version: 66.04
glider: 14
mission: 6
dive: 361
start: 10 19 108 14 39 43
data:
$ID,14
$MISSION,6
$DIVE,361
$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,576.94562
$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,-657163.19
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,142208,6326.710,-1325.116,24,1.9,24,-12.4
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-50.0
$GPS2,143923,6326.707,-1325.412,11,2.8,30,-12.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$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,170.6,23354,-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,-60.45,0.000,2,0.000,0.000,378,1622,2722
$GC,83,-1.16,-146.6,3.7,-5.6,3,113,11.40,2.58,-10.45,0.000,4,0.177,0.090,2415,201,3138
$GC,361,-1.16,-146.6,42.2,-13.3,15,365,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1606,3139
$GC,677,-1.16,-146.6,72.3,-9.8,30,681,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,210,3138
$GC,746,-1.16,-146.6,80.2,-11.3,33,750,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3138
$GC,1068,-1.16,-146.6,114.8,-11.0,49,1072,0.00,2.50,0.00,0.000,4,0.000,0.074,2414,206,3139
$GC,1131,-1.16,-146.6,122.4,-12.6,52,1135,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3139
$GC,1459,-1.16,-146.6,155.5,-9.7,68,1463,0.00,2.47,0.00,0.000,4,0.000,0.075,2414,210,3138
$GC,1498,-1.16,-146.6,160.0,-11.2,69,1504,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3138
$GC,1814,-1.16,-146.6,194.7,-11.0,85,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3139
$GC,2124,-1.16,-146.6,228.3,-10.7,100,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3139
$GC,2433,-1.16,-146.6,261.7,-11.1,115,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3140
$GC,2742,-1.16,-146.6,295.8,-11.1,130,2747,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3139
$GC,2806,-1.16,-146.6,303.4,-11.7,133,2810,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1603,3139
$GC,3133,-1.16,-146.6,340.3,-11.1,149,3137,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,3178,-1.16,-146.6,345.7,-11.8,151,3182,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1599,3139
$GC,3500,-1.16,-146.6,382.3,-11.4,167,3504,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3139
$GC,3540,-1.16,-146.6,387.3,-12.4,169,3544,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3139
$GC,3868,-1.16,-146.6,423.5,-11.1,185,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3139
$GC,4177,-1.16,-146.6,457.3,-11.1,200,4181,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,211,3139
$GC,4239,-1.16,-146.6,464.7,-11.6,203,4243,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3139
$GC,4570,-1.16,-146.6,502.2,-11.9,219,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3139
$GC,4876,-1.16,-146.6,539.8,-11.9,234,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3139
$GC,5188,-1.16,-146.6,575.6,-11.6,249,5192,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,5233,-1.16,-146.6,581.4,-11.8,251,5237,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1598,3139
$GC,5554,-1.16,-146.6,622.2,-13.4,267,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3139
$GC,5864,-1.16,-146.6,660.4,-12.3,282,5868,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,5954,-1.16,-146.6,672.2,-13.6,286,5958,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1601,3139
$GC,6275,-1.16,-146.6,711.0,-11.6,302,6280,0.00,2.55,0.00,0.000,4,0.000,0.091,2414,2999,3139
$GC,6316,-1.16,-146.6,715.8,-11.5,304,6320,0.00,2.42,0.00,0.000,6,0.000,0.068,2414,1600,3139
$GC,6644,-1.16,-146.6,752.7,-11.0,320,6648,0.00,2.50,0.00,0.000,4,0.000,0.082,2415,206,3139
$GC,6790,-1.16,-146.6,769.5,-10.9,326,6796,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1609,3139
$GC,7107,-1.16,-146.6,802.6,-10.6,342,7111,0.00,2.50,0.00,0.000,4,0.000,0.086,2414,2995,3138
$GC,7174,-1.16,-146.6,809.6,-10.3,345,7178,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1600,3139
$GC,7501,-1.16,-146.6,842.7,-10.1,361,7506,0.00,2.50,0.00,0.000,4,0.000,0.083,2415,211,3139
$GC,7704,-1.16,-146.6,864.6,-9.5,370,7708,0.00,2.40,0.00,0.000,6,0.000,0.060,2415,1612,3139
$STATE,7919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7919,begin apogee
$GC,7929,-0.32,0.0,885.9,10.9,381,8069,0.90,0.00,131.82,1.275,6,0.110,0.000,2599,2194,2539
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8074,1.16,146.6,894.8,0.0,388,8208,1.50,2.78,125.12,1.258,4,0.074,0.105,2927,3590,1941
$GC,8232,1.19,161.2,887.2,7.4,396,8251,0.00,2.47,13.75,1.118,6,0.000,0.067,2927,2201,1880
$GC,8581,1.19,165.2,858.1,7.8,413,8591,0.00,2.65,4.57,0.828,4,0.000,0.091,2927,3603,1864
$GC,8648,1.19,165.2,852.6,9.9,416,8652,0.00,2.50,0.00,0.000,6,0.000,0.067,2927,2199,1864
$GC,8970,1.25,202.0,830.3,6.6,432,9008,0.00,0.00,32.30,1.218,6,0.000,0.000,2927,2199,1715
