version: 66.04
glider: 14
mission: 6
dive: 393
start: 10 25 108 15 3 16
data:
$ID,14
$MISSION,6
$DIVE,393
$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,-657802.12
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,145637,6244.688,-1210.332,40,1.3,45,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.6
$GPS2,150256,6244.661,-1210.242,14,1.6,31,-11.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$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,99.7,21414,-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,-60.25,0.000,2,0.000,0.000,379,1585,2694
$GC,83,-1.16,-146.6,3.2,-3.9,3,114,11.40,2.53,-11.73,0.000,4,0.176,0.091,2415,213,3138
$GC,384,-1.16,-146.6,38.6,-9.1,16,388,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1613,3138
$GC,706,-1.16,-146.6,73.8,-12.2,32,710,0.00,2.53,0.00,0.000,4,0.000,0.075,2415,209,3138
$GC,751,-1.16,-146.6,79.5,-14.0,34,756,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3139
$GC,1074,-1.16,-146.6,122.2,-12.8,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1607,3139
$GC,1383,-1.16,-146.6,158.7,-11.2,65,1387,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,210,3139
$GC,1507,-1.16,-146.6,173.7,-12.1,70,1513,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1609,3138
$GC,1824,-1.16,-146.6,209.7,-11.4,86,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1609,3139
$GC,2133,-1.16,-146.6,245.1,-11.7,101,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1608,3139
$GC,2443,-1.16,-146.6,281.2,-11.4,116,2447,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3139
$GC,2499,-1.16,-146.6,288.5,-12.5,118,2504,0.00,2.35,0.00,0.000,6,0.000,0.058,2415,1597,3139
$GC,2816,-1.16,-146.6,324.5,-11.2,133,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1600,3139
$GC,3126,-1.16,-146.6,359.3,-11.1,148,3130,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,207,3140
$GC,3171,-1.16,-146.6,365.0,-12.5,150,3175,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1599,3138
$GC,3493,-1.16,-146.6,399.5,-11.0,166,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3139
$GC,3803,-1.16,-146.6,433.6,-11.0,181,3807,0.00,2.50,0.00,0.000,4,0.000,0.079,2415,212,3139
$GC,3847,-1.16,-146.6,439.3,-11.7,183,3852,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1601,3140
$GC,4171,-1.16,-146.6,476.0,-11.2,199,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3140
$GC,4479,-1.16,-146.6,510.2,-10.8,214,4483,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,206,3139
$GC,4537,-1.16,-146.6,516.8,-11.5,216,4543,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1598,3139
$GC,4854,-1.16,-146.6,550.0,-10.1,232,4859,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,204,3140
$GC,4910,-1.16,-146.6,555.9,-10.5,234,4914,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1607,3140
$GC,5228,-1.16,-146.6,585.7,-9.4,249,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1612,3140
$GC,5536,-1.16,-146.6,615.5,-9.8,264,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1612,3139
$GC,5845,-1.16,-146.6,644.1,-9.3,279,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1611,3141
$GC,6154,-1.16,-146.6,673.4,-9.7,294,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1611,3140
$STATE,6357,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6357,begin apogee
$GC,6367,-0.32,0.0,692.8,9.0,304,6506,0.93,0.00,130.20,1.132,6,0.113,0.000,2603,2194,2539
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6507,begin climb
$GC,6510,1.16,146.6,698.7,0.0,311,6643,1.52,2.85,122.40,1.121,4,0.084,0.113,2929,3599,1940
$GC,6724,1.16,146.6,686.6,8.5,321,6728,0.00,2.50,0.00,0.000,6,0.000,0.071,2928,2199,1939
$GC,7051,1.20,172.0,662.7,7.0,337,7075,0.00,0.00,22.05,1.062,6,0.000,0.000,2929,2199,1837
$GC,7380,1.25,203.4,638.9,6.8,353,7409,0.00,0.00,27.12,1.083,6,0.000,0.000,2929,2200,1708
$GC,7712,1.27,210.1,613.4,7.7,369,7726,0.10,2.65,6.78,0.894,4,0.070,0.079,2961,787,1682
$GC,7761,1.27,210.1,608.7,9.6,371,7765,0.00,2.50,0.00,0.000,6,0.000,0.064,2961,2199,1682
