version: 66.04
glider: 14
mission: 6
dive: 374
start: 10 22 108 6 27 48
data:
$ID,14
$MISSION,6
$DIVE,374
$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,-657449.5
$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,21
$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
$GPS1,062138,6314.482,-1315.682,24,1.6,24,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.0
$GPS2,062727,6314.483,-1315.597,9,1.9,9,-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,181.1,46219,-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,-60.12,0.000,2,0.000,0.000,374,1589,2735
$GC,83,-1.16,-146.6,4.0,-5.6,3,110,11.43,2.55,-9.38,0.000,4,0.177,0.086,2414,3004,3139
$GC,239,-1.16,-146.6,24.6,-10.8,10,244,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1598,3140
$GC,568,-1.16,-146.6,70.4,-14.8,26,572,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,201,3139
$GC,676,-1.16,-146.6,86.6,-14.3,31,680,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1624,3139
$GC,1005,-1.16,-146.6,128.5,-12.5,47,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1626,3140
$GC,1312,-1.16,-146.6,162.1,-10.8,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1625,3139
$GC,1622,-1.16,-146.6,197.5,-11.1,77,1626,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,202,3140
$GC,1723,-1.16,-146.6,209.2,-11.6,81,1729,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3140
$GC,2039,-1.16,-146.6,244.1,-11.4,97,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3140
$GC,2349,-1.16,-146.6,279.5,-11.1,112,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3140
$GC,2659,-1.16,-146.6,312.7,-10.4,127,2663,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3140
$GC,2727,-1.16,-146.6,320.5,-11.2,130,2731,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3140
$GC,3049,-1.16,-146.6,354.6,-10.7,146,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3140
$GC,3358,-1.16,-146.6,385.9,-10.0,161,3362,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3140
$GC,3426,-1.16,-146.6,393.3,-11.1,164,3430,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1594,3140
$GC,3754,-1.16,-146.6,423.8,-9.2,180,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1597,3140
$GC,4062,-1.16,-146.6,454.9,-10.6,195,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1596,3140
$GC,4372,-1.16,-146.6,490.2,-11.7,210,4376,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,213,3140
$GC,4429,-1.16,-146.6,497.4,-12.3,212,4433,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1602,3140
$GC,4745,-1.16,-146.6,534.3,-11.4,227,4749,0.00,2.53,0.00,0.000,4,0.000,0.085,2414,2998,3140
$GC,4785,-1.16,-146.6,538.7,-11.0,229,4790,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1601,3140
$GC,5113,-1.16,-146.6,574.0,-10.5,245,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3140
$GC,5422,-1.16,-146.6,605.1,-10.3,260,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3140
$GC,5732,-1.16,-146.6,637.9,-10.7,275,5736,0.00,2.53,0.00,0.000,4,0.000,0.085,2414,202,3140
$GC,5805,-1.16,-146.6,646.1,-11.4,278,5809,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3140
$GC,6121,-1.16,-146.6,679.5,-10.0,293,6125,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,209,3140
$GC,6166,-1.16,-146.6,684.0,-9.8,295,6171,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3140
$GC,6489,-1.16,-146.6,712.6,-9.2,311,6493,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,204,3141
$GC,6641,-1.16,-146.6,728.6,-10.5,318,6646,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1598,3141
$STATE,6862,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6862,begin apogee
$GC,6872,-0.32,0.0,751.6,11.4,329,7012,0.93,0.00,130.65,1.169,6,0.110,0.000,2604,2200,2538
$STATE,7012,end apogee,CONTROL_FINISHED_OK
$STATE,7012,begin climb
$GC,7016,1.16,146.6,758.0,0.0,336,7149,1.48,2.85,123.47,1.157,4,0.074,0.115,2927,3601,1940
$GC,7305,1.16,146.6,740.3,8.1,349,7309,0.00,2.53,0.00,0.000,6,0.000,0.071,2926,2189,1939
$GC,7627,1.24,192.6,719.9,6.3,365,7671,0.00,2.78,38.47,1.138,4,0.000,0.100,2927,3607,1753
$GC,7690,1.24,192.6,715.5,9.8,368,7695,0.00,2.53,0.00,0.000,6,0.000,0.069,2927,2201,1752
$GC,8018,1.24,192.6,689.1,8.1,384,8022,0.00,2.55,0.00,0.000,4,0.000,0.078,2926,796,1750
$GC,8080,1.24,192.6,683.8,8.4,386,8086,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2204,1750
