version: 66.04
glider: 14
mission: 6
dive: 350
start: 10 17 108 7 52 40
data:
$ID,14
$MISSION,6
$DIVE,350
$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,-656906.75
$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,33
$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
$GPS1,074557,6346.956,-1321.459,26,2.6,45,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-53.6
$GPS2,075220,6346.976,-1321.190,12,1.6,29,-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,173.5,15624,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,87,0.00,0.00,-65.47,0.000,2,0.000,0.000,374,1624,2664
$GC,91,-1.16,-146.6,3.3,-3.4,4,122,11.32,2.47,-13.38,0.000,4,0.174,0.087,2413,2997,3137
$GC,226,-1.16,-146.6,16.3,-11.5,10,230,0.00,2.42,0.00,0.000,6,0.000,0.063,2414,1601,3139
$GC,553,-1.16,-146.6,52.6,-11.0,26,557,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,204,3140
$GC,626,-1.16,-146.6,60.3,-10.7,29,630,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1611,3139
$GC,945,-1.16,-146.6,87.7,-8.3,44,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1614,3139
$GC,1252,-1.16,-146.6,110.5,-6.8,59,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1614,3139
$GC,1561,-1.16,-146.6,130.7,-6.3,74,1566,0.00,2.45,0.00,0.000,4,0.000,0.076,2413,2989,3140
$GC,1604,-1.16,-146.6,133.4,-6.3,76,1608,0.00,2.40,0.00,0.000,6,0.000,0.064,2414,1599,3139
$GC,1937,-1.16,-146.6,152.6,-5.1,92,1941,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,203,3140
$GC,2005,-1.16,-146.6,156.4,-5.5,95,2010,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3140
$GC,2328,-1.16,-146.6,174.8,-6.2,111,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3140
$GC,2638,-1.16,-146.6,194.6,-6.7,126,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3140
$GC,2947,-1.16,-146.6,218.4,-8.2,141,2951,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3140
$GC,2980,-1.16,-146.6,221.5,-8.7,142,2986,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3140
$GC,3297,-1.16,-146.6,251.7,-9.7,158,3302,0.00,2.47,0.00,0.000,4,0.000,0.077,2413,2990,3140
$GC,3343,-1.16,-146.6,256.3,-9.6,160,3348,0.00,2.42,0.00,0.000,6,0.000,0.066,2414,1595,3140
$GC,3666,-1.16,-146.6,289.2,-10.5,176,3670,0.00,2.47,0.00,0.000,4,0.000,0.080,2413,211,3140
$GC,3716,-1.16,-146.6,294.9,-10.6,178,3720,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3140
$GC,4033,-1.16,-146.6,327.8,-10.6,193,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3140
$GC,4341,-1.16,-146.6,362.1,-11.5,208,4346,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,203,3140
$GC,4375,-1.16,-146.6,366.4,-12.3,209,4381,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1607,3140
$GC,4692,-1.16,-146.6,403.9,-12.1,225,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3140
$GC,5001,-1.16,-146.6,442.5,-12.7,240,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3140
$GC,5310,-1.16,-146.6,480.3,-11.8,255,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1611,3138
$GC,5620,-1.16,-146.6,516.4,-11.2,270,5624,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,212,3140
$GC,5688,-1.16,-146.6,524.3,-11.3,273,5692,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1599,3140
$GC,6009,-1.16,-146.6,556.1,-8.9,289,6013,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,212,3140
