version: 66.04
glider: 14
mission: 6
dive: 359
start: 10 19 108 3 53 13
data:
$ID,14
$MISSION,6
$DIVE,359
$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,-657113.94
$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,19
$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
$GPS1,034615,6329.086,-1324.219,35,2.3,54,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-57.8
$GPS2,035253,6329.083,-1324.286,12,2.1,31,-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,175.9,27205,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.47,0.000,2,0.000,0.000,382,1587,2743
$GC,86,-1.16,-146.6,3.8,-5.3,3,116,11.38,2.50,-10.02,0.000,4,0.177,0.091,2412,212,3138
$GC,227,-1.16,-146.6,21.7,-8.4,9,231,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1615,3139
$GC,554,-1.16,-146.6,58.5,-11.4,25,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1620,3139
$GC,863,-1.16,-146.6,93.5,-11.3,40,868,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,212,3139
$GC,937,-1.16,-146.6,102.3,-11.6,43,942,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1606,3139
$GC,1256,-1.16,-146.6,136.2,-11.6,58,1260,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3139
$GC,1323,-1.16,-146.6,145.1,-13.3,61,1327,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1608,3139
$GC,1645,-1.16,-146.6,185.4,-12.4,77,1649,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3139
$GC,1695,-1.16,-146.6,192.2,-12.9,79,1700,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3140
$GC,2012,-1.16,-146.6,231.7,-12.7,94,2017,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3140
$GC,2058,-1.16,-146.6,237.5,-12.8,96,2062,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1608,3140
$GC,2380,-1.16,-146.6,276.1,-11.9,112,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3139
$GC,2689,-1.16,-146.6,315.1,-12.7,127,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3140
$GC,2998,-1.16,-146.6,354.6,-12.7,142,3002,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,209,3140
$GC,3048,-1.16,-146.6,361.4,-13.1,144,3052,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3140
$GC,3365,-1.16,-146.6,399.3,-11.3,159,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,3674,-1.16,-146.6,433.9,-11.2,174,3678,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,206,3140
$GC,3718,-1.16,-146.6,439.2,-11.3,176,3723,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1596,3140
$GC,4047,-1.16,-146.6,473.5,-10.2,192,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3140
$GC,4355,-1.16,-146.6,503.8,-9.7,207,4359,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,212,3140
$GC,4434,-1.16,-146.6,511.1,-8.5,210,4441,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1606,3140
$GC,4752,-1.16,-146.6,539.4,-9.0,226,4756,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,204,3140
$GC,4841,-1.16,-146.6,548.7,-10.0,230,4845,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1593,3140
$GC,5164,-1.16,-146.6,579.3,-9.9,246,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1597,3140
$GC,5472,-1.16,-146.6,612.6,-11.4,261,5476,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,208,3140
$GC,5519,-1.16,-146.6,618.2,-12.6,263,5523,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1603,3140
$GC,5852,-1.16,-146.6,654.0,-10.0,279,5857,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,212,3140
$GC,5893,-1.16,-146.6,658.3,-11.3,281,5898,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1598,3140
$GC,6221,-1.16,-146.6,688.1,-8.5,297,6225,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,206,3140
$GC,6294,-1.16,-146.6,695.0,-9.2,300,6299,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1602,3140
$GC,6617,-1.16,-146.6,723.5,-8.8,316,6621,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,212,3139
$GC,6706,-1.16,-146.6,731.8,-8.5,320,6710,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1604,3140
$GC,7029,-1.16,-146.6,760.2,-8.6,336,7034,0.00,2.55,0.00,0.000,4,0.000,0.091,2412,3002,3140
$GC,7086,-1.16,-146.6,765.1,-8.8,338,7092,0.00,2.45,0.00,0.000,6,0.000,0.068,2412,1599,3140
$GC,7402,-1.16,-146.6,790.2,-9.0,354,7406,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,203,3140
$GC,7537,-1.16,-146.6,801.8,-9.0,360,7542,0.00,2.42,0.00,0.000,6,0.000,0.060,2412,1614,3140
$GC,7860,-1.16,-146.6,828.7,-10.3,376,7864,0.00,2.50,0.00,0.000,4,0.000,0.086,2412,2995,3140
$GC,7911,-1.16,-146.6,834.7,-11.1,378,7916,0.00,2.45,0.00,0.000,6,0.000,0.068,2412,1596,3140
$GC,8227,-1.16,-146.6,866.5,-9.1,393,8231,0.00,2.53,0.00,0.000,4,0.000,0.085,2412,201,3140
$GC,8275,-1.16,-146.6,870.9,-9.3,395,8280,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1602,3140
$STATE,8373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8373,begin apogee
$GC,8383,-0.32,0.0,881.6,10.9,400,8524,0.93,0.00,132.80,1.269,6,0.109,0.000,2602,2194,2539
$STATE,8525,end apogee,CONTROL_FINISHED_OK
$STATE,8525,begin climb
$GC,8529,1.16,146.6,891.3,0.0,407,8662,1.50,2.58,125.30,1.256,4,0.079,0.074,2927,791,1941
$GC,8936,1.17,152.4,869.8,7.8,425,8947,0.00,2.47,6.32,0.957,6,0.000,0.064,2927,2197,1916
