version: 66.04
glider: 14
mission: 6
dive: 351
start: 10 17 108 13 0 35
data:
$ID,14
$MISSION,6
$DIVE,351
$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,-656921.31
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,125007,6346.430,-1314.359,41,0.9,41,-12.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-54.0
$GPS2,130014,6346.418,-1314.186,12,1.7,12,-12.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT4
$TGT_LATLONG,6339.000,-1315.000
$TGT_RADIUS,3000.000
$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,195.3,13754,-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,16,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,-60.28,0.000,2,0.000,0.000,376,1583,2703
$GC,86,-1.16,-146.6,3.7,-4.6,3,117,11.48,2.62,-11.55,0.000,4,0.180,0.085,2412,3014,3139
$GC,207,-1.16,-146.6,17.4,-10.8,8,212,0.00,2.45,0.00,0.000,6,0.000,0.062,2412,1605,3139
$GC,524,-1.16,-146.6,60.3,-14.4,23,528,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,202,3139
$GC,575,-1.16,-146.6,68.7,-16.2,25,579,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1616,3139
$GC,892,-1.16,-146.6,121.4,-18.2,40,896,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,212,3139
$GC,1005,-1.16,-146.6,145.1,-22.2,45,1009,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1607,3140
$GC,1326,-1.16,-146.6,211.3,-19.4,61,1331,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,202,3140
$GC,1405,-1.16,-146.6,226.0,-17.3,64,1410,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3140
$GC,1722,-1.16,-146.6,267.9,-11.1,79,1727,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,208,3140
$GC,1768,-1.16,-146.6,273.0,-10.9,81,1772,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3141
$GC,2091,-1.16,-146.6,301.2,-8.3,97,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3141
$GC,2399,-1.16,-146.6,326.7,-8.3,112,2403,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,202,3141
$GC,2483,-1.16,-146.6,334.8,-9.5,115,2490,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1596,3141
$GC,2801,-1.16,-146.6,365.3,-10.2,131,2805,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,208,3141
$GC,2835,-1.16,-146.6,369.2,-11.3,132,2841,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1599,3141
$GC,3151,-1.16,-146.6,404.1,-11.3,148,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3141
$GC,3461,-1.16,-146.6,439.0,-11.5,163,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3141
$GC,3770,-1.16,-146.6,474.6,-11.8,178,3775,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,212,3141
$GC,3860,-1.16,-146.6,486.3,-13.7,182,3865,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1598,3141
$GC,4189,-1.16,-146.6,524.9,-11.5,198,4194,0.00,2.55,0.00,0.000,4,0.000,0.090,2412,3004,3141
$GC,4228,-1.16,-146.6,529.6,-11.0,199,4235,0.00,2.45,0.00,0.000,6,0.000,0.067,2412,1599,3141
$GC,4545,-1.16,-146.6,562.7,-10.3,215,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1599,3142
$GC,4855,-1.16,-146.6,601.3,-15.2,230,4860,0.00,2.53,0.00,0.000,4,0.000,0.085,2412,201,3140
$GC,4934,-1.16,-146.6,615.2,-17.4,233,4940,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1603,3141
$GC,5251,-1.16,-146.6,666.9,-14.8,249,5255,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,208,3141
$GC,5292,-1.16,-146.6,672.9,-14.5,251,5297,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1602,3141
$GC,5620,-1.16,-146.6,713.9,-11.1,267,5624,0.00,2.55,0.00,0.000,4,0.000,0.091,2412,2996,3141
$GC,5665,-1.16,-146.6,718.7,-10.3,269,5669,0.00,2.45,0.00,0.000,6,0.000,0.070,2412,1600,3141
$GC,5987,-1.16,-146.6,745.5,-7.9,285,5992,0.00,2.53,0.00,0.000,4,0.000,0.086,2413,207,3141
$GC,6044,-1.16,-146.6,750.9,-9.8,287,6050,0.00,2.40,0.00,0.000,6,0.000,0.060,2411,1602,3141
$GC,6362,-1.16,-146.6,775.0,-6.6,303,6371,0.00,2.55,0.00,0.000,4,0.000,0.088,2411,3001,3140
$GC,6406,-1.16,-146.6,779.3,-9.8,304,6412,0.00,2.47,0.00,0.000,6,0.000,0.070,2412,1595,3141
$GC,6722,-1.16,-146.6,805.4,-8.4,320,6726,0.00,2.50,0.00,0.000,4,0.000,0.084,2412,209,3141
$STATE,6764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6764,begin apogee
$GC,6776,-0.32,0.0,809.4,8.6,322,6916,0.88,0.00,131.55,1.223,6,0.110,0.000,2596,2194,2539
