version: 66.04
glider: 14
mission: 6
dive: 366
start: 10 20 108 16 4 37
data:
$ID,14
$MISSION,6
$DIVE,366
$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,-657284
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,155755,6323.099,-1320.665,23,1.4,40,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-60.4
$GPS2,160416,6323.080,-1320.588,15,1.3,16,-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,175.1,15671,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-50.72,0.000,2,0.000,0.000,374,1594,2359
$GC,77,-1.16,-146.6,3.2,-4.4,3,121,11.32,2.58,-26.33,0.000,4,0.174,0.091,2413,200,3138
$GC,392,-1.16,-146.6,40.8,-9.6,17,396,0.00,2.42,0.00,0.000,6,0.000,0.058,2412,1613,3139
$GC,719,-1.16,-146.6,80.0,-11.2,33,724,0.00,2.55,0.00,0.000,4,0.000,0.076,2412,203,3139
$GC,855,-1.16,-146.6,98.0,-14.5,39,859,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1605,3139
$GC,1179,-1.16,-146.6,139.2,-11.8,55,1183,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,203,3139
$GC,1242,-1.16,-146.6,147.4,-13.0,58,1247,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1610,3140
$GC,1570,-1.16,-146.6,188.2,-12.7,74,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1614,3139
$GC,1879,-1.16,-146.6,228.7,-13.6,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,3139
$GC,2189,-1.16,-146.6,271.9,-14.4,104,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1614,3140
$GC,2497,-1.16,-146.6,314.3,-13.5,119,2502,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,199,3140
$GC,2554,-1.16,-146.6,322.3,-13.9,121,2560,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1601,3140
$GC,2871,-1.16,-146.6,362.7,-12.3,137,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3139
$GC,3179,-1.16,-146.6,399.2,-11.0,152,3183,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,201,3139
$GC,3224,-1.16,-146.6,404.6,-12.2,154,3228,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1606,3139
$GC,3546,-1.16,-146.6,442.7,-12.0,170,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1610,3140
$GC,3855,-1.16,-146.6,477.0,-10.8,185,3860,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,205,3139
$GC,3913,-1.16,-146.6,483.5,-11.1,187,3919,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3139
$GC,4230,-1.16,-146.6,514.4,-9.4,203,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3140
$GC,4539,-1.16,-146.6,540.6,-7.9,218,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3139
$GC,4848,-1.16,-146.6,564.0,-7.7,233,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3139
$GC,5158,-1.16,-146.6,589.9,-8.8,248,5162,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,200,3139
$GC,5227,-1.16,-146.6,596.5,-9.2,251,5231,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1601,3140
$GC,5555,-1.16,-146.6,622.1,-7.4,267,5559,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,200,3139
$GC,5605,-1.16,-146.6,626.4,-8.5,269,5609,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1600,3140
$GC,5922,-1.16,-146.6,647.4,-6.1,284,5926,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,201,3139
$GC,5991,-1.16,-146.6,653.0,-8.7,287,5995,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1599,3139
$GC,6319,-1.16,-146.6,677.0,-7.5,303,6323,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,199,3140
$GC,6382,-1.16,-146.6,682.2,-8.3,306,6387,0.00,2.42,0.00,0.000,6,0.000,0.060,2412,1604,3139
$GC,6716,-1.16,-146.6,708.5,-8.0,322,6720,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,208,3139
$GC,6756,-1.16,-146.6,712.2,-9.2,323,6762,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3140
$GC,7072,-1.16,-146.6,743.6,-11.2,339,7077,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,206,3140
$GC,7236,-1.16,-146.6,763.8,-12.5,346,7240,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1601,3140
$GC,7558,-1.16,-146.6,800.4,-11.3,362,7562,0.00,2.53,0.00,0.000,4,0.000,0.086,2412,2998,3139
$STATE,7588,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7588,begin apogee
$GC,7599,-0.32,0.0,804.0,10.0,363,7730,0.90,0.00,128.00,1.225,6,0.114,0.000,2598,2189,2539
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7735,1.16,146.6,810.9,0.0,370,7868,1.48,2.80,123.72,1.198,4,0.069,0.104,2926,3591,1941
$GC,8100,1.19,161.6,791.4,7.4,386,8120,0.00,2.47,13.93,1.090,6,0.000,0.071,2927,2206,1879
$GC,8437,1.19,165.3,765.6,7.9,403,8447,0.00,2.67,4.45,0.791,4,0.000,0.099,2927,3600,1865
$GC,8465,1.19,165.3,763.2,8.9,404,8470,0.00,2.50,0.00,0.000,6,0.000,0.068,2926,2196,1865
$GC,8782,1.19,165.3,737.7,8.1,419,8786,0.00,2.53,0.00,0.000,4,0.000,0.077,2927,791,1865
$GC,8827,1.19,165.3,733.8,8.5,421,8831,0.00,2.45,0.00,0.000,6,0.000,0.063,2927,2196,1865
