version: 66.04
glider: 14
mission: 6
dive: 389
start: 10 24 108 22 20 29
data:
$ID,14
$MISSION,6
$DIVE,389
$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,-657721.62
$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,24
$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
$GPS1,221425,6246.939,-1227.428,39,1.0,39,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-56.0
$GPS2,222008,6246.876,-1227.280,9,1.5,9,-11.6
$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,107.1,36020,-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,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,59,0.00,0.00,-40.47,0.000,2,0.000,0.000,377,1592,2238
$GC,63,-1.16,-146.6,3.0,-4.5,2,114,11.25,2.60,-31.92,0.000,4,0.172,0.086,2411,3001,3139
$GC,357,-1.16,-146.6,35.9,-16.6,15,361,0.00,2.45,0.00,0.000,6,0.000,0.063,2412,1595,3139
$GC,680,-1.16,-146.6,81.3,-13.7,31,684,0.00,2.47,0.00,0.000,4,0.000,0.080,2412,212,3139
$GC,748,-1.16,-146.6,91.2,-13.6,34,752,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1619,3139
$GC,1071,-1.16,-146.6,140.2,-12.5,50,1075,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,211,3140
$GC,1150,-1.16,-146.6,150.8,-10.2,53,1156,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1608,3140
$GC,1467,-1.16,-146.6,186.7,-11.0,69,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3140
$GC,1776,-1.16,-146.6,220.3,-10.6,84,1780,0.00,2.50,0.00,0.000,4,0.000,0.075,2411,210,3139
$GC,1899,-1.16,-146.6,235.3,-12.4,89,1905,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1607,3139
$GC,2216,-1.16,-146.6,269.6,-11.4,105,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1610,3140
$GC,2525,-1.16,-146.6,302.9,-10.9,120,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1610,3139
$GC,2834,-1.16,-146.6,337.2,-11.6,135,2838,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,206,3139
$GC,2902,-1.16,-146.6,345.7,-13.2,138,2906,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1598,3139
$GC,3223,-1.16,-146.6,385.2,-12.4,154,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3140
$GC,3533,-1.16,-146.6,422.6,-12.0,169,3537,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,212,3140
$GC,3579,-1.16,-146.6,428.3,-12.9,171,3583,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1604,3139
$GC,3901,-1.16,-146.6,465.7,-11.7,187,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1606,3139
$GC,4211,-1.16,-146.6,502.2,-11.7,202,4216,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,205,3139
$GC,4257,-1.16,-146.6,507.9,-11.5,204,4261,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3140
$GC,4578,-1.16,-146.6,544.5,-11.0,220,4583,0.00,2.47,0.00,0.000,4,0.000,0.077,2411,212,3139
$GC,4625,-1.16,-146.6,550.1,-12.7,222,4629,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1600,3139
$GC,4947,-1.16,-146.6,585.8,-11.0,238,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1600,3139
$GC,5256,-1.16,-146.6,620.1,-11.4,253,5261,0.00,2.50,0.00,0.000,4,0.000,0.078,2411,204,3139
$GC,5438,-1.16,-146.6,641.2,-11.5,261,5442,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1600,3139
$GC,5759,-1.16,-146.6,673.5,-10.3,277,5763,0.00,2.55,0.00,0.000,4,0.000,0.091,2411,2996,3139
$GC,5801,-1.16,-146.6,677.7,-10.0,279,5805,0.00,2.45,0.00,0.000,6,0.000,0.069,2411,1596,3140
$GC,6128,-1.16,-146.6,709.9,-10.0,295,6132,0.00,2.50,0.00,0.000,4,0.000,0.086,2412,212,3140
$GC,6173,-1.16,-146.6,714.0,-9.0,297,6177,0.00,2.40,0.00,0.000,4,0.000,0.060,2411,1604,3140
$STATE,6178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6178,begin apogee
$GC,6188,-0.32,0.0,714.5,8.8,297,6327,0.90,0.00,130.20,1.145,6,0.118,0.000,2597,2202,2539
$STATE,6327,end apogee,CONTROL_FINISHED_OK
$STATE,6327,begin climb
$GC,6331,1.16,146.6,721.4,0.0,304,6459,1.52,0.00,123.40,1.128,6,0.083,0.000,2925,2202,1941
$GC,6766,1.21,174.6,697.1,6.9,325,6792,0.00,0.00,24.48,1.088,6,0.000,0.000,2925,2202,1826
$GC,7117,1.25,197.3,671.3,7.1,342,7142,0.00,2.60,20.05,1.085,4,0.000,0.074,2924,794,1733
$GC,7216,1.25,200.4,663.2,7.9,346,7228,0.00,2.50,4.18,0.731,6,0.000,0.064,2925,2200,1721
$GC,7541,1.28,220.4,638.3,7.2,362,7567,0.15,2.62,17.80,1.081,4,0.065,0.074,2968,795,1640
