version: 66.04
glider: 14
mission: 6
dive: 377
start: 10 22 108 19 46 24
data:
$ID,14
$MISSION,6
$DIVE,377
$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,-657492.19
$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,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
$GPS1,193202,6308.863,-1314.060,37,1.1,37,-12.2
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.0
$GPS2,194603,6308.914,-1314.113,10,2.0,10,-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,179.8,35866,-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,-60.03,0.000,2,0.000,0.000,377,1586,2721
$GC,83,-1.16,-146.6,4.2,-6.5,3,113,11.43,2.55,-10.12,0.000,4,0.178,0.086,2412,3010,3138
$GC,165,-1.16,-146.6,15.5,-10.8,6,171,0.00,2.45,0.00,0.000,6,0.000,0.064,2412,1602,3138
$GC,483,-1.16,-146.6,51.3,-10.9,22,487,0.00,2.50,0.00,0.000,4,0.000,0.081,2411,211,3138
$GC,546,-1.16,-146.6,58.9,-12.6,25,551,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1623,3138
$GC,876,-1.16,-146.6,95.5,-11.3,41,881,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,206,3138
$GC,944,-1.16,-146.6,103.8,-11.4,44,948,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3139
$GC,1268,-1.16,-146.6,137.8,-11.3,60,1272,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3139
$GC,1324,-1.16,-146.6,144.8,-12.5,62,1331,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1608,3138
$GC,1641,-1.16,-146.6,181.7,-12.2,78,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3139
$GC,1950,-1.16,-146.6,218.5,-11.8,93,1954,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,212,3139
$GC,1995,-1.16,-146.6,224.1,-12.2,95,2000,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,2318,-1.16,-146.6,261.6,-12.1,111,2322,0.00,2.47,0.00,0.000,4,0.000,0.077,2412,2991,3139
$GC,2351,-1.16,-146.6,265.9,-12.4,112,2357,0.00,2.42,0.00,0.000,6,0.000,0.065,2412,1591,3139
$GC,2668,-1.16,-146.6,305.6,-12.8,128,2672,0.00,2.47,0.00,0.000,4,0.000,0.080,2412,206,3139
$GC,2709,-1.16,-146.6,311.2,-13.8,130,2713,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1606,3139
$GC,3037,-1.16,-146.6,352.3,-12.3,146,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3139
$GC,3346,-1.16,-146.6,388.9,-11.7,161,3350,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,202,3139
$GC,3393,-1.16,-146.6,394.6,-12.1,163,3397,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3139
$GC,3726,-1.16,-146.6,431.0,-11.0,179,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3139
$GC,4036,-1.16,-146.6,464.4,-10.5,194,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3139
$GC,4344,-1.16,-146.6,494.6,-9.2,209,4349,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,201,3139
$GC,4385,-1.16,-146.6,498.5,-9.9,211,4390,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1597,3139
$GC,4715,-1.16,-146.6,526.6,-8.5,227,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3139
$GC,5022,-1.16,-146.6,554.1,-9.2,242,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3139
$GC,5331,-1.16,-146.6,583.4,-9.8,257,5336,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,209,3139
$GC,5400,-1.16,-146.6,590.9,-10.8,260,5404,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3139
$GC,5722,-1.16,-146.6,623.0,-9.6,276,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3139
$GC,6031,-1.16,-146.6,654.5,-10.3,291,6035,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,206,3139
$GC,6267,-1.16,-146.6,682.9,-12.9,301,6271,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1595,3139
$GC,6589,-1.16,-146.6,718.5,-11.1,317,6593,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,207,3140
$GC,6673,-1.16,-146.6,727.9,-11.0,320,6679,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1601,3140
$STATE,6986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6986,begin apogee
$GC,6996,-0.32,0.0,759.6,11.6,336,7135,0.93,0.00,130.48,1.175,6,0.108,0.000,2602,2199,2539
$STATE,7136,end apogee,CONTROL_FINISHED_OK
$STATE,7136,begin climb
$GC,7140,1.16,146.6,764.4,0.0,343,7273,1.48,2.85,123.72,1.160,4,0.071,0.117,2928,3595,1941
$GC,7381,1.22,181.8,754.5,6.7,354,7418,0.00,2.50,30.08,1.110,6,0.000,0.071,2928,2197,1796
$GC,7728,1.30,229.1,732.7,6.2,371,7775,0.12,2.78,40.47,1.134,4,0.067,0.100,2966,3609,1604
$GC,7815,1.30,229.1,724.4,10.0,375,7819,0.00,2.53,0.00,0.000,6,0.000,0.070,2966,2199,1605
$GC,8137,1.30,229.1,692.4,11.2,391,8142,0.00,2.67,0.00,0.000,4,0.000,0.099,2966,3608,1602
$GC,8165,1.30,229.1,689.6,10.2,392,8170,0.00,2.50,0.00,0.000,6,0.000,0.069,2966,2202,1603
$GC,8482,1.30,229.1,657.3,10.4,407,8486,0.00,2.55,0.00,0.000,4,0.000,0.079,2966,791,1601
