version: 66.04
glider: 14
mission: 6
dive: 353
start: 10 17 108 22 21 22
data:
$ID,14
$MISSION,6
$DIVE,353
$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,-656967.31
$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,22
$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
$GPS1,221002,6341.278,-1317.515,38,1.1,38,-12.5
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-57.4
$GPS2,222102,6341.344,-1317.040,12,1.3,29,-12.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$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,190.5,48818,-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,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,375,1590,2705
$GC,83,-1.16,-146.6,3.0,-2.5,3,114,11.38,2.55,-11.98,0.000,4,0.176,0.085,2412,3000,3138
$GC,217,-1.16,-146.6,21.4,-14.3,9,221,0.00,2.42,0.00,0.000,6,0.000,0.063,2412,1599,3139
$GC,545,-1.16,-146.6,57.1,-10.6,25,549,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,209,3139
$GC,609,-1.16,-146.6,64.1,-11.1,28,613,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1619,3139
$GC,937,-1.16,-146.6,100.6,-11.5,44,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1623,3139
$GC,1245,-1.16,-146.6,136.7,-11.9,59,1250,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,211,3139
$GC,1313,-1.16,-146.6,145.8,-13.3,62,1317,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1606,3140
$GC,1635,-1.16,-146.6,185.6,-12.1,78,1639,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,209,3140
$GC,1682,-1.16,-146.6,191.6,-12.8,80,1686,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3140
$GC,2015,-1.16,-146.6,231.5,-11.8,96,2020,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,210,3140
$GC,2061,-1.16,-146.6,237.4,-12.7,98,2065,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1605,3140
$GC,2383,-1.16,-146.6,272.1,-10.9,114,2387,0.00,2.47,0.00,0.000,4,0.000,0.079,2412,2989,3140
$GC,2417,-1.16,-146.6,275.6,-9.2,115,2421,0.00,2.42,0.00,0.000,6,0.000,0.065,2412,1594,3139
$GC,2740,-1.16,-146.6,307.5,-9.8,131,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1593,3139
$GC,3048,-1.16,-146.6,338.9,-10.2,146,3053,0.00,2.50,0.00,0.000,4,0.000,0.082,2412,203,3140
$GC,3127,-1.16,-146.6,348.7,-11.8,149,3133,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1599,3139
$GC,3444,-1.16,-146.6,381.6,-10.8,165,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1599,3140
$GC,3753,-1.16,-146.6,416.8,-11.4,180,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1599,3139
$GC,4063,-1.16,-146.6,450.9,-10.5,195,4067,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,212,3139
$GC,4104,-1.16,-146.6,455.4,-10.8,197,4108,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,4431,-1.16,-146.6,488.6,-9.9,213,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3140
$GC,4740,-1.16,-146.6,517.5,-9.1,228,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3139
$GC,5050,-1.16,-146.6,546.3,-9.7,243,5054,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,212,3140
$GC,5100,-1.16,-146.6,551.7,-10.6,245,5104,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3139
$GC,5422,-1.16,-146.6,581.6,-9.1,261,5426,0.00,2.53,0.00,0.000,4,0.000,0.087,2412,2993,3139
$GC,5456,-1.16,-146.6,584.6,-8.5,262,5462,0.00,2.42,0.00,0.000,6,0.000,0.067,2412,1600,3139
$GC,5773,-1.16,-146.6,609.4,-7.9,278,5777,0.00,2.50,0.00,0.000,4,0.000,0.084,2412,211,3139
$GC,5891,-1.16,-146.6,619.9,-9.3,283,5895,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3139
$GC,6213,-1.16,-146.6,649.8,-9.6,299,6218,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,209,3139
$GC,6252,-1.16,-146.6,654.0,-10.6,300,6258,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1600,3139
$GC,6570,-1.16,-146.6,685.5,-9.6,316,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3139
$GC,6878,-1.16,-146.6,718.7,-11.7,331,6883,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,208,3139
$GC,6912,-1.16,-146.6,723.3,-12.8,332,6918,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1601,3139
$GC,7229,-1.16,-146.6,757.5,-10.3,348,7233,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,208,3139
$GC,7285,-1.16,-146.6,764.3,-12.5,350,7292,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1603,3140
$STATE,7577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7577,begin apogee
$GC,7587,-0.32,0.0,795.6,9.3,365,7726,0.90,0.00,131.02,1.200,6,0.100,0.000,2601,2202,2539
$STATE,7727,end apogee,CONTROL_FINISHED_OK
$STATE,7727,begin climb
$GC,7732,1.16,146.6,800.7,0.0,372,7864,1.55,2.88,124.25,1.184,4,0.082,0.114,2930,3610,1941
$GC,7944,1.16,146.6,788.6,8.1,382,7949,0.00,2.53,0.00,0.000,6,0.000,0.070,2931,2198,1940
$GC,8261,1.16,146.6,763.5,8.1,397,8265,0.00,2.67,0.00,0.000,4,0.000,0.100,2930,3605,1940
