version: 66.04
glider: 14
mission: 6
dive: 357
start: 10 18 108 17 22 35
data:
$ID,14
$MISSION,6
$DIVE,357
$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,-657063.44
$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,25
$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
$GPS1,171008,6331.937,-1325.233,41,1.2,41,-12.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.8
$GPS2,172214,6331.829,-1325.717,12,1.5,12,-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,176.5,32421,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-57.22,0.000,2,0.000,0.000,380,1586,2456
$GC,83,-1.16,-146.6,3.1,-3.7,3,126,11.30,2.50,-23.40,0.000,4,0.175,0.090,2412,221,3137
$GC,398,-1.16,-146.6,37.3,-10.9,17,403,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1620,3139
$GC,726,-1.16,-146.6,76.5,-12.7,33,730,0.00,2.53,0.00,0.000,4,0.000,0.075,2412,212,3139
$GC,857,-1.16,-146.6,94.8,-15.0,39,862,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3138
$GC,1188,-1.16,-146.6,139.9,-13.5,55,1192,0.00,2.47,0.00,0.000,4,0.000,0.077,2412,2992,3139
$GC,1244,-1.16,-146.6,147.6,-12.7,57,1250,0.00,2.42,0.00,0.000,6,0.000,0.064,2412,1594,3138
$GC,1560,-1.16,-146.6,190.2,-13.6,73,1565,0.00,2.47,0.00,0.000,4,0.000,0.077,2412,206,3138
$GC,1651,-1.16,-146.6,203.1,-14.1,77,1655,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1607,3139
$GC,1972,-1.16,-146.6,241.4,-11.1,93,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3139
$GC,2282,-1.16,-146.6,273.3,-10.4,108,2287,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,206,3139
$GC,2361,-1.16,-146.6,282.3,-10.8,111,2367,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,2678,-1.16,-146.6,312.3,-8.5,127,2682,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3139
$GC,2718,-1.16,-146.6,316.0,-9.8,129,2723,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1601,3139
$GC,3046,-1.16,-146.6,343.6,-7.9,145,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3139
$GC,3355,-1.16,-146.6,371.6,-9.3,160,3359,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,212,3139
$GC,3419,-1.16,-146.6,377.6,-9.7,163,3423,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1607,3139
$GC,3746,-1.16,-146.6,407.3,-9.1,179,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1610,3139
$GC,4055,-1.16,-146.6,434.6,-8.5,194,4060,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,212,3139
$GC,4135,-1.16,-146.6,441.8,-9.0,197,4141,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3139
$GC,4451,-1.16,-146.6,467.1,-8.2,213,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3139
$GC,4760,-1.16,-146.6,493.5,-9.1,228,4765,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,210,3139
$GC,4825,-1.16,-146.6,499.3,-9.1,231,4830,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1598,3139
$GC,5158,-1.16,-146.6,532.4,-10.5,247,5162,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,210,3139
$GC,5237,-1.16,-146.6,541.5,-11.4,250,5243,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1600,3139
$GC,5555,-1.16,-146.6,575.3,-10.3,266,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3139
$GC,5863,-1.16,-146.6,605.8,-10.3,281,5868,0.00,2.47,0.00,0.000,4,0.000,0.077,2412,213,3139
$GC,5898,-1.16,-146.6,609.8,-12.0,282,5904,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1599,3139
$GC,6215,-1.16,-146.6,642.2,-10.7,298,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1599,3139
$GC,6525,-1.16,-146.6,675.9,-11.1,313,6529,0.00,2.50,0.00,0.000,4,0.000,0.079,2411,206,3138
$GC,6610,-1.16,-146.6,685.9,-12.3,317,6615,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1602,3139
$GC,6938,-1.16,-146.6,722.9,-11.2,333,6942,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,210,3139
$GC,7010,-1.16,-146.6,732.1,-12.8,336,7015,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3138
$GC,7328,-1.16,-146.6,768.3,-10.1,351,7332,0.00,2.55,0.00,0.000,4,0.000,0.094,2412,2997,3139
$GC,7390,-1.16,-146.6,774.3,-9.0,353,7396,0.00,2.42,0.00,0.000,6,0.000,0.068,2412,1602,3139
$GC,7706,-1.16,-146.6,803.2,-8.6,369,7710,0.00,2.53,0.00,0.000,4,0.000,0.085,2412,203,3139
$GC,7869,-1.16,-146.6,820.2,-12.7,376,7874,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1609,3139
$GC,8186,-1.16,-146.6,854.9,-10.2,391,8190,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,205,3139
$GC,8407,-1.16,-146.6,873.3,-10.2,401,8411,0.00,2.38,0.00,0.000,6,0.000,0.061,2412,1596,3139
$GC,8739,-1.16,-146.6,898.7,-8.7,417,8743,0.00,2.50,0.00,0.000,4,0.000,0.081,2411,210,3139
$GC,8801,-1.16,-146.6,904.2,-8.6,419,8807,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1605,3139
$GC,9117,-1.16,-146.6,935.5,-8.8,435,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3139
$STATE,9258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9258,begin apogee
$GC,9268,-0.32,0.0,949.1,9.8,442,9410,0.95,0.00,132.90,1.335,6,0.125,0.000,2601,2200,2538
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9414,1.16,146.6,954.8,0.0,449,9551,1.50,2.80,125.82,1.318,4,0.081,0.110,2925,3609,1940
$GC,9682,1.16,146.6,939.1,10.2,461,9686,0.00,2.53,0.00,0.000,6,0.000,0.067,2925,2192,1938