$GC,6044,-1.16,-146.6,559.3,-8.9,290,6050,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1599,3140
$GC,6361,-1.16,-146.6,582.1,-7.0,306,6365,0.00,2.53,0.00,0.000,4,0.000,0.087,2414,2993,3140
$GC,6395,-1.16,-146.6,584.4,-6.8,307,6399,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1602,3140
$GC,6712,-1.16,-146.6,607.2,-7.5,322,6717,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,2993,3140
$GC,6747,-1.16,-146.6,609.9,-7.0,323,6753,0.00,2.45,0.00,0.000,6,0.000,0.067,2413,1590,3140
$GC,7063,-1.16,-146.6,635.4,-8.8,339,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1590,3140
$GC,7373,-1.16,-146.6,665.8,-9.9,354,7377,0.00,2.50,0.00,0.000,4,0.000,0.087,2414,209,3140
$GC,7490,-1.16,-146.6,677.4,-9.5,359,7494,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3140
$GC,7813,-1.16,-146.6,704.3,-8.8,375,7817,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,2993,3140
$GC,7853,-1.16,-146.6,707.9,-8.7,377,7858,0.00,2.45,0.00,0.000,6,0.000,0.069,2414,1591,3140
$GC,8181,-1.16,-146.6,740.5,-10.8,393,8185,0.00,2.50,0.00,0.000,4,0.000,0.085,2413,208,3140
$GC,8221,-1.16,-146.6,745.0,-11.5,395,8226,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1606,3140
$GC,8550,-1.16,-146.6,780.6,-10.6,411,8554,0.00,2.53,0.00,0.000,4,0.000,0.083,2414,210,3140
$GC,8595,-1.16,-146.6,785.7,-10.9,413,8599,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1601,3140
$GC,8917,-1.16,-146.6,815.8,-8.4,429,8921,0.00,2.53,0.00,0.000,4,0.000,0.083,2413,206,3140
$GC,8975,-1.16,-146.6,821.6,-10.0,431,8981,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1600,3140
$GC,9291,-1.16,-146.6,851.3,-9.6,447,9296,0.00,2.55,0.00,0.000,4,0.000,0.089,2414,2999,3140
$GC,9360,-1.16,-146.6,857.1,-7.7,450,9365,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1601,3140
$STATE,9473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9473,begin apogee
$GC,9483,-0.32,0.0,866.2,8.0,456,9623,0.93,0.00,132.15,1.269,6,0.118,0.000,2600,2208,2539
$STATE,9624,end apogee,CONTROL_FINISHED_OK
$STATE,9624,begin climb
$GC,9628,1.16,146.6,868.3,0.0,463,9761,1.48,2.75,124.80,1.253,4,0.064,0.104,2934,3600,1941
$GC,9890,1.16,146.6,856.4,10.3,475,9894,0.00,2.50,0.00,0.000,6,0.000,0.069,2934,2195,1938
$GC,10218,1.16,146.6,828.9,8.2,491,10222,0.00,2.65,0.00,0.000,4,0.000,0.094,2934,3599,1937
$GC,10258,1.16,146.6,825.0,9.6,493,10263,0.00,2.47,0.00,0.000,6,0.000,0.067,2934,2203,1936
$GC,10586,1.16,146.6,795.6,9.3,509,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2203,1936
$GC,10896,1.16,146.6,763.5,11.5,524,10900,0.00,2.55,0.00,0.000,4,0.000,0.078,2934,789,1934
$GC,10930,1.16,146.6,759.2,11.9,525,10934,0.00,2.47,0.00,0.000,6,0.000,0.062,2934,2200,1935
$GC,11246,1.16,146.6,721.0,12.3,540,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2201,1933
$GC,11556,1.16,146.6,689.5,8.3,555,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2201,1931
$GC,11865,1.21,173.8,666.3,7.0,570,11894,0.00,2.65,22.17,1.134,4,0.000,0.073,2934,790,1830
$GC,11991,1.23,190.0,657.1,7.4,575,12012,0.00,2.47,14.90,1.081,6,0.000,0.063,2933,2196,1762
$GC,12330,1.26,208.6,631.2,7.3,592,12353,0.00,2.65,16.88,1.073,4,0.000,0.074,2934,788,1687
$GC,12513,1.33,249.4,618.2,6.5,600,12557,0.12,2.47,34.83,1.100,6,0.067,0.063,2970,2200,1521
$GC,12871,1.33,249.4,583.5,9.8,617,12875,0.00,2.53,0.00,0.000,4,0.000,0.074,2970,794,1520
