version: 66.04
glider: 14
mission: 6
dive: 362
start: 10 19 108 19 56 36
data:
$ID,14
$MISSION,6
$DIVE,362
$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,576.94562
$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,-657178
$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,17
$R_STBD_OVSHOOT,23
$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
$GPS1,193426,6325.080,-1327.592,40,1.1,40,-12.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-46.6
$GPS2,195615,6324.854,-1328.569,12,1.9,12,-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,160.7,21470,-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,-146.6,0.0,0.0,0,133,0.00,0.00,-110.70,0.000,2,0.000,0.000,381,1599,2776
$GC,137,-1.16,-146.6,3.9,-3.5,6,162,11.35,2.55,-8.60,0.000,4,0.176,0.094,2414,202,3139
$GC,429,-1.16,-146.6,50.4,-28.1,19,433,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1621,3143
$GC,756,-1.16,-146.6,97.6,-17.2,35,761,0.00,2.58,0.00,0.000,4,0.000,0.077,2413,200,3143
$GC,869,-1.16,-146.6,114.6,-14.8,40,873,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1598,3143
$GC,1191,-1.16,-146.6,162.8,-13.5,56,1195,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,200,3143
$GC,1231,-1.16,-146.6,168.1,-12.5,57,1237,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1606,3143
$GC,1547,-1.16,-146.6,207.0,-12.9,73,1551,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,201,3143
$GC,1592,-1.16,-146.6,213.1,-13.4,75,1596,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3143
$GC,1915,-1.16,-146.6,249.9,-10.8,91,1920,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,203,3143
$GC,1993,-1.16,-146.6,259.3,-12.0,94,1998,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1598,3143
$GC,2310,-1.16,-146.6,293.3,-10.5,109,2314,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,203,3144
$GC,2361,-1.16,-146.6,299.5,-11.9,111,2366,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1609,3143
$GC,2689,-1.16,-146.6,334.5,-10.7,127,2693,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,202,3143
$GC,2745,-1.16,-146.6,341.1,-12.4,129,2751,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1604,3143
$GC,3061,-1.16,-146.6,374.7,-10.5,145,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3143
$GC,3371,-1.16,-146.6,405.4,-9.9,160,3375,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,204,3143
$GC,3415,-1.16,-146.6,410.4,-10.6,162,3419,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3143
$GC,3743,-1.16,-146.6,444.2,-9.9,178,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3143
$GC,4053,-1.16,-146.6,472.9,-9.0,193,4057,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,203,3143
$GC,4144,-1.16,-146.6,481.9,-10.6,197,4148,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1601,3143
$GC,4471,-1.16,-146.6,512.7,-9.5,213,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3143
$GC,4780,-1.16,-146.6,542.5,-9.9,228,4785,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,201,3143
$GC,4856,-1.16,-146.6,550.2,-10.2,231,4860,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1600,3143
$GC,5173,-1.16,-146.6,580.6,-9.2,246,5177,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,203,3143
$GC,5241,-1.16,-146.6,587.6,-9.7,249,5245,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1598,3144
$GC,5562,-1.16,-146.6,619.6,-9.8,265,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3143
$GC,5873,-1.16,-146.6,650.7,-9.9,280,5877,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,201,3143
$GC,5996,-1.16,-146.6,664.9,-11.2,285,6003,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1600,3143
$GC,6313,-1.16,-146.6,695.0,-9.3,301,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3144
$GC,6623,-1.16,-146.6,721.3,-8.5,316,6627,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,204,3143
$GC,6718,-1.16,-146.6,730.2,-9.1,320,6722,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1600,3142
$GC,7040,-1.16,-146.6,758.8,-10.2,336,7044,0.00,2.55,0.00,0.000,4,0.000,0.091,2413,2997,3143
$GC,7087,-1.16,-146.6,763.3,-9.6,338,7091,0.00,2.45,0.00,0.000,6,0.000,0.070,2413,1595,3143
$GC,7408,-1.16,-146.6,793.1,-8.2,354,7412,0.00,2.50,0.00,0.000,4,0.000,0.083,2413,205,3143
$GC,7574,-1.16,-146.6,806.7,-8.5,361,7578,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1605,3143
$GC,7891,-1.16,-146.6,833.3,-8.9,376,7895,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,206,3144
$GC,7975,-1.16,-146.6,842.0,-10.4,379,7981,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1600,3144
$GC,8292,-1.16,-146.6,871.5,-9.7,395,8297,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,201,3143
$GC,8326,-1.16,-146.6,874.9,-9.0,396,8339,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1601,3143
$GC,8643,-1.16,-146.6,906.0,-8.4,412,8647,0.00,2.55,0.00,0.000,4,0.000,0.089,2413,3000,3143
$GC,8677,-1.16,-146.6,909.5,-10.0,413,8683,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1598,3144
$STATE,8886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8887,begin apogee
$GC,8896,-0.32,0.0,933.1,9.2,424,9077,0.93,0.00,157.43,1.135,6,0.110,0.000,2603,2206,2539
$STATE,9078,end apogee,CONTROL_FINISHED_OK
$STATE,9078,begin climb
$GC,9082,1.16,146.6,941.4,0.0,433,9218,1.48,2.65,126.93,1.296,4,0.076,0.076,2926,799,1942
$GC,9310,1.16,146.6,928.2,12.5,443,9316,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2201,1942
