version: 66.04
glider: 14
mission: 6
dive: 356
start: 10 18 108 12 36 6
data:
$ID,14
$MISSION,6
$DIVE,356
$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,-657048.88
$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,21
$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
$GPS1,122631,6334.807,-1321.740,39,1.1,39,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.9
$GPS2,123545,6334.822,-1321.635,12,1.3,12,-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,183.9,37125,-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,-60.08,0.000,2,0.000,0.000,379,1592,2711
$GC,83,-1.16,-146.6,3.5,-5.2,3,114,11.38,2.60,-11.12,0.000,4,0.177,0.087,2414,3004,3138
$GC,316,-1.16,-146.6,30.4,-9.4,13,320,0.00,2.45,0.00,0.000,6,0.000,0.065,2414,1601,3139
$GC,633,-1.16,-146.6,61.1,-9.1,28,638,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,211,3140
$GC,724,-1.16,-146.6,69.7,-9.6,32,728,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1621,3139
$GC,1047,-1.16,-146.6,95.3,-8.3,48,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1624,3139
$GC,1355,-1.16,-146.6,123.5,-10.4,63,1360,0.00,2.53,0.00,0.000,4,0.000,0.075,2413,210,3140
$GC,1468,-1.16,-146.6,136.3,-12.5,68,1472,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1599,3139
$GC,1790,-1.16,-146.6,170.7,-10.9,84,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3140
$GC,2099,-1.16,-146.6,206.6,-11.7,99,2103,0.00,2.47,0.00,0.000,4,0.000,0.074,2414,210,3140
$GC,2172,-1.16,-146.6,215.2,-11.6,102,2176,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1612,3140
$GC,2488,-1.16,-146.6,249.1,-10.7,117,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1614,3140
$GC,2797,-1.16,-146.6,283.7,-11.9,132,2801,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,203,3140
$GC,2877,-1.16,-146.6,293.5,-12.2,135,2884,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1593,3140
$GC,3195,-1.16,-146.6,331.8,-12.4,151,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1596,3140
$GC,3503,-1.16,-146.6,371.0,-12.6,166,3507,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,203,3140
$GC,3553,-1.16,-146.6,377.5,-12.6,168,3557,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1609,3140
$GC,3875,-1.16,-146.6,414.9,-11.5,184,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1614,3141
$GC,4185,-1.16,-146.6,451.6,-11.8,199,4189,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,212,3141
$GC,4254,-1.16,-146.6,460.2,-12.2,202,4258,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3140
$GC,4582,-1.16,-146.6,498.4,-11.5,218,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3140
$GC,4890,-1.16,-146.6,534.8,-12.1,233,4895,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,212,3140
$GC,4947,-1.16,-146.6,542.2,-13.1,235,4953,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3140
$GC,5264,-1.16,-146.6,578.0,-11.2,251,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1604,3140
$GC,5573,-1.16,-146.6,612.5,-11.3,266,5577,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,212,3140
$GC,5607,-1.16,-146.6,616.8,-12.3,267,5614,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3140
$GC,5925,-1.16,-146.6,650.7,-10.3,283,5929,0.00,2.53,0.00,0.000,4,0.000,0.089,2413,2994,3139
$GC,5977,-1.16,-146.6,656.0,-9.6,285,5981,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1600,3140
$GC,6300,-1.16,-146.6,689.1,-11.0,301,6304,0.00,2.50,0.00,0.000,4,0.000,0.084,2414,210,3140
$GC,6392,-1.16,-146.6,700.6,-13.0,305,6396,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3140
$GC,6725,-1.16,-146.6,744.3,-13.9,321,6729,0.00,2.53,0.00,0.000,4,0.000,0.086,2414,2993,3140
$GC,6817,-1.16,-146.6,757.4,-14.8,325,6821,0.00,2.42,0.00,0.000,6,0.000,0.068,2414,1598,3140
$GC,7150,-1.16,-146.6,794.4,-9.8,341,7154,0.00,2.50,0.00,0.000,4,0.000,0.084,2413,209,3140
$GC,7314,-1.16,-146.6,810.6,-9.1,348,7318,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1609,3140
$GC,7636,-1.16,-146.6,841.6,-9.8,364,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1612,3140
$STATE,7715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7715,begin apogee
$GC,7724,-0.32,0.0,850.3,10.6,368,7865,0.90,0.00,132.15,1.240,6,0.104,0.000,2601,2198,2539
$STATE,7865,end apogee,CONTROL_FINISHED_OK
$STATE,7866,begin climb
$GC,7870,1.16,146.6,856.4,0.0,375,8003,1.50,2.80,124.45,1.227,4,0.077,0.107,2927,3595,1940
$GC,8131,1.19,161.0,842.3,7.5,387,8153,0.00,2.50,13.32,1.101,6,0.000,0.069,2927,2193,1881
$GC,8464,1.22,183.0,817.8,7.2,403,8488,0.00,2.60,19.52,1.156,4,0.000,0.077,2927,792,1792
$GC,8518,1.26,203.8,813.9,7.2,405,8544,0.00,2.50,19.08,1.146,6,0.000,0.063,2927,2203,1708
