version: 66.04
glider: 14
mission: 6
dive: 381
start: 10 23 108 13 40 48
data:
$ID,14
$MISSION,6
$DIVE,381
$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,-657571.62
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,133437,6302.130,-1306.645,28,1.0,28,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.8
$GPS2,134027,6302.112,-1306.552,10,1.6,10,-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,126.7,76071,-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,-60.03,0.000,2,0.000,0.000,373,1583,2683
$GC,83,-1.16,-146.6,3.5,-4.4,3,114,11.35,2.60,-12.32,0.000,4,0.173,0.086,2414,3005,3139
$GC,307,-1.16,-146.6,34.1,-13.2,13,311,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1597,3139
$GC,640,-1.16,-146.6,75.2,-12.1,29,644,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,208,3139
$GC,713,-1.16,-146.6,83.9,-11.0,32,718,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1615,3139
$GC,1032,-1.16,-146.6,120.9,-11.7,47,1037,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,202,3139
$GC,1083,-1.16,-146.6,127.5,-12.0,49,1087,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3140
$GC,1400,-1.16,-146.6,161.5,-10.4,64,1404,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,204,3139
$GC,1555,-1.16,-146.6,179.3,-11.6,71,1560,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3139
$GC,1883,-1.16,-146.6,215.2,-10.8,87,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3139
$GC,2193,-1.16,-146.6,249.2,-11.0,102,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3139
$GC,2501,-1.16,-146.6,282.9,-10.8,117,2506,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3139
$GC,2542,-1.16,-146.6,287.8,-12.2,119,2546,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1594,3139
$GC,2870,-1.16,-146.6,325.0,-11.2,135,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3139
$GC,3178,-1.16,-146.6,359.8,-10.9,150,3182,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,207,3140
$GC,3240,-1.16,-146.6,367.3,-12.0,152,3246,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3140
$GC,3558,-1.16,-146.6,401.8,-11.0,168,3562,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,203,3139
$GC,3592,-1.16,-146.6,406.0,-11.4,169,3598,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1598,3139
$GC,3909,-1.16,-146.6,442.0,-11.4,185,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3139
$GC,4219,-1.16,-146.6,475.4,-10.4,200,4223,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3139
$GC,4269,-1.16,-146.6,481.0,-10.7,202,4273,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3139
$GC,4586,-1.16,-146.6,513.1,-10.4,217,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3140
$GC,4895,-1.16,-146.6,543.2,-9.2,232,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3139
$GC,5204,-1.16,-146.6,573.4,-10.1,247,5208,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3140
$GC,5296,-1.16,-146.6,584.1,-12.1,251,5301,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3139
$GC,5624,-1.16,-146.6,617.9,-9.9,267,5628,0.00,2.53,0.00,0.000,4,0.000,0.088,2414,2992,3140
$GC,5675,-1.16,-146.6,622.2,-7.7,269,5679,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1599,3140
$GC,5992,-1.16,-146.6,648.5,-9.1,284,5996,0.00,2.50,0.00,0.000,4,0.000,0.083,2414,210,3141
$GC,6236,-1.16,-146.6,676.1,-11.0,295,6240,0.00,2.38,0.00,0.000,6,0.000,0.061,2414,1594,3140
$STATE,6436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6436,begin apogee
$GC,6446,-0.32,0.0,696.1,9.0,305,6585,0.93,0.00,129.93,1.139,6,0.117,0.000,2600,2197,2539
$STATE,6586,end apogee,CONTROL_FINISHED_OK
$STATE,6586,begin climb
$GC,6589,1.16,146.6,703.1,0.0,312,6722,1.52,2.80,123.53,1.119,4,0.077,0.113,2928,3599,1940
$GC,6735,1.16,146.6,698.2,10.2,319,6739,0.00,2.53,0.00,0.000,6,0.000,0.071,2928,2200,1940
$GC,7052,1.18,155.2,672.4,7.7,334,7066,0.00,2.75,8.55,0.942,4,0.000,0.102,2928,3597,1905
$GC,7089,1.18,155.2,669.2,9.9,335,7096,0.00,2.50,0.00,0.000,6,0.000,0.070,2928,2198,1905
$GC,7407,1.18,155.2,644.0,8.1,351,7411,0.00,2.55,0.00,0.000,4,0.000,0.079,2928,791,1904
$GC,7588,1.18,155.2,632.8,9.4,359,7592,0.00,2.47,0.00,0.000,6,0.000,0.064,2928,2195,1903
