version: 66.04
glider: 14
mission: 6
dive: 378
start: 10 23 108 0 11 49
data:
$ID,14
$MISSION,6
$DIVE,378
$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,-657506.62
$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,19
$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
$GPS1,000432,6306.389,-1316.477,37,1.5,43,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.7
$GPS2,001128,6306.414,-1316.475,11,1.7,12,-12.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$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,129.3,87119,-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,-60.00,0.000,2,0.000,0.000,380,1593,2700
$GC,83,-1.16,-146.6,3.6,-4.6,3,114,11.45,2.60,-10.95,0.000,4,0.179,0.087,2414,3007,3140
$GC,195,-1.16,-146.6,24.8,-20.1,8,200,0.00,2.45,0.00,0.000,6,0.000,0.063,2414,1596,3141
$GC,525,-1.16,-146.6,59.4,-10.5,24,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1595,3141
$GC,833,-1.16,-146.6,96.1,-11.6,39,837,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,208,3141
$GC,874,-1.16,-146.6,101.1,-12.2,41,879,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1621,3141
$GC,1208,-1.16,-146.6,140.4,-11.6,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1626,3141
$GC,1517,-1.16,-146.6,174.0,-10.4,72,1521,0.00,2.55,0.00,0.000,4,0.000,0.075,2414,201,3141
$GC,1603,-1.16,-146.6,183.5,-11.4,76,1607,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3141
$GC,1930,-1.16,-146.6,218.4,-10.5,92,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3141
$GC,2240,-1.16,-146.6,250.0,-10.0,107,2248,0.00,2.50,0.00,0.000,4,0.000,0.074,2414,201,3141
$GC,2327,-1.16,-146.6,259.6,-11.3,110,2334,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3142
$GC,2644,-1.16,-146.6,292.3,-10.4,126,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3141
$GC,2954,-1.16,-146.6,323.6,-10.3,141,2958,0.00,2.47,0.00,0.000,4,0.000,0.075,2414,210,3141
$GC,3000,-1.16,-146.6,329.0,-12.0,143,3004,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1599,3141
$GC,3327,-1.16,-146.6,362.7,-9.9,159,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$GC,3637,-1.16,-146.6,393.3,-9.8,174,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3141
$GC,3946,-1.16,-146.6,424.7,-10.0,189,3950,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,207,3141
$GC,4003,-1.16,-146.6,430.8,-11.4,191,4007,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3141
$GC,4321,-1.16,-146.6,461.8,-9.3,206,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3141
$GC,4629,-1.16,-146.6,493.1,-10.8,221,4633,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,212,3142
$GC,4685,-1.16,-146.6,499.8,-11.9,223,4690,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3142
$GC,5007,-1.16,-146.6,534.5,-10.8,239,5011,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,204,3142
$GC,5063,-1.16,-146.6,541.3,-12.5,241,5067,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1606,3142
$GC,5381,-1.16,-146.6,577.0,-11.4,256,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3142
$GC,5690,-1.16,-146.6,611.1,-10.5,271,5694,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,201,3142
$GC,5740,-1.16,-146.6,616.7,-10.9,273,5745,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1603,3142
$GC,6057,-1.16,-146.6,648.3,-10.0,288,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$GC,6367,-1.16,-146.6,676.5,-8.7,303,6372,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,207,3141
$GC,6436,-1.16,-146.6,683.1,-9.9,306,6441,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1602,3141
$GC,6759,-1.16,-146.6,713.3,-9.2,322,6763,0.00,2.55,0.00,0.000,4,0.000,0.092,2414,2997,3142
$GC,6809,-1.16,-146.6,718.3,-9.1,324,6814,0.00,2.45,0.00,0.000,6,0.000,0.068,2415,1595,3141
$GC,7126,-1.16,-146.6,749.4,-9.8,339,7130,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,200,3142
$STATE,7350,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7350,begin apogee
$GC,7362,-0.32,0.0,772.7,11.0,349,7501,0.90,0.00,131.00,1.180,6,0.106,0.000,2600,2193,2538
$STATE,7502,end apogee,CONTROL_FINISHED_OK
$STATE,7502,begin climb
$GC,7506,1.16,146.6,777.7,0.0,356,7638,1.52,2.85,123.38,1.172,4,0.081,0.112,2928,3600,1941
$GC,7794,1.16,146.6,761.1,9.9,369,7799,0.00,2.50,0.00,0.000,6,0.000,0.071,2928,2198,1939
$GC,8117,1.21,175.5,737.6,6.9,385,8144,0.00,0.00,25.02,1.119,6,0.000,0.000,2928,2198,1823
$GC,8446,1.21,176.2,710.5,8.0,401,8450,0.00,2.55,0.00,0.000,4,0.000,0.077,2929,790,1820
$GC,8497,1.21,176.2,706.1,8.5,403,8502,0.00,2.50,0.00,0.000,6,0.000,0.063,2928,2210,1820