$GC,8862,1.31,236.9,792.0,6.7,422,8899,0.15,2.62,28.83,1.181,4,0.066,0.074,2970,803,1572
$GC,8978,1.31,236.9,780.1,11.9,427,8982,0.00,2.47,0.00,0.000,6,0.000,0.064,2970,2200,1572
$GC,9300,1.40,293.8,752.1,5.8,443,9355,0.00,2.62,48.22,1.185,4,0.000,0.075,2970,799,1340
$GC,9391,1.40,293.8,745.4,9.8,447,9395,0.00,2.50,0.00,0.000,6,0.000,0.064,2969,2203,1339
$GC,9712,1.40,293.8,712.6,10.5,463,9716,0.00,2.55,0.00,0.000,4,0.000,0.074,2970,791,1337
$GC,9786,1.40,293.8,706.2,8.2,466,9790,0.00,2.47,0.00,0.000,6,0.000,0.064,2970,2201,1337
$GC,10108,1.40,293.8,672.7,10.2,482,10112,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,796,1335
$GC,10188,1.40,293.8,664.0,10.9,485,10194,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2203,1335
$GC,10505,1.40,293.8,631.2,11.5,501,10509,0.00,2.53,0.00,0.000,4,0.000,0.073,2970,791,1335
$GC,10601,1.40,293.8,618.4,13.2,505,10605,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2206,1335
$GC,10929,1.40,293.8,576.3,13.0,521,10933,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,792,1335
$GC,11024,1.40,293.8,563.3,12.6,525,11029,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2208,1335
$GC,11341,1.40,293.8,525.9,11.3,540,11345,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,792,1335
$GC,11433,1.40,293.8,515.0,11.8,544,11437,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2201,1335
$GC,11766,1.40,293.8,479.0,10.6,560,11770,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,789,1335
$GC,11867,1.40,293.8,467.6,11.1,564,11873,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2200,1335
$GC,12184,1.40,293.8,436.9,9.3,580,12188,0.00,2.50,0.00,0.000,4,0.000,0.070,2971,786,1335
$GC,12285,1.40,293.8,427.3,9.6,584,12289,0.00,2.47,0.00,0.000,6,0.000,0.061,2970,2201,1335
$GC,12602,1.40,293.8,399.6,9.2,599,12606,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,788,1335
$GC,12692,1.40,293.8,390.5,9.2,603,12696,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1335
$GC,13013,1.40,293.8,359.3,10.2,619,13017,0.00,2.50,0.00,0.000,4,0.000,0.070,2971,794,1335
$GC,13121,1.40,293.8,346.8,11.3,624,13126,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2211,1335
$GC,13449,1.40,293.8,312.9,10.5,640,13453,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,788,1335
$GC,13534,1.40,293.8,303.6,11.9,644,13538,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2208,1335
$GC,13861,1.40,293.8,268.9,10.9,660,13865,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,793,1335
$GC,13968,1.40,293.8,259.1,8.9,665,13972,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2200,1335
$GC,14303,1.40,293.8,230.2,8.6,681,14307,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,793,1335
$GC,14417,1.41,302.7,220.6,7.7,686,14431,0.00,2.45,8.18,0.704,6,0.000,0.062,2970,2208,1305
$GC,14749,1.48,347.3,197.9,6.3,702,14792,0.12,2.60,36.47,0.778,4,0.067,0.071,3011,791,1122
$GC,14916,1.48,347.3,181.0,11.1,709,14920,0.00,2.47,0.00,0.000,6,0.000,0.062,3012,2205,1122
$GC,15234,1.48,347.3,144.4,12.5,724,15238,0.00,2.55,0.00,0.000,4,0.000,0.073,3011,787,1121
$GC,15297,1.48,347.3,135.3,14.1,727,15301,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2201,1121
$GC,15626,1.48,347.3,86.9,14.8,743,15630,0.00,2.50,0.00,0.000,4,0.000,0.073,3011,795,1121
$GC,15735,1.48,347.3,70.0,15.3,748,15739,0.00,2.47,0.00,0.000,6,0.000,0.063,3011,2209,1121
$GC,16064,1.48,347.3,25.8,13.9,764,16068,0.00,2.55,0.00,0.000,4,0.000,0.072,3012,788,1121
$GC,16187,1.48,347.3,9.2,13.4,769,16193,0.00,2.45,0.00,0.000,6,0.000,0.062,3011,2202,1121
$STATE,16254,end climb,SURFACE_DEPTH_REACHED
$STATE,16254,begin surface coast
$FINISH,0.5,1.016725
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16275,begin surface
$SM_CCo,16361,0.00,0.000,0,0,1120,348.08
$SM_GC,1.44,11.48,0.00,0.00,0.058,0.000,0.000,380,1593,1120,-10.50,-0.20,348.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1882
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.8,83.5
$24V_AH,23.5,47.389
$10V_AH,10.2,23.714
$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,25.525,166.425,430.225,0.000,0.000,76.861,58.091,204.366,7.000,0.000,0.000,13.859,1501.119,12135.260,528.157,2020.803,726.195,0.000,1565.818,0.000,1964.082,0.000,46.123,0.000
$DEVICE_MAMPS,177.177,107.380,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.248,527.456,440.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38010,774
$CAP_FILE_SIZE,129172,0
$CFSIZE,254472192,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,181008,171008,6331.937,-1325.233,41,1.2,41,-12.5