version: 66.04
glider: 14
mission: 6
dive: 360
start: 10 19 108 9 2 5
data:
$ID,14
$MISSION,6
$DIVE,360
$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,-657129.44
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,085525,6326.852,-1327.017,30,1.4,47,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.5
$GPS2,090144,6326.891,-1327.127,8,1.4,13,-12.5
$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,167.8,24232,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.08,0.000,2,0.000,0.000,377,1591,2711
$GC,86,-1.16,-146.6,3.5,-4.9,3,117,11.38,2.53,-11.00,0.000,4,0.176,0.089,2414,205,3139
$GC,319,-1.16,-146.6,33.8,-10.5,13,324,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1621,3139
$GC,636,-1.16,-146.6,68.3,-10.9,28,640,0.00,2.55,0.00,0.000,4,0.000,0.075,2413,206,3139
$GC,687,-1.16,-146.6,74.3,-11.4,30,691,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1611,3139
$GC,1004,-1.16,-146.6,108.7,-11.1,45,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1611,3139
$GC,1313,-1.16,-146.6,142.2,-11.2,60,1317,0.00,2.53,0.00,0.000,4,0.000,0.075,2413,201,3139
$GC,1405,-1.16,-146.6,151.5,-9.6,64,1409,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1610,3139
$GC,1732,-1.16,-146.6,181.1,-9.6,80,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1612,3139
$GC,2041,-1.16,-146.6,211.6,-9.9,95,2045,0.00,2.53,0.00,0.000,4,0.000,0.075,2413,201,3140
$GC,2149,-1.16,-146.6,223.0,-10.3,100,2153,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3140
$GC,2482,-1.16,-146.6,257.7,-10.7,116,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3140
$GC,2792,-1.16,-146.6,292.3,-12.0,131,2796,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3140
$GC,2848,-1.16,-146.6,299.6,-13.0,133,2855,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3140
$GC,3164,-1.16,-146.6,333.1,-10.0,149,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3140
$GC,3474,-1.16,-146.6,362.2,-9.0,164,3478,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3140
$GC,3530,-1.16,-146.6,367.7,-10.0,166,3534,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1595,3140
$GC,3847,-1.16,-146.6,395.6,-8.6,181,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3140
$GC,4157,-1.16,-146.6,422.0,-8.6,196,4161,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,201,3140
$GC,4213,-1.16,-146.6,427.0,-8.9,198,4219,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1607,3140
$GC,4532,-1.16,-146.6,451.7,-7.8,214,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1611,3140
$GC,4839,-1.16,-146.6,477.0,-8.4,229,4843,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3140
$GC,4924,-1.16,-146.6,485.0,-9.9,233,4928,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1605,3140
$GC,5251,-1.16,-146.6,512.6,-8.4,249,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3140
$GC,5561,-1.16,-146.6,538.9,-8.6,264,5565,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,209,3140
$GC,5634,-1.16,-146.6,545.8,-9.8,267,5638,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1595,3140
$GC,5950,-1.16,-146.6,573.4,-9.2,282,5954,0.00,2.53,0.00,0.000,4,0.000,0.086,2413,2996,3140
$GC,6001,-1.16,-146.6,578.1,-9.6,284,6006,0.00,2.42,0.00,0.000,6,0.000,0.067,2413,1599,3140
$GC,6323,-1.16,-146.6,609.9,-10.3,300,6328,0.00,2.53,0.00,0.000,4,0.000,0.084,2413,202,3140
$GC,6369,-1.16,-146.6,615.1,-12.3,302,6373,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1612,3140
$GC,6692,-1.16,-146.6,651.3,-11.5,318,6696,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3140
$GC,6793,-1.16,-146.6,663.9,-12.9,322,6799,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1597,3140
$GC,7110,-1.16,-146.6,705.5,-14.7,338,7114,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,210,3140
$GC,7308,-1.16,-146.6,738.1,-16.8,347,7313,0.00,2.38,0.00,0.000,6,0.000,0.061,2413,1598,3140
$GC,7637,-1.16,-146.6,784.4,-14.3,363,7641,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,209,3140
$GC,7767,-1.16,-146.6,802.6,-13.6,369,7771,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1600,3140
$GC,8095,-1.16,-146.6,839.5,-10.7,385,8099,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,201,3140
$GC,8207,-1.16,-146.6,852.3,-12.0,390,8211,0.00,2.42,0.00,0.000,6,0.000,0.061,2413,1601,3140
$GC,8529,-1.16,-146.6,878.9,-7.5,406,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3140
$STATE,8752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8752,begin apogee
$GC,8762,-0.32,0.0,903.8,11.0,417,8903,0.95,0.00,132.95,1.287,6,0.129,0.000,2601,2196,2539
$STATE,8904,end apogee,CONTROL_FINISHED_OK
$STATE,8904,begin climb
$GC,8908,1.16,146.6,911.0,0.0,424,9042,1.52,2.60,125.65,1.275,4,0.084,0.074,2926,789,1941
$GC,9052,1.16,146.6,904.1,9.9,430,9058,0.00,2.53,0.00,0.000,6,0.000,0.065,2927,2201,1940
$GC,9368,1.16,146.6,882.5,9.4,446,9373,0.00,2.72,0.00,0.000,4,0.000,0.107,2927,3612,1939
$GC,9557,1.16,146.6,866.5,11.4,454,9561,0.00,2.50,0.00,0.000,6,0.000,0.067,2926,2198,1937
$GC,9873,1.16,146.6,836.5,8.9,469,9878,0.00,2.55,0.00,0.000,4,0.000,0.079,2927,792,1937
$GC,9896,1.16,146.6,834.5,8.8,470,9901,0.00,2.50,0.00,0.000,6,0.000,0.063,2927,2212,1937
$GC,10220,1.16,146.6,804.5,8.5,486,10224,0.00,2.55,0.00,0.000,4,0.000,0.074,2926,794,1936
$GC,10310,1.16,146.6,796.7,8.3,490,10314,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2198,1936
