version: 66.04
glider: 14
mission: 6
dive: 380
start: 10 23 108 9 21 37
data:
$ID,14
$MISSION,6
$DIVE,380
$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,-657559.31
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,091132,6303.842,-1309.991,37,1.5,37,-12.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-57.4
$GPS2,092114,6303.855,-1309.829,9,1.6,15,-12.1
$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,128.0,79962,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,84,0.00,0.00,-65.72,0.000,2,0.000,0.000,381,1624,2632
$GC,89,-1.16,-146.6,3.3,-3.8,4,119,11.27,2.47,-13.80,0.000,4,0.173,0.085,2414,3000,3138
$GC,271,-1.16,-146.6,23.8,-8.8,12,275,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1600,3140
$GC,599,-1.16,-146.6,68.9,-17.2,28,604,0.00,2.53,0.00,0.000,4,0.000,0.082,2414,209,3139
$GC,663,-1.16,-146.6,77.2,-13.0,31,667,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1611,3139
$GC,991,-1.16,-146.6,114.3,-11.8,47,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1614,3139
$GC,1300,-1.16,-146.6,148.2,-11.0,62,1304,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,1367,-1.16,-146.6,155.9,-12.2,65,1371,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1605,3140
$GC,1689,-1.16,-146.6,190.7,-10.7,81,1694,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,201,3140
$GC,1724,-1.16,-146.6,194.7,-11.1,82,1730,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3140
$GC,2040,-1.16,-146.6,228.7,-10.9,98,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3139
$GC,2350,-1.16,-146.6,264.2,-11.7,113,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3139
$GC,2658,-1.16,-146.6,300.0,-11.7,128,2666,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3139
$GC,2740,-1.16,-146.6,310.2,-12.6,131,2744,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1603,3140
$GC,3058,-1.16,-146.6,346.0,-11.0,146,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3139
$GC,3366,-1.16,-146.6,378.7,-10.4,161,3370,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,206,3139
$GC,3410,-1.16,-146.6,383.9,-11.0,163,3415,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1596,3139
$GC,3733,-1.16,-146.6,416.4,-10.1,179,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3139
$GC,4042,-1.16,-146.6,447.3,-10.0,194,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3139
$GC,4353,-1.16,-146.6,477.0,-9.3,209,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3140
$GC,4661,-1.16,-146.6,505.4,-9.2,224,4665,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,211,3140
$GC,4706,-1.16,-146.6,510.0,-10.5,226,4710,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3139
$GC,5027,-1.16,-146.6,541.2,-10.1,242,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3140
$GC,5337,-1.16,-146.6,572.5,-10.3,257,5341,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,204,3138
$GC,5471,-1.16,-146.6,588.4,-12.4,263,5476,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1597,3139
$GC,5794,-1.16,-146.6,621.5,-9.5,279,5798,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3139
$GC,5965,-1.16,-146.6,639.3,-10.4,286,5971,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3139
$GC,6282,-1.16,-146.6,669.6,-9.0,302,6287,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,209,3140
$GC,6368,-1.16,-146.6,678.0,-9.3,306,6372,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1598,3140
$STATE,6692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6692,begin apogee
$GC,6705,-0.32,0.0,707.9,8.8,322,6843,0.90,0.00,130.15,1.141,6,0.103,0.000,2601,2193,2538
$STATE,6844,end apogee,CONTROL_FINISHED_OK
$STATE,6844,begin climb
$GC,6848,1.16,146.6,714.8,0.0,329,6979,1.50,2.83,123.57,1.125,4,0.077,0.114,2926,3600,1940
$GC,7048,1.16,146.6,705.9,8.2,338,7052,0.00,2.53,0.00,0.000,6,0.000,0.071,2926,2196,1940
$GC,7364,1.16,146.6,683.0,8.3,353,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2196,1939
$GC,7675,1.22,181.0,663.0,6.7,368,7710,0.00,2.75,28.90,1.106,4,0.000,0.100,2926,3600,1801
$GC,7746,1.22,181.0,657.3,8.2,371,7750,0.00,2.50,0.00,0.000,6,0.000,0.069,2926,2200,1800
$GC,8067,1.22,181.0,632.4,8.3,387,8071,0.00,2.58,0.00,0.000,4,0.000,0.081,2926,790,1797
$GC,8130,1.22,181.0,627.1,8.6,390,8135,0.00,2.50,0.00,0.000,6,0.000,0.064,2926,2204,1797
