version: 66.04
glider: 14
mission: 6
dive: 386
start: 10 24 108 9 47 18
data:
$ID,14
$MISSION,6
$DIVE,386
$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,-657663.5
$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,30
$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
$GPS1,094032,6251.762,-1245.243,83,1.3,83,-11.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-53.5
$GPS2,094657,6251.717,-1245.096,13,1.2,13,-11.8
$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,115.5,52456,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.20,0.000,2,0.000,0.000,380,1617,2622
$GC,86,-1.16,-146.6,3.4,-4.3,3,121,11.43,2.47,-15.98,0.000,4,0.178,0.085,2413,3000,3138
$GC,332,-1.16,-146.6,26.7,-8.8,14,336,0.00,2.42,0.00,0.000,6,0.000,0.062,2414,1601,3139
$GC,660,-1.16,-146.6,49.5,-6.6,30,664,0.00,2.53,0.00,0.000,4,0.000,0.083,2413,208,3139
$GC,746,-1.16,-146.6,56.4,-9.0,34,751,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1610,3139
$GC,1076,-1.16,-146.6,90.7,-11.2,50,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1613,3139
$GC,1383,-1.16,-146.6,125.4,-10.2,65,1388,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3139
$GC,1492,-1.16,-146.6,138.4,-10.6,70,1497,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3139
$GC,1820,-1.16,-146.6,174.2,-10.8,86,1824,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,210,3139
$GC,1861,-1.16,-146.6,178.7,-11.2,87,1867,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1608,3139
$GC,2178,-1.16,-146.6,211.9,-10.8,103,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3139
$GC,2487,-1.16,-146.6,243.2,-9.5,118,2491,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,201,3139
$GC,2572,-1.16,-146.6,252.6,-11.9,122,2576,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3139
$GC,2900,-1.16,-146.6,288.8,-11.3,138,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3139
$GC,3208,-1.16,-146.6,324.6,-11.5,153,3213,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3139
$GC,3254,-1.16,-146.6,330.2,-12.5,155,3258,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3139
$GC,3582,-1.16,-146.6,367.0,-11.0,171,3586,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3139
$GC,3623,-1.16,-146.6,371.8,-12.1,173,3627,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3139
$GC,3951,-1.16,-146.6,407.5,-11.0,189,3955,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3139
$GC,3995,-1.16,-146.6,412.7,-10.9,191,3999,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3139
$GC,4323,-1.16,-146.6,448.7,-11.0,207,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3139
$GC,4633,-1.16,-146.6,483.3,-11.6,222,4637,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,206,3139
$GC,4722,-1.16,-146.6,494.4,-12.3,226,4727,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3140
$GC,5044,-1.16,-146.6,529.5,-10.3,242,5049,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3139
$GC,5090,-1.16,-146.6,534.5,-11.8,244,5094,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1603,3139
$GC,5411,-1.16,-146.6,567.1,-9.7,260,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3139
$GC,5720,-1.16,-146.6,596.5,-9.3,275,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3140
$GC,6033,-1.16,-146.6,627.0,-10.0,290,6037,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,207,3140
$GC,6112,-1.16,-146.6,635.8,-10.4,293,6116,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1596,3140
$GC,6429,-1.16,-146.6,666.9,-9.6,308,6433,0.00,2.55,0.00,0.000,4,0.000,0.089,2413,2999,3140
$GC,6477,-1.16,-146.6,671.6,-9.6,310,6481,0.00,2.45,0.00,0.000,6,0.000,0.069,2413,1601,3140
$GC,6804,-1.16,-146.6,703.7,-9.5,326,6809,0.00,2.55,0.00,0.000,6,0.000,0.088,2413,202,3140
$STATE,6810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6810,begin apogee
$GC,6822,-0.32,0.0,704.3,9.4,326,6961,0.93,0.00,129.80,1.156,6,0.138,0.000,2596,2197,2538
$STATE,6962,end apogee,CONTROL_FINISHED_OK
$STATE,6962,begin climb
$GC,6965,1.16,146.6,711.2,0.0,333,7098,1.55,2.85,123.00,1.131,4,0.084,0.113,2926,3600,1940
$GC,7212,1.18,156.0,697.8,7.6,344,7226,0.00,2.50,9.35,0.956,6,0.000,0.070,2926,2198,1901
$GC,7556,1.23,188.4,672.8,6.8,361,7591,0.00,2.62,27.65,1.085,4,0.000,0.080,2926,789,1770
