594,1315,-10.72,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1941
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.3,66.6
$24V_AH,23.4,18.419
$10V_AH,10.1,10.809
$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,25.550,130.825,331.725,50.525,0.000,37.764,27.251,176.242,7.750,0.000,0.000,34.129,1910.264,17166.119,518.299,2235.325,659.824,0.000,1605.896,0.000,2170.482,0.000,52.509,0.000
$DEVICE_MAMPS,177.944,102.011,1296.230,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.648,725.685,572.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53753,1060
$CAP_FILE_SIZE,144741,0
$CFSIZE,254472192,245276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,200908,194408,6442.673,-1002.108,39,1.4,40,-11.0