version: 66.04
glider: 14
mission: 6
dive: 371
start: 10 21 108 16 20 55
data:
$ID,14
$MISSION,6
$DIVE,371
$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,-657385.69
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,161431,6318.653,-1321.117,44,1.7,44,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.4
$GPS2,162034,6318.671,-1321.063,11,1.8,12,-12.3
$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,155.7,8472,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,2,0.000,0.000,380,1620,2701
$GC,86,-1.16,-146.6,3.7,-4.1,3,117,11.38,2.60,-10.90,0.000,4,0.177,0.091,2412,213,3139
$GC,387,-1.16,-146.6,40.9,-11.4,16,391,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,709,-1.16,-146.6,78.4,-10.6,32,713,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3139
$GC,788,-1.16,-146.6,87.4,-11.9,35,794,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,1105,-1.16,-146.6,117.2,-8.3,51,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1603,3139
$GC,1414,-1.16,-146.6,137.9,-6.3,66,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3139
$GC,1724,-1.16,-146.6,163.6,-10.2,81,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3139
$GC,2034,-1.16,-146.6,200.5,-12.0,96,2037,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,208,3140
$GC,2118,-1.16,-146.6,211.5,-12.6,99,2124,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3140
$GC,2435,-1.16,-146.6,245.6,-10.0,115,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,2745,-1.16,-146.6,276.5,-10.5,130,2749,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3140
$GC,2785,-1.16,-146.6,281.1,-10.9,132,2789,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1605,3140
$GC,3113,-1.16,-146.6,313.7,-9.3,148,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,3422,-1.16,-146.6,347.4,-11.8,163,3426,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,213,3140
$GC,3485,-1.16,-146.6,355.6,-13.0,166,3489,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3140
$GC,3813,-1.16,-146.6,393.8,-11.6,182,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,4121,-1.16,-146.6,431.8,-12.8,197,4125,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3140
$GC,4207,-1.16,-146.6,444.0,-14.9,200,4213,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1607,3140
$GC,4523,-1.16,-146.6,484.8,-12.7,216,4528,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,213,3140
$GC,4569,-1.16,-146.6,490.9,-13.4,218,4573,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3140
$GC,4891,-1.16,-146.6,528.9,-11.7,234,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3140
$GC,5200,-1.16,-146.6,568.4,-13.6,249,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,5509,-1.16,-146.6,609.7,-12.9,264,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3140
$GC,5819,-1.16,-146.6,646.1,-11.2,279,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3141
$GC,6128,-1.16,-146.6,678.8,-10.6,294,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,6437,-1.16,-146.6,709.9,-9.9,309,6441,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3140
$GC,6534,-1.16,-146.6,720.5,-11.4,313,6538,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1596,3140
$GC,6850,-1.16,-146.6,752.3,-9.7,328,6854,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,203,3140
$GC,7019,-1.16,-146.6,771.3,-11.0,335,7025,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1600,3141
$STATE,7311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7311,begin apogee
$GC,7321,-0.32,0.0,804.2,10.6,350,7460,0.93,0.00,131.00,1.206,6,0.107,0.000,2602,2194,2539
$STATE,7461,end apogee,CONTROL_FINISHED_OK
$STATE,7461,begin climb
$GC,7465,1.16,146.6,810.3,0.0,357,7599,1.58,2.83,124.75,1.191,4,0.091,0.110,2930,3593,1940
$GC,7673,1.23,186.4,799.5,6.5,367,7713,0.00,2.50,34.15,1.143,6,0.000,0.070,2930,2197,1777
$GC,8040,1.26,206.9,775.7,7.2,385,8065,0.00,2.62,18.35,1.113,4,0.000,0.076,2930,795,1695
$GC,8089,1.26,206.9,771.7,9.5,387,8094,0.00,2.50,0.00,0.000,6,0.000,0.064,2930,2198,1695
$GC,8411,1.27,216.2,745.9,7.6,403,8426,0.10,2.58,9.50,1.028,4,0.071,0.074,2959,793,1657
$GC,8523,1.27,216.2,736.1,8.9,407,8527,0.00,2.50,0.00,0.000,6,0.000,0.064,2960,2208,1657
$GC,8850,1.27,216.2,709.8,8.0,423,8854,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,793,1654
$GC,8958,1.27,216.2,700.2,8.5,428,8962,0.00,2.47,0.00,0.000,6,0.000,0.064,2960,2199,1654
$GC,9290,1.27,216.2,670.4,9.7,444,9295,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,784,1652
