version: 66.04
glider: 14
mission: 6
dive: 344
start: 10 16 108 5 26 42
data:
$ID,14
$MISSION,6
$DIVE,344
$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,-656783.44
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,051745,6358.704,-1315.569,13,1.7,13,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-63.7
$GPS2,052621,6358.599,-1315.616,11,1.7,11,-12.6
$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,191.8,36301,-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,-146.6,0.0,0.0,0,68,0.00,0.00,-45.58,0.000,2,0.000,0.000,376,1622,2389
$GC,72,-1.16,-146.6,3.1,-4.1,3,116,11.38,2.50,-26.48,0.000,4,0.176,0.085,2413,2989,3139
$GC,342,-1.16,-146.6,29.1,-11.7,15,347,0.00,2.42,0.00,0.000,6,0.000,0.064,2413,1593,3139
$GC,671,-1.16,-146.6,72.3,-13.9,31,675,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,206,3139
$GC,817,-1.16,-146.6,93.2,-12.8,37,823,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3139
$GC,1135,-1.16,-146.6,126.7,-11.3,53,1140,0.00,2.50,0.00,0.000,4,0.000,0.074,2413,204,3140
$GC,1244,-1.16,-146.6,140.3,-10.3,58,1248,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1598,3139
$GC,1572,-1.16,-146.6,175.4,-12.4,74,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3140
$GC,1881,-1.16,-146.6,219.9,-14.6,89,1885,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3140
$GC,1954,-1.16,-146.6,231.5,-15.7,92,1958,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3140
$GC,2271,-1.16,-146.6,269.7,-9.6,107,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3140
$GC,2580,-1.16,-146.6,291.5,-6.6,122,2584,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,211,3140
$GC,2625,-1.16,-146.6,294.9,-7.4,124,2629,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3140
$GC,2947,-1.16,-146.6,319.5,-8.2,140,2951,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,2997,3140
$GC,2987,-1.16,-146.6,323.2,-8.7,141,2993,0.00,2.42,0.00,0.000,6,0.000,0.065,2413,1600,3140
$GC,3303,-1.16,-146.6,352.6,-9.3,157,3307,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,210,3140
$GC,3349,-1.16,-146.6,357.2,-10.6,159,3353,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1605,3140
$GC,3682,-1.16,-146.6,389.0,-9.7,175,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3140
$GC,3992,-1.16,-146.6,416.3,-8.1,190,3996,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3140
$GC,4043,-1.16,-146.6,420.4,-8.2,192,4047,0.00,2.35,0.00,0.000,6,0.000,0.059,2413,1596,3140
$GC,4359,-1.16,-146.6,439.5,-5.1,207,4363,0.00,2.53,0.00,0.000,4,0.000,0.084,2413,2997,3140
$GC,4405,-1.16,-146.6,441.7,-4.2,209,4409,0.00,2.42,0.00,0.000,6,0.000,0.066,2413,1601,3140
$GC,4727,-1.16,-146.6,462.7,-9.2,225,4731,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,209,3140
$GC,4794,-1.16,-146.6,470.8,-13.0,228,4798,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1609,3140
$GC,5121,-1.16,-146.6,544.3,-26.7,244,5125,0.00,2.50,0.00,0.000,4,0.000,0.088,2413,2987,3140
$GC,5190,-1.16,-146.6,559.9,-20.9,247,5195,0.00,2.42,0.00,0.000,6,0.000,0.068,2413,1601,3140
$GC,5518,-1.16,-146.6,599.7,-7.5,263,5523,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,211,3140
$GC,5581,-1.16,-146.6,603.7,-5.7,265,5587,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3140
$GC,5898,-1.16,-146.6,618.8,-4.7,281,5902,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,201,3141
$GC,5948,-1.16,-146.6,621.2,-4.4,283,5953,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1596,3140
$GC,6266,-1.16,-146.6,638.8,-6.9,298,6270,0.00,2.58,0.00,0.000,4,0.000,0.093,2413,2999,3141
$GC,6389,-1.16,-146.6,646.9,-8.0,303,6396,0.00,2.47,0.00,0.000,6,0.000,0.070,2413,1593,3141
$GC,6707,-1.16,-146.6,674.3,-7.4,319,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1593,3141
$GC,7015,-1.16,-146.6,704.9,-10.1,334,7019,0.00,2.53,0.00,0.000,4,0.000,0.089,2412,209,3140
$STATE,7129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7130,begin apogee