$GC,8516,1.30,229.1,653.6,10.4,408,8522,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1601
$GC,8834,1.30,229.1,625.1,8.2,424,8838,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,790,1599
$GC,8924,1.30,229.1,617.5,9.1,428,8928,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2207,1596
$GC,9246,1.30,229.1,591.1,8.8,444,9250,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,790,1596
$GC,9302,1.30,229.1,585.6,9.5,446,9306,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1596
$GC,9619,1.30,229.1,557.0,8.9,461,9623,0.00,2.55,0.00,0.000,4,0.000,0.072,2966,783,1596
$GC,9698,1.30,229.1,549.4,9.6,464,9704,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2204,1596
$GC,10014,1.30,229.1,520.1,9.5,480,10019,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,789,1596
$GC,10059,1.30,229.1,515.6,9.5,482,10063,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2200,1596
$GC,10388,1.30,229.1,485.2,9.2,498,10392,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,790,1596
$GC,10451,1.30,229.1,478.9,10.2,501,10456,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2199,1596
$GC,10779,1.30,229.1,447.0,9.8,517,10783,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,786,1596
$GC,10858,1.30,229.1,438.6,10.4,520,10863,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2200,1596
$GC,11175,1.30,229.1,407.4,9.8,535,11179,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,790,1596
$GC,11244,1.30,229.1,400.3,10.7,538,11249,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2201,1596
$GC,11572,1.30,229.1,367.8,10.0,554,11576,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,789,1596
$GC,11652,1.30,229.1,359.1,10.9,557,11658,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2207,1596
$GC,11969,1.30,229.1,326.8,10.2,573,11973,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,780,1596
$GC,12036,1.30,229.1,319.5,11.4,576,12040,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2208,1596
$GC,12357,1.30,229.1,288.8,9.3,592,12362,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,782,1596
$GC,12431,1.30,229.1,281.3,9.9,595,12436,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2200,1596
$GC,12748,1.30,229.1,250.6,9.7,610,12752,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,789,1596
$GC,12815,1.30,229.1,243.7,10.4,613,12819,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2210,1596
$GC,13137,1.30,229.1,210.6,10.6,629,13141,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,784,1596
$GC,13232,1.30,229.1,199.5,11.0,633,13236,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2201,1596
$GC,13560,1.30,229.1,166.5,9.6,649,13564,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,789,1596
$GC,13655,1.30,229.1,157.2,9.8,653,13659,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2204,1596
$GC,13972,1.30,229.1,129.8,9.1,668,13976,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,790,1596
$GC,14013,1.30,229.1,126.0,9.7,670,14017,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2210,1596
$GC,14346,1.30,229.1,96.7,8.4,686,14350,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,784,1596
$GC,14436,1.30,229.1,88.5,9.0,690,14440,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2202,1596
$GC,14760,1.30,229.1,59.0,9.4,706,14764,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,789,1596
$GC,14846,1.30,229.1,50.6,9.6,710,14850,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2199,1596
$GC,15174,1.30,229.1,18.1,12.2,726,15178,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,785,1596
$GC,15230,1.30,229.1,11.2,12.2,728,15237,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2204,1597
$STATE,15317,end climb,SURFACE_DEPTH_REACHED
$STATE,15317,begin surface coast
$FINISH,0.4,1.027212
$STATE,15338,end surface coast,CONTROL_FINISHED_OK
$STATE,15339,begin surface
$SM_CCo,15364,35.65,0.637,0,0,1316,300.00
$SM_GC,1.38,0.00,0.00,35.65,0.000,0.000,0.637,379,1600,1316,-10.56,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1874
$TCM_TEMP,17.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.5,43.3
$24V_AH,23.5,50.491
$10V_AH,10.2,25.484
$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,25.175,166.400,324.750,35.650,0.000,152.415,121.165,238.794,7.250,0.000,0.000,12.237,1404.475,11662.146,492.358,1791.026,894.778,0.000,1409.356,0.000,1741.460,0.000,45.680,0.000
$DEVICE_MAMPS,177.944,117.351,1175.044,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.515,500.593,447.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,734
$CAP_FILE_SIZE,123064,0
$CFSIZE,254472192,234475520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,231008,000432,6306.389,-1316.477,37,1.5,43,-12.2