$GC,9627,1.26,207.6,905.5,5.7,459,9685,0.10,2.75,52.17,1.273,4,0.071,0.103,2958,3603,1692
$GC,9758,1.31,238.0,893.6,6.8,464,9792,0.00,2.50,27.17,1.223,6,0.000,0.065,2958,2197,1567
$GC,10111,1.31,238.0,858.8,8.9,481,10115,0.00,2.55,0.00,0.000,4,0.000,0.079,2958,795,1568
$GC,10133,1.31,238.0,856.7,8.4,482,10137,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2200,1568
$GC,10454,1.32,245.9,832.8,7.7,498,10469,0.00,2.62,7.43,1.032,4,0.000,0.077,2958,791,1536
$GC,10549,1.32,245.9,824.8,9.4,502,10554,0.00,2.50,0.00,0.000,6,0.000,0.063,2958,2204,1536
$GC,10870,1.32,245.9,796.5,9.5,518,10875,0.00,2.55,0.00,0.000,4,0.000,0.076,2958,796,1536
$GC,10956,1.32,245.9,787.5,10.2,522,10960,0.00,2.47,0.00,0.000,6,0.000,0.064,2958,2200,1536
$GC,11283,1.32,245.9,750.2,11.3,538,11287,0.00,2.53,0.00,0.000,4,0.000,0.075,2958,792,1536
$GC,11352,1.32,245.9,741.9,12.0,541,11357,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2202,1536
$GC,11681,1.32,245.9,704.3,10.9,557,11685,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,795,1536
$GC,11793,1.32,245.9,692.0,10.0,562,11797,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2206,1536
$GC,12114,1.32,245.9,663.0,8.3,578,12118,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,785,1536
$GC,12195,1.34,259.8,656.4,7.5,581,12214,0.00,2.47,12.75,1.053,6,0.000,0.062,2958,2200,1478
$GC,12533,1.38,282.0,631.1,7.2,598,12557,0.00,2.60,19.55,1.073,4,0.000,0.074,2958,788,1389
$GC,12645,1.38,282.0,621.7,9.2,603,12649,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2210,1389
$GC,12972,1.38,282.0,594.9,8.0,619,12976,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,788,1389
$GC,13079,1.38,282.0,585.5,8.9,624,13083,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2206,1389
$GC,13407,1.38,282.0,555.1,9.5,640,13411,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,793,1389
$GC,13530,1.38,282.0,542.9,9.7,645,13537,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1389
$GC,13847,1.38,282.0,513.3,9.2,661,13852,0.00,2.50,0.00,0.000,4,0.000,0.073,2958,794,1389
$GC,13949,1.38,282.0,503.3,9.9,665,13955,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1389
$GC,14265,1.38,282.0,474.3,9.4,681,14269,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,786,1389
$GC,14339,1.38,282.0,467.2,9.6,684,14344,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2208,1389
$GC,14661,1.38,282.0,438.4,8.9,700,14666,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,789,1390
$GC,14763,1.38,282.0,427.9,10.2,704,14769,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1389
$GC,15080,1.38,282.0,397.2,9.5,720,15084,0.00,2.50,0.00,0.000,4,0.000,0.073,2958,792,1390
$GC,15187,1.38,282.0,386.3,10.7,724,15193,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1390
$GC,15504,1.38,282.0,356.1,9.6,740,15508,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,792,1390
$GC,15589,1.38,282.0,347.6,9.5,744,15593,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2204,1390
$GC,15916,1.38,282.0,317.1,9.2,760,15920,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,788,1389
$GC,16001,1.38,282.0,309.0,10.4,764,16006,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2202,1390
$GC,16329,1.38,282.0,278.9,9.3,780,16333,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,793,1390
$GC,16425,1.38,282.0,269.2,11.0,784,16429,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2209,1390
$GC,16741,1.38,282.0,240.5,9.2,799,16745,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,788,1389
$GC,16825,1.38,282.0,232.0,11.8,802,16831,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2203,1390
$GC,17142,1.38,282.0,202.4,9.2,818,17146,0.00,2.50,0.00,0.000,4,0.000,0.073,2958,793,1390
$GC,17248,1.38,282.0,192.0,9.6,822,17254,0.00,2.42,0.00,0.000,6,0.000,0.061,2958,2200,1390
$GC,17565,1.38,282.0,163.7,8.4,838,17569,0.00,2.50,0.00,0.000,4,0.000,0.074,2958,794,1391
$GC,17655,1.38,282.0,156.1,8.3,842,17659,0.00,2.45,0.00,0.000,6,0.000,0.062,2958,2208,1391
$GC,17977,1.38,282.0,129.0,8.8,858,17981,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,790,1391
$GC,18156,1.65,454.3,116.2,1.5,866,18306,0.35,2.45,135.15,0.719,6,0.058,0.062,3051,2204,684
$GC,18614,1.65,454.3,55.6,12.3,888,18618,0.00,2.55,0.00,0.000,4,0.000,0.074,3051,786,686
$GC,18727,1.65,454.3,44.1,16.9,893,18731,0.00,2.47,0.00,0.000,6,0.000,0.061,3051,2208,686
$STATE,18962,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,0.4,1.025753
$STATE,18985,end surface coast,CONTROL_FINISHED_OK
$STATE,18985,begin surface
$SM_CCo,19011,66.28,0.596,1,0,186,576.95
$SM_GC,1.06,0.00,0.00,66.28,0.000,0.000,0.596,373,1599,186,-10.59,0.00,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1856
$TCM_TEMP,16.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,925.6,16.9
$24V_AH,23.4,48.363
$10V_AH,10.2,24.263
$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,26.025,206.075,538.575,66.275,0.000,193.802,364.574,336.630,9.750,0.000,0.000,14.185,1733.427,14136.951,789.349,2366.422,1366.814,0.000,2014.868,0.000,2296.612,0.000,61.538,0.000
$DEVICE_MAMPS,175.643,102.778,1296.230,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,672.426,618.119,463.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,906
$CAP_FILE_SIZE,156809,0
$CFSIZE,254472192,235343872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,5,0
$GPS,201008,011627,6324.370,-1326.058,43,3.2,62,-12.4