version: 66.04
glider: 14
mission: 6
dive: 376
start: 10 22 108 15 23 42
data:
$ID,14
$MISSION,6
$DIVE,376
$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,-657479.31
$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,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
$GPS1,151408,6310.450,-1314.943,25,1.5,25,-12.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.1
$GPS2,152321,6310.466,-1314.875,12,1.8,12,-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,179.8,38812,-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,-60.12,0.000,2,0.000,0.000,373,1591,2662
$GC,83,-1.16,-146.6,4.0,-5.2,3,114,11.43,2.58,-11.93,0.000,4,0.177,0.085,2415,3006,3139
$GC,154,-1.16,-146.6,13.6,-10.4,6,158,0.00,2.45,0.00,0.000,6,0.000,0.063,2415,1600,3139
$GC,477,-1.16,-146.6,52.0,-12.1,22,481,0.00,2.50,0.00,0.000,4,0.000,0.080,2415,210,3139
$GC,556,-1.16,-146.6,61.1,-12.6,25,563,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1624,3139
$GC,873,-1.16,-146.6,98.4,-10.0,41,877,0.00,2.58,0.00,0.000,4,0.000,0.077,2415,203,3139
$GC,918,-1.16,-146.6,103.8,-11.3,43,922,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1607,3139
$GC,1240,-1.16,-146.6,141.6,-12.3,59,1244,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,201,3139
$GC,1303,-1.16,-146.6,150.0,-13.4,61,1310,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1610,3139
$GC,1620,-1.16,-146.6,187.8,-11.9,77,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1610,3139
$GC,1930,-1.16,-146.6,224.6,-12.2,92,1935,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,210,3140
$GC,1992,-1.16,-146.6,232.9,-13.1,94,1998,0.00,2.35,0.00,0.000,6,0.000,0.058,2415,1599,3140
$GC,2308,-1.16,-146.6,272.5,-12.6,110,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1599,3140
$GC,2618,-1.16,-146.6,311.5,-12.8,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1599,3140
$GC,2926,-1.16,-146.6,349.6,-12.4,140,2934,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,210,3140
$GC,3002,-1.16,-146.6,359.8,-13.1,143,3007,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1600,3141
$GC,3325,-1.16,-146.6,399.2,-12.1,159,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3140
$GC,3633,-1.16,-146.6,434.7,-11.4,174,3638,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,204,3140
$GC,3675,-1.16,-146.6,439.6,-12.6,176,3679,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1609,3140
$GC,4004,-1.16,-146.6,476.0,-10.8,192,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1612,3140
$GC,4311,-1.16,-146.6,508.7,-10.6,207,4316,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,201,3140
$GC,4408,-1.16,-146.6,519.6,-11.4,211,4412,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1595,3140
$GC,4725,-1.16,-146.6,553.9,-10.9,226,4729,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,210,3140
$GC,4805,-1.16,-146.6,563.0,-10.7,229,4811,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1601,3140
$GC,5122,-1.16,-146.6,597.1,-10.4,245,5127,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,202,3140
$GC,5163,-1.16,-146.6,601.5,-11.1,247,5167,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1602,3140
$GC,5496,-1.16,-146.6,636.4,-10.7,263,5500,0.00,2.53,0.00,0.000,4,0.000,0.079,2415,207,3140
$GC,5530,-1.16,-146.6,640.4,-11.4,264,5536,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1604,3140
$GC,5846,-1.16,-146.6,673.1,-10.5,280,5850,0.00,2.53,0.00,0.000,4,0.000,0.088,2415,2997,3140
$GC,5888,-1.16,-146.6,677.6,-10.3,282,5892,0.00,2.42,0.00,0.000,6,0.000,0.068,2415,1599,3140
$GC,6216,-1.16,-146.6,709.6,-10.0,298,6221,0.00,2.50,0.00,0.000,4,0.000,0.084,2415,210,3140
$GC,6329,-1.16,-146.6,719.9,-8.1,303,6333,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1601,3140
$STATE,6632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6632,begin apogee
$GC,6642,-0.32,0.0,748.5,9.6,318,6782,0.90,0.00,130.80,1.166,6,0.108,0.000,2601,2196,2538
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6786,1.16,146.6,754.7,0.0,325,6919,1.50,2.83,122.57,1.164,4,0.077,0.112,2927,3596,1940
$GC,7131,1.22,179.4,739.2,6.8,340,7166,0.00,2.50,28.05,1.111,6,0.000,0.073,2927,2199,1807
$GC,7491,1.23,186.8,709.1,7.7,358,7505,0.00,2.72,7.32,0.940,4,0.000,0.100,2927,3595,1777
$GC,7574,1.23,186.8,702.1,9.0,361,7581,0.00,2.50,0.00,0.000,6,0.000,0.069,2927,2189,1776
$GC,7890,1.29,224.0,680.3,6.6,377,7932,0.12,2.65,31.90,1.146,4,0.067,0.078,2965,791,1625
