version: 66.04
glider: 14
mission: 6
dive: 367
start: 10 20 108 20 53 21
data:
$ID,14
$MISSION,6
$DIVE,367
$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,-657299.94
$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,20
$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
$GPS1,204608,6321.964,-1322.431,27,1.6,27,-12.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.0
$GPS2,205257,6321.912,-1322.552,13,1.5,13,-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,166.2,14264,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.05,0.000,2,0.000,0.000,378,1593,2736
$GC,83,-1.16,-146.6,4.3,-6.4,3,109,11.35,2.55,-9.20,0.000,4,0.176,0.087,2413,3004,3139
$GC,116,-1.16,-146.6,11.8,-19.4,4,122,0.00,2.47,0.00,0.000,6,0.000,0.064,2413,1592,3139
$GC,433,-1.16,-146.6,49.8,-11.1,20,437,0.00,2.53,0.00,0.000,4,0.000,0.073,2413,3003,3139
$GC,634,-1.16,-146.6,70.6,-11.6,29,638,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1593,3139
$GC,967,-1.16,-146.6,105.1,-10.8,45,971,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,206,3140
$GC,1023,-1.16,-146.6,111.6,-11.3,47,1029,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1614,3140
$GC,1342,-1.16,-146.6,141.3,-9.5,63,1346,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,210,3140
$GC,1398,-1.16,-146.6,148.3,-11.2,65,1404,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3140
$GC,1715,-1.16,-146.6,180.3,-10.1,81,1719,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,210,3139
$GC,1801,-1.16,-146.6,189.3,-10.3,85,1805,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1594,3140
$GC,2134,-1.16,-146.6,224.3,-10.9,101,2139,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,204,3140
$GC,2180,-1.16,-146.6,229.7,-11.3,103,2184,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1609,3141
$GC,2508,-1.16,-146.6,265.2,-10.8,119,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3140
$GC,2817,-1.16,-146.6,299.1,-11.4,134,2821,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,202,3140
$GC,2890,-1.16,-146.6,308.0,-12.0,137,2894,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3140
$GC,3207,-1.16,-146.6,342.7,-10.8,152,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3140
$GC,3518,-1.16,-146.6,376.6,-11.3,167,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3141
$GC,3826,-1.16,-146.6,410.8,-10.7,182,3830,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,202,3140
$GC,3876,-1.16,-146.6,416.6,-10.7,184,3881,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1602,3140
$GC,4193,-1.16,-146.6,448.6,-10.1,199,4197,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3141
$GC,4249,-1.16,-146.6,455.1,-11.6,201,4255,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1605,3140
$GC,4565,-1.16,-146.6,487.9,-10.2,217,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1608,3141
$GC,4874,-1.16,-146.6,516.9,-8.7,232,4879,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3140
$GC,4932,-1.16,-146.6,522.1,-8.7,234,4938,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1604,3140
$GC,5249,-1.16,-146.6,551.5,-9.1,250,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1607,3141
$GC,5557,-1.16,-146.6,581.6,-10.7,265,5561,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3140
$GC,5631,-1.16,-146.6,589.2,-10.3,268,5635,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1601,3141
$GC,5952,-1.16,-146.6,624.2,-10.7,284,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3141
$GC,6262,-1.16,-146.6,655.5,-10.6,299,6266,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,209,3141
$GC,6319,-1.16,-146.6,661.9,-10.8,301,6323,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3141
$GC,6636,-1.16,-146.6,698.5,-12.5,316,6639,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,201,3140
$GC,6686,-1.16,-146.6,705.8,-14.1,318,6691,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1600,3141
$GC,7009,-1.16,-146.6,741.3,-10.5,334,7013,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,2998,3140
$GC,7088,-1.16,-146.6,750.5,-11.4,337,7092,0.00,2.45,0.00,0.000,6,0.000,0.069,2412,1596,3140
$GC,7411,-1.16,-146.6,780.2,-8.0,353,7415,0.00,2.50,0.00,0.000,4,0.000,0.083,2413,203,3141
$GC,7663,-1.16,-146.6,807.4,-12.1,364,7667,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1604,3141
$STATE,7873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7873,begin apogee
$GC,7883,-0.32,0.0,832.3,11.6,374,8023,0.93,0.00,131.05,1.220,6,0.107,0.000,2604,2195,2539
$STATE,8023,end apogee,CONTROL_FINISHED_OK
$STATE,8023,begin climb
$GC,8027,1.16,146.6,837.2,0.0,381,8160,1.48,2.78,124.38,1.215,4,0.071,0.109,2929,3596,1941
$GC,8401,1.17,150.6,826.9,7.8,398,8411,0.00,2.50,4.75,0.821,6,0.000,0.070,2929,2196,1924
$GC,8728,1.21,175.1,803.5,7.1,414,8755,0.00,2.72,22.02,1.160,4,0.000,0.097,2929,3597,1825