$GC,10632,1.27,210.1,775.5,5.6,506,10695,0.10,2.62,53.00,1.234,4,0.071,0.074,2958,800,1681
$GC,10736,1.27,211.6,768.7,7.9,510,10743,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2207,1681
$GC,11053,1.33,250.5,747.8,6.5,526,11095,0.00,2.62,34.60,1.191,4,0.000,0.074,2958,786,1516
$GC,11142,1.33,250.5,741.1,8.1,530,11147,0.00,2.53,0.00,0.000,6,0.000,0.064,2958,2207,1516
$GC,11470,1.33,250.5,714.8,8.0,546,11475,0.00,2.55,0.00,0.000,4,0.000,0.073,2958,789,1514
$GC,11579,1.33,250.5,705.4,8.7,551,11584,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2208,1514
$GC,11907,1.33,250.5,678.6,8.2,567,11911,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,793,1513
$GC,12019,1.33,250.5,668.4,9.1,572,12023,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2203,1513
$GC,12341,1.33,250.5,641.2,8.5,588,12345,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,789,1513
$GC,12404,1.33,250.5,635.6,9.1,591,12408,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2203,1513
$GC,12731,1.33,250.5,608.9,8.2,607,12735,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,786,1513
$GC,12782,1.33,250.5,604.1,9.2,609,12786,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2201,1513
$GC,13098,1.33,250.5,576.0,9.3,624,13103,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,792,1514
$GC,13172,1.33,250.5,568.9,10.0,627,13176,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2201,1513
$GC,13489,1.33,250.5,539.8,9.2,642,13493,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,787,1513
$GC,13590,1.33,250.5,529.3,10.2,646,13594,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2201,1513
$GC,13908,1.33,250.5,499.4,9.4,661,13912,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,791,1514
$GC,14003,1.33,250.5,489.6,10.1,665,14007,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2203,1514
$GC,14319,1.33,250.5,459.2,10.0,680,14323,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,791,1514
$GC,14421,1.33,250.5,448.2,11.9,684,14425,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2205,1513
$GC,14737,1.33,250.5,415.1,10.8,699,14741,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,792,1514
$GC,14839,1.33,250.5,403.7,11.7,703,14845,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2207,1514
$GC,15157,1.33,250.5,370.9,10.7,719,15161,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,792,1514
$GC,15252,1.33,250.5,359.6,11.6,723,15257,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2209,1513
$GC,15569,1.33,250.5,326.8,10.6,738,15573,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,789,1514
$GC,15661,1.33,250.5,316.7,10.8,742,15665,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2201,1514
$GC,15994,1.33,250.5,282.9,9.9,758,15998,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,786,1513
$GC,16084,1.33,250.5,273.2,11.0,762,16088,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2202,1514
$GC,16405,1.33,250.5,241.9,9.9,778,16409,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,790,1514
$GC,16524,1.33,250.5,229.1,10.6,783,16529,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2209,1514
$GC,16840,1.33,250.5,198.0,9.5,798,16844,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,783,1514
$GC,16942,1.33,250.5,188.2,10.2,802,16946,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2203,1514
$GC,17259,1.33,250.5,161.3,8.6,817,17263,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,786,1513
$GC,17326,1.33,250.5,154.9,9.2,820,17331,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2208,1514
$GC,17649,1.34,254.5,128.8,7.8,836,17659,0.00,2.55,4.95,0.569,4,0.000,0.071,2958,785,1501
$GC,17762,1.34,254.5,119.3,8.0,841,17766,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2208,1500
$GC,18084,1.34,254.5,91.9,9.6,857,18088,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,784,1501
$GC,18208,1.34,254.5,79.2,9.1,862,18215,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2201,1501
$GC,18526,1.34,254.5,49.0,8.7,878,18531,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,789,1501
$GC,18650,1.34,254.5,37.1,11.1,883,18656,0.00,2.47,0.00,0.000,6,0.000,0.064,2958,2207,1501
$GC,18969,1.34,254.5,5.4,12.0,899,18973,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,789,1501
$STATE,19016,end climb,SURFACE_DEPTH_REACHED
$STATE,19016,begin surface coast
$FINISH,0.3,1.026647
$STATE,19075,end surface coast,CONTROL_FINISHED_OK
$STATE,19075,begin surface
$SM_CCo,19102,26.15,0.604,1,0,1315,300.00
$SM_GC,1.25,0.00,0.00,26.15,0.000,0.000,0.604,378,1622,1315,-10.57,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,1865
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.2,87.4
$24V_AH,23.5,47.959
$10V_AH,10.2,24.072
$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,25.100,199.175,351.150,26.150,0.000,37.758,36.955,152.008,7.250,0.000,0.000,14.884,1752.042,14219.441,531.849,2341.557,666.988,0.000,1706.854,0.000,2278.078,0.000,49.380,0.000
$DEVICE_MAMPS,175.643,107.380,1287.026,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.567,617.670,507.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47503,904
$CAP_FILE_SIZE,148381,0
$CFSIZE,254472192,235507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,191008,142208,6326.710,-1325.116,24,1.9,24,-12.4