$GC,8820,1.23,189.0,680.6,7.5,419,8841,0.00,2.65,11.60,1.039,4,0.000,0.074,2929,793,1768
$GC,8904,1.25,198.7,673.9,7.6,422,8919,0.00,2.47,10.25,1.012,6,0.000,0.063,2928,2200,1727
$GC,9243,1.26,206.5,648.2,7.7,439,9257,0.00,2.60,7.32,0.934,4,0.000,0.074,2928,792,1696
$GC,9327,1.26,206.5,641.1,8.6,442,9333,0.00,2.47,0.00,0.000,6,0.000,0.063,2928,2200,1696
$GC,9644,1.26,206.5,615.9,8.1,458,9648,0.00,2.55,0.00,0.000,4,0.000,0.073,2928,788,1695
$GC,9734,1.26,206.5,607.8,8.6,462,9738,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2205,1695
$GC,10061,1.26,206.5,581.0,8.0,478,10066,0.00,2.53,0.00,0.000,4,0.000,0.072,2928,793,1695
$GC,10134,1.26,206.5,575.0,8.7,481,10139,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2210,1695
$GC,10452,1.29,226.4,551.2,7.2,496,10477,0.12,2.62,17.98,1.008,4,0.067,0.071,2967,793,1615
$GC,10564,1.29,226.4,540.5,10.1,501,10568,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2206,1615
$GC,10891,1.29,226.4,508.3,10.0,517,10896,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,791,1614
$GC,10999,1.29,226.4,497.3,10.5,522,11003,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2199,1614
$GC,11327,1.29,226.4,465.5,9.6,538,11331,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,793,1614
$GC,11407,1.29,226.4,457.5,10.5,541,11413,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2201,1615
$GC,11724,1.29,226.4,427.0,9.6,557,11728,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,792,1613
$GC,11791,1.29,226.4,419.7,11.3,560,11795,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2201,1615
$GC,12114,1.29,226.4,387.0,10.0,576,12118,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,789,1615
$GC,12205,1.29,226.4,377.5,10.1,580,12209,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2201,1614
$GC,12533,1.29,226.4,346.6,8.9,596,12537,0.00,2.50,0.00,0.000,4,0.000,0.070,2968,788,1614
$GC,12623,1.29,226.4,338.2,8.9,600,12627,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2200,1614
$GC,12945,1.29,226.4,308.4,9.8,616,12949,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,786,1614
$GC,13014,1.29,226.4,301.0,10.4,619,13018,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2201,1615
$GC,13341,1.29,226.4,268.6,9.8,635,13345,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,789,1614
$GC,13448,1.29,226.4,257.7,9.5,640,13453,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2204,1614
$GC,13777,1.29,226.4,225.9,9.4,656,13781,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,783,1614
$GC,13872,1.29,226.4,216.3,9.6,660,13877,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2199,1614
$GC,14189,1.29,226.4,187.7,8.9,675,14193,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,786,1615
$GC,14297,1.29,226.4,177.3,9.3,680,14301,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2200,1615
$GC,14631,1.29,226.4,146.4,9.8,696,14635,0.00,2.53,0.00,0.000,4,0.000,0.072,2967,785,1614
$GC,14747,1.29,226.4,134.1,11.0,701,14752,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2199,1615
$GC,15078,1.38,282.8,103.8,5.9,717,15129,0.00,2.60,45.30,0.722,4,0.000,0.071,2967,789,1386
$GC,15212,1.38,282.8,88.6,13.0,723,15217,0.00,2.47,0.00,0.000,6,0.000,0.061,2967,2208,1385
$GC,15542,1.38,282.8,64.1,11.0,739,15546,0.00,2.53,0.00,0.000,4,0.000,0.072,2967,792,1385
$GC,15582,1.38,282.8,60.0,9.6,741,15587,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2198,1385
$GC,15911,1.38,282.8,22.9,14.7,757,15915,0.00,2.50,0.00,0.000,4,0.000,0.073,2968,792,1385
$GC,15997,1.38,282.8,11.9,11.4,761,16001,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2200,1385
$STATE,16114,end climb,SURFACE_DEPTH_REACHED
$STATE,16114,begin surface coast
$FINISH,0.3,1.027219
$STATE,16138,end surface coast,CONTROL_FINISHED_OK
$STATE,16138,begin surface
$SM_CCo,16165,13.35,0.622,0,0,1314,300.00
$SM_GC,1.27,0.00,0.00,13.35,0.000,0.000,0.622,374,1593,1314,-10.58,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.6,80.9
$24V_AH,23.5,50.626
$10V_AH,10.2,25.563
$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,25.225,161.550,371.850,13.350,0.000,39.227,28.529,206.815,6.000,0.000,0.000,13.816,1477.914,12039.774,504.511,1924.971,650.151,0.000,1486.918,0.000,1873.518,0.000,41.286,0.000
$DEVICE_MAMPS,179.478,111.982,1180.413,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.118,524.069,447.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,768
$CAP_FILE_SIZE,124585,0
$CFSIZE,254472192,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,231008,044237,6305.364,-1313.931,26,1.3,26,-12.2