$GC,9999,1.17,150.2,910.8,7.9,476,10005,0.00,0.00,4.12,0.812,6,0.000,0.000,2925,2192,1926
$GC,10308,1.20,168.3,887.6,7.3,491,10330,0.00,2.60,16.65,1.216,4,0.000,0.079,2925,792,1852
$GC,10350,1.20,168.3,884.4,9.1,493,10355,0.00,2.50,0.00,0.000,6,0.000,0.062,2925,2204,1852
$GC,10677,1.20,170.2,856.6,7.9,509,10682,0.00,2.55,0.00,0.000,4,0.000,0.074,2925,792,1851
$GC,10774,1.28,222.4,849.9,6.0,513,10828,0.12,2.47,46.47,1.272,6,0.069,0.063,2960,2200,1631
$GC,11141,1.28,222.4,812.5,12.5,531,11146,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,793,1629
$GC,11233,1.28,222.4,801.1,11.2,535,11237,0.00,2.47,0.00,0.000,6,0.000,0.064,2960,2199,1628
$GC,11555,1.28,222.4,765.3,12.9,551,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2200,1627
$GC,11864,1.28,222.4,732.8,9.1,566,11868,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,793,1626
$GC,11955,1.28,222.4,722.9,11.7,570,11960,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2207,1627
$GC,12283,1.28,222.4,682.5,12.7,586,12288,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,794,1625
$GC,12385,1.28,222.4,668.3,13.5,590,12391,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2201,1625
$GC,12702,1.28,222.4,628.8,12.1,606,12706,0.00,2.50,0.00,0.000,4,0.000,0.074,2960,794,1625
$GC,12781,1.28,222.4,618.7,12.3,609,12785,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2201,1625
$GC,13097,1.28,222.4,582.8,10.9,624,13101,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,786,1625
$GC,13177,1.28,222.4,574.3,10.4,627,13181,0.00,2.50,0.00,0.000,6,0.000,0.062,2961,2210,1625
$GC,13493,1.28,222.4,544.7,8.8,642,13497,0.00,2.53,0.00,0.000,4,0.000,0.073,2960,791,1625
$GC,13612,1.28,222.4,533.8,9.1,647,13616,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2204,1625
$GC,13934,1.28,222.4,506.7,8.3,663,13938,0.00,2.50,0.00,0.000,4,0.000,0.073,2960,794,1625
$GC,14031,1.28,222.4,498.0,9.1,667,14035,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2207,1625
$GC,14353,1.28,222.4,470.7,8.3,683,14357,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,786,1625
$GC,14448,1.28,222.4,461.5,9.8,687,14452,0.00,2.47,0.00,0.000,6,0.000,0.062,2961,2199,1626
$GC,14764,1.28,222.4,431.6,9.6,702,14768,0.00,2.50,0.00,0.000,4,0.000,0.072,2960,791,1625
$GC,14862,1.28,222.4,421.9,10.5,706,14867,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2205,1625
$GC,15184,1.28,222.4,392.0,9.5,722,15188,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,791,1625
$GC,15271,1.28,222.4,382.9,11.0,726,15275,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2210,1625
$GC,15598,1.28,222.4,346.8,11.9,742,15602,0.00,2.53,0.00,0.000,4,0.000,0.071,2961,785,1625
$GC,15721,1.28,222.4,330.5,12.6,747,15727,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2201,1625
$GC,16038,1.28,222.4,291.4,12.1,763,16042,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,783,1625
$GC,16156,1.28,222.4,277.0,11.8,768,16160,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2200,1625
$GC,16478,1.28,222.4,241.4,10.9,784,16482,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,792,1625
$GC,16574,1.28,222.4,230.4,12.0,788,16578,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2210,1625
$GC,16901,1.28,222.4,192.0,12.1,804,16905,0.00,2.53,0.00,0.000,4,0.000,0.071,2960,792,1625
$GC,16958,1.28,222.4,184.7,12.7,806,16964,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2204,1625
$GC,17275,1.28,222.4,146.7,12.0,822,17279,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,792,1625
$GC,17376,1.28,222.4,133.9,11.7,826,17382,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2198,1625
$GC,17695,1.28,222.4,99.6,10.7,842,17699,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,786,1625
$GC,17803,1.28,222.4,87.7,12.3,847,17807,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2202,1625
$GC,18132,1.28,222.4,55.7,9.3,863,18136,0.00,2.50,0.00,0.000,4,0.000,0.072,2960,790,1625
$GC,18241,1.28,222.4,45.0,10.1,868,18245,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2205,1625
$GC,18570,1.28,222.4,14.8,8.7,884,18574,0.00,2.53,0.00,0.000,4,0.000,0.070,2960,783,1625
$STATE,18701,end climb,SURFACE_DEPTH_REACHED
$STATE,18701,begin surface coast
$FINISH,0.7,1.017304
$STATE,18725,end surface coast,CONTROL_FINISHED_OK
$STATE,18726,begin surface
$SM_CCo,18752,45.25,0.625,1,0,1316,300.00
$SM_GC,1.56,0.00,0.00,45.25,0.000,0.000,0.625,376,1618,1316,-10.58,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,900.3,58.1
$24V_AH,23.4,47.543
$10V_AH,10.2,23.807
$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,24.925,188.350,325.975,45.250,0.000,114.640,159.506,186.143,8.750,0.000,0.000,13.953,1729.754,14057.837,538.878,2313.578,889.484,0.000,1689.280,0.000,2249.994,0.000,57.075,0.000
$DEVICE_MAMPS,174.876,110.448,1334.580,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.620,608.344,483.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44284,891
$CAP_FILE_SIZE,146676,0
$CFSIZE,254472192,235716608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,181008,223708,6329.815,-1326.964,26,1.4,26,-12.5