$GC,12943,1.33,249.4,575.2,10.5,620,12948,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2201,1519
$GC,13260,1.33,249.4,545.6,8.9,635,13264,0.00,2.53,0.00,0.000,4,0.000,0.074,2970,789,1519
$GC,13311,1.33,249.4,540.8,9.1,637,13315,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2203,1519
$GC,13633,1.35,261.0,515.2,7.6,653,13653,0.00,2.60,11.25,0.937,4,0.000,0.073,2970,786,1473
$GC,13723,1.36,270.2,508.1,7.7,657,13737,0.00,2.50,8.95,0.889,6,0.000,0.062,2970,2209,1436
$GC,14055,1.36,270.2,481.3,8.4,673,14059,0.00,2.55,0.00,0.000,4,0.000,0.073,2970,787,1435
$GC,14151,1.36,270.2,472.4,9.9,677,14155,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2202,1435
$GC,14467,1.36,270.2,444.0,9.3,692,14472,0.00,2.53,0.00,0.000,4,0.000,0.073,2970,792,1435
$GC,14569,1.36,270.2,433.6,9.6,696,14575,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1435
$GC,14886,1.36,270.2,398.8,11.6,712,14890,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,792,1435
$GC,14971,1.36,270.2,387.9,12.1,716,14975,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2198,1435
$GC,15299,1.36,270.2,342.1,14.9,732,15303,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,788,1435
$GC,15406,1.36,270.2,324.6,16.7,736,15412,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2209,1435
$GC,15722,1.36,270.2,272.0,16.9,752,15726,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,787,1435
$GC,15818,1.36,270.2,255.1,17.5,756,15822,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1435
$GC,16135,1.36,270.2,199.8,17.4,771,16138,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,791,1435
$GC,16253,1.36,270.2,178.5,18.5,776,16257,0.00,2.45,0.00,0.000,6,0.000,0.061,2970,2202,1435
$GC,16575,1.36,270.2,131.0,13.8,792,16579,0.00,2.50,0.00,0.000,4,0.000,0.073,2970,791,1435
$GC,16691,1.36,270.2,115.6,13.1,797,16695,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2203,1435
$GC,17020,1.36,270.2,72.5,13.5,813,17025,0.00,2.53,0.00,0.000,4,0.000,0.074,2970,786,1435
$GC,17133,1.36,270.2,57.5,11.8,818,17137,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2198,1435
$GC,17457,1.36,270.2,22.5,11.4,834,17461,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,790,1435
$GC,17552,1.36,270.2,12.2,9.1,838,17556,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2200,1435
$STATE,17685,end climb,SURFACE_DEPTH_REACHED
$STATE,17685,begin surface coast
$FINISH,0.5,1.027143
$STATE,17708,end surface coast,CONTROL_FINISHED_OK
$STATE,17708,begin surface
$SM_CCo,17734,21.70,0.603,1,0,1316,300.00
$SM_GC,1.55,0.00,0.00,21.70,0.000,0.000,0.603,376,1588,1316,-10.58,-0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.2,74.5
$24V_AH,23.5,46.457
$10V_AH,10.2,23.227
$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,25.100,176.125,365.925,21.700,0.000,37.766,27.255,154.649,7.000,0.000,0.000,30.512,1612.004,13316.778,528.390,2053.995,633.836,0.000,1566.754,0.000,1982.320,0.000,47.716,0.000
$DEVICE_MAMPS,174.109,104.312,1269.385,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.156,578.782,497.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44228,846
$CAP_FILE_SIZE,135835,0
$CFSIZE,254472192,236163072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,2,0
$GPS,171008,125007,6346.430,-1314.359,41,0.9,41,-12.5