$GC,8356,1.16,146.6,755.4,9.2,401,8361,0.00,2.50,0.00,0.000,6,0.000,0.069,2930,2201,1939
$GC,8673,1.17,151.0,730.6,7.8,416,8683,0.00,2.58,4.70,0.811,4,0.000,0.078,2931,784,1923
$GC,8758,1.17,151.0,723.0,9.1,420,8763,0.00,2.50,0.00,0.000,6,0.000,0.064,2929,2207,1923
$GC,9086,1.17,151.0,691.9,9.0,436,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2207,1921
$GC,9396,1.20,166.3,667.7,7.4,451,9417,0.00,2.62,13.57,1.065,4,0.000,0.074,2930,793,1860
$GC,9497,1.20,166.3,658.6,8.8,455,9501,0.00,2.50,0.00,0.000,6,0.000,0.063,2931,2204,1859
$GC,9813,1.20,171.3,633.4,7.8,470,9824,0.00,2.58,5.78,0.867,4,0.000,0.072,2931,790,1840
$GC,9928,1.20,172.0,624.1,8.0,475,9933,0.00,2.47,0.00,0.000,6,0.000,0.062,2931,2200,1840
$GC,10250,1.24,193.3,600.9,7.2,491,10275,0.00,2.60,19.50,1.053,4,0.000,0.073,2931,787,1750
$GC,10372,1.24,193.3,590.9,8.5,496,10377,0.00,2.47,0.00,0.000,6,0.000,0.062,2930,2203,1749
$GC,10694,1.24,193.3,565.3,8.5,512,10698,0.00,2.53,0.00,0.000,4,0.000,0.073,2932,791,1749
$GC,10795,1.24,193.3,555.9,9.1,516,10801,0.00,2.47,0.00,0.000,6,0.000,0.062,2931,2208,1748
$GC,11111,1.24,193.3,527.2,9.5,532,11116,0.00,2.53,0.00,0.000,4,0.000,0.072,2931,791,1749
$GC,11174,1.24,193.3,520.9,10.7,535,11179,0.00,2.45,0.00,0.000,6,0.000,0.062,2931,2198,1748
$GC,11502,1.24,193.3,490.0,9.2,551,11506,0.00,2.50,0.00,0.000,4,0.000,0.072,2931,792,1748
$GC,11620,1.24,193.3,478.8,8.8,556,11624,0.00,2.45,0.00,0.000,6,0.000,0.062,2931,2200,1748
$GC,11942,1.24,193.3,451.9,8.3,572,11946,0.00,2.50,0.00,0.000,4,0.000,0.072,2931,792,1748
$GC,12038,1.24,193.3,443.6,9.4,576,12042,0.00,2.45,0.00,0.000,6,0.000,0.062,2931,2201,1748
$GC,12354,1.24,193.3,417.5,8.1,591,12358,0.00,2.50,0.00,0.000,4,0.000,0.071,2931,790,1748
$GC,12439,1.24,193.3,410.1,9.3,594,12445,0.00,2.47,0.00,0.000,6,0.000,0.062,2931,2205,1748
$GC,12756,1.26,208.1,385.3,7.4,610,12778,0.00,2.58,13.82,0.865,4,0.000,0.071,2931,800,1690
$GC,12886,1.28,219.8,375.1,7.6,615,12903,0.10,2.45,11.35,0.838,6,0.070,0.062,2965,2201,1642
$GC,13223,1.30,232.6,348.0,7.5,632,13244,0.00,2.60,12.05,0.823,4,0.000,0.071,2965,792,1589
$GC,13362,1.31,240.4,336.9,7.7,638,13376,0.00,2.47,7.88,0.759,6,0.000,0.062,2964,2205,1557
$GC,13694,1.31,240.4,307.9,8.1,654,13699,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,789,1557
$GC,13795,1.31,240.4,298.7,8.8,658,13801,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2206,1557
$GC,14112,1.31,240.4,272.5,8.7,674,14116,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,791,1557
$GC,14213,1.31,240.4,261.9,11.2,678,14217,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1557
$GC,14529,1.31,240.4,229.3,10.8,693,14534,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,791,1557
$GC,14626,1.31,240.4,217.9,11.4,697,14630,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1557
$GC,14942,1.31,240.4,181.4,11.6,712,14946,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,792,1557
$GC,15044,1.31,240.4,168.8,12.4,716,15048,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1557
$GC,15361,1.31,240.4,133.4,10.9,731,15365,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,791,1556
$GC,15462,1.31,240.4,122.2,10.7,735,15468,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2208,1557
$GC,15781,1.31,240.4,91.2,9.5,751,15785,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,783,1557
$GC,15876,1.31,240.4,82.4,8.1,755,15880,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2200,1557
$GC,16193,1.31,240.4,54.6,9.8,770,16197,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,785,1556
$GC,16282,1.31,240.4,45.3,10.2,774,16287,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1557
$GC,16605,1.31,240.4,12.2,11.8,790,16609,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,785,1557
$STATE,16702,end climb,SURFACE_DEPTH_REACHED
$STATE,16702,begin surface coast
$FINISH,1.0,1.027168
$STATE,16710,end surface coast,CONTROL_FINISHED_OK
$STATE,16710,begin surface
$SM_CCo,16738,31.15,0.637,0,0,1316,300.00
$SM_GC,1.73,0.00,0.00,31.15,0.000,0.000,0.637,379,1618,1316,-10.56,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,726.3,78.9
$24V_AH,23.5,46.935
$10V_AH,10.2,23.473
$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,25.150,174.200,343.925,31.150,0.000,76.882,58.431,290.174,6.500,0.000,0.000,30.609,1526.793,12541.272,521.428,2009.562,829.787,0.000,1531.530,0.000,1940.311,0.000,42.882,0.000
$DEVICE_MAMPS,176.410,113.516,1200.355,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,586.338,543.819,459.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41135,795
$CAP_FILE_SIZE,132998,0
$CFSIZE,254472192,235982848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,39,1,0
$GPS,181008,030228,6339.613,-1314.937,32,3.0,51,-12.4