version: 66.04
glider: 14
mission: 6
dive: 373
start: 10 22 108 1 50 36
data:
$ID,14
$MISSION,6
$DIVE,373
$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,-657437.62
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,014408,6315.785,-1318.289,28,0.8,28,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.6
$GPS2,015014,6315.801,-1318.268,9,1.0,14,-12.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$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,179.1,49084,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,2,0.000,0.000,379,1595,2768
$GC,83,-1.16,-146.6,4.2,-5.9,3,109,11.38,2.55,-8.43,0.000,4,0.177,0.086,2412,3010,3138
$GC,255,-1.16,-146.6,29.1,-13.5,10,262,0.00,2.47,0.00,0.000,6,0.000,0.064,2412,1593,3139
$GC,573,-1.16,-146.6,65.8,-10.6,26,577,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,213,3139
$GC,659,-1.16,-146.6,76.4,-12.3,30,664,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1614,3140
$GC,988,-1.16,-146.6,113.7,-11.4,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1618,3140
$GC,1297,-1.16,-146.6,150.6,-12.3,61,1301,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,210,3140
$GC,1427,-1.16,-146.6,168.5,-13.0,66,1433,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1605,3140
$GC,1743,-1.16,-146.6,207.9,-12.2,82,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,2053,-1.16,-146.6,244.0,-11.7,97,2057,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3140
$GC,2132,-1.16,-146.6,254.2,-13.4,100,2138,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1608,3140
$GC,2449,-1.16,-146.6,290.1,-11.5,116,2453,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,203,3140
$GC,2505,-1.16,-146.6,297.2,-12.7,118,2511,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3140
$GC,2822,-1.16,-146.6,333.3,-11.2,134,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,3130,-1.16,-146.6,368.9,-12.0,149,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,3439,-1.16,-146.6,405.3,-11.4,164,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,3749,-1.16,-146.6,439.6,-10.9,179,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,4058,-1.16,-146.6,472.0,-10.5,194,4062,0.00,2.53,0.00,0.000,4,0.000,0.082,2412,209,3140
$GC,4104,-1.16,-146.6,477.0,-11.6,196,4108,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3140
$GC,4426,-1.16,-146.6,508.8,-9.5,212,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,4735,-1.16,-146.6,537.5,-9.3,227,4739,0.00,2.53,0.00,0.000,4,0.000,0.082,2412,210,3140
$GC,4785,-1.16,-146.6,542.8,-11.0,229,4789,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1600,3140
$GC,5102,-1.16,-146.6,572.9,-9.4,244,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,5411,-1.16,-146.6,602.2,-9.5,259,5415,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,213,3140
$GC,5490,-1.16,-146.6,610.4,-10.5,262,5496,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1600,3140
$GC,5806,-1.16,-146.6,641.4,-9.8,278,5810,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,205,3140
$GC,5868,-1.16,-146.6,647.7,-10.1,280,5875,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3141
$GC,6186,-1.16,-146.6,677.8,-9.3,296,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3140
$GC,6496,-1.16,-146.6,705.6,-9.3,311,6500,0.00,2.55,0.00,0.000,4,0.000,0.091,2412,2997,3140
$GC,6614,-1.16,-146.6,715.6,-7.5,316,6618,0.00,2.45,0.00,0.000,6,0.000,0.069,2412,1597,3140
$GC,6932,-1.16,-146.6,744.6,-9.5,331,6935,0.00,2.50,0.00,0.000,4,0.000,0.086,2412,213,3141
$GC,7000,-1.16,-146.6,752.8,-14.8,334,7005,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1605,3141
$STATE,7139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7140,begin apogee
$GC,7149,-0.32,0.0,770.1,11.3,341,7288,0.95,0.00,130.82,1.184,6,0.118,0.000,2604,2193,2539
$STATE,7289,end apogee,CONTROL_FINISHED_OK
$STATE,7289,begin climb
$GC,7293,1.16,146.6,771.6,0.0,348,7426,1.50,2.85,123.53,1.171,4,0.080,0.114,2928,3598,1940
$GC,7557,1.18,153.9,754.3,7.7,360,7573,0.00,2.50,7.53,0.937,6,0.000,0.071,2928,2199,1912
$GC,7884,1.18,153.9,728.4,8.7,376,7888,0.00,2.67,0.00,0.000,4,0.000,0.100,2928,3602,1911
$GC,7934,1.18,153.9,723.4,10.4,378,7938,0.00,2.50,0.00,0.000,6,0.000,0.070,2928,2201,1910
$GC,8251,1.18,153.9,695.6,8.9,393,8255,0.00,2.55,0.00,0.000,4,0.000,0.078,2928,792,1910
$GC,8284,1.18,153.9,692.5,9.2,394,8290,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2204,1910