$GC,7141,-0.32,0.0,715.4,11.4,339,7280,0.88,0.00,130.48,1.180,6,0.106,0.000,2599,2198,2539
$STATE,7281,end apogee,CONTROL_FINISHED_OK
$STATE,7281,begin climb
$GC,7285,1.16,146.6,719.8,0.0,346,7421,1.55,2.67,123.40,1.158,4,0.081,0.076,2929,785,1941
$GC,7641,1.16,146.6,689.9,10.4,362,7647,0.00,2.53,0.00,0.000,6,0.000,0.066,2929,2200,1939
$GC,7957,1.16,146.6,658.3,11.2,378,7961,0.00,2.58,0.00,0.000,4,0.000,0.076,2929,786,1936
$GC,8047,1.16,146.6,646.8,12.5,382,8051,0.00,2.53,0.00,0.000,6,0.000,0.066,2929,2204,1935
$GC,8369,1.35,260.5,627.7,3.7,398,8473,0.17,2.85,93.15,1.144,4,0.065,0.111,2976,3607,1476
$GC,8576,1.35,260.5,610.5,11.7,407,8581,0.00,2.53,0.00,0.000,6,0.000,0.070,2976,2200,1474
$GC,8893,1.35,260.5,571.0,13.1,422,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2200,1472
$GC,9202,1.35,260.5,530.3,11.2,437,9206,0.00,2.58,0.00,0.000,4,0.000,0.081,2977,788,1471
$GC,9292,1.35,260.5,522.4,8.1,441,9297,0.00,2.50,0.00,0.000,6,0.000,0.064,2976,2206,1471
$GC,9614,1.46,330.1,506.4,5.4,457,9677,0.00,2.65,56.22,1.075,4,0.000,0.075,2976,786,1191
$GC,9717,1.46,330.1,495.9,12.0,461,9723,0.00,2.53,0.00,0.000,6,0.000,0.063,2976,2207,1190
$GC,10033,1.46,330.1,448.8,16.2,477,10038,0.00,2.55,0.00,0.000,4,0.000,0.074,2976,791,1187
$GC,10129,1.46,330.1,434.2,14.3,481,10133,0.00,2.47,0.00,0.000,6,0.000,0.063,2976,2200,1187
$GC,10447,1.46,330.1,396.5,11.5,496,10450,0.00,2.55,0.00,0.000,4,0.000,0.073,2976,787,1187
$GC,10525,1.46,330.1,386.0,12.9,499,10530,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2201,1187
$GC,10842,1.46,330.1,345.1,12.9,514,10846,0.00,2.53,0.00,0.000,4,0.000,0.073,2976,790,1187
$GC,10961,1.46,330.1,328.4,14.1,519,10965,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2206,1187
$GC,11282,1.46,330.1,289.9,11.5,535,11286,0.00,2.53,0.00,0.000,4,0.000,0.073,2976,790,1187
$GC,11390,1.46,330.1,277.7,11.1,540,11394,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2211,1187
$GC,11718,1.46,330.1,247.8,9.7,556,11722,0.00,2.55,0.00,0.000,4,0.000,0.073,2976,784,1187
$GC,11819,1.46,330.1,238.0,8.6,560,11825,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2204,1187
$GC,12136,1.46,330.1,209.6,9.5,576,12140,0.00,2.53,0.00,0.000,4,0.000,0.073,2976,788,1187
$GC,12272,1.46,330.1,192.9,12.8,582,12276,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2211,1188
$GC,12599,1.46,330.1,150.0,13.4,598,12603,0.00,2.55,0.00,0.000,4,0.000,0.074,2976,782,1187
$GC,12685,1.46,330.1,137.9,14.2,602,12689,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2206,1187
$GC,13012,1.46,330.1,95.9,12.1,618,13017,0.00,2.53,0.00,0.000,4,0.000,0.074,2976,789,1187
$GC,13103,1.46,330.1,84.1,12.6,622,13108,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2205,1187
$GC,13426,1.46,330.1,44.0,11.7,638,13430,0.00,2.50,0.00,0.000,4,0.000,0.071,2976,789,1187
$GC,13560,1.46,330.1,28.4,11.0,644,13565,0.00,2.45,0.00,0.000,6,0.000,0.061,2976,2200,1187
$STATE,13819,end climb,SURFACE_DEPTH_REACHED
$STATE,13819,begin surface coast
$FINISH,0.7,1.027119
$STATE,13839,end surface coast,CONTROL_FINISHED_OK
$STATE,13839,begin surface
$SM_CCo,13926,0.00,0.000,0,0,1187,331.65
$SM_GC,1.63,11.30,0.00,0.00,0.058,0.000,0.000,381,1594,1187,-10.50,-0.17,331.65
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1913
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,676.6,48.1
$24V_AH,23.5,45.525
$10V_AH,10.2,22.761
$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,25.275,146.800,403.250,0.000,0.000,78.547,61.386,183.921,6.000,0.000,0.000,12.487,1282.178,10227.985,499.315,1777.681,658.094,0.000,1411.725,0.000,1726.971,0.000,39.562,0.000
$DEVICE_MAMPS,175.643,111.215,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.133,447.350,395.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34926,658
$CAP_FILE_SIZE,113236,0
$CFSIZE,254472192,236544000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,161008,092008,6357.757,-1317.246,40,1.3,40,-12.6