version: 66.04
glider: 14
mission: 6
dive: 365
start: 10 20 108 11 24 25
data:
$ID,14
$MISSION,6
$DIVE,365
$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,-657265.88
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,111722,6322.833,-1324.625,37,5.5,56,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.7
$GPS2,112405,6322.850,-1324.594,15,5.2,34,-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,163.6,16593,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.72,0.000,2,0.000,0.000,379,1620,2625
$GC,81,-1.16,-146.6,4.0,-5.6,3,112,11.40,2.58,-11.73,0.000,4,0.179,0.091,2412,213,3140
$GC,382,-1.16,-146.6,45.5,-13.9,16,386,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3141
$GC,704,-1.16,-146.6,83.5,-14.5,32,708,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,212,3141
$GC,816,-1.16,-146.6,101.8,-13.2,37,821,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1606,3141
$GC,1139,-1.16,-146.6,137.7,-10.7,53,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3142
$GC,1448,-1.16,-146.6,172.7,-12.2,68,1452,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,211,3141
$GC,1527,-1.16,-146.6,183.7,-13.7,71,1533,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1609,3142
$GC,1843,-1.16,-146.6,223.2,-12.5,87,1847,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3142
$GC,1894,-1.16,-146.6,230.1,-13.8,89,1899,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1594,3142
$GC,2211,-1.16,-146.6,270.8,-13.6,104,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1598,3142
$GC,2520,-1.16,-146.6,313.0,-13.1,119,2524,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,211,3142
$GC,2564,-1.16,-146.6,319.2,-14.1,121,2568,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1600,3142
$GC,2891,-1.16,-146.6,360.6,-12.2,137,2895,0.00,2.50,0.00,0.000,4,0.000,0.078,2411,213,3142
$GC,2937,-1.16,-146.6,366.5,-12.9,139,2941,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1600,3142
$GC,3271,-1.16,-146.6,402.7,-10.0,155,3275,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,212,3142
$GC,3327,-1.16,-146.6,409.1,-11.5,157,3331,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1600,3142
$GC,3643,-1.16,-146.6,438.6,-9.0,172,3647,0.00,2.50,0.00,0.000,4,0.000,0.078,2411,212,3142
$GC,3690,-1.16,-146.6,443.1,-10.2,174,3694,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1602,3142
$GC,4023,-1.16,-146.6,473.3,-9.5,190,4028,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3142
$GC,4064,-1.16,-146.6,477.3,-9.8,192,4068,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1598,3142
$GC,4397,-1.16,-146.6,509.1,-9.6,208,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3142
$GC,4706,-1.16,-146.6,537.9,-8.9,223,4710,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,213,3142
$GC,4752,-1.16,-146.6,542.4,-9.7,225,4756,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1600,3142
$GC,5086,-1.16,-146.6,572.2,-8.9,241,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3142
$GC,5396,-1.16,-146.6,600.4,-9.5,256,5400,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3142
$GC,5452,-1.16,-146.6,606.5,-10.6,258,5458,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3142
$GC,5769,-1.16,-146.6,638.7,-10.8,274,5773,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,206,3142
$GC,5831,-1.16,-146.6,646.4,-12.0,277,5835,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1603,3142
$GC,6164,-1.16,-146.6,682.5,-10.9,293,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3142
$GC,6474,-1.16,-146.6,717.7,-11.5,308,6479,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,211,3142
$GC,6553,-1.16,-146.6,727.5,-11.9,311,6559,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3142
$GC,6870,-1.16,-146.6,763.3,-11.3,327,6875,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,210,3142
$GC,6994,-1.16,-146.6,777.3,-10.0,332,7000,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1603,3142
$GC,7311,-1.16,-146.6,810.9,-7.4,348,7315,0.00,2.53,0.00,0.000,4,0.000,0.088,2412,2997,3143
$GC,7345,-1.16,-146.6,814.9,-11.4,349,7351,0.00,2.42,0.00,0.000,6,0.000,0.067,2412,1601,3143
$STATE,7514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7514,begin apogee
$GC,7523,-0.32,0.0,832.9,10.1,358,7657,0.93,0.00,128.98,1.247,6,0.106,0.000,2603,2199,2539
$STATE,7658,end apogee,CONTROL_FINISHED_OK
$STATE,7658,begin climb
$GC,7661,1.16,146.6,840.0,0.0,365,7794,1.48,2.78,123.50,1.223,4,0.071,0.103,2931,3593,1941
$GC,8068,1.28,218.9,822.1,5.3,383,8135,0.10,2.47,60.60,1.207,6,0.071,0.069,2963,2200,1646
$GC,8452,1.31,235.6,789.2,7.4,402,8474,0.00,2.72,15.38,1.126,4,0.000,0.096,2963,3599,1577
$GC,8559,1.31,235.6,777.3,12.6,406,8565,0.00,2.50,0.00,0.000,6,0.000,0.068,2963,2198,1577
