version: 66.04
glider: 14
mission: 6
dive: 370
start: 10 21 108 11 21 51
data:
$ID,14
$MISSION,6
$DIVE,370
$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,-657370.81
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,111456,6319.223,-1324.184,38,1.5,38,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.1
$GPS2,112127,6319.192,-1324.265,15,1.6,15,-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,147.6,10950,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,59,0.00,0.00,-40.45,0.000,2,0.000,0.000,383,1618,2254
$GC,63,-1.16,-146.6,3.0,-4.6,2,115,11.32,2.55,-33.72,0.000,4,0.176,0.089,2416,221,3137
$GC,385,-1.16,-146.6,37.9,-13.1,16,389,0.00,2.35,0.00,0.000,6,0.000,0.058,2416,1595,3138
$GC,708,-1.16,-146.6,71.1,-9.3,32,712,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,206,3139
$GC,797,-1.16,-146.6,80.4,-10.5,36,802,0.00,2.40,0.00,0.000,6,0.000,0.058,2416,1611,3139
$GC,1121,-1.16,-146.6,112.0,-9.2,52,1125,0.00,2.53,0.00,0.000,4,0.000,0.076,2415,207,3139
$GC,1162,-1.16,-146.6,116.1,-10.5,54,1166,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3139
$GC,1491,-1.16,-146.6,143.1,-7.9,70,1495,0.00,2.50,0.00,0.000,4,0.000,0.075,2416,208,3139
$GC,1531,-1.16,-146.6,146.5,-8.1,72,1536,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1606,3139
$GC,1865,-1.16,-146.6,172.2,-8.3,88,1870,0.00,2.50,0.00,0.000,4,0.000,0.076,2416,212,3140
$GC,1955,-1.16,-146.6,180.3,-8.6,92,1960,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1608,3140
$GC,2277,-1.16,-146.6,210.0,-9.8,108,2282,0.00,2.50,0.00,0.000,4,0.000,0.076,2416,212,3139
$GC,2342,-1.16,-146.6,217.0,-11.1,111,2346,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1608,3140
$GC,2669,-1.16,-146.6,253.3,-11.6,127,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1612,3139
$GC,2978,-1.16,-146.6,290.8,-11.8,142,2983,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,206,3139
$GC,3097,-1.16,-146.6,306.0,-12.9,147,3102,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1595,3139
$GC,3414,-1.16,-146.6,343.1,-11.8,162,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1601,3139
$GC,3724,-1.16,-146.6,377.7,-11.0,177,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1601,3139
$GC,4032,-1.16,-146.6,409.7,-10.4,192,4036,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,210,3139
$GC,4100,-1.16,-146.6,417.7,-12.1,195,4104,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1602,3139
$GC,4423,-1.16,-146.6,456.4,-12.0,211,4427,0.00,2.50,0.00,0.000,4,0.000,0.082,2416,2993,3139
$GC,4457,-1.16,-146.6,460.6,-11.5,212,4463,0.00,2.40,0.00,0.000,6,0.000,0.065,2416,1601,3139
$GC,4773,-1.16,-146.6,496.6,-11.7,228,4777,0.00,2.50,0.00,0.000,4,0.000,0.083,2416,212,3139
$GC,4837,-1.16,-146.6,504.5,-12.8,231,4841,0.00,2.38,0.00,0.000,6,0.000,0.059,2416,1608,3139
$GC,5164,-1.16,-146.6,543.2,-12.3,247,5168,0.00,2.50,0.00,0.000,4,0.000,0.083,2416,2995,3139
$GC,5193,-1.16,-146.6,546.6,-12.0,248,5197,0.00,2.42,0.00,0.000,6,0.000,0.067,2416,1602,3140
$GC,5510,-1.16,-146.6,583.3,-11.2,263,5514,0.00,2.50,0.00,0.000,4,0.000,0.084,2416,212,3139
$GC,5566,-1.16,-146.6,589.9,-11.7,265,5572,0.00,2.38,0.00,0.000,6,0.000,0.059,2416,1608,3139
$GC,5883,-1.16,-146.6,624.0,-10.3,281,5887,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,209,3139
