version: 66.04
glider: 14
mission: 6
dive: 368
start: 10 21 108 1 44 49
data:
$ID,14
$MISSION,6
$DIVE,368
$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,-657336.75
$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,22
$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
$GPS1,013737,6321.662,-1322.102,38,1.5,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.6
$GPS2,014429,6321.692,-1322.080,14,2.4,33,-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,166.9,13727,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-60.50,0.000,2,0.000,0.000,383,1618,2677
$GC,86,-1.16,-146.6,4.0,-5.3,3,117,11.35,2.53,-10.98,0.000,4,0.177,0.086,2414,2996,3138
$GC,347,-1.16,-146.6,34.7,-11.2,14,354,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1600,3139
$GC,664,-1.16,-146.6,65.3,-10.9,30,668,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,210,3140
$GC,773,-1.16,-146.6,76.2,-9.6,35,777,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3139
$GC,1100,-1.16,-146.6,104.6,-8.3,51,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3139
$GC,1410,-1.16,-146.6,132.2,-8.0,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3140
$GC,1720,-1.16,-146.6,156.9,-7.7,81,1724,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3140
$GC,1805,-1.16,-146.6,164.4,-9.4,85,1809,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3140
$GC,2133,-1.16,-146.6,192.5,-9.0,101,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3139
$GC,2441,-1.16,-146.6,224.5,-10.6,116,2449,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,209,3139
$GC,2513,-1.16,-146.6,232.8,-12.1,119,2517,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3140
$GC,2840,-1.16,-146.6,272.1,-12.6,135,2845,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3139
$GC,2891,-1.16,-146.6,278.8,-12.5,137,2896,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3139
$GC,3208,-1.16,-146.6,316.6,-12.4,152,3212,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,3264,-1.16,-146.6,324.1,-13.2,154,3270,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3140
$GC,3580,-1.16,-146.6,363.2,-11.9,170,3585,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3140
$GC,3648,-1.16,-146.6,371.7,-12.1,173,3652,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1599,3139
$GC,3976,-1.16,-146.6,408.9,-11.4,189,3980,0.00,2.53,0.00,0.000,4,0.000,0.084,2415,2999,3139
$GC,4009,-1.16,-146.6,412.8,-10.9,190,4016,0.00,2.42,0.00,0.000,6,0.000,0.065,2414,1598,3139
$GC,4326,-1.16,-146.6,449.4,-11.6,206,4331,0.00,2.50,0.00,0.000,4,0.000,0.083,2414,210,3139
$GC,4360,-1.16,-146.6,453.7,-12.3,207,4365,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3139
$GC,4677,-1.16,-146.6,489.1,-11.2,222,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1606,3139
$GC,4986,-1.16,-146.6,523.5,-11.2,237,4990,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,206,3139
$GC,5065,-1.16,-146.6,532.9,-12.7,240,5071,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1594,3139
$GC,5381,-1.16,-146.6,570.1,-12.2,256,5385,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,207,3139
$GC,5415,-1.16,-146.6,574.5,-12.2,257,5423,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1613,3139
$GC,5741,-1.16,-146.6,612.8,-11.9,273,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1613,3139
$GC,6052,-1.16,-146.6,651.5,-12.5,288,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1613,3140
$GC,6358,-1.16,-146.6,690.1,-12.8,303,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1613,3139
$GC,6669,-1.16,-146.6,726.1,-11.2,318,6673,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,204,3140
$GC,6870,-1.16,-146.6,748.2,-11.4,326,6877,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1598,3139
$GC,7187,-1.16,-146.6,780.8,-9.6,342,7191,0.00,2.55,0.00,0.000,4,0.000,0.090,2414,2998,3140
$GC,7301,-1.16,-146.6,792.8,-11.2,347,7305,0.00,2.45,0.00,0.000,6,0.000,0.070,2414,1601,3140
$STATE,7563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7563,begin apogee
$GC,7573,-0.32,0.0,818.3,9.6,360,7713,0.90,0.00,131.02,1.217,6,0.104,0.000,2602,2204,2539
$STATE,7713,end apogee,CONTROL_FINISHED_OK
$STATE,7713,begin climb
$GC,7717,1.16,146.6,826.8,0.0,367,7850,1.50,2.78,124.12,1.206,4,0.076,0.109,2929,3601,1940
$GC,8125,1.16,146.6,802.5,8.4,385,8130,0.00,2.50,0.00,0.000,6,0.000,0.071,2929,2201,1940
$GC,8442,1.16,146.6,770.8,10.7,400,8446,0.00,2.65,0.00,0.000,4,0.000,0.097,2929,3602,1939
$GC,8538,1.21,176.8,763.1,6.9,404,8571,0.00,2.50,25.92,1.161,6,0.000,0.068,2928,2196,1817
$GC,8880,1.24,191.4,739.4,7.4,421,8899,0.00,0.00,13.52,1.098,6,0.000,0.000,2929,2195,1757
$GC,9210,1.29,228.7,716.6,6.6,437,9252,0.12,2.65,31.88,1.176,4,0.068,0.077,2966,795,1606
