version: 66.04
glider: 14
mission: 6
dive: 347
start: 10 16 108 17 24 25
data:
$ID,14
$MISSION,6
$DIVE,347
$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,-656833.62
$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,20
$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
$GPS1,171208,6353.213,-1323.174,35,1.3,35,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.2
$GPS2,172404,6353.124,-1323.071,13,1.5,14,-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,178.4,26985,-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,-57.15,0.000,2,0.000,0.000,373,1589,2474
$GC,83,-1.16,-146.6,3.3,-3.1,3,126,11.43,2.58,-21.90,0.000,4,0.178,0.085,2411,3005,3138
$GC,256,-1.16,-146.6,21.0,-11.2,10,262,0.00,2.45,0.00,0.000,6,0.000,0.064,2411,1597,3139
$GC,573,-1.16,-146.6,61.1,-13.6,26,577,0.00,2.50,0.00,0.000,4,0.000,0.079,2410,208,3139
$GC,733,-1.16,-146.6,83.9,-13.6,33,737,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1617,3139
$GC,1062,-1.16,-146.6,120.3,-10.5,49,1066,0.00,2.45,0.00,0.000,4,0.000,0.075,2411,2993,3139
$GC,1103,-1.16,-146.6,124.5,-9.8,51,1107,0.00,2.42,0.00,0.000,6,0.000,0.064,2411,1595,3139
$GC,1430,-1.16,-146.6,153.1,-8.1,67,1435,0.00,2.47,0.00,0.000,4,0.000,0.078,2411,210,3139
$GC,1475,-1.16,-146.6,157.7,-10.4,69,1480,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1609,3139
$GC,1798,-1.16,-146.6,180.0,-6.1,85,1803,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,210,3140
$GC,1855,-1.16,-146.6,184.4,-7.9,87,1861,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1609,3139
$GC,2172,-1.16,-146.6,212.1,-8.8,103,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3140
$GC,2481,-1.16,-146.6,238.8,-8.6,118,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3139
$GC,2791,-1.16,-146.6,261.9,-7.6,133,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3139
$GC,3100,-1.16,-146.6,290.8,-9.9,148,3104,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,201,3140
$GC,3186,-1.16,-146.6,300.0,-10.9,152,3190,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1596,3139
$GC,3513,-1.16,-146.6,337.0,-11.7,168,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1599,3139
$GC,3823,-1.16,-146.6,372.3,-11.6,183,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1599,3140
$GC,4131,-1.16,-146.6,407.3,-10.9,198,4135,0.00,2.53,0.00,0.000,4,0.000,0.080,2410,203,3139
$GC,4182,-1.16,-146.6,413.3,-11.7,200,4187,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1605,3140
$GC,4505,-1.16,-146.6,446.6,-10.2,216,4509,0.00,2.53,0.00,0.000,4,0.000,0.079,2410,207,3140
$GC,4562,-1.16,-146.6,453.0,-11.4,218,4566,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1605,3139
$GC,4878,-1.16,-146.6,485.4,-10.2,233,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1610,3139
$GC,5188,-1.16,-146.6,517.5,-10.7,248,5192,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,209,3140
$GC,5258,-1.16,-146.6,525.5,-11.8,251,5262,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1608,3140
$GC,5580,-1.16,-146.6,558.6,-9.5,267,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1609,3139
$GC,5889,-1.16,-146.6,591.0,-12.1,282,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1608,3140
$GC,6198,-1.16,-146.6,624.9,-10.9,297,6203,0.00,2.55,0.00,0.000,4,0.000,0.091,2411,3001,3140
$GC,6272,-1.16,-146.6,633.7,-12.6,300,6276,0.00,2.45,0.00,0.000,6,0.000,0.068,2411,1601,3139
$GC,6594,-1.16,-146.6,676.7,-13.3,316,6599,0.00,2.53,0.00,0.000,4,0.000,0.087,2411,209,3140
$GC,6713,-1.16,-146.6,692.0,-12.6,321,6717,0.00,2.38,0.00,0.000,6,0.000,0.060,2411,1601,3140
$GC,7035,-1.16,-146.6,730.4,-11.1,337,7039,0.00,2.55,0.00,0.000,4,0.000,0.092,2411,2995,3139
$GC,7127,-1.16,-146.6,739.3,-10.7,341,7131,0.00,2.45,0.00,0.000,6,0.000,0.071,2411,1600,3140
$GC,7460,-1.16,-146.6,779.1,-11.4,357,7464,0.00,2.53,0.00,0.000,4,0.000,0.086,2410,203,3140
$GC,7578,-1.16,-146.6,793.0,-11.0,362,7583,0.00,2.40,0.00,0.000,6,0.000,0.061,2411,1600,3140
$GC,7903,-1.16,-146.6,826.0,-10.2,378,7907,0.00,2.55,0.00,0.000,4,0.000,0.087,2411,3002,3140
$GC,7944,-1.16,-146.6,830.3,-9.6,380,7949,0.00,2.47,0.00,0.000,6,0.000,0.069,2411,1594,3140
$GC,8272,-1.16,-146.6,860.9,-10.1,396,8277,0.00,2.53,0.00,0.000,4,0.000,0.086,2411,201,3140
$STATE,8281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8281,begin apogee