$GC,8396,1.24,192.6,657.4,8.6,402,8401,0.00,2.55,0.00,0.000,4,0.000,0.074,2926,789,1748
$GC,8475,1.24,192.6,649.9,8.8,405,8482,0.00,2.50,0.00,0.000,6,0.000,0.063,2926,2212,1747
$GC,8793,1.24,195.6,623.2,7.9,421,8797,0.00,2.55,0.00,0.000,4,0.000,0.072,2926,793,1745
$GC,8866,1.24,195.6,617.0,8.3,424,8870,0.00,2.47,0.00,0.000,6,0.000,0.061,2927,2210,1746
$GC,9187,1.30,232.2,593.9,6.6,440,9230,0.15,2.65,32.50,1.089,4,0.064,0.072,2971,796,1592
$GC,9282,1.30,232.2,585.9,9.2,444,9286,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2205,1591
$GC,9609,1.30,232.2,558.0,8.7,460,9613,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,795,1590
$GC,9649,1.30,232.2,554.2,9.5,462,9653,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1590
$GC,9977,1.30,232.2,525.1,8.8,478,9981,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,794,1590
$GC,10041,1.30,232.2,519.1,9.1,481,10045,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2204,1590
$GC,10375,1.30,232.2,488.8,9.2,497,10379,0.00,2.53,0.00,0.000,4,0.000,0.071,2971,788,1590
$GC,10437,1.30,232.2,482.5,9.8,500,10441,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2199,1590
$GC,10770,1.30,232.2,448.9,10.5,516,10774,0.00,2.50,0.00,0.000,4,0.000,0.071,2971,794,1590
$GC,10866,1.30,232.2,438.1,12.2,520,10871,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2205,1590
$GC,11183,1.30,232.2,403.7,11.5,535,11186,0.00,2.53,0.00,0.000,4,0.000,0.071,2971,793,1590
$GC,11262,1.30,232.2,394.7,12.1,538,11266,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2210,1590
$GC,11579,1.30,232.2,361.2,10.4,553,11582,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,793,1590
$GC,11676,1.30,232.2,350.8,10.5,557,11680,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2198,1590
$GC,11997,1.30,232.2,320.2,9.1,573,12001,0.00,2.50,0.00,0.000,4,0.000,0.071,2971,787,1590
$GC,12088,1.30,232.2,311.5,9.4,577,12092,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2200,1590
$GC,12409,1.30,232.2,284.2,8.3,593,12414,0.00,2.50,0.00,0.000,4,0.000,0.071,2971,790,1590
$GC,12490,1.30,232.2,276.7,9.1,596,12496,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2201,1590
$GC,12807,1.30,232.2,246.7,9.6,612,12811,0.00,2.50,0.00,0.000,4,0.000,0.071,2971,792,1590
$GC,12874,1.30,232.2,239.4,10.7,615,12878,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2204,1590
$GC,13197,1.30,232.2,205.8,10.0,631,13201,0.00,2.53,0.00,0.000,4,0.000,0.071,2971,787,1590
$GC,13305,1.30,232.2,195.0,10.2,635,13312,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2201,1590
$GC,13622,1.30,232.2,165.2,9.1,651,13626,0.00,2.50,0.00,0.000,4,0.000,0.072,2971,793,1590
$GC,13712,1.30,232.2,156.0,10.3,655,13716,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2201,1590
$GC,14034,1.30,232.2,123.2,10.9,671,14038,0.00,2.50,0.00,0.000,4,0.000,0.072,2971,793,1590
$GC,14079,1.30,232.2,117.5,12.5,673,14083,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2204,1590
$GC,14401,1.30,232.2,82.0,11.1,689,14405,0.00,2.50,0.00,0.000,4,0.000,0.072,2971,792,1591
$GC,14497,1.30,232.2,71.2,10.5,693,14502,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2202,1590
$GC,14820,1.30,232.2,41.6,8.2,709,14825,0.00,2.50,0.00,0.000,4,0.000,0.073,2971,795,1590
$GC,14922,1.30,232.2,30.1,13.6,713,14928,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2206,1590
$STATE,15214,end climb,SURFACE_DEPTH_REACHED
$STATE,15214,begin surface coast
$FINISH,0.5,1.003238
$STATE,15236,end surface coast,CONTROL_FINISHED_OK
$STATE,15236,begin surface
$SM_CCo,15263,35.50,0.640,0,0,1316,300.00
$SM_GC,1.89,0.00,0.00,35.50,0.000,0.000,0.640,379,1599,1316,-10.56,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.1,59.9
$24V_AH,23.5,50.084
$10V_AH,10.2,25.255
$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,25.275,151.675,325.100,35.500,0.000,39.114,30.673,141.713,6.000,0.000,0.000,11.239,1393.609,11419.712,483.616,1783.677,569.433,0.000,1391.369,0.000,1739.456,0.000,41.203,0.000
$DEVICE_MAMPS,177.177,115.050,1168.908,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.635,497.534,423.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38067,729
$CAP_FILE_SIZE,115935,0
$CFSIZE,254472192,234655744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,221008,104408,6312.161,-1315.713,37,1.0,37,-12.2