$GC,8825,1.21,175.1,794.6,10.5,418,8829,0.00,2.50,0.00,0.000,6,0.000,0.068,2929,2200,1823
$GC,9142,1.27,215.1,766.6,6.5,433,9181,0.10,0.00,34.53,1.177,6,0.071,0.000,2960,2200,1662
$GC,9492,1.33,250.7,743.2,6.6,450,9528,0.00,2.62,30.52,1.160,4,0.000,0.078,2961,792,1516
$GC,9574,1.33,250.7,736.2,9.2,453,9579,0.00,2.50,0.00,0.000,6,0.000,0.064,2961,2203,1516
$GC,9902,1.33,250.7,704.8,10.2,469,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2204,1514
$GC,10212,1.33,250.7,672.6,10.5,484,10216,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,792,1513
$GC,10297,1.33,250.7,662.7,12.0,488,10301,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2201,1513
$GC,10624,1.33,250.7,626.3,11.5,504,10628,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,791,1512
$GC,10731,1.33,250.7,613.5,12.2,508,10738,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2206,1512
$GC,11048,1.33,250.7,578.4,11.3,524,11052,0.00,2.53,0.00,0.000,4,0.000,0.073,2961,791,1513
$GC,11093,1.33,250.7,572.9,12.5,526,11097,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2199,1512
$GC,11420,1.33,250.7,530.4,13.8,542,11424,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,784,1513
$GC,11493,1.33,250.7,522.0,11.4,545,11497,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2203,1513
$GC,11810,1.33,250.7,488.5,10.9,560,11814,0.00,2.50,0.00,0.000,4,0.000,0.072,2961,792,1512
$GC,11899,1.33,250.7,478.7,10.1,564,11904,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2203,1512
$GC,12221,1.33,250.7,449.4,8.8,580,12226,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,784,1513
$GC,12295,1.33,250.7,443.1,8.1,583,12299,0.00,2.47,0.00,0.000,6,0.000,0.062,2961,2210,1513
$GC,12617,1.33,250.7,415.0,8.5,599,12622,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,785,1513
$GC,12696,1.33,250.7,407.7,8.7,602,12702,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2206,1512
$GC,13013,1.33,250.7,380.3,9.2,618,13017,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,792,1513
$GC,13091,1.33,250.7,372.2,9.7,621,13096,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2202,1512
$GC,13409,1.33,250.7,343.8,8.5,636,13413,0.00,2.50,0.00,0.000,4,0.000,0.072,2961,788,1512
$GC,13482,1.33,250.7,336.8,9.6,639,13486,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2199,1512
$GC,13806,1.33,250.7,307.5,9.2,655,13810,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,787,1513
$GC,13914,1.33,250.7,296.1,10.0,660,13919,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2199,1513
$GC,14242,1.33,250.7,264.2,9.3,676,14247,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,789,1513
$GC,14355,1.33,250.7,253.1,10.3,681,14359,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2198,1513
$GC,14677,1.33,250.7,221.7,9.8,697,14681,0.00,2.50,0.00,0.000,4,0.000,0.072,2961,788,1513
$GC,14784,1.33,250.7,210.9,9.4,702,14789,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2201,1513
$GC,15113,1.33,250.7,179.8,9.4,718,15117,0.00,2.50,0.00,0.000,4,0.000,0.073,2961,792,1513
$GC,15230,1.33,250.7,168.9,9.1,723,15235,0.00,2.45,0.00,0.000,6,0.000,0.061,2961,2202,1513
$GC,15548,1.42,307.9,146.0,5.8,738,15600,0.10,2.60,46.22,0.746,4,0.071,0.073,2994,792,1283
$GC,15714,1.42,307.9,126.0,12.6,745,15720,0.00,2.47,0.00,0.000,6,0.000,0.062,2995,2206,1282
$GC,16031,1.42,307.9,88.9,11.7,761,16036,0.00,2.53,0.00,0.000,4,0.000,0.073,2994,792,1281
$GC,16110,1.42,307.9,80.0,10.5,764,16117,0.00,2.45,0.00,0.000,6,0.000,0.062,2994,2200,1281
$GC,16427,1.42,307.9,47.1,9.3,780,16431,0.00,2.53,0.00,0.000,4,0.000,0.074,2994,790,1281
$GC,16515,1.42,307.9,36.8,12.8,784,16519,0.00,2.47,0.00,0.000,6,0.000,0.062,2994,2205,1281
$GC,16844,1.42,307.9,2.1,9.5,800,16848,0.00,2.17,0.00,0.000,3,0.000,0.067,2994,960,1281
$STATE,16848,end climb,SURFACE_DEPTH_REACHED
$STATE,16848,begin surface coast
$FINISH,0.4,1.027287
$STATE,16886,end surface coast,CONTROL_FINISHED_OK
$STATE,16886,begin surface
$SM_CCo,16972,0.00,0.000,0,0,1278,309.32
$SM_GC,1.42,11.43,0.00,0.00,0.059,0.000,0.000,382,1616,1278,-10.50,0.51,309.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1880
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.4,64.8
$24V_AH,23.5,49.143
$10V_AH,10.2,24.690
$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,25.375,173.425,393.475,0.000,0.000,37.763,28.051,193.456,6.750,0.000,0.000,15.321,1548.108,12609.881,519.113,2045.178,659.636,0.000,1554.639,0.000,1988.020,0.000,46.077,0.000
$DEVICE_MAMPS,175.643,108.914,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.396,547.887,457.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41056,802
$CAP_FILE_SIZE,131254,0
$CFSIZE,254472192,235073536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,211008,013737,6321.662,-1322.102,38,1.5,43,-12.4