$GC,7632,1.24,197.3,667.1,7.7,364,7646,0.00,2.50,9.35,0.958,6,0.000,0.064,2926,2197,1734
$GC,7977,1.31,239.8,644.1,6.4,381,8020,0.15,2.60,36.40,1.100,4,0.064,0.074,2969,793,1560
$GC,8077,1.31,239.8,635.5,9.6,385,8081,0.00,2.50,0.00,0.000,6,0.000,0.064,2969,2201,1560
$GC,8394,1.31,239.8,605.3,10.7,400,8398,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,786,1557
$GC,8479,1.31,239.8,595.4,11.5,404,8484,0.00,2.50,0.00,0.000,6,0.000,0.064,2969,2200,1557
$GC,8809,1.31,239.8,559.5,10.7,420,8813,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,793,1555
$GC,8894,1.31,239.8,549.5,12.1,424,8899,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2202,1554
$GC,9222,1.31,239.8,514.4,11.0,440,9226,0.00,2.53,0.00,0.000,4,0.000,0.072,2969,792,1553
$GC,9312,1.31,239.8,503.9,11.4,444,9316,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2205,1553
$GC,9633,1.31,239.8,468.0,11.2,460,9638,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,792,1552
$GC,9714,1.31,239.8,458.7,11.0,463,9720,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2208,1553
$GC,10030,1.31,239.8,424.3,10.8,479,10035,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,792,1552
$GC,10138,1.31,239.8,412.2,11.0,484,10143,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2199,1552
$GC,10472,1.31,239.8,375.6,11.1,500,10477,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,792,1552
$GC,10573,1.31,239.8,363.3,12.2,504,10580,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2200,1552
$GC,10890,1.31,239.8,327.8,11.2,520,10894,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,792,1552
$GC,10975,1.31,239.8,318.0,10.8,523,10981,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2202,1552
$GC,11291,1.31,239.8,284.8,10.4,539,11296,0.00,2.50,0.00,0.000,4,0.000,0.070,2969,791,1552
$GC,11381,1.31,239.8,274.9,11.2,543,11386,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2202,1552
$GC,11704,1.31,239.8,241.4,10.3,559,11708,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,789,1552
$GC,11799,1.31,239.8,230.7,11.6,563,11803,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2203,1552
$GC,12128,1.31,239.8,195.1,11.2,579,12132,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,792,1552
$GC,12229,1.31,239.8,183.6,11.0,583,12235,0.00,2.45,0.00,0.000,6,0.000,0.061,2970,2205,1552
$GC,12545,1.31,239.8,150.1,10.7,599,12549,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,793,1552
$GC,12663,1.31,239.8,137.3,10.9,604,12668,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2207,1552
$GC,12986,1.31,239.8,107.7,9.4,620,12990,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,794,1552
$GC,13071,1.31,239.8,99.2,10.1,624,13075,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2209,1552
$GC,13399,1.31,239.8,67.2,9.4,640,13404,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,785,1553
$GC,13489,1.31,239.8,57.6,9.8,644,13494,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2199,1552
$GC,13814,1.31,239.8,21.1,9.1,660,13818,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,790,1553
$GC,13832,1.44,320.0,20.6,5.0,661,13900,0.00,2.42,62.05,0.661,6,0.000,0.061,2969,2201,1233
$STATE,14095,end climb,SURFACE_DEPTH_REACHED
$STATE,14095,begin surface coast
$FINISH,0.5,1.027236
$STATE,14117,end surface coast,CONTROL_FINISHED_OK
$STATE,14117,begin surface
$SM_CCo,14204,0.00,0.000,0,0,1227,321.83
$SM_GC,1.00,11.38,0.00,0.00,0.059,0.000,0.000,378,1592,1227,-10.51,-0.23,321.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1887
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,627.0,87.0
$24V_AH,23.5,51.698
$10V_AH,10.2,26.148
$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,25.425,151.175,397.600,0.000,0.000,39.021,27.553,184.634,5.250,0.000,0.000,14.717,1304.958,10451.680,493.764,1745.766,593.285,0.000,1396.219,0.000,1696.304,0.000,36.427,0.000
$DEVICE_MAMPS,177.944,112.749,1155.869,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.685,459.466,437.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34748,675
$CAP_FILE_SIZE,111654,0
$CFSIZE,254472192,234004480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,241008,134537,6249.447,-1240.706,50,0.9,55,-11.8