$GC,8293,-0.32,0.0,862.4,10.0,396,8433,0.90,0.00,131.68,1.266,6,0.117,0.000,2597,2199,2538
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8438,1.16,146.6,867.6,0.0,403,8571,1.52,2.80,124.28,1.255,4,0.081,0.108,2926,3606,1941
$GC,8651,1.19,164.2,855.0,7.3,413,8674,0.00,2.53,16.15,1.142,6,0.000,0.070,2926,2196,1869
$GC,8985,1.19,164.2,829.3,8.3,429,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2195,1867
$GC,9292,1.19,164.2,802.5,9.5,444,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2196,1866
$GC,9602,1.19,164.2,772.9,9.9,459,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2196,1865
$GC,9911,1.19,164.2,738.3,12.5,474,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2196,1864
$GC,10220,1.19,164.2,695.5,14.7,489,10224,0.00,2.65,0.00,0.000,4,0.000,0.095,2926,3609,1862
$GC,10293,1.19,164.2,684.2,15.3,492,10297,0.00,2.50,0.00,0.000,6,0.000,0.068,2926,2201,1860
$GC,10610,1.19,164.2,635.8,15.7,507,10614,0.00,2.55,0.00,0.000,4,0.000,0.081,2926,792,1860
$GC,10678,1.19,164.2,624.7,15.2,510,10683,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2208,1859
$GC,11007,1.19,164.2,579.3,12.2,526,11012,0.00,2.55,0.00,0.000,4,0.000,0.075,2926,791,1858
$GC,11120,1.19,164.2,566.5,11.4,531,11124,0.00,2.47,0.00,0.000,6,0.000,0.063,2926,2205,1858
$GC,11441,1.30,229.6,542.9,5.5,547,11504,0.15,2.67,52.42,1.078,4,0.066,0.074,2968,788,1602
$GC,11589,1.34,259.5,533.1,6.9,553,11620,0.00,2.50,25.75,1.023,6,0.000,0.062,2968,2208,1480
$GC,11946,1.49,349.2,515.2,4.6,571,12030,0.15,2.65,73.12,1.031,4,0.064,0.074,3011,794,1114
$GC,12125,1.49,349.2,501.6,8.6,579,12129,0.00,2.50,0.00,0.000,6,0.000,0.061,3011,2205,1113
$GC,12447,1.49,349.2,473.2,9.9,595,12451,0.00,2.55,0.00,0.000,4,0.000,0.073,3011,789,1113
$GC,12537,1.49,349.2,462.5,12.9,599,12541,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2202,1113
$GC,12858,1.49,349.2,419.6,13.9,615,12862,0.00,2.53,0.00,0.000,4,0.000,0.073,3011,792,1113
$GC,12954,1.49,349.2,404.3,15.6,619,12958,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2206,1113
$GC,13270,1.49,349.2,352.2,16.0,634,13274,0.00,2.53,0.00,0.000,4,0.000,0.072,3011,792,1113
$GC,13349,1.49,349.2,337.8,18.2,637,13353,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2207,1113
$GC,13666,1.49,349.2,284.6,16.7,652,13670,0.00,2.53,0.00,0.000,4,0.000,0.071,3011,786,1113
$GC,13734,1.49,349.2,272.8,17.2,655,13739,0.00,2.47,0.00,0.000,6,0.000,0.062,3012,2205,1113
$GC,14063,1.49,349.2,223.6,13.9,671,14067,0.00,2.53,0.00,0.000,4,0.000,0.073,3011,791,1113
$GC,14181,1.49,349.2,206.4,14.3,676,14185,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2212,1113
$GC,14498,1.49,349.2,164.0,12.4,691,14502,0.00,2.55,0.00,0.000,4,0.000,0.073,3011,784,1113
$GC,14607,1.49,349.2,151.0,11.6,696,14611,0.00,2.47,0.00,0.000,6,0.000,0.062,3011,2206,1113
$GC,14934,1.49,349.2,115.3,10.7,712,14938,0.00,2.53,0.00,0.000,4,0.000,0.072,3011,788,1113
$GC,15021,1.49,349.2,105.7,11.3,716,15025,0.00,2.47,0.00,0.000,6,0.000,0.063,3012,2204,1113
$GC,15350,1.49,349.2,72.3,10.4,732,15355,0.00,2.53,0.00,0.000,4,0.000,0.074,3011,789,1113
$GC,15440,1.49,349.2,62.3,9.9,736,15445,0.00,2.47,0.00,0.000,6,0.000,0.061,3011,2205,1113
$GC,15763,1.49,349.2,22.9,13.7,752,15768,0.00,2.53,0.00,0.000,4,0.000,0.073,3011,788,1113
$GC,15853,1.49,349.2,11.3,11.2,756,15858,0.00,2.47,0.00,0.000,6,0.000,0.061,3012,2206,1113
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,0.8,1.026515
$STATE,15948,end surface coast,CONTROL_FINISHED_OK
$STATE,15948,begin surface
$SM_CCo,16035,0.00,0.000,0,0,1112,349.80
$SM_GC,1.32,11.32,0.00,0.00,0.054,0.000,0.000,373,1592,1112,-10.51,-0.20,349.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1885
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,826.0,46.0
$24V_AH,23.5,45.981
$10V_AH,10.2,22.976
$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,25.475,152.075,423.400,0.000,0.000,115.906,140.837,192.883,7.750,0.000,0.000,15.856,1447.917,12052.786,522.128,1901.401,827.039,0.000,1494.360,0.000,1843.936,0.000,49.266,0.000
$DEVICE_MAMPS,177.944,108.147,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.045,518.970,439.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,761
$CAP_FILE_SIZE,123370,0
$CFSIZE,254472192,236371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,161008,215301,6351.619,-1323.196,36,1.2,41,-12.6