$GC,9319,1.25,202.0,801.0,8.3,449,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2199,1712
$GC,9628,1.25,202.0,773.6,9.1,464,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2199,1710
$GC,9938,1.25,202.0,744.8,8.9,479,9942,0.00,2.55,0.00,0.000,4,0.000,0.077,2926,786,1707
$GC,9994,1.25,202.0,739.6,9.5,481,9998,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2198,1707
$GC,10310,1.25,202.0,713.1,9.1,496,10315,0.00,2.53,0.00,0.000,4,0.000,0.073,2927,789,1707
$GC,10384,1.25,202.0,705.8,10.2,499,10389,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2202,1707
$GC,10701,1.25,203.1,674.6,8.0,514,10705,0.00,2.55,0.00,0.000,4,0.000,0.074,2927,787,1707
$GC,10742,1.25,203.1,671.2,9.3,516,10746,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2201,1706
$GC,11069,1.25,203.1,642.1,8.3,532,11074,0.00,2.53,0.00,0.000,4,0.000,0.074,2927,790,1706
$GC,11200,1.25,203.1,629.2,10.8,538,11204,0.00,2.50,0.00,0.000,6,0.000,0.063,2927,2208,1706
$GC,11533,1.25,203.1,595.5,9.9,554,11537,0.00,2.53,0.00,0.000,4,0.000,0.073,2927,790,1707
$GC,11635,1.25,203.1,585.0,11.0,558,11641,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2202,1706
$GC,11951,1.25,203.1,554.1,9.8,574,11955,0.00,2.53,0.00,0.000,4,0.000,0.072,2927,783,1706
$GC,12036,1.25,203.1,545.5,10.1,577,12042,0.00,2.50,0.00,0.000,6,0.000,0.062,2927,2209,1706
$GC,12352,1.25,203.1,515.5,9.3,593,12356,0.00,2.55,0.00,0.000,4,0.000,0.072,2926,787,1707
$GC,12436,1.25,203.1,507.3,9.5,596,12442,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2202,1707
$GC,12753,1.25,203.1,479.6,8.7,612,12758,0.00,2.50,0.00,0.000,4,0.000,0.073,2927,792,1707
$GC,12866,1.25,203.1,469.4,9.1,617,12870,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2208,1707
$GC,13187,1.25,203.1,442.6,8.4,633,13192,0.00,2.53,0.00,0.000,4,0.000,0.072,2927,787,1707
$GC,13301,1.25,203.1,432.5,9.5,638,13305,0.00,2.45,0.00,0.000,6,0.000,0.061,2927,2200,1706
$GC,13622,1.27,211.6,405.7,7.7,654,13637,0.12,2.53,8.75,0.831,4,0.067,0.071,2968,792,1676
$GC,13728,1.27,211.6,395.7,10.3,658,13734,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2201,1676
$GC,14044,1.27,211.6,365.4,9.7,674,14048,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,789,1676
$GC,14100,1.27,211.6,359.5,10.6,676,14106,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2204,1676
$GC,14417,1.27,211.6,329.4,9.7,692,14421,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,792,1676
$GC,14512,1.27,211.6,319.6,9.5,696,14517,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2210,1676
$GC,14830,1.27,211.6,289.9,9.9,711,14833,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,791,1676
$GC,14938,1.27,211.6,278.1,10.6,715,14946,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2206,1676
$GC,15255,1.27,211.6,245.2,10.4,731,15259,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,792,1676
$GC,15328,1.27,211.6,237.1,11.1,734,15333,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2212,1676
$GC,15645,1.27,211.6,205.5,9.1,749,15649,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,786,1676
$GC,15763,1.27,211.6,193.2,10.6,754,15767,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2207,1676
$GC,16079,1.27,211.6,161.9,11.5,769,16084,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,791,1676
$GC,16194,1.27,211.6,147.1,13.6,774,16198,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2197,1676
$GC,16516,1.27,211.6,107.8,10.7,790,16520,0.00,2.50,0.00,0.000,4,0.000,0.069,2968,782,1676
$GC,16600,1.27,211.6,98.5,13.1,793,16606,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2204,1676
$GC,16917,1.27,211.6,58.1,8.6,809,16921,0.00,2.53,0.00,0.000,4,0.000,0.074,2968,787,1676
$GC,16990,1.33,251.3,52.1,6.5,812,17028,0.00,2.47,32.30,0.682,6,0.000,0.061,2968,2208,1513
$GC,17354,1.66,458.0,13.6,0.1,830,17463,0.28,0.00,105.32,0.645,2,0.060,0.000,3046,2209,952
$STATE,17463,end climb,SURFACE_DEPTH_REACHED
$STATE,17464,begin surface coast
$FINISH,0.5,1.027134
$STATE,17471,end surface coast,CONTROL_FINISHED_OK
$STATE,17471,begin surface
$SM_CCo,17497,100.60,0.594,0,0,186,576.95
$SM_GC,0.84,0.00,0.00,100.60,0.000,0.000,0.594,379,1601,186,-10.56,0.03,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1827
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,825.5,68.1
$24V_AH,23.5,48.142
$10V_AH,10.2,24.162
$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,26.075,171.000,453.950,100.600,0.000,194.429,201.324,210.057,8.500,0.000,0.000,33.116,1585.943,13229.723,669.392,2111.332,1035.165,0.000,1735.657,0.000,2033.141,0.000,52.249,0.000
$DEVICE_MAMPS,177.177,105.079,1274.754,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.470,569.877,459.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44280,835
$CAP_FILE_SIZE,138297,0
$CFSIZE,254472192,235429888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,191008,193426,6325.080,-1327.592,40,1.1,40,-12.4