$GC,9270,1.22,179.4,846.3,7.0,442,9300,0.00,2.62,23.90,1.199,4,0.000,0.074,2927,792,1807
$GC,9340,1.22,179.4,840.2,8.4,445,9345,0.00,2.50,0.00,0.000,6,0.000,0.064,2926,2199,1807
$GC,9663,1.22,179.4,807.7,10.8,461,9667,0.00,2.58,0.00,0.000,4,0.000,0.076,2927,786,1805
$GC,9697,1.22,179.4,803.8,11.2,462,9703,0.00,2.50,0.00,0.000,6,0.000,0.065,2926,2200,1805
$GC,10013,1.22,179.4,769.9,11.4,478,10017,0.00,2.55,0.00,0.000,4,0.000,0.075,2926,787,1803
$GC,10082,1.22,179.4,762.1,11.7,481,10086,0.00,2.50,0.00,0.000,6,0.000,0.064,2928,2207,1802
$GC,10410,1.22,179.4,725.8,10.6,497,10414,0.00,2.55,0.00,0.000,4,0.000,0.075,2927,790,1801
$GC,10454,1.22,179.4,720.8,10.8,499,10459,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2200,1800
$GC,10776,1.22,179.4,691.0,9.2,515,10780,0.00,2.53,0.00,0.000,4,0.000,0.075,2926,791,1798
$GC,10868,1.22,179.4,681.7,9.9,519,10872,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2207,1798
$GC,11201,1.22,179.4,652.0,8.0,535,11206,0.00,2.55,0.00,0.000,4,0.000,0.074,2927,784,1799
$GC,11321,1.22,179.4,641.8,8.8,540,11325,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2199,1799
$GC,11637,1.27,211.2,619.6,6.8,555,11670,0.10,2.60,26.60,1.085,4,0.071,0.073,2959,791,1677
$GC,11791,1.27,211.2,605.5,9.9,562,11795,0.00,2.47,0.00,0.000,6,0.000,0.063,2959,2198,1676
$GC,12118,1.27,211.2,575.7,9.1,578,12122,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,785,1677
$GC,12191,1.27,211.2,568.9,9.4,581,12195,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2200,1677
$GC,12514,1.27,211.2,538.9,9.8,597,12518,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,786,1677
$GC,12594,1.27,211.2,530.8,9.6,600,12600,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2204,1677
$GC,12910,1.27,211.2,499.7,11.2,616,12915,0.00,2.55,0.00,0.000,4,0.000,0.073,2959,785,1677
$GC,12997,1.27,211.2,489.9,11.2,620,13001,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2207,1676
$GC,13324,1.27,211.2,456.4,10.1,636,13328,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,789,1676
$GC,13455,1.27,211.2,443.1,10.7,642,13459,0.00,2.45,0.00,0.000,6,0.000,0.062,2959,2201,1677
$GC,13782,1.27,211.2,413.3,8.6,658,13786,0.00,2.50,0.00,0.000,4,0.000,0.073,2959,791,1676
$GC,13883,1.27,211.2,404.0,8.4,662,13888,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2202,1677
$GC,14201,1.29,226.0,379.3,7.4,677,14222,0.00,2.58,13.98,0.864,4,0.000,0.073,2959,786,1616
$GC,14301,1.29,226.0,370.7,8.4,681,14306,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2200,1616
$GC,14619,1.31,236.7,346.0,7.6,696,14634,0.00,2.58,10.43,0.809,4,0.000,0.072,2959,787,1572
$GC,14719,1.31,236.7,337.5,8.5,699,14725,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2202,1572
$GC,15036,1.31,236.7,312.7,8.0,715,15040,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,785,1572
$GC,15143,1.31,236.7,303.1,8.6,719,15149,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2209,1571
$GC,15460,1.31,236.7,274.7,9.3,735,15464,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,791,1571
$GC,15568,1.31,236.7,263.5,10.2,740,15572,0.00,2.45,0.00,0.000,6,0.000,0.062,2959,2208,1572
$GC,15901,1.31,236.7,227.6,11.7,756,15905,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,788,1572
$GC,16014,1.31,236.7,213.7,12.8,761,16019,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2201,1572
$GC,16336,1.31,236.7,171.9,13.1,777,16341,0.00,2.50,0.00,0.000,4,0.000,0.072,2960,790,1572
$GC,16438,1.31,236.7,158.4,12.5,781,16444,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2203,1571
$GC,16755,1.31,236.7,124.8,9.9,797,16759,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,782,1571
$GC,16886,1.31,236.7,111.1,9.9,803,16890,0.00,2.47,0.00,0.000,6,0.000,0.062,2959,2201,1572
$GC,17215,1.31,236.7,77.4,10.0,819,17219,0.00,2.50,0.00,0.000,4,0.000,0.072,2959,790,1571
$GC,17301,1.31,236.7,68.0,11.5,823,17305,0.00,2.45,0.00,0.000,6,0.000,0.062,2959,2203,1572
$GC,17628,1.31,236.7,34.9,10.4,839,17633,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,783,1572
$GC,17742,1.31,236.7,22.5,11.7,844,17746,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2211,1572
$STATE,17957,end climb,SURFACE_DEPTH_REACHED
$STATE,17957,begin surface coast
$FINISH,0.7,1.027129
$STATE,17980,end surface coast,CONTROL_FINISHED_OK
$STATE,17980,begin surface
$SM_CCo,18006,34.78,0.638,0,0,1316,300.00
$SM_GC,1.87,0.00,0.00,34.78,0.000,0.000,0.638,376,1599,1316,-10.58,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.6,64.3
$24V_AH,23.5,47.814
$10V_AH,10.2,23.980
$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,25.025,195.825,339.325,34.775,0.000,39.030,27.471,158.803,7.250,0.000,0.000,33.513,1666.817,13370.335,515.732,2231.282,652.818,0.000,1631.506,0.000,2148.350,0.000,49.311,0.000
$DEVICE_MAMPS,177.177,91.273,1269.385,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.694,585.168,478.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44319,856
$CAP_FILE_SIZE,142763,0
$CFSIZE,254472192,235585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,191008,085525,6326.852,-1327.017,30,1.4,47,-12.5