$GC,5951,-1.16,-146.6,631.3,-10.7,284,5955,0.00,2.38,0.00,0.000,6,0.000,0.059,2416,1599,3140
$GC,6273,-1.16,-146.6,661.9,-9.1,300,6276,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,204,3139
$GC,6329,-1.16,-146.6,667.6,-10.4,302,6333,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1601,3139
$GC,6646,-1.16,-146.6,698.8,-10.0,317,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3139
$GC,6955,-1.16,-146.6,728.0,-10.1,332,6959,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,210,3139
$GC,7018,-1.16,-146.6,735.1,-11.6,335,7022,0.00,2.38,0.00,0.000,6,0.000,0.060,2416,1600,3139
$GC,7345,-1.16,-146.6,768.9,-10.0,351,7350,0.00,2.50,0.00,0.000,4,0.000,0.078,2416,212,3139
$GC,7463,-1.16,-146.6,780.4,-8.1,356,7468,0.00,2.40,0.00,0.000,6,0.000,0.060,2416,1602,3139
$GC,7781,-1.16,-146.6,807.6,-7.6,371,7785,0.00,2.50,0.00,0.000,4,0.000,0.081,2416,211,3140
$GC,7837,-1.16,-146.6,813.1,-10.0,373,7841,0.00,2.40,0.00,0.000,6,0.000,0.061,2416,1601,3139
$GC,8153,-1.16,-146.6,841.2,-10.7,388,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3139
$STATE,8257,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8257,begin apogee
$GC,8268,-0.32,0.0,850.5,8.7,393,8407,0.90,0.00,131.30,1.252,6,0.107,0.000,2601,2193,2539
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8412,1.16,146.6,855.9,0.0,400,8545,1.50,2.80,124.28,1.237,4,0.078,0.104,2927,3600,1940
$GC,8814,1.30,234.0,835.8,4.7,418,8896,0.15,2.53,74.30,1.218,6,0.064,0.074,2969,2203,1583
$GC,9224,1.30,234.0,797.6,11.2,438,9228,0.00,2.65,0.00,0.000,4,0.000,0.094,2969,3602,1582
$GC,9251,1.30,234.0,794.7,10.7,439,9256,0.00,2.50,0.00,0.000,6,0.000,0.067,2969,2194,1582
$GC,9568,1.30,234.0,759.4,10.7,454,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2194,1580
$GC,9877,1.30,234.0,728.2,9.9,469,9881,0.00,2.53,0.00,0.000,4,0.000,0.077,2969,793,1579
$GC,9939,1.30,234.0,722.2,10.2,471,9945,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2202,1578
$GC,10256,1.30,234.0,692.6,10.0,487,10260,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,797,1577
$GC,10353,1.30,234.0,681.9,10.9,491,10357,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2204,1576
$GC,10674,1.30,234.0,651.2,9.6,507,10679,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,795,1576
$GC,10732,1.30,234.0,645.0,11.3,509,10738,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2208,1576
$GC,11048,1.30,234.0,611.9,10.7,525,11052,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,787,1573
$GC,11171,1.30,234.0,597.5,10.9,530,11178,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2204,1573
$GC,11489,1.30,234.0,565.1,10.0,546,11493,0.00,2.53,0.00,0.000,4,0.000,0.072,2969,790,1573
$GC,11535,1.30,234.0,559.7,11.5,548,11539,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2199,1573
$GC,11868,1.30,234.0,524.7,10.3,564,11872,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,795,1573
$GC,11931,1.30,234.0,518.0,10.4,567,11935,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2204,1573
$GC,12258,1.30,234.0,484.8,10.0,583,12262,0.00,2.53,0.00,0.000,4,0.000,0.072,2969,788,1573
$GC,12303,1.30,234.0,479.9,10.4,585,12307,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1573