$GC,9154,1.19,165.3,707.0,8.6,437,9159,0.00,2.55,0.00,0.000,4,0.000,0.074,2927,783,1863
$GC,9205,1.19,165.3,702.0,9.8,439,9210,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2198,1863
$GC,9522,1.19,165.3,670.0,10.2,454,9526,0.00,2.53,0.00,0.000,4,0.000,0.073,2926,785,1861
$GC,9624,1.19,165.3,659.0,11.7,458,9628,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2199,1861
$GC,9940,1.19,165.3,625.6,10.2,473,9945,0.00,2.53,0.00,0.000,4,0.000,0.072,2927,791,1860
$GC,9986,1.19,165.3,620.8,10.5,475,9990,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2210,1861
$GC,10308,1.19,165.3,589.1,9.5,491,10312,0.00,2.53,0.00,0.000,4,0.000,0.071,2927,790,1861
$GC,10426,1.19,165.3,578.4,9.6,496,10430,0.00,2.45,0.00,0.000,6,0.000,0.062,2927,2199,1861
$GC,10748,1.19,165.3,551.2,8.5,512,10753,0.00,2.50,0.00,0.000,4,0.000,0.071,2927,792,1861
$GC,10811,1.19,165.3,545.6,9.0,515,10815,0.00,2.45,0.00,0.000,6,0.000,0.062,2927,2201,1861
$GC,11138,1.19,165.3,517.6,8.2,531,11143,0.00,2.50,0.00,0.000,4,0.000,0.071,2927,792,1861
$GC,11180,1.19,165.3,514.1,8.6,533,11184,0.00,2.45,0.00,0.000,6,0.000,0.061,2927,2206,1861
$GC,11507,1.19,165.6,488.2,8.0,549,11511,0.00,2.53,0.00,0.000,4,0.000,0.073,2927,789,1861
$GC,11580,1.20,169.9,482.0,7.8,552,11591,0.00,2.45,4.57,0.709,6,0.000,0.062,2927,2199,1846
$GC,11902,1.21,176.7,457.0,7.7,568,11916,0.00,2.60,7.28,0.822,4,0.000,0.072,2927,789,1819
$GC,11971,1.21,176.7,451.3,8.1,571,11975,0.00,2.47,0.00,0.000,6,0.000,0.061,2927,2206,1818
$GC,12298,1.21,176.7,424.5,8.3,587,12302,0.00,2.53,0.00,0.000,4,0.000,0.071,2926,785,1819
$GC,12372,1.21,176.7,417.7,8.9,590,12376,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2208,1819
$GC,12694,1.21,176.7,389.8,8.4,606,12698,0.00,2.53,0.00,0.000,4,0.000,0.071,2927,786,1819
$GC,12773,1.21,176.7,382.6,8.9,609,12779,0.00,2.45,0.00,0.000,6,0.000,0.061,2927,2199,1819
$GC,13089,1.21,176.7,357.1,8.0,625,13093,0.00,2.50,0.00,0.000,4,0.000,0.071,2926,789,1818
$GC,13185,1.23,185.7,349.2,7.7,629,13199,0.00,2.45,9.20,0.801,6,0.000,0.061,2926,2201,1782
$GC,13529,1.29,224.1,324.9,6.5,646,13571,0.12,2.62,32.22,0.870,4,0.067,0.071,2967,792,1624
$GC,13623,1.29,224.1,317.1,8.7,650,13627,0.00,2.47,0.00,0.000,6,0.000,0.061,2967,2204,1624
$GC,13951,1.29,224.1,287.9,9.2,666,13955,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,789,1624
$GC,14041,1.29,224.1,278.6,9.7,670,14046,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2200,1625
$GC,14365,1.29,224.1,246.9,10.2,686,14369,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,792,1625
$GC,14450,1.29,224.1,237.3,10.9,690,14454,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2208,1624
$GC,14783,1.29,224.1,198.4,11.9,706,14788,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,789,1625
$GC,14908,1.29,224.1,183.3,12.2,711,14914,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2201,1624
$GC,15224,1.29,224.1,148.0,11.2,727,15229,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,792,1625
$GC,15356,1.29,224.1,132.7,10.4,733,15361,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2203,1624
$GC,15686,1.29,224.1,101.3,11.4,749,15690,0.00,2.50,0.00,0.000,4,0.000,0.072,2966,792,1625
$GC,15787,1.29,224.1,90.7,9.7,753,15793,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2208,1625
$GC,16104,1.29,224.1,63.3,8.5,769,16108,0.00,2.53,0.00,0.000,4,0.000,0.072,2967,787,1625
$GC,16194,1.29,224.1,55.6,9.1,773,16198,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2200,1624
$GC,16517,1.29,224.1,21.9,13.4,789,16522,0.00,2.50,0.00,0.000,4,0.000,0.074,2967,792,1625
$GC,16591,1.29,224.1,13.0,10.5,792,16596,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2201,1625
$STATE,16719,end climb,SURFACE_DEPTH_REACHED
$STATE,16719,begin surface coast
$FINISH,0.4,1.027297
$STATE,16741,end surface coast,CONTROL_FINISHED_OK
$STATE,16741,begin surface
$SM_CCo,16768,45.20,0.630,1,0,1316,300.00
$SM_GC,1.16,0.00,0.00,45.20,0.000,0.000,0.630,377,1594,1316,-10.57,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1890
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.8,111.7
$24V_AH,23.5,48.999
$10V_AH,10.2,24.608
$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,25.050,174.325,323.375,45.200,0.000,37.758,34.979,163.102,6.000,0.000,0.000,17.514,1546.281,12479.803,506.447,2042.460,627.121,0.000,1537.504,0.000,1984.323,0.000,41.341,0.000
$DEVICE_MAMPS,174.109,104.312,1224.899,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.145,546.697,456.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41227,799
$CAP_FILE_SIZE,131271,0
$CFSIZE,254472192,235134976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,1,0
$GPS,201008,204608,6321.964,-1322.431,27,1.6,27,-12.4