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6921,1.16,146.6,814.2,0.0,329,7050,1.52,0.00,124.45,1.210,6,0.079,0.000,2926,2193,1940
$GC,7355,1.22,182.7,789.5,6.6,350,7391,0.00,2.60,30.83,1.167,4,0.000,0.075,2926,788,1793
$GC,7448,1.22,182.7,781.7,10.0,353,7453,0.00,2.50,0.00,0.000,6,0.000,0.064,2926,2198,1793
$GC,7765,1.27,213.7,758.1,6.8,368,7800,0.12,2.62,27.60,1.157,4,0.067,0.074,2964,793,1666
$GC,7853,1.27,213.7,750.6,8.6,372,7857,0.00,2.50,0.00,0.000,6,0.000,0.064,2964,2201,1666
$GC,8180,1.27,213.7,719.5,10.8,388,8184,0.00,2.55,0.00,0.000,4,0.000,0.074,2964,788,1665
$GC,8208,1.27,213.7,716.1,12.4,389,8213,0.00,2.50,0.00,0.000,6,0.000,0.064,2964,2203,1664
$GC,8525,1.27,213.7,678.3,12.3,404,8529,0.00,2.58,0.00,0.000,4,0.000,0.074,2964,783,1663
$GC,8615,1.27,213.7,666.6,13.2,408,8619,0.00,2.50,0.00,0.000,6,0.000,0.064,2964,2201,1663
$GC,8937,1.27,213.7,633.5,8.7,424,8941,0.00,2.55,0.00,0.000,4,0.000,0.074,2964,784,1662
$GC,8959,1.30,233.3,631.8,7.3,425,8981,0.00,2.50,16.65,1.088,6,0.000,0.064,2964,2201,1588
$GC,9303,1.43,311.6,611.3,5.0,442,9374,0.00,2.62,65.05,1.115,4,0.000,0.075,2964,785,1267
$GC,9479,1.53,376.6,602.1,5.5,450,9543,0.20,2.53,54.25,1.085,6,0.061,0.064,3018,2206,1002
$GC,9852,1.54,383.4,573.6,7.7,468,9866,0.00,2.60,6.78,0.865,4,0.000,0.074,3018,791,974
$GC,9952,1.54,383.4,564.9,9.7,472,9956,0.00,2.50,0.00,0.000,6,0.000,0.064,3018,2201,976
$GC,10268,1.54,383.4,540.8,8.3,487,10272,0.00,2.55,0.00,0.000,4,0.000,0.074,3018,786,975
$GC,10337,1.54,383.4,534.6,9.6,490,10341,0.00,2.50,0.00,0.000,6,0.000,0.063,3017,2203,976
$GC,10664,1.54,383.4,505.5,9.4,506,10668,0.00,2.53,0.00,0.000,4,0.000,0.073,3018,791,975
$GC,10765,1.54,383.4,494.8,11.1,510,10771,0.00,2.50,0.00,0.000,6,0.000,0.063,3018,2211,976
$GC,11082,1.54,383.4,460.7,11.1,526,11086,0.00,2.53,0.00,0.000,4,0.000,0.073,3018,793,976
$GC,11191,1.54,383.4,447.1,12.4,530,11197,0.00,2.47,0.00,0.000,6,0.000,0.063,3018,2200,976
$GC,11508,1.54,383.4,408.4,12.6,546,11512,0.00,2.53,0.00,0.000,4,0.000,0.073,3018,783,975
$GC,11599,1.54,383.4,395.8,13.8,550,11603,0.00,2.50,0.00,0.000,6,0.000,0.063,3018,2208,976
$GC,11926,1.54,383.4,352.0,13.5,566,11931,0.00,2.53,0.00,0.000,4,0.000,0.073,3018,790,975
$GC,12023,1.54,383.4,338.6,13.3,570,12027,0.00,2.47,0.00,0.000,6,0.000,0.062,3018,2201,976
$GC,12339,1.54,383.4,296.7,13.3,585,12343,0.00,2.53,0.00,0.000,4,0.000,0.073,3018,785,976
$GC,12440,1.54,383.4,282.4,14.3,589,12446,0.00,2.47,0.00,0.000,6,0.000,0.062,3018,2201,975
$GC,12757,1.54,383.4,240.9,13.5,605,12761,0.00,2.50,0.00,0.000,4,0.000,0.073,3018,791,976
$GC,12858,1.54,383.4,224.9,15.5,609,12863,0.00,2.47,0.00,0.000,6,0.000,0.062,3018,2204,975
$GC,13175,1.54,383.4,175.3,16.4,624,13180,0.00,2.53,0.00,0.000,4,0.000,0.074,3018,788,975
$GC,13266,1.54,383.4,159.3,17.4,628,13270,0.00,2.47,0.00,0.000,6,0.000,0.062,3018,2205,976
$GC,13587,1.54,383.4,104.6,17.3,644,13592,0.00,2.55,0.00,0.000,4,0.000,0.074,3018,785,976
$GC,13742,1.54,383.4,78.1,16.4,651,13746,0.00,2.47,0.00,0.000,6,0.000,0.062,3017,2200,976
$GC,14069,1.54,383.4,34.4,11.3,667,14073,0.00,2.53,0.00,0.000,4,0.000,0.072,3018,787,976
$GC,14166,1.54,383.4,20.1,15.7,671,14170,0.00,2.47,0.00,0.000,6,0.000,0.061,3018,2209,975
$STATE,14293,end climb,SURFACE_DEPTH_REACHED
$STATE,14293,begin surface coast
$FINISH,0.6,1.012420
$STATE,14317,end surface coast,CONTROL_FINISHED_OK
$STATE,14317,begin surface
$SM_CCo,14403,0.00,0.000,0,0,975,383.65
$SM_GC,1.35,11.52,0.00,0.00,0.059,0.000,0.000,378,1592,975,-10.51,-0.20,383.65
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.7,43.6
$24V_AH,23.5,46.631
$10V_AH,10.2,23.300
$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,25.725,161.900,457.150,0.000,0.000,78.241,65.843,248.118,7.500,0.000,0.000,13.917,1310.612,10645.435,553.994,1740.360,756.145,0.000,1479.624,0.000,1683.971,0.000,51.882,0.000
$DEVICE_MAMPS,180.245,91.273,1223.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.682,462.754,360.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34793,678
$CAP_FILE_SIZE,117914,0
$CFSIZE,254472192,236134400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,171008,170156,6343.266,-1316.485,38,1.4,38,-12.5