version: 66.04
glider: 14
mission: 6
dive: 346
start: 10 16 108 13 6 42
data:
$ID,14
$MISSION,6
$DIVE,346
$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,-656817.12
$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,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
$GPS1,130038,6356.890,-1317.092,24,1.7,24,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.9
$GPS2,130621,6356.965,-1317.154,13,1.6,13,-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,189.6,33318,-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,-60.15,0.000,2,0.000,0.000,379,1589,2657
$GC,83,-1.16,-146.6,3.9,-5.1,3,114,11.38,2.53,-13.35,0.000,4,0.177,0.091,2413,209,3137
$GC,188,-1.16,-146.6,16.3,-12.2,7,194,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1614,3139
$GC,505,-1.16,-146.6,50.7,-10.8,23,509,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,212,3140
$GC,572,-1.16,-146.6,58.3,-11.1,26,576,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3139
$GC,894,-1.16,-146.6,94.3,-11.5,42,898,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,212,3140
$GC,990,-1.16,-146.6,106.0,-12.0,46,994,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3139
$GC,1306,-1.16,-146.6,141.3,-11.1,61,1311,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,212,3140
$GC,1416,-1.16,-146.6,154.3,-12.0,66,1420,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1608,3140
$GC,1749,-1.16,-146.6,191.6,-11.1,82,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3140
$GC,2058,-1.16,-146.6,225.0,-10.3,97,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3140
$GC,2368,-1.16,-146.6,255.1,-9.7,112,2372,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,207,3140
$GC,2418,-1.16,-146.6,260.5,-10.3,114,2422,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1596,3140
$GC,2734,-1.16,-146.6,290.9,-9.6,129,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3140
$GC,3044,-1.16,-146.6,323.4,-11.1,144,3049,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,213,3141
$GC,3091,-1.16,-146.6,328.9,-12.2,146,3095,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3140
$GC,3412,-1.16,-146.6,366.3,-11.8,162,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3140
$GC,3723,-1.16,-146.6,402.0,-11.1,177,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3141
$GC,4031,-1.16,-146.6,434.9,-9.9,192,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3140
$GC,4340,-1.16,-146.6,463.4,-9.5,207,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3141
$GC,4650,-1.16,-146.6,489.6,-11.0,222,4654,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,212,3141
$GC,4751,-1.16,-146.6,503.2,-15.8,226,4757,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3140
$GC,5069,-1.16,-146.6,527.1,-3.8,242,5073,0.00,2.55,0.00,0.000,4,0.000,0.089,2413,2997,3140
$GC,5132,-1.16,-146.6,529.2,-4.8,245,5136,0.00,2.42,0.00,0.000,6,0.000,0.067,2413,1604,3141
$GC,5459,-1.16,-146.6,537.4,4.4,261,5464,0.00,2.53,0.00,0.000,4,0.000,0.085,2413,210,3140
$GC,5606,-1.16,-146.6,546.2,-13.3,267,5612,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1606,3141
$GC,5923,-1.16,-146.6,556.1,-4.5,283,5927,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,2997,3140
$GC,6031,-1.16,-146.6,563.9,-6.1,288,6036,0.00,2.47,0.00,0.000,6,0.000,0.071,2413,1590,3140
$GC,6359,-1.16,-146.6,588.8,-6.9,304,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1590,3139
$GC,6668,-1.16,-146.6,627.6,-13.2,319,6673,0.00,2.58,0.00,0.000,4,0.000,0.084,2413,3000,3141
$GC,6697,-1.16,-146.6,631.0,-11.8,320,6702,0.00,2.47,0.00,0.000,6,0.000,0.070,2413,1595,3140
$GC,7014,-1.16,-146.6,664.4,-9.0,335,7017,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,209,3140
$GC,7115,-1.16,-146.6,673.2,-8.6,339,7119,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1604,3140
$GC,7432,-1.16,-146.6,696.0,-8.3,354,7436,0.00,2.55,0.00,0.000,4,0.000,0.083,2413,202,3141
$GC,7551,-1.16,-146.6,707.5,-9.7,359,7555,0.00,2.42,0.00,0.000,6,0.000,0.061,2413,1601,3141
$GC,7873,-1.16,-146.6,736.2,-9.1,375,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3140
