version: 66.04
glider: 14
mission: 6
dive: 375
start: 10 22 108 10 50 17
data:
$ID,14
$MISSION,6
$DIVE,375
$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,-657465
$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,20
$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
$GPS1,104408,6312.161,-1315.713,37,1.0,37,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.1
$GPS2,104956,6312.142,-1315.629,9,1.3,13,-12.2
$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,179.8,41981,-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,-60.15,0.000,2,0.000,0.000,380,1596,2739
$GC,83,-1.16,-146.6,3.6,-4.8,3,113,11.45,2.53,-9.95,0.000,4,0.180,0.086,2413,3005,3139
$GC,172,-1.16,-146.6,16.8,-10.5,7,176,0.00,2.45,0.00,0.000,6,0.000,0.064,2413,1601,3140
$GC,499,-1.16,-146.6,53.8,-10.7,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3140
$GC,809,-1.16,-146.6,89.8,-11.8,38,813,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,203,3140
$GC,882,-1.16,-146.6,99.7,-13.5,41,886,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1625,3140
$GC,1200,-1.16,-146.6,138.6,-11.8,56,1205,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,208,3140
$GC,1273,-1.16,-146.6,148.7,-12.6,59,1277,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1605,3140
$GC,1590,-1.16,-146.6,186.5,-11.6,74,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,1899,-1.16,-146.6,220.5,-11.0,89,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3140
$GC,2208,-1.16,-146.6,255.1,-10.9,104,2212,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,209,3140
$GC,2277,-1.16,-146.6,263.0,-11.4,107,2281,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1607,3141
$GC,2604,-1.16,-146.6,296.5,-9.9,123,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1608,3140
$GC,2914,-1.16,-146.6,326.0,-9.6,138,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1608,3140
$GC,3223,-1.16,-146.6,354.9,-9.2,153,3227,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,205,3140
$GC,3280,-1.16,-146.6,360.7,-10.2,155,3286,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1599,3140
$GC,3597,-1.16,-146.6,390.7,-9.6,171,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3140
$GC,3906,-1.16,-146.6,419.4,-9.1,186,3910,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,210,3140
$GC,3946,-1.16,-146.6,423.3,-9.6,188,3950,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3140
$GC,4273,-1.16,-146.6,453.3,-9.3,204,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3140
$GC,4583,-1.16,-146.6,483.0,-9.8,219,4587,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,206,3140
$GC,4645,-1.16,-146.6,490.1,-11.1,222,4650,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1598,3140
$GC,4974,-1.16,-146.6,522.4,-10.0,238,4977,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,209,3140
$GC,5020,-1.16,-146.6,527.6,-10.9,240,5024,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3140
$GC,5348,-1.16,-146.6,562.1,-10.7,256,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3140
$GC,5657,-1.16,-146.6,593.0,-9.9,271,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3140
$GC,5967,-1.16,-146.6,625.0,-10.4,286,5971,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,204,3140
$GC,6046,-1.16,-146.6,633.7,-11.0,289,6050,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1604,3140
$GC,6363,-1.16,-146.6,664.7,-9.8,304,6367,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,206,3140
$GC,6441,-1.16,-146.6,672.8,-9.5,307,6447,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1603,3140
$GC,6758,-1.16,-146.6,698.4,-7.8,323,6762,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,202,3140
$GC,6815,-1.16,-146.6,703.0,-8.1,325,6819,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1600,3140
$GC,7131,-1.16,-146.6,728.7,-9.4,340,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3141
$STATE,7416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7416,begin apogee
$GC,7426,-0.32,0.0,758.1,10.5,354,7565,0.95,0.00,130.43,1.181,6,0.119,0.000,2605,2199,2539
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7570,1.16,146.6,764.4,0.0,361,7702,1.50,2.67,124.12,1.163,4,0.075,0.077,2928,787,1940
$GC,7720,1.16,146.6,754.4,9.5,368,7726,0.00,2.55,0.00,0.000,6,0.000,0.066,2928,2208,1940
$GC,8037,1.23,187.2,731.2,6.5,384,8075,0.00,0.00,34.40,1.130,6,0.000,0.000,2928,2208,1775
$GC,8386,1.30,230.6,707.6,6.3,401,8429,0.12,2.67,37.35,1.134,4,0.067,0.074,2966,791,1598
