version: 66.04
glider: 14
mission: 6
dive: 387
start: 10 24 108 13 52 6
data:
$ID,14
$MISSION,6
$DIVE,387
$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,-657679.69
$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,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
$GPS1,134537,6249.447,-1240.706,50,0.9,55,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-56.0
$GPS2,135145,6249.421,-1240.531,14,1.1,14,-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,111.7,47796,-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,-59.92,0.000,2,0.000,0.000,379,1589,2579
$GC,83,-1.16,-146.6,3.3,-4.1,3,119,11.40,2.58,-17.38,0.000,4,0.178,0.085,2413,3004,3139
$GC,338,-1.16,-146.6,42.1,-11.3,14,343,0.00,2.45,0.00,0.000,6,0.000,0.063,2413,1595,3139
$GC,657,-1.16,-146.6,78.3,-12.7,29,661,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,203,3139
$GC,753,-1.16,-146.6,89.7,-10.0,33,757,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1615,3139
$GC,1075,-1.16,-146.6,125.0,-10.7,49,1079,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,210,3139
$GC,1131,-1.16,-146.6,131.2,-10.6,51,1137,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1609,3139
$GC,1448,-1.16,-146.6,163.9,-10.5,67,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3139
$GC,1756,-1.16,-146.6,197.1,-11.1,82,1760,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,208,3140
$GC,1797,-1.16,-146.6,201.9,-12.1,84,1801,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1597,3139
$GC,2125,-1.16,-146.6,237.9,-10.9,100,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3139
$GC,2433,-1.16,-146.6,271.5,-10.9,115,2437,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,205,3139
$GC,2518,-1.16,-146.6,281.3,-11.2,119,2523,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3139
$GC,2846,-1.16,-146.6,316.3,-10.6,135,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3139
$GC,3155,-1.16,-146.6,348.9,-10.6,150,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3139
$GC,3464,-1.16,-146.6,382.8,-11.1,165,3468,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,203,3139
$GC,3516,-1.16,-146.6,388.8,-11.5,167,3520,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3139
$GC,3832,-1.16,-146.6,424.3,-11.6,182,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3139
$GC,4142,-1.16,-146.6,460.4,-11.6,197,4146,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3139
$GC,4187,-1.16,-146.6,466.0,-12.2,199,4191,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3139
$GC,4509,-1.16,-146.6,500.5,-10.1,215,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3139
$GC,4818,-1.16,-146.6,531.7,-10.0,230,4822,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3139
$GC,4857,-1.16,-146.6,535.9,-10.5,231,4863,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3139
$GC,5174,-1.16,-146.6,568.4,-10.8,247,5178,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3139
$GC,5202,-1.16,-146.6,571.5,-10.8,248,5206,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1597,3140
$GC,5524,-1.16,-146.6,603.9,-10.3,264,5529,0.00,2.55,0.00,0.000,4,0.000,0.087,2413,3001,3139
$GC,5553,-1.16,-146.6,607.0,-11.4,265,5557,0.00,2.45,0.00,0.000,6,0.000,0.067,2413,1598,3139
$GC,5869,-1.16,-146.6,640.1,-10.3,280,5873,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,2999,3139
$GC,5920,-1.16,-146.6,645.3,-10.1,282,5925,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1601,3139
$GC,6242,-1.16,-146.6,675.9,-9.7,298,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3140
$GC,6552,-1.16,-146.6,706.2,-10.0,313,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3139
$STATE,6568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6568,begin apogee
$GC,6578,-0.32,0.0,708.1,9.9,314,6717,0.95,0.00,130.45,1.144,6,0.120,0.000,2603,2202,2538
$STATE,6718,end apogee,CONTROL_FINISHED_OK
$STATE,6718,begin climb
$GC,6721,1.16,146.6,714.3,0.0,321,6854,1.50,2.80,123.35,1.134,4,0.079,0.106,2927,3599,1940
$GC,6907,1.17,151.1,705.1,7.8,329,6917,0.00,2.53,5.22,0.795,6,0.000,0.070,2927,2194,1923
$GC,7240,1.17,151.1,678.4,8.3,346,7244,0.00,2.58,0.00,0.000,4,0.000,0.081,2927,788,1922
$GC,7285,1.17,151.1,674.6,9.0,348,7290,0.00,2.50,0.00,0.000,6,0.000,0.065,2927,2198,1921
$GC,7608,1.17,151.1,647.2,8.6,364,7613,0.00,2.55,0.00,0.000,4,0.000,0.074,2927,792,1919