$GC,8600,1.18,153.9,668.3,8.1,410,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2204,1908
$GC,8912,1.18,157.4,643.7,7.9,425,8916,0.00,2.55,0.00,0.000,4,0.000,0.074,2928,792,1905
$GC,8957,1.20,171.1,640.0,7.5,427,8976,0.00,2.47,14.70,1.068,6,0.000,0.062,2928,2208,1841
$GC,9306,1.24,193.9,613.5,7.1,444,9331,0.00,2.60,19.70,1.076,4,0.000,0.073,2928,793,1748
$GC,9378,1.24,193.9,607.4,8.7,447,9382,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2199,1748
$GC,9705,1.26,204.9,581.5,7.6,463,9721,0.00,2.58,10.70,0.986,4,0.000,0.072,2928,794,1702
$GC,9840,1.26,204.9,570.0,8.6,468,9844,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2204,1702
$GC,10162,1.26,204.9,542.2,8.6,484,10165,0.00,2.53,0.00,0.000,4,0.000,0.073,2928,790,1702
$GC,10246,1.26,204.9,534.4,9.5,487,10252,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2206,1702
$GC,10563,1.26,204.9,506.6,8.7,503,10567,0.00,2.55,0.00,0.000,4,0.000,0.072,2928,788,1702
$GC,10647,1.26,204.9,498.6,9.6,506,10653,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2204,1702
$GC,10963,1.26,204.9,470.0,9.1,522,10968,0.00,2.53,0.00,0.000,4,0.000,0.071,2928,787,1702
$GC,11050,1.26,204.9,461.5,10.2,526,11054,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2201,1702
$GC,11377,1.26,204.9,432.2,8.6,542,11381,0.00,2.53,0.00,0.000,4,0.000,0.072,2928,784,1702
$GC,11468,1.26,204.9,423.9,8.8,546,11472,0.00,2.47,0.00,0.000,6,0.000,0.061,2928,2207,1702
$GC,11801,1.26,204.9,395.6,8.2,562,11806,0.00,2.53,0.00,0.000,4,0.000,0.071,2928,784,1702
$GC,11903,1.26,204.9,386.5,9.4,566,11909,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2209,1702
$GC,12220,1.26,204.9,360.0,8.4,582,12224,0.00,2.53,0.00,0.000,4,0.000,0.071,2928,787,1702
$GC,12332,1.26,204.9,350.4,8.3,587,12336,0.00,2.47,0.00,0.000,6,0.000,0.061,2927,2202,1702
$GC,12653,1.28,218.6,325.3,7.5,603,12675,0.12,2.58,13.05,0.825,4,0.067,0.071,2968,795,1647
$GC,12761,1.28,218.6,315.7,8.2,607,12767,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2199,1647
$GC,13077,1.28,218.6,287.8,8.9,623,13081,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,792,1646
$GC,13214,1.28,218.6,275.4,9.5,629,13219,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2203,1647
$GC,13542,1.28,218.6,244.9,9.6,645,13546,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,782,1647
$GC,13655,1.28,218.6,233.6,9.4,650,13659,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2208,1646
$GC,13976,1.28,218.6,204.2,9.1,666,13981,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,787,1647
$GC,14142,1.28,218.6,187.9,9.6,673,14147,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2200,1646
$GC,14459,1.28,218.6,159.0,8.7,688,14463,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,788,1648
$GC,14573,1.28,218.6,148.1,9.7,693,14577,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2204,1647
$GC,14901,1.28,218.6,119.1,8.7,709,14906,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,790,1647
$GC,15086,1.28,218.6,100.0,9.8,717,15091,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2210,1647
$GC,15404,1.28,218.6,68.2,10.1,732,15408,0.00,2.55,0.00,0.000,4,0.000,0.072,2968,784,1646
$GC,15535,1.28,218.6,53.9,11.3,738,15539,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2198,1647
$GC,15863,1.28,218.6,25.7,10.1,754,15868,0.00,2.50,0.00,0.000,4,0.000,0.072,2968,791,1647
$GC,15960,1.28,218.6,14.7,10.6,758,15964,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2206,1646
$STATE,16093,end climb,SURFACE_DEPTH_REACHED
$STATE,16093,begin surface coast
$FINISH,0.5,1.013958
$STATE,16116,end surface coast,CONTROL_FINISHED_OK
$STATE,16116,begin surface
$SM_CCo,16142,44.92,0.632,1,0,1315,300.00
$SM_GC,1.40,0.00,0.00,44.92,0.000,0.000,0.632,373,1590,1315,-10.58,-0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.7,77.2
$24V_AH,23.5,49.958
$10V_AH,10.2,25.182
$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,25.100,156.825,320.025,44.925,0.000,37.761,32.778,152.993,6.250,0.000,0.000,15.556,1476.322,12015.228,508.796,1961.953,600.426,0.000,1487.622,0.000,1907.583,0.000,44.195,0.000
$DEVICE_MAMPS,177.177,113.516,1184.248,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.433,523.289,445.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,766
$CAP_FILE_SIZE,123401,0
$CFSIZE,254472192,234704896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,221008,062138,6314.482,-1315.682,24,1.6,24,-12.3