$GC,7678,1.28,220.4,625.8,9.0,368,7683,0.00,2.50,0.00,0.000,6,0.000,0.064,2968,2203,1638
$GC,8006,1.28,220.4,594.2,10.3,384,8011,0.00,2.55,0.00,0.000,4,0.000,0.072,2968,794,1636
$GC,8070,1.28,220.4,587.3,11.1,387,8074,0.00,2.47,0.00,0.000,6,0.000,0.064,2968,2201,1636
$GC,8397,1.28,220.4,555.2,10.0,403,8401,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,791,1635
$GC,8484,1.28,220.4,546.4,10.3,407,8488,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2203,1634
$GC,8811,1.28,220.4,513.0,10.3,423,8815,0.00,2.55,0.00,0.000,4,0.000,0.071,2968,785,1634
$GC,8906,1.28,220.4,502.7,10.3,427,8911,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2201,1634
$GC,9223,1.28,220.4,469.5,10.7,442,9227,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,786,1633
$GC,9318,1.28,220.4,458.9,11.0,446,9322,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2207,1634
$GC,9635,1.28,220.4,426.4,10.0,461,9639,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,789,1634
$GC,9731,1.28,220.4,416.3,10.0,465,9735,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2197,1634
$GC,10059,1.28,220.4,384.7,9.6,481,10064,0.00,2.50,0.00,0.000,4,0.000,0.072,2968,792,1634
$GC,10150,1.28,220.4,375.6,10.2,485,10155,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2208,1634
$GC,10472,1.28,220.4,346.3,9.0,501,10476,0.00,2.50,0.00,0.000,4,0.000,0.071,2968,794,1634
$GC,10581,1.28,220.4,335.4,9.8,506,10585,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2209,1634
$GC,10908,1.28,220.4,305.0,9.2,522,10912,0.00,2.53,0.00,0.000,4,0.000,0.070,2968,792,1634
$GC,11020,1.28,220.4,293.9,9.8,527,11024,0.00,2.45,0.00,0.000,6,0.000,0.060,2968,2208,1633
$GC,11342,1.28,220.4,265.8,8.7,543,11346,0.00,2.53,0.00,0.000,4,0.000,0.070,2968,793,1634
$GC,11427,1.28,220.4,258.0,9.4,547,11431,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2208,1634
$GC,11755,1.28,220.4,229.9,8.9,563,11759,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,790,1633
$GC,11852,1.28,220.4,220.5,10.0,567,11856,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2205,1634
$GC,12173,1.28,220.4,191.9,8.4,583,12178,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,792,1634
$GC,12305,1.28,220.4,180.2,9.1,589,12309,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2210,1633
$GC,12632,1.28,220.4,151.6,8.7,605,12635,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,790,1634
$GC,12734,1.28,220.4,141.5,9.9,609,12738,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2207,1634
$GC,13052,1.28,220.4,112.0,9.5,624,13056,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,792,1634
$GC,13153,1.28,220.4,100.7,11.8,628,13159,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2208,1634
$GC,13470,1.28,220.4,65.2,12.2,644,13474,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,791,1634
$GC,13579,1.28,220.4,53.5,11.0,649,13583,0.00,2.42,0.00,0.000,6,0.000,0.061,2969,2198,1634
$GC,13906,1.28,220.4,23.5,10.9,665,13910,0.00,2.50,0.00,0.000,4,0.000,0.070,2968,792,1634
$GC,14015,1.28,220.4,9.3,13.2,670,14020,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2204,1634
$STATE,14092,end climb,SURFACE_DEPTH_REACHED
$STATE,14092,begin surface coast
$FINISH,0.5,1.017077
$STATE,14114,end surface coast,CONTROL_FINISHED_OK
$STATE,14114,begin surface
$SM_CCo,14141,44.28,0.626,1,0,1316,300.00
$SM_GC,1.29,0.00,0.00,44.28,0.000,0.000,0.626,378,1587,1316,-10.57,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1876
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.9,73.4
$24V_AH,23.5,52.072
$10V_AH,10.2,26.367
$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,25.100,141.050,320.100,44.275,0.000,39.023,26.347,140.794,5.500,0.000,0.000,10.966,1316.756,10434.011,487.906,1743.503,554.607,0.000,1368.670,0.000,1699.667,0.000,37.999,0.000
$DEVICE_MAMPS,171.808,91.273,1145.131,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.667,460.261,401.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34891,675
$CAP_FILE_SIZE,111259,0
$CFSIZE,254472192,233832448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,251008,021808,6245.463,-1224.703,24,1.6,24,-11.6