$GC,7916,1.22,182.9,604.4,6.9,375,7946,0.00,2.62,23.33,1.070,4,0.000,0.075,2928,796,1793
$GC,8032,1.23,185.5,594.8,7.9,380,8041,0.00,2.50,3.88,0.677,6,0.000,0.064,2928,2208,1781
$GC,8360,1.24,192.8,570.7,7.7,396,8374,0.00,2.62,7.25,0.897,4,0.000,0.073,2927,793,1753
$GC,8488,1.24,192.8,558.3,9.7,401,8494,0.00,2.50,0.00,0.000,6,0.000,0.064,2928,2209,1752
$GC,8805,1.25,202.1,533.1,7.6,417,8816,0.00,0.00,9.15,0.931,6,0.000,0.000,2928,2210,1715
$GC,9114,1.25,202.1,508.1,8.2,432,9118,0.00,2.55,0.00,0.000,4,0.000,0.073,2928,793,1713
$GC,9233,1.25,202.1,497.4,9.9,437,9237,0.00,2.47,0.00,0.000,6,0.000,0.063,2928,2204,1713
$GC,9555,1.25,202.1,469.2,8.8,453,9559,0.00,2.53,0.00,0.000,4,0.000,0.072,2928,787,1713
$GC,9628,1.25,202.1,462.4,9.3,456,9632,0.00,2.47,0.00,0.000,6,0.000,0.062,2928,2203,1713
$GC,9950,1.28,221.3,437.6,7.3,472,9973,0.12,2.62,17.20,0.935,4,0.067,0.071,2967,792,1635
$GC,10058,1.28,221.3,427.5,9.7,476,10065,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2204,1635
$GC,10375,1.28,221.3,398.6,9.3,492,10378,0.00,2.53,0.00,0.000,4,0.000,0.071,2967,786,1635
$GC,10453,1.28,221.3,390.6,9.8,495,10458,0.00,2.50,0.00,0.000,6,0.000,0.061,2968,2210,1635
$GC,10770,1.28,221.3,360.0,9.8,510,10775,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,793,1635
$GC,10866,1.28,221.3,349.9,10.5,514,10870,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2202,1635
$GC,11188,1.28,221.3,318.3,9.6,530,11192,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,792,1635
$GC,11278,1.28,221.3,308.9,11.0,534,11282,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2203,1635
$GC,11600,1.28,221.3,278.5,9.5,550,11604,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,791,1635
$GC,11708,1.28,221.3,267.4,10.1,555,11713,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2203,1635
$GC,12036,1.28,221.3,236.3,9.1,571,12041,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,792,1635
$GC,12126,1.28,221.3,227.4,9.6,575,12131,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2204,1635
$GC,12450,1.28,221.3,199.7,8.1,591,12454,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,793,1635
$GC,12534,1.28,221.3,192.1,8.4,594,12541,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2206,1635
$GC,12851,1.28,221.3,166.0,8.8,610,12855,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,793,1635
$GC,12974,1.28,221.3,154.4,8.6,615,12979,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2207,1635
$GC,13291,1.28,221.3,125.4,9.5,630,13295,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,784,1635
$GC,13365,1.28,221.3,118.0,9.9,633,13369,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2199,1635
$GC,13683,1.28,221.3,92.6,8.1,648,13688,0.00,2.50,0.00,0.000,4,0.000,0.072,2968,792,1635
$GC,13779,1.28,221.3,82.2,10.4,652,13783,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2205,1635
$GC,14102,1.28,221.3,52.6,8.5,668,14107,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,786,1635
$GC,14204,1.28,221.3,43.8,8.9,672,14210,0.00,2.45,0.00,0.000,6,0.000,0.061,2967,2199,1635
$GC,14523,1.28,221.9,14.8,8.0,688,14527,0.00,2.50,0.00,0.000,4,0.000,0.072,2968,789,1635
$GC,14635,1.28,221.9,3.2,10.9,693,14639,0.00,2.45,0.00,0.000,6,0.000,0.062,2967,2201,1635
$STATE,14644,end climb,SURFACE_DEPTH_REACHED
$STATE,14644,begin surface coast
$FINISH,0.2,1.017684
$STATE,14666,end surface coast,CONTROL_FINISHED_OK
$STATE,14666,begin surface
$SM_CCo,14692,40.60,0.641,0,0,1316,300.00
$SM_GC,1.10,0.00,0.00,40.60,0.000,0.000,0.641,374,1597,1316,-10.58,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,54.9
$24V_AH,23.5,51.024
$10V_AH,10.2,25.793
$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,25.125,151.750,322.800,40.600,0.000,37.763,35.818,136.987,5.750,0.000,0.000,11.661,1359.595,10856.101,501.624,1806.094,563.130,0.000,1411.075,0.000,1760.286,0.000,40.900,0.000
$DEVICE_MAMPS,173.342,112.749,1138.995,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.770,473.686,425.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34796,695
$CAP_FILE_SIZE,115675,0
$CFSIZE,254472192,234258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,231008,174737,6300.873,-1301.092,32,1.1,32,-12.0