$STATE,8116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8116,begin apogee
$GC,8126,-0.32,0.0,759.3,10.4,387,8265,0.93,0.00,130.93,1.210,6,0.110,0.000,2603,2196,2539
$STATE,8266,end apogee,CONTROL_FINISHED_OK
$STATE,8266,begin climb
$GC,8270,1.16,146.6,766.1,0.0,394,8402,1.50,2.85,123.40,1.195,4,0.080,0.117,2926,3597,1941
$GC,8441,1.29,224.5,757.3,5.0,402,8513,0.12,2.53,65.05,1.167,6,0.067,0.073,2962,2197,1623
$GC,8830,1.29,224.5,718.7,11.8,421,8834,0.00,2.58,0.00,0.000,4,0.000,0.080,2963,788,1621
$GC,8931,1.29,224.5,704.7,14.1,425,8937,0.00,2.50,0.00,0.000,6,0.000,0.064,2962,2199,1620
$GC,9248,1.29,224.5,657.1,14.9,441,9252,0.00,2.58,0.00,0.000,4,0.000,0.075,2962,784,1619
$GC,9350,1.29,224.5,643.1,12.4,445,9356,0.00,2.50,0.00,0.000,6,0.000,0.064,2962,2202,1619
$GC,9667,1.40,293.7,619.3,5.4,461,9730,0.00,2.62,56.67,1.135,4,0.000,0.075,2962,789,1341
$GC,9787,1.48,345.2,612.7,6.0,466,9840,0.15,2.53,43.25,1.101,6,0.067,0.063,3003,2212,1129
$GC,10154,1.48,345.2,580.2,10.5,484,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2212,1127
$GC,10460,1.48,345.2,542.8,13.5,499,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2213,1125
$GC,10768,1.48,345.2,500.2,13.7,514,10773,0.00,2.58,0.00,0.000,4,0.000,0.074,3003,791,1124
$GC,10836,1.48,345.2,490.3,14.4,517,10840,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2202,1125
$GC,11158,1.48,345.2,447.5,13.4,533,11162,0.00,2.53,0.00,0.000,4,0.000,0.073,3003,791,1124
$GC,11231,1.48,345.2,437.3,14.3,536,11235,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2204,1124
$GC,11552,1.48,345.2,392.3,15.0,552,11556,0.00,2.53,0.00,0.000,4,0.000,0.072,3003,789,1125
$GC,11638,1.48,345.2,379.2,16.2,556,11643,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2208,1124
$GC,11966,1.48,345.2,331.0,13.7,572,11970,0.00,2.53,0.00,0.000,4,0.000,0.071,3003,788,1125
$GC,12067,1.48,345.2,317.2,13.5,576,12073,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2207,1125
$GC,12384,1.48,345.2,280.3,10.9,592,12388,0.00,2.53,0.00,0.000,4,0.000,0.071,3003,788,1125
$GC,12469,1.48,345.2,270.5,11.5,596,12474,0.00,2.47,0.00,0.000,6,0.000,0.063,3003,2209,1124
$GC,12797,1.48,345.2,229.7,13.9,612,12801,0.00,2.53,0.00,0.000,4,0.000,0.072,3003,789,1125
$GC,12895,1.48,345.2,215.0,15.3,616,12899,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2206,1125
$GC,13216,1.48,345.2,174.3,10.8,632,13220,0.00,2.53,0.00,0.000,4,0.000,0.072,3003,788,1125
$GC,13317,1.48,345.2,162.6,12.4,636,13324,0.00,2.47,0.00,0.000,6,0.000,0.062,3003,2210,1125
$GC,13634,1.48,345.2,125.7,12.8,652,13638,0.00,2.53,0.00,0.000,4,0.000,0.072,3003,791,1125
$GC,13725,1.48,345.2,111.9,17.1,656,13729,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2200,1125
$GC,14048,1.48,345.2,63.5,15.0,672,14051,0.00,2.50,0.00,0.000,4,0.000,0.072,3003,794,1125
$GC,14127,1.48,345.2,51.9,13.9,675,14131,0.00,2.45,0.00,0.000,6,0.000,0.062,3003,2201,1125
$GC,14444,1.48,345.2,13.6,12.0,690,14448,0.00,2.50,0.00,0.000,4,0.000,0.071,3003,791,1125
$GC,14507,1.48,345.2,5.5,13.4,693,14511,0.00,2.45,0.00,0.000,6,0.000,0.062,3003,2201,1125
$STATE,14542,end climb,SURFACE_DEPTH_REACHED
$STATE,14542,begin surface coast
$FINISH,0.7,1.026770
$STATE,14564,end surface coast,CONTROL_FINISHED_OK
$STATE,14565,begin surface
$SM_CCo,14651,0.00,0.000,0,0,1124,347.10
$SM_GC,1.47,11.27,0.00,0.00,0.054,0.000,0.000,373,1592,1124,-10.52,-0.23,347.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,43.5
$24V_AH,23.5,45.816
$10V_AH,10.2,22.896
$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,25.350,136.800,419.300,0.000,0.000,37.764,43.137,125.150,6.750,0.000,0.000,15.525,1319.251,10893.320,516.529,1722.600,544.039,0.000,1399.673,0.000,1669.532,0.000,48.608,0.000
$DEVICE_MAMPS,177.177,116.584,1210.326,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.826,473.503,401.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34850,696
$CAP_FILE_SIZE,110489,0
$CFSIZE,254472192,236445696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,161008,171208,6353.213,-1323.174,35,1.3,35,-12.6