$GC,8459,1.26,203.9,602.0,7.1,406,8484,0.10,2.60,19.67,1.067,4,0.071,0.075,2958,795,1707
$GC,8631,1.26,203.9,585.5,10.3,413,8637,0.00,2.47,0.00,0.000,6,0.000,0.064,2958,2201,1705
$GC,8948,1.26,203.9,556.2,8.9,429,8952,0.00,2.55,0.00,0.000,4,0.000,0.073,2958,790,1703
$GC,9111,1.26,203.9,540.8,9.4,436,9115,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2202,1703
$GC,9433,1.26,203.9,512.6,8.8,452,9437,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,793,1702
$GC,9512,1.26,203.9,505.3,9.3,455,9516,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2209,1702
$GC,9828,1.26,207.4,480.2,7.9,470,9837,0.00,2.58,3.78,0.636,4,0.000,0.073,2958,797,1692
$GC,9908,1.27,210.0,473.5,7.9,473,9919,0.00,2.45,3.95,0.651,6,0.000,0.062,2958,2199,1683
$GC,10229,1.27,210.7,447.8,8.0,489,10233,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,784,1683
$GC,10314,1.27,210.7,440.3,8.6,492,10320,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2201,1683
$GC,10631,1.27,210.7,413.1,8.8,508,10635,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,788,1683
$GC,10715,1.27,210.7,405.3,9.5,511,10721,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2210,1683
$GC,11031,1.27,210.7,376.9,9.3,527,11035,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,786,1683
$GC,11140,1.27,210.7,366.2,9.6,532,11144,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2209,1683
$GC,11467,1.27,210.7,334.4,9.7,548,11471,0.00,2.53,0.00,0.000,4,0.000,0.071,2958,784,1683
$GC,11585,1.27,210.7,321.9,11.0,553,11589,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2199,1683
$GC,11901,1.27,210.7,291.0,9.7,568,11905,0.00,2.50,0.00,0.000,4,0.000,0.071,2959,790,1683
$GC,11999,1.27,210.7,281.5,10.3,572,12003,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2204,1682
$GC,12321,1.27,210.7,251.8,9.1,588,12326,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,791,1683
$GC,12378,1.27,210.7,246.0,9.9,590,12384,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2204,1683
$GC,12694,1.27,210.7,216.3,9.4,606,12699,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,791,1683
$GC,12781,1.27,210.7,207.7,10.2,610,12785,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2205,1683
$GC,13108,1.27,210.7,178.0,9.0,626,13113,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,783,1682
$GC,13221,1.27,210.7,166.9,10.0,631,13226,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2201,1682
$GC,13550,1.27,210.7,137.9,9.0,647,13554,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,791,1683
$GC,13658,1.27,210.7,127.4,9.3,652,13663,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2209,1683
$GC,13989,1.27,210.7,95.8,9.3,668,13993,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,791,1683
$GC,14090,1.27,210.7,86.3,8.9,672,14096,0.00,2.42,0.00,0.000,6,0.000,0.061,2958,2196,1683
$GC,14407,1.27,210.7,58.5,9.4,688,14412,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,789,1683
$GC,14497,1.27,210.7,48.7,9.9,692,14502,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2202,1683
$GC,14821,1.27,210.7,16.8,10.2,708,14826,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,787,1683
$GC,14886,1.34,257.1,12.2,6.2,711,14930,0.00,2.45,38.72,0.657,6,0.000,0.061,2958,2200,1490
$STATE,15029,end climb,SURFACE_DEPTH_REACHED
$STATE,15030,begin surface coast
$FINISH,0.3,1.027233
$STATE,15053,end surface coast,CONTROL_FINISHED_OK
$STATE,15053,begin surface
$SM_CCo,15079,28.45,0.636,0,0,1315,300.00
$SM_GC,1.41,0.00,0.00,28.45,0.000,0.000,0.636,373,1586,1315,-10.59,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1878
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,700.6,16.9
$24V_AH,23.5,50.903
$10V_AH,10.2,25.720
$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,25.025,146.475,348.750,28.450,0.000,76.985,57.120,235.733,6.750,0.000,0.000,19.958,1379.205,11243.103,507.544,1820.719,744.619,0.000,1422.206,0.000,1768.133,0.000,46.787,0.000
$DEVICE_MAMPS,172.575,114.283,1141.296,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.851,489.948,440.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37928,719
$CAP_FILE_SIZE,119256,0
$CFSIZE,254472192,234311680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,231008,133437,6302.130,-1306.645,28,1.0,28,-12.1