$GC,7945,1.29,224.0,675.8,11.5,379,7949,0.00,2.50,0.00,0.000,6,0.000,0.062,2965,2201,1624
$GC,8261,1.29,224.0,647.5,9.0,394,8265,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,794,1621
$GC,8311,1.29,224.0,642.4,9.9,396,8316,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2205,1621
$GC,8629,1.29,224.0,612.1,9.8,411,8633,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,794,1620
$GC,8679,1.29,224.0,606.5,10.8,413,8683,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2212,1620
$GC,8995,1.29,224.0,573.4,10.8,428,8999,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,796,1619
$GC,9098,1.29,224.0,562.1,11.0,432,9102,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2207,1619
$GC,9414,1.29,224.0,531.5,9.2,447,9418,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,795,1619
$GC,9521,1.29,224.0,521.3,9.8,452,9525,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2199,1619
$GC,9855,1.29,224.0,491.2,9.2,468,9859,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,787,1618
$GC,9950,1.29,224.0,481.9,9.3,472,9955,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2201,1619
$GC,10267,1.29,224.0,451.0,10.0,487,10271,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,795,1619
$GC,10340,1.29,224.0,442.7,11.7,490,10344,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1619
$GC,10663,1.29,224.0,408.9,10.7,506,10667,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,793,1619
$GC,10731,1.29,224.0,401.3,11.7,509,10735,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2199,1619
$GC,11052,1.29,224.0,367.9,10.4,525,11057,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,794,1619
$GC,11116,1.29,224.0,360.9,11.9,528,11120,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1619
$GC,11443,1.29,224.0,327.1,10.2,544,11448,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,794,1619
$GC,11567,1.29,224.0,313.8,10.2,549,11573,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1619
$GC,11884,1.29,224.0,281.5,10.2,565,11888,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,794,1619
$GC,11969,1.29,224.0,272.2,11.0,568,11975,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2208,1619
$GC,12285,1.29,224.0,239.5,10.5,584,12289,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,792,1619
$GC,12354,1.29,224.0,232.0,10.9,587,12359,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2210,1619
$GC,12681,1.29,224.0,198.4,10.0,603,12685,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,792,1619
$GC,12776,1.29,224.0,188.4,10.1,607,12781,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2208,1619
$GC,13093,1.29,224.0,158.2,9.4,622,13097,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,788,1619
$GC,13185,1.29,224.0,149.0,10.0,626,13189,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2206,1619
$GC,13518,1.29,224.0,116.9,9.3,642,13522,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,791,1619
$GC,13631,1.29,224.0,105.6,9.3,647,13635,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2208,1619
$GC,13953,1.29,224.0,75.3,9.5,663,13957,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,790,1619
$GC,14062,1.29,224.0,64.4,10.3,668,14066,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2209,1619
$GC,14391,1.29,224.0,32.4,9.0,684,14395,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,791,1619
$GC,14492,1.29,224.0,22.2,9.5,688,14498,0.00,2.42,0.00,0.000,6,0.000,0.062,2965,2198,1619
$STATE,14722,end climb,SURFACE_DEPTH_REACHED
$STATE,14722,begin surface coast
$FINISH,0.5,1.005592
$STATE,14744,end surface coast,CONTROL_FINISHED_OK
$STATE,14744,begin surface
$SM_CCo,14771,42.33,0.632,1,0,1315,300.00
$SM_GC,1.32,0.00,0.00,42.33,0.000,0.000,0.632,376,1592,1315,-10.58,-0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,701.4,56.1
$24V_AH,23.5,50.351
$10V_AH,10.2,25.405
$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,25.025,161.250,320.650,42.325,0.000,76.796,58.146,206.735,6.500,0.000,0.000,13.702,1352.689,11023.206,505.651,1787.339,706.191,0.000,1419.495,0.000,1737.104,0.000,44.129,0.000
$DEVICE_MAMPS,177.177,111.982,1165.840,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.904,477.847,428.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,701
$CAP_FILE_SIZE,117845,0
$CFSIZE,254472192,234545152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,2,0
$GPS,221008,193202,6308.863,-1314.060,37,1.1,37,-12.2