version: 66.04
glider: 14
mission: 6
dive: 363
start: 10 20 108 1 38 13
data:
$ID,14
$MISSION,6
$DIVE,363
$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,-657214.88
$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,16
$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
$GPS1,011627,6324.370,-1326.058,43,3.2,62,-12.4
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-37.3
$GPS2,013753,6324.180,-1325.972,14,4.6,33,-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,164.1,19306,-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,-146.6,0.0,0.0,0,123,0.00,0.00,-101.25,0.000,2,0.000,0.000,374,1601,2528
$GC,128,-1.16,-146.6,3.4,-1.7,5,163,11.25,2.50,-17.20,0.000,4,0.171,0.080,2413,2999,3139
$GC,171,-1.16,-146.6,8.9,-10.6,7,175,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1595,3139
$GC,500,-1.16,-146.6,26.0,-5.5,23,504,0.00,2.53,0.00,0.000,4,0.000,0.085,2413,210,3142
$GC,775,-1.16,-146.6,46.6,-6.9,35,779,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1610,3142
$GC,1092,-1.16,-146.6,81.4,-12.6,50,1096,0.00,2.55,0.00,0.000,4,0.000,0.078,2413,203,3143
$GC,1366,-1.16,-146.6,121.4,-14.7,62,1371,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1611,3144
$GC,1683,-1.16,-146.6,164.0,-15.1,77,1688,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,201,3144
$GC,1762,-1.16,-146.6,178.4,-18.5,80,1768,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3144
$GC,2080,-1.16,-146.6,225.3,-13.2,96,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3144
$GC,2389,-1.16,-146.6,268.8,-14.9,111,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3144
$GC,2698,-1.16,-146.6,311.5,-12.8,126,2702,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3144
$GC,2738,-1.16,-146.6,317.0,-13.4,128,2743,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1599,3144
$GC,3066,-1.16,-146.6,358.1,-12.4,144,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3144
$GC,3375,-1.16,-146.6,395.2,-11.6,159,3379,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,211,3144
$GC,3477,-1.16,-146.6,406.7,-11.8,163,3483,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3144
$GC,3793,-1.16,-146.6,441.9,-11.3,179,3797,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3144
$GC,3843,-1.16,-146.6,447.8,-12.0,181,3847,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3144
$GC,4165,-1.16,-146.6,484.2,-11.5,197,4169,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3145
$GC,4216,-1.16,-146.6,490.7,-12.6,199,4220,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1606,3144
$GC,4532,-1.16,-146.6,528.7,-12.2,214,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3144
$GC,4842,-1.16,-146.6,564.3,-11.8,229,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3144
$GC,5153,-1.16,-146.6,600.9,-12.2,244,5158,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,201,3144
$GC,5250,-1.16,-146.6,614.1,-13.6,248,5254,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1596,3144
$GC,5566,-1.16,-146.6,654.6,-12.6,263,5570,0.00,2.55,0.00,0.000,4,0.000,0.088,2414,3000,3144
$GC,5622,-1.16,-146.6,661.8,-13.1,265,5628,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1594,3144
$GC,5940,-1.16,-146.6,701.9,-12.6,281,5945,0.00,2.50,0.00,0.000,4,0.000,0.084,2413,206,3145
$GC,6042,-1.16,-146.6,716.4,-14.0,285,6049,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1609,3144
$GC,6359,-1.16,-146.6,755.4,-12.0,301,6363,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,205,3144
$GC,6404,-1.16,-146.6,761.4,-13.0,303,6408,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1605,3144
$GC,6726,-1.16,-146.6,802.9,-13.3,319,6730,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,206,3145
$GC,6904,-1.16,-146.6,825.9,-10.5,327,6909,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3144
$GC,7232,-1.16,-146.6,863.4,-10.3,343,7236,0.00,2.55,0.00,0.000,4,0.000,0.088,2412,3003,3145
$GC,7265,-1.16,-146.6,868.0,-13.5,344,7272,0.00,2.45,0.00,0.000,6,0.000,0.066,2412,1595,3145
$STATE,7290,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7290,begin apogee
$GC,7300,-0.32,0.0,872.0,14.6,346,7433,0.90,0.00,128.40,1.239,6,0.105,0.000,2599,2204,2540
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7434,begin climb
$GC,7438,1.16,146.6,878.8,0.0,353,7572,1.52,2.62,126.40,1.234,4,0.082,0.074,2926,792,1941
$GC,7587,1.16,146.6,876.2,8.6,360,7591,0.00,2.50,0.00,0.000,6,0.000,0.063,2926,2196,1941
$GC,7910,1.25,198.0,853.1,6.0,376,7960,0.00,2.80,44.12,1.205,4,0.000,0.105,2926,3601,1731
$GC,8012,1.26,208.0,846.5,7.6,380,8028,0.10,2.50,9.98,1.047,6,0.071,0.067,2958,2197,1691
$GC,8351,1.26,208.0,814.7,9.7,397,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2197,1691
$GC,8660,1.26,208.0,786.4,9.2,412,8664,0.00,2.53,0.00,0.000,4,0.000,0.076,2958,794,1691
$GC,8716,1.26,208.0,780.5,11.4,414,8722,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2202,1691
$GC,9033,1.26,208.0,747.2,11.2,430,9036,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,794,1691
