version: 66.04
glider: 14
mission: 6
dive: 354
start: 10 18 108 3 9 30
data:
$ID,14
$MISSION,6
$DIVE,354
$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,-656998
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,030228,6339.613,-1314.937,32,3.0,51,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.8
$GPS2,030907,6339.564,-1314.950,12,1.6,28,-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,192.5,45493,-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,-60.35,0.000,2,0.000,0.000,380,1619,2708
$GC,83,-1.16,-146.6,3.7,-5.4,3,114,11.38,2.53,-11.23,0.000,4,0.177,0.084,2414,3003,3139
$GC,218,-1.16,-146.6,17.3,-10.1,9,222,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1591,3140
$GC,545,-1.16,-146.6,54.0,-10.2,25,549,0.00,2.47,0.00,0.000,4,0.000,0.080,2414,213,3140
$GC,601,-1.16,-146.6,60.5,-12.3,27,607,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3140
$GC,918,-1.16,-146.6,100.8,-11.4,43,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1609,3140
$GC,1228,-1.16,-146.6,137.9,-11.4,58,1233,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,203,3141
$GC,1318,-1.16,-146.6,148.6,-11.1,62,1322,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3141
$GC,1640,-1.16,-146.6,182.8,-10.6,78,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3141
$GC,1949,-1.16,-146.6,219.0,-12.6,93,1953,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,207,3141
$GC,1989,-1.16,-146.6,224.4,-14.3,95,1994,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3142
$GC,2323,-1.16,-146.6,268.0,-13.2,111,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3141
$GC,2631,-1.16,-146.6,306.5,-12.1,126,2635,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,212,3141
$GC,2716,-1.16,-146.6,317.6,-13.0,129,2723,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3142
$GC,3033,-1.16,-146.6,356.0,-12.1,145,3037,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,213,3142
$GC,3122,-1.16,-146.6,367.9,-12.7,149,3127,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3142
$GC,3445,-1.16,-146.6,406.6,-11.5,165,3449,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,206,3142
$GC,3485,-1.16,-146.6,411.5,-12.4,167,3489,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1596,3142
$GC,3813,-1.16,-146.6,444.2,-9.2,183,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3142
$GC,4122,-1.16,-146.6,475.7,-11.6,198,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3142
$GC,4430,-1.16,-146.6,514.7,-12.5,213,4435,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,212,3142
$GC,4481,-1.16,-146.6,521.6,-13.4,215,4485,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3142
$GC,4798,-1.16,-146.6,561.3,-12.5,230,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3142
$GC,5108,-1.16,-146.6,600.9,-13.0,245,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3142
$GC,5417,-1.16,-146.6,635.9,-10.6,260,5421,0.00,2.47,0.00,0.000,4,0.000,0.078,2414,212,3142
$GC,5473,-1.16,-146.6,642.4,-11.3,262,5478,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3142
$GC,5790,-1.16,-146.6,665.3,-6.7,277,5794,0.00,2.47,0.00,0.000,4,0.000,0.077,2414,213,3141
$GC,5869,-1.16,-146.6,671.5,-7.9,280,5873,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3141
$GC,6186,-1.16,-146.6,695.2,-8.0,295,6190,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,210,3142
$GC,6259,-1.16,-146.6,699.8,-4.6,298,6263,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1601,3142
$GC,6582,-1.16,-146.6,714.5,-7.5,314,6586,0.00,2.55,0.00,0.000,4,0.000,0.091,2414,2999,3141
$GC,6677,-1.16,-146.6,724.7,-10.6,318,6685,0.00,2.45,0.00,0.000,6,0.000,0.069,2414,1597,3142
$GC,7002,-1.16,-146.6,754.1,-8.4,334,7006,0.00,2.50,0.00,0.000,4,0.000,0.085,2414,210,3141
$GC,7125,-1.16,-146.6,765.8,-9.6,339,7130,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1604,3141
$GC,7442,-1.16,-146.6,798.1,-10.6,354,7446,0.00,2.53,0.00,0.000,4,0.000,0.087,2414,2997,3141
$STATE,7450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7450,begin apogee
$GC,7461,-0.32,0.0,799.5,10.8,354,7601,0.88,0.00,131.82,1.206,6,0.103,0.000,2601,2195,2539
$STATE,7602,end apogee,CONTROL_FINISHED_OK
$STATE,7602,begin climb
$GC,7606,1.16,146.6,806.2,0.0,361,7739,1.50,2.80,124.50,1.193,4,0.077,0.105,2927,3593,1941