$GC,8486,1.30,230.6,699.7,8.1,405,8491,0.00,2.53,0.00,0.000,6,0.000,0.064,2966,2207,1597
$GC,8803,1.30,230.6,673.0,9.1,420,8808,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,789,1595
$GC,8889,1.30,230.6,665.0,9.8,424,8893,0.00,2.50,0.00,0.000,6,0.000,0.064,2966,2207,1594
$GC,9217,1.30,230.6,636.1,8.8,440,9221,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,792,1592
$GC,9308,1.30,230.6,627.1,9.7,444,9312,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2200,1592
$GC,9635,1.30,230.6,595.1,10.0,460,9639,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,787,1591
$GC,9708,1.30,230.6,587.1,10.9,463,9713,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2200,1591
$GC,10025,1.30,230.6,553.7,10.3,478,10029,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,790,1591
$GC,10097,1.30,230.6,545.5,10.8,481,10102,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1591
$GC,10415,1.30,230.6,513.1,10.1,496,10419,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,787,1591
$GC,10506,1.30,230.6,503.3,10.1,500,10511,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1591
$GC,10834,1.30,230.6,470.9,9.9,516,10838,0.00,2.55,0.00,0.000,4,0.000,0.071,2966,783,1591
$GC,10935,1.30,230.6,460.3,11.2,520,10942,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2204,1591
$GC,11252,1.30,230.6,429.4,9.7,536,11256,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,780,1591
$GC,11321,1.30,230.6,422.3,10.1,539,11325,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2201,1591
$GC,11649,1.30,230.6,390.2,10.2,555,11653,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,789,1591
$GC,11729,1.30,230.6,381.7,10.9,558,11735,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2201,1591
$GC,12046,1.30,230.6,350.7,9.6,574,12050,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,789,1591
$GC,12124,1.30,230.6,342.6,10.6,577,12130,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2203,1591
$GC,12440,1.30,230.6,311.6,10.0,593,12444,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,786,1591
$GC,12532,1.30,230.6,301.9,10.3,597,12536,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2202,1591
$GC,12866,1.30,230.6,268.1,10.2,613,12870,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,786,1591
$GC,12956,1.30,230.6,258.6,10.1,617,12960,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2198,1591
$GC,13278,1.30,230.6,226.0,10.5,633,13282,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,788,1591
$GC,13358,1.30,230.6,217.5,10.5,636,13364,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2208,1591
$GC,13675,1.30,230.6,184.6,10.6,652,13679,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,790,1591
$GC,13770,1.30,230.6,174.2,10.1,656,13774,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2198,1591
$GC,14087,1.30,230.6,143.8,9.5,671,14091,0.00,2.50,0.00,0.000,4,0.000,0.072,2966,788,1591
$GC,14188,1.30,230.6,134.3,9.5,675,14195,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2210,1591
$GC,14505,1.41,302.1,104.9,5.3,691,14569,0.00,2.60,55.78,0.722,4,0.000,0.071,2966,786,1306
$GC,14668,1.41,302.1,91.7,9.3,698,14673,0.00,2.50,0.00,0.000,6,0.000,0.062,2966,2202,1305
$GC,14991,1.43,314.1,63.1,7.5,714,15008,0.00,2.58,11.18,0.632,4,0.000,0.072,2966,790,1257
$GC,15087,1.43,314.1,55.4,9.6,717,15091,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2206,1256
$GC,15409,1.43,314.1,24.3,10.3,733,15413,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,784,1256
$GC,15510,1.43,314.1,15.2,9.9,737,15516,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2201,1256
$STATE,15658,end climb,SURFACE_DEPTH_REACHED
$STATE,15658,begin surface coast
$FINISH,0.7,1.027250
$STATE,15680,end surface coast,CONTROL_FINISHED_OK
$STATE,15680,begin surface
$SM_CCo,15766,0.00,0.000,0,0,1256,314.72
$SM_GC,1.34,11.20,0.00,0.00,0.054,0.000,0.000,373,1597,1256,-10.51,-0.06,314.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,90.8
$24V_AH,23.5,50.218
$10V_AH,10.2,25.330
$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,25.225,151.650,393.250,0.000,0.000,37.759,26.973,142.858,5.750,0.000,0.000,14.891,1405.691,11831.855,532.679,1777.935,565.323,0.000,1433.806,0.000,1732.993,0.000,39.662,0.000
$DEVICE_MAMPS,180.245,85.904,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.747,508.172,445.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,746
$CAP_FILE_SIZE,116385,0
$CFSIZE,254472192,234602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,221008,151408,6310.450,-1314.943,25,1.5,25,-12.2