$GC,9151,1.26,208.0,733.7,11.3,435,9155,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2200,1691
$GC,9473,1.26,208.0,702.8,8.5,451,9478,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,791,1691
$GC,9508,1.28,219.1,699.8,7.6,452,9523,0.00,2.47,10.30,1.044,6,0.000,0.063,2958,2202,1645
$GC,9840,1.29,225.9,673.7,7.7,469,9854,0.00,2.60,7.10,0.939,4,0.000,0.073,2958,793,1618
$GC,9887,1.30,232.8,670.2,7.7,471,9901,0.00,2.47,7.65,0.956,6,0.000,0.062,2958,2200,1590
$GC,10219,1.30,232.8,641.3,8.9,487,10223,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,787,1590
$GC,10286,1.30,232.8,634.3,11.6,490,10290,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2205,1590
$GC,10608,1.30,232.8,602.8,9.6,506,10613,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,787,1590
$GC,10704,1.30,232.8,592.4,10.7,510,10708,0.00,2.50,0.00,0.000,6,0.000,0.062,2958,2209,1590
$GC,11021,1.30,232.8,560.5,9.9,525,11025,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,789,1590
$GC,11099,1.30,232.8,551.9,11.3,528,11106,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2208,1590
$GC,11416,1.30,232.8,519.3,10.5,544,11420,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,786,1590
$GC,11490,1.30,232.8,511.4,11.8,547,11494,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2206,1590
$GC,11811,1.30,232.8,478.4,10.3,563,11815,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,783,1590
$GC,11884,1.30,232.8,470.4,11.1,566,11888,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2204,1590
$GC,12206,1.30,232.8,436.8,10.2,582,12210,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,792,1590
$GC,12301,1.30,232.8,426.9,10.2,586,12305,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2208,1590
$GC,12618,1.30,232.8,395.7,9.4,601,12622,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,790,1590
$GC,12703,1.30,232.8,387.1,10.1,604,12709,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2205,1590
$GC,13019,1.30,232.8,357.9,8.5,620,13023,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,792,1590
$GC,13138,1.30,232.8,346.1,9.5,625,13142,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2211,1590
$GC,13460,1.30,232.8,314.7,10.0,641,13464,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,793,1590
$GC,13550,1.30,232.8,305.0,10.3,645,13554,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2200,1590
$GC,13872,1.30,232.8,277.2,8.6,661,13876,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,785,1590
$GC,13957,1.30,232.8,269.4,9.0,664,13963,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2203,1590
$GC,14273,1.30,232.8,242.1,8.5,680,14277,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,793,1590
$GC,14380,1.30,232.8,232.4,9.2,684,14386,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2206,1590
$GC,14697,1.32,242.6,206.2,7.6,700,14712,0.00,2.58,10.38,0.726,4,0.000,0.071,2958,785,1549
$GC,14747,1.33,247.7,202.4,7.8,701,14758,0.00,2.47,5.55,0.619,6,0.000,0.061,2957,2202,1529
$GC,15069,1.33,248.8,176.9,8.0,717,15073,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,784,1529
$GC,15182,1.33,248.8,166.3,10.1,722,15186,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2200,1529
$GC,15511,1.33,248.8,138.1,9.0,738,15515,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,786,1529
$GC,15612,1.33,248.8,126.3,11.6,742,15617,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2200,1529
$GC,15930,1.33,248.8,93.6,11.7,757,15935,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,789,1529
$GC,16010,1.33,248.8,83.7,9.1,760,16016,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1529
$GC,16329,1.37,276.7,59.9,6.9,776,16359,0.00,2.60,24.17,0.674,4,0.000,0.072,2958,792,1410
$GC,16446,1.37,276.7,48.2,14.6,781,16450,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2199,1410
$GC,16769,1.37,276.7,7.3,11.9,797,16773,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,791,1410
$STATE,16810,end climb,SURFACE_DEPTH_REACHED
$STATE,16810,begin surface coast
$FINISH,1.0,1.027191
$STATE,16817,end surface coast,CONTROL_FINISHED_OK
$STATE,16817,begin surface
$SM_CCo,16844,154.35,0.615,1,0,187,576.95
$SM_GC,1.07,0.00,0.00,154.35,0.000,0.000,0.615,383,1623,187,-10.54,0.65,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1828
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,775.4,103.7
$24V_AH,23.5,48.556
$10V_AH,10.2,24.357
$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,24.975,184.350,374.050,154.350,0.000,191.657,157.379,479.238,7.750,0.000,0.000,36.245,1545.484,12657.936,709.639,2090.875,1282.636,0.000,1764.927,0.000,2015.930,0.000,46.174,0.000
$DEVICE_MAMPS,171.041,105.079,1239.472,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.041,545.705,466.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41173,799
$CAP_FILE_SIZE,145188,0
$CFSIZE,254472192,235278336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,201008,062329,6323.394,-1325.118,64,1.4,68,-12.4