$GC,8083,1.27,210.1,579.3,9.6,387,8087,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,795,1680
$GC,8127,1.27,210.1,574.7,9.7,389,8132,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2201,1679
$GC,8449,1.27,210.1,545.2,9.2,405,8454,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,792,1678
$GC,8551,1.27,210.1,535.6,9.6,409,8558,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2201,1677
$GC,8868,1.27,210.1,507.4,9.2,425,8872,0.00,2.53,0.00,0.000,4,0.000,0.073,2961,792,1677
$GC,8953,1.27,210.1,499.4,9.9,429,8957,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2208,1676
$GC,9281,1.27,210.1,469.8,9.2,445,9285,0.00,2.53,0.00,0.000,4,0.000,0.072,2961,791,1676
$GC,9381,1.27,210.1,459.6,10.1,449,9387,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2199,1676
$GC,9698,1.27,210.1,430.1,9.3,465,9702,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,792,1676
$GC,9796,1.27,210.1,420.3,10.3,469,9800,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2200,1676
$GC,10118,1.27,210.1,388.0,10.0,485,10122,0.00,2.53,0.00,0.000,4,0.000,0.071,2961,785,1676
$GC,10208,1.27,210.1,378.4,10.7,489,10212,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2208,1676
$GC,10530,1.27,210.1,346.6,9.8,505,10534,0.00,2.50,0.00,0.000,4,0.000,0.070,2961,793,1676
$GC,10631,1.27,210.1,336.0,10.7,509,10637,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2204,1676
$GC,10948,1.27,210.1,306.0,9.5,525,10952,0.00,2.50,0.00,0.000,4,0.000,0.070,2961,785,1676
$GC,11049,1.27,210.1,296.1,9.9,529,11054,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2199,1676
$GC,11366,1.27,210.1,266.7,9.2,544,11370,0.00,2.50,0.00,0.000,4,0.000,0.070,2961,785,1676
$GC,11456,1.27,210.1,258.0,9.2,548,11460,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2199,1676
$GC,11777,1.27,210.1,227.4,9.5,564,11782,0.00,2.50,0.00,0.000,4,0.000,0.069,2961,792,1676
$GC,11868,1.27,210.1,218.0,10.5,568,11873,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2211,1677
$GC,12190,1.27,210.1,185.8,10.0,584,12194,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,793,1676
$GC,12286,1.27,210.1,175.7,10.6,588,12290,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2200,1676
$GC,12604,1.27,210.1,147.1,8.5,603,12608,0.00,2.50,0.00,0.000,4,0.000,0.070,2961,793,1676
$GC,12699,1.27,210.1,137.5,10.2,607,12703,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2210,1676
$GC,13021,1.27,211.7,108.2,7.9,623,13025,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,793,1676
$GC,13135,1.36,268.1,101.0,5.9,628,13186,0.00,2.45,46.08,0.723,6,0.000,0.061,2961,2201,1445
$GC,13503,1.36,268.1,71.6,9.5,645,13507,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,792,1443
$GC,13621,1.36,268.1,59.2,10.1,650,13625,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,2208,1443
$GC,13938,1.36,268.1,29.1,8.7,665,13942,0.00,2.53,0.00,0.000,4,0.000,0.072,2961,790,1443
$GC,14028,1.46,330.3,22.7,5.6,669,14087,0.15,2.45,48.75,0.656,6,0.064,0.061,3012,2202,1190
$STATE,14271,end climb,SURFACE_DEPTH_REACHED
$STATE,14271,begin surface coast
$FINISH,0.4,1.027280
$STATE,14291,end surface coast,CONTROL_FINISHED_OK
$STATE,14292,begin surface
$SM_CCo,14377,0.00,0.000,0,0,1188,331.40
$SM_GC,1.28,11.45,0.00,0.00,0.055,0.000,0.000,371,1600,1188,-10.51,0.00,331.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1877
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.4,99.6
$24V_AH,23.5,52.583
$10V_AH,10.2,26.659
$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,25.550,126.300,403.375,0.000,0.000,39.029,28.956,151.060,5.000,0.000,0.000,32.942,1294.966,10699.962,502.881,1696.527,560.679,0.000,1358.074,0.000,1636.531,0.000,34.845,0.000
$DEVICE_MAMPS,176.410,112.749,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.554,464.501,428.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34800,682
$CAP_FILE_SIZE,106363,0
$CFSIZE,254472192,233623552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,251008,190408,6245.011,-1203.263,35,1.2,35,-11.4