$GC,8877,1.31,235.6,745.9,9.4,422,8881,0.00,2.55,0.00,0.000,4,0.000,0.079,2963,791,1577
$GC,8950,1.31,235.6,737.7,11.3,425,8954,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2198,1577
$GC,9267,1.31,235.6,710.0,9.4,440,9271,0.00,2.53,0.00,0.000,4,0.000,0.074,2963,793,1575
$GC,9351,1.31,235.6,700.9,11.0,443,9357,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2201,1574
$GC,9668,1.31,235.6,667.4,10.6,459,9672,0.00,2.53,0.00,0.000,4,0.000,0.074,2963,793,1573
$GC,9737,1.31,235.6,659.6,11.5,462,9741,0.00,2.47,0.00,0.000,6,0.000,0.063,2963,2207,1573
$GC,10064,1.31,235.6,624.1,10.4,478,10068,0.00,2.53,0.00,0.000,4,0.000,0.074,2963,794,1573
$GC,10154,1.31,235.6,613.7,11.9,482,10158,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2200,1573
$GC,10476,1.31,235.6,579.2,10.9,498,10480,0.00,2.50,0.00,0.000,4,0.000,0.073,2962,792,1573
$GC,10538,1.31,235.6,572.1,11.4,500,10544,0.00,2.45,0.00,0.000,6,0.000,0.063,2963,2200,1573
$GC,10854,1.31,235.6,540.6,9.7,516,10858,0.00,2.50,0.00,0.000,4,0.000,0.073,2963,794,1573
$GC,10928,1.31,235.6,532.6,11.3,519,10933,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2198,1573
$GC,11250,1.31,235.6,500.0,10.5,535,11255,0.00,2.50,0.00,0.000,4,0.000,0.072,2963,793,1573
$GC,11324,1.31,235.6,491.7,11.9,538,11328,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2200,1573
$GC,11646,1.31,235.6,457.4,10.9,554,11650,0.00,2.50,0.00,0.000,4,0.000,0.072,2963,792,1573
$GC,11714,1.31,235.6,449.6,11.6,557,11718,0.00,2.45,0.00,0.000,6,0.000,0.062,2964,2202,1573
$GC,12036,1.31,235.6,416.6,9.6,573,12040,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,787,1573
$GC,12127,1.31,235.6,407.1,10.8,577,12131,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2200,1573
$GC,12460,1.31,235.6,376.2,9.6,593,12464,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,790,1573
$GC,12561,1.31,235.6,366.5,9.8,597,12567,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2201,1573
$GC,12877,1.31,235.6,336.8,9.0,613,12881,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,786,1573
$GC,12967,1.31,235.6,328.6,9.1,617,12971,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2204,1573
$GC,13290,1.32,245.1,302.9,7.6,633,13304,0.00,2.55,8.65,0.767,4,0.000,0.071,2963,800,1538
$GC,13395,1.32,245.1,293.4,8.8,637,13402,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2210,1539
$GC,13712,1.32,245.1,268.0,8.1,653,13716,0.00,2.53,0.00,0.000,4,0.000,0.071,2963,784,1538
$GC,13774,1.32,245.1,262.4,8.8,655,13781,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2197,1538
$GC,14091,1.32,245.1,233.2,9.9,671,14095,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,789,1539
$GC,14161,1.32,245.1,225.7,10.9,674,14165,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2202,1538
$GC,14488,1.32,245.1,189.9,11.6,690,14492,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,792,1539
$GC,14606,1.32,245.1,174.2,13.7,695,14611,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2205,1539
$GC,14924,1.32,245.1,134.7,12.5,710,14928,0.00,2.53,0.00,0.000,4,0.000,0.073,2963,785,1539
$GC,14997,1.32,245.1,125.6,12.4,713,15001,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2202,1539
$GC,15316,1.32,245.1,92.4,10.2,728,15320,0.00,2.50,0.00,0.000,4,0.000,0.073,2963,794,1539
$GC,15424,1.32,245.1,79.9,11.3,733,15428,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2208,1539
$GC,15753,1.32,245.1,40.9,10.3,749,15757,0.00,2.53,0.00,0.000,4,0.000,0.072,2963,785,1539
$GC,15854,1.32,245.1,30.0,9.4,753,15861,0.00,2.45,0.00,0.000,6,0.000,0.062,2963,2202,1539
$GC,16171,1.49,353.1,6.7,3.9,769,16238,0.17,0.00,63.83,0.651,2,0.064,0.000,3019,2204,1205
$STATE,16239,end climb,SURFACE_DEPTH_REACHED
$STATE,16239,begin surface coast
$FINISH,0.6,1.027200
$STATE,16243,end surface coast,CONTROL_FINISHED_OK
$STATE,16243,begin surface
$SM_CCo,16330,0.00,0.000,0,0,1204,327.48
$SM_GC,1.50,11.70,0.00,0.00,0.058,0.000,0.000,374,1597,1204,-10.52,-0.08,327.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1860
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.9,39.3
$24V_AH,23.5,48.871
$10V_AH,10.2,24.527
$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,25.775,175.400,400.925,0.000,0.000,37.764,32.820,156.121,7.250,0.000,0.000,37.073,1489.769,12063.800,503.200,2047.126,623.717,0.000,1545.599,0.000,1963.823,0.000,50.553,0.000
$DEVICE_MAMPS,178.711,102.778,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.613,526.176,437.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37859,772
$CAP_FILE_SIZE,128218,0
$CFSIZE,254472192,235204608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,201008,155755,6323.099,-1320.665,23,1.4,40,-12.4