$GC,12626,1.30,234.0,448.4,9.7,601,12630,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,795,1573
$GC,12715,1.30,234.0,439.2,9.8,605,12719,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2204,1573
$GC,13038,1.30,234.0,408.7,9.7,621,13042,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,794,1573
$GC,13133,1.30,234.0,398.7,10.1,625,13137,0.00,2.45,0.00,0.000,6,0.000,0.061,2970,2200,1573
$GC,13461,1.30,234.0,365.9,10.3,641,13466,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,789,1573
$GC,13552,1.30,234.0,355.9,11.6,645,13557,0.00,2.45,0.00,0.000,6,0.000,0.061,2970,2201,1573
$GC,13875,1.30,234.0,325.0,9.5,661,13879,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,792,1573
$GC,14006,1.30,234.0,313.1,9.0,667,14010,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2211,1573
$GC,14339,1.30,234.0,279.9,10.2,683,14343,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,795,1573
$GC,14469,1.30,234.0,267.7,8.9,689,14473,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2210,1573
$GC,14796,1.30,234.0,240.2,8.4,705,14801,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,795,1573
$GC,14888,1.30,234.0,231.9,9.3,709,14892,0.00,2.42,0.00,0.000,6,0.000,0.062,2969,2200,1573
$GC,15222,1.31,239.4,202.9,7.8,725,15231,0.00,2.50,4.88,0.601,4,0.000,0.072,2970,796,1563
$GC,15322,1.31,239.4,193.6,10.3,729,15327,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2202,1563
$GC,15638,1.31,239.4,159.6,11.2,744,15642,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,795,1563
$GC,15735,1.31,239.4,149.5,9.1,748,15739,0.00,2.42,0.00,0.000,6,0.000,0.062,2969,2201,1563
$GC,16063,1.31,239.4,118.7,8.5,764,16067,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,793,1563
$GC,16108,1.31,239.4,114.8,8.6,766,16112,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2206,1563
$GC,16430,1.31,239.4,85.4,10.1,782,16434,0.00,2.50,0.00,0.000,4,0.000,0.073,2970,796,1563
$GC,16499,1.31,239.4,78.1,11.6,785,16503,0.00,2.45,0.00,0.000,6,0.000,0.063,2970,2207,1563
$GC,16833,1.38,284.7,50.3,6.3,801,16877,0.00,2.60,36.80,0.679,4,0.000,0.071,2969,789,1377
$GC,16970,1.40,295.1,39.6,7.6,807,16985,0.00,2.47,9.68,0.606,6,0.000,0.062,2970,2203,1335
$GC,17299,1.41,304.2,7.9,7.7,822,17313,0.00,2.58,8.38,0.579,4,0.000,0.072,2970,795,1298
$STATE,17363,end climb,SURFACE_DEPTH_REACHED
$STATE,17363,begin surface coast
$FINISH,0.5,1.013804
$STATE,17388,end surface coast,CONTROL_FINISHED_OK
$STATE,17388,begin surface
$SM_CCo,17476,0.00,0.000,0,0,1296,304.91
$SM_GC,1.38,11.25,0.00,0.00,0.055,0.000,0.000,379,1617,1296,-10.50,0.48,304.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1886
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.5,7.7
$24V_AH,23.5,49.567
$10V_AH,10.2,24.942
$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,25.125,188.075,389.600,0.000,0.000,37.766,33.432,167.169,8.000,0.000,0.000,17.260,1611.358,12924.370,502.247,2173.324,655.571,0.000,1604.030,0.000,2104.109,0.000,56.494,0.000
$DEVICE_MAMPS,175.643,104.312,1251.744,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.540,564.096,492.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,826
$CAP_FILE_SIZE,138029,0
$CFSIZE,254472192,234864640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,1,0
$GPS,211008,161431,6318.653,-1321.117,44,1.7,44,-12.3