$GC,7649,1.17,151.1,643.4,9.8,366,7654,0.00,2.50,0.00,0.000,6,0.000,0.064,2927,2210,1919
$GC,7978,1.21,176.1,617.7,7.0,382,8002,0.00,0.00,21.58,1.074,6,0.000,0.000,2927,2209,1820
$GC,8310,1.22,182.1,592.2,7.8,398,8321,0.00,2.60,6.18,0.868,4,0.000,0.073,2927,790,1795
$GC,8429,1.22,182.1,582.7,8.1,403,8433,0.00,2.50,0.00,0.000,6,0.000,0.063,2927,2207,1794
$GC,8746,1.24,195.9,559.6,7.5,418,8767,0.00,2.62,12.70,1.005,4,0.000,0.072,2927,793,1739
$GC,8816,1.25,203.3,554.3,7.7,421,8830,0.00,2.47,7.68,0.910,6,0.000,0.063,2927,2200,1709
$GC,9149,1.28,220.1,529.0,7.4,437,9171,0.12,2.60,15.48,1.010,4,0.067,0.072,2964,790,1640
$GC,9218,1.28,220.1,522.5,10.4,440,9222,0.00,2.50,0.00,0.000,6,0.000,0.062,2964,2208,1639
$GC,9545,1.28,220.1,490.4,10.0,456,9549,0.00,2.55,0.00,0.000,4,0.000,0.071,2964,792,1639
$GC,9654,1.28,220.1,479.2,9.7,461,9659,0.00,2.47,0.00,0.000,6,0.000,0.062,2964,2207,1638
$GC,9982,1.28,220.1,448.8,9.0,477,9986,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,790,1638
$GC,10068,1.28,220.1,440.7,10.0,481,10073,0.00,2.47,0.00,0.000,6,0.000,0.062,2964,2208,1638
$GC,10396,1.28,220.1,409.2,10.1,497,10400,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,792,1638
$GC,10487,1.28,220.1,400.0,10.8,501,10491,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2202,1638
$GC,10821,1.28,220.1,366.9,9.7,517,10825,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,790,1638
$GC,10907,1.28,220.1,358.3,10.2,521,10911,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2201,1638
$GC,11234,1.28,220.1,327.0,9.5,537,11238,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,789,1638
$GC,11313,1.28,220.1,318.8,10.7,540,11319,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2206,1639
$GC,11630,1.28,220.1,287.7,9.7,556,11634,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,783,1638
$GC,11720,1.28,220.1,278.3,10.7,560,11724,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2202,1638
$GC,12042,1.28,220.1,246.5,9.7,576,12046,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,787,1638
$GC,12150,1.28,220.1,235.4,10.4,581,12154,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2201,1638
$GC,12478,1.28,220.1,202.9,9.7,597,12482,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,790,1638
$GC,12590,1.28,220.1,191.3,9.9,602,12594,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2206,1638
$GC,12912,1.28,220.1,162.8,8.9,618,12916,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,783,1638
$GC,13024,1.28,220.1,152.2,8.7,623,13028,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2201,1638
$GC,13347,1.28,220.1,125.9,9.5,639,13352,0.00,2.50,0.00,0.000,4,0.000,0.071,2964,790,1638
$GC,13438,1.28,220.1,116.0,11.1,643,13442,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2208,1639
$GC,13760,1.28,220.1,88.2,9.8,659,13764,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,783,1638
$GC,13846,1.33,249.6,82.4,6.9,663,13877,0.00,2.45,24.77,0.698,6,0.000,0.061,2964,2199,1521
$GC,14200,1.33,249.6,47.7,10.3,680,14205,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,782,1519
$GC,14296,1.33,249.6,37.6,9.2,684,14300,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2204,1520
$GC,14614,1.33,249.6,6.8,9.3,699,14618,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,784,1520
$STATE,14666,end climb,SURFACE_DEPTH_REACHED
$STATE,14666,begin surface coast
$FINISH,1.5,1.027252
$STATE,14674,end surface coast,CONTROL_FINISHED_OK
$STATE,14674,begin surface
$SM_CCo,14701,32.47,0.614,1,0,1316,300.00
$SM_GC,1.45,0.00,0.00,32.47,0.000,0.000,0.614,373,1616,1316,-10.59,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1878
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,67.1
$24V_AH,23.5,51.824
$10V_AH,10.2,26.222
$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,25.200,149.600,347.400,32.475,0.000,37.764,30.932,156.517,5.500,0.000,0.000,15.545,1352.179,10929.374,502.825,1744.303,582.955,0.000,1395.373,0.000,1694.979,0.000,37.978,0.000
$DEVICE_MAMPS,177.944,105.846,1143.597,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.963,478.583,428.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,702
$CAP_FILE_SIZE,115063,0
$CFSIZE,254472192,233943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,241008,175925,6248.407,-1233.565,39,1.3,56,-11.7