$GC,9358,1.27,216.2,663.6,9.5,447,9362,0.00,2.50,0.00,0.000,6,0.000,0.063,2960,2208,1651
$GC,9680,1.27,216.2,633.5,9.4,463,9684,0.00,2.55,0.00,0.000,4,0.000,0.072,2960,785,1651
$GC,9736,1.27,216.2,627.7,11.2,465,9740,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2200,1650
$GC,10052,1.27,216.2,598.0,9.2,480,10057,0.00,2.53,0.00,0.000,4,0.000,0.072,2959,792,1651
$GC,10103,1.27,216.2,593.1,9.6,482,10107,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2212,1650
$GC,10425,1.28,220.2,566.2,7.8,498,10434,0.00,2.58,3.72,0.654,4,0.000,0.071,2960,792,1640
$GC,10498,1.28,220.2,559.7,8.4,501,10503,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2200,1640
$GC,10820,1.28,220.2,530.5,9.2,517,10824,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,789,1640
$GC,10917,1.28,220.2,520.8,10.6,521,10922,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2200,1640
$GC,11240,1.28,220.2,490.1,9.7,537,11244,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,791,1640
$GC,11326,1.28,220.2,481.2,10.4,541,11330,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2200,1640
$GC,11653,1.28,220.2,450.5,9.5,557,11657,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,786,1640
$GC,11749,1.28,220.2,440.9,10.0,561,11753,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2200,1640
$GC,12066,1.28,220.2,410.4,9.7,576,12070,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,784,1640
$GC,12150,1.28,220.2,401.7,9.7,579,12156,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,2200,1640
$GC,12467,1.28,220.2,370.7,9.8,595,12471,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,783,1640
$GC,12536,1.28,220.2,363.4,11.2,598,12540,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2209,1640
$GC,12864,1.28,220.2,332.3,9.4,614,12868,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,783,1641
$GC,12937,1.28,220.2,325.1,9.5,617,12941,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2202,1640
$GC,13253,1.28,220.2,296.4,9.1,632,13257,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,791,1640
$GC,13310,1.28,220.2,290.9,10.1,634,13316,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2202,1640
$GC,13626,1.28,220.2,263.9,8.4,650,13630,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,792,1640
$GC,13711,1.28,220.2,256.5,8.6,654,13715,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2204,1640
$GC,14039,1.30,230.5,230.7,7.6,670,14055,0.00,2.55,11.10,0.747,4,0.000,0.071,2960,792,1598
$GC,14151,1.32,245.9,221.9,7.4,674,14171,0.00,2.45,13.60,0.759,6,0.000,0.061,2960,2199,1536
$GC,14501,1.34,255.7,196.0,7.6,691,14516,0.00,2.58,8.98,0.700,4,0.000,0.072,2961,790,1496
$GC,14618,1.34,255.7,185.7,9.3,696,14622,0.00,2.47,0.00,0.000,6,0.000,0.061,2960,2199,1496
$GC,14947,1.34,255.7,158.6,8.1,712,14951,0.00,2.50,0.00,0.000,4,0.000,0.073,2960,792,1496
$GC,15010,1.38,283.3,153.9,7.0,715,15040,0.00,2.45,23.17,0.736,6,0.000,0.062,2960,2205,1384
$GC,15365,1.38,283.3,122.3,10.1,732,15369,0.00,2.53,0.00,0.000,4,0.000,0.072,2961,792,1383
$GC,15466,1.38,283.3,111.2,10.7,736,15473,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2200,1383
$GC,15783,1.38,283.3,79.3,9.0,752,15787,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,790,1383
$GC,15884,1.38,283.3,68.0,11.2,756,15891,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2198,1383
$GC,16203,1.38,283.3,35.5,10.3,772,16207,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,785,1383
$GC,16299,1.39,286.4,27.3,7.9,776,16310,0.00,2.47,4.35,0.490,6,0.000,0.062,2960,2204,1369
$STATE,16596,end climb,SURFACE_DEPTH_REACHED
$STATE,16596,begin surface coast
$FINISH,0.8,1.027220
$STATE,16620,end surface coast,CONTROL_FINISHED_OK
$STATE,16620,begin surface
$SM_CCo,16646,10.15,0.607,0,0,1316,300.00
$SM_GC,1.96,0.00,0.00,10.15,0.000,0.000,0.607,380,1601,1316,-10.56,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1901
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.2,37.8
$24V_AH,23.5,49.702
$10V_AH,10.2,25.023
$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,25.150,156.475,382.675,10.150,0.000,37.764,25.136,150.321,6.750,0.000,0.000,14.259,1509.388,12423.254,525.381,1961.333,600.730,0.000,1510.302,0.000,1907.686,0.000,45.998,0.000
$DEVICE_MAMPS,177.177,110.448,1206.491,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.532,540.135,476.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41264,792
$CAP_FILE_SIZE,125455,0
$CFSIZE,254472192,234815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,211008,210001,6316.717,-1320.929,40,1.5,45,-12.3