$GC,9281,1.29,228.7,710.5,8.8,440,9285,0.00,2.50,0.00,0.000,6,0.000,0.063,2966,2205,1606
$GC,9603,1.29,228.7,681.8,8.8,456,9607,0.00,2.55,0.00,0.000,4,0.000,0.074,2967,789,1604
$GC,9734,1.29,228.7,670.0,9.0,462,9738,0.00,2.47,0.00,0.000,6,0.000,0.064,2966,2200,1603
$GC,10067,1.29,228.7,638.9,9.9,478,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,1603
$GC,10377,1.29,228.7,607.4,9.9,493,10381,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,789,1603
$GC,10433,1.29,228.7,601.4,11.1,495,10439,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2205,1603
$GC,10750,1.29,228.7,573.5,8.7,511,10754,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,790,1603
$GC,10806,1.29,228.7,567.7,10.2,513,10812,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2206,1603
$GC,11122,1.29,228.7,537.7,9.2,529,11127,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,788,1603
$GC,11208,1.29,228.7,528.9,10.4,533,11212,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2210,1603
$GC,11535,1.29,228.7,496.4,9.8,549,11539,0.00,2.53,0.00,0.000,4,0.000,0.072,2967,786,1603
$GC,11575,1.29,228.7,492.1,10.7,550,11581,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1603
$GC,11892,1.29,228.7,462.1,9.6,566,11896,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,785,1603
$GC,11971,1.29,228.7,453.8,11.0,569,11977,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2207,1603
$GC,12287,1.29,228.7,423.3,9.8,585,12291,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,794,1602
$GC,12360,1.29,228.7,415.7,10.3,588,12364,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2201,1603
$GC,12677,1.29,228.7,384.6,10.1,603,12681,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,791,1603
$GC,12768,1.29,228.7,374.6,10.7,607,12772,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2202,1603
$GC,13101,1.29,228.7,342.5,9.1,623,13105,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,791,1603
$GC,13165,1.29,228.7,336.5,9.8,626,13169,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2203,1603
$GC,13492,1.29,228.7,308.7,8.2,642,13496,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,788,1603
$GC,13578,1.29,228.7,301.2,8.8,646,13582,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2202,1603
$GC,13905,1.35,264.7,277.2,6.6,662,13940,0.00,2.58,29.48,0.874,4,0.000,0.071,2966,795,1460
$GC,13994,1.35,264.7,270.7,8.2,666,13998,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2198,1460
$GC,14321,1.35,264.7,245.1,8.4,682,14325,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,791,1459
$GC,14395,1.35,264.7,238.4,8.9,685,14399,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2202,1460
$GC,14717,1.35,264.7,209.5,9.4,701,14722,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,784,1460
$GC,14796,1.35,264.7,201.3,10.3,704,14802,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2199,1459
$GC,15113,1.35,264.7,167.8,11.2,720,15117,0.00,2.50,0.00,0.000,4,0.000,0.073,2966,793,1459
$GC,15198,1.35,264.7,158.3,11.4,724,15203,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2199,1459
$GC,15526,1.35,264.7,127.0,9.4,740,15531,0.00,2.53,0.00,0.000,4,0.000,0.073,2967,792,1459
$GC,15594,1.35,264.7,119.4,11.4,743,15598,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2207,1459
$GC,15917,1.45,325.4,89.3,5.7,759,15972,0.10,2.65,47.80,0.713,4,0.071,0.073,3000,790,1212
$GC,16070,1.45,325.4,75.4,13.0,766,16074,0.00,2.47,0.00,0.000,6,0.000,0.062,3000,2203,1211
$GC,16398,1.45,325.4,34.2,13.3,782,16402,0.00,2.53,0.00,0.000,4,0.000,0.074,3000,795,1211
$GC,16476,1.45,325.4,26.2,8.7,785,16483,0.00,2.45,0.00,0.000,6,0.000,0.062,3001,2198,1211
$STATE,16727,end climb,SURFACE_DEPTH_REACHED
$STATE,16727,begin surface coast
$FINISH,0.5,1.027129
$STATE,16749,end surface coast,CONTROL_FINISHED_OK
$STATE,16749,begin surface
$SM_CCo,16836,0.00,0.000,0,0,1210,326.00
$SM_GC,1.43,11.43,0.00,0.00,0.057,0.000,0.000,375,1582,1210,-10.51,-0.51,326.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1883
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.7,75.7
$24V_AH,23.5,49.286
$10V_AH,10.2,24.773
$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,25.400,166.300,403.750,0.000,0.000,39.331,38.363,160.185,6.500,0.000,0.000,36.165,1518.168,12502.019,532.283,2052.553,639.221,0.000,1566.081,0.000,1977.056,0.000,44.512,0.000
$DEVICE_MAMPS,177.177,108.914,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.544,544.585,475.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41103,799
$CAP_FILE_SIZE,128057,0
$CFSIZE,254472192,235008000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,211008,062656,6320.728,-1321.619,51,1.6,51,-12.4