$GC,7783,1.16,146.6,797.7,8.6,369,7787,0.00,2.50,0.00,0.000,6,0.000,0.069,2926,2201,1940
$GC,8104,1.23,185.7,776.2,6.5,385,8143,0.00,0.00,33.53,1.151,6,0.000,0.000,2926,2201,1781
$GC,8454,1.26,209.5,754.3,7.1,402,8484,0.10,2.67,21.60,1.127,4,0.070,0.077,2958,790,1684
$GC,8569,1.26,209.5,736.4,19.6,407,8573,0.00,2.47,0.00,0.000,6,0.000,0.064,2958,2194,1683
$GC,8890,1.26,209.5,691.6,13.4,423,8894,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,786,1682
$GC,8971,1.26,209.5,683.6,10.4,426,8977,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2204,1681
$GC,9287,1.40,293.1,662.7,4.8,442,9362,0.00,2.62,68.97,1.148,4,0.000,0.074,2958,798,1343
$GC,9452,1.40,293.1,648.3,11.8,449,9456,0.00,2.47,0.00,0.000,6,0.000,0.064,2958,2200,1342
$GC,9773,1.40,293.1,607.5,15.8,465,9778,0.00,2.55,0.00,0.000,4,0.000,0.073,2958,791,1339
$GC,9864,1.40,293.1,593.9,14.4,469,9868,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2205,1339
$GC,10186,1.40,293.1,557.3,10.2,485,10190,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,785,1339
$GC,10266,1.40,293.1,548.5,11.5,488,10272,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2202,1339
$GC,10582,1.40,293.1,516.4,9.1,504,10587,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,789,1339
$GC,10684,1.40,293.1,507.1,9.0,508,10690,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2208,1339
$GC,11000,1.40,293.1,480.9,8.6,524,11005,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,791,1339
$GC,11109,1.40,293.1,471.1,8.5,529,11113,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2200,1339
$GC,11436,1.40,293.1,443.2,8.7,545,11440,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,783,1339
$GC,11531,1.40,293.1,434.7,8.6,549,11536,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2208,1339
$GC,11849,1.44,318.2,410.5,7.0,564,11875,0.12,2.60,21.12,0.917,4,0.067,0.071,2998,791,1240
$GC,11983,1.44,318.2,398.4,9.1,570,11987,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2202,1240
$GC,12311,1.44,318.2,367.7,8.6,586,12315,0.00,2.50,0.00,0.000,4,0.000,0.071,2998,792,1239
$GC,12406,1.44,318.2,358.5,9.3,590,12410,0.00,2.47,0.00,0.000,6,0.000,0.061,2998,2203,1239
$GC,12733,1.44,318.2,326.3,10.3,606,12738,0.00,2.53,0.00,0.000,4,0.000,0.071,2997,785,1239
$GC,12848,1.44,318.2,313.5,12.3,611,12853,0.00,2.47,0.00,0.000,6,0.000,0.061,2998,2201,1239
$GC,13170,1.44,318.2,275.2,12.3,627,13174,0.00,2.50,0.00,0.000,4,0.000,0.071,2998,792,1239
$GC,13289,1.44,318.2,259.5,12.6,632,13294,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2207,1239
$GC,13606,1.44,318.2,219.3,13.0,647,13610,0.00,2.53,0.00,0.000,4,0.000,0.071,2997,786,1239
$GC,13701,1.44,318.2,206.3,13.8,651,13705,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2202,1240
$GC,14018,1.44,318.2,166.0,12.9,666,14022,0.00,2.50,0.00,0.000,4,0.000,0.072,2998,791,1239
$GC,14142,1.44,318.2,149.1,12.3,671,14146,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2208,1239
$GC,14461,1.44,318.2,107.9,13.2,686,14465,0.00,2.53,0.00,0.000,4,0.000,0.072,2998,785,1239
$GC,14569,1.44,318.2,92.8,13.9,691,14574,0.00,2.45,0.00,0.000,6,0.000,0.062,2998,2199,1239
$GC,14899,1.44,318.2,50.8,12.5,707,14903,0.00,2.50,0.00,0.000,4,0.000,0.071,2998,791,1239
$GC,14989,1.44,318.2,38.4,13.3,711,14993,0.00,2.45,0.00,0.000,6,0.000,0.062,2998,2200,1239
$STATE,15288,end climb,SURFACE_DEPTH_REACHED
$STATE,15288,begin surface coast
$FINISH,0.9,1.027142
$STATE,15308,end surface coast,CONTROL_FINISHED_OK
$STATE,15309,begin surface
$SM_CCo,15395,0.00,0.000,0,0,1239,318.89
$SM_GC,1.28,11.30,0.00,0.00,0.055,0.000,0.000,375,1592,1239,-10.50,-0.20,318.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1884
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.6,58.7
$24V_AH,23.5,47.083
$10V_AH,10.2,23.549
$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,25.275,154.350,401.550,0.000,0.000,39.127,28.824,166.744,6.500,0.000,0.000,30.053,1402.759,11418.266,510.825,1859.510,602.518,0.000,1457.994,0.000,1793.769,0.000,44.457,0.000
$DEVICE_MAMPS,177.177,105.079,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.073,495.785,415.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,727
$CAP_FILE_SIZE,119031,0
$CFSIZE,254472192,235933696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,181008,072708,6336.130,-1320.374,23,1.6,23,-12.5