version: 66.04
glider: 14
mission: 6
dive: 348
start: 10 16 108 21 59 24
data:
$ID,14
$MISSION,6
$DIVE,348
$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,-656844.94
$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,26
$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
$GPS1,215301,6351.619,-1323.196,36,1.2,41,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.0
$GPS2,215903,6351.645,-1323.070,9,1.9,9,-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,176.8,24340,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.07,0.000,2,0.000,0.000,373,1590,3103
$GC,103,-1.16,-146.6,5.1,-5.6,4,125,11.45,2.60,-0.65,0.000,4,0.179,0.084,2413,3008,3141
$GC,182,-1.16,-146.6,22.3,-10.7,7,187,0.00,2.45,0.00,0.000,6,0.000,0.062,2413,1599,3142
$GC,499,-1.16,-146.6,55.0,-10.1,22,503,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,206,3142
$GC,566,-1.16,-146.6,62.9,-11.8,25,570,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1624,3142
$GC,888,-1.16,-146.6,94.7,-9.1,41,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1629,3142
$GC,1197,-1.16,-146.6,120.6,-8.2,56,1201,0.00,2.58,0.00,0.000,4,0.000,0.077,2413,202,3143
$GC,1369,-1.16,-146.6,132.8,-6.9,63,1375,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1614,3143
$GC,1686,-1.16,-146.6,153.8,-7.1,79,1690,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,201,3143
$GC,1733,-1.16,-146.6,157.4,-7.9,81,1737,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3143
$GC,2061,-1.16,-146.6,182.8,-9.0,97,2065,0.00,2.47,0.00,0.000,4,0.000,0.076,2413,2998,3143
$GC,2107,-1.16,-146.6,187.3,-9.7,99,2111,0.00,2.42,0.00,0.000,6,0.000,0.065,2413,1597,3144
$GC,2439,-1.16,-146.6,218.5,-9.2,115,2444,0.00,2.47,0.00,0.000,4,0.000,0.078,2413,211,3144
$GC,2530,-1.16,-146.6,227.7,-10.0,119,2534,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1598,3144
$GC,2852,-1.16,-146.6,257.9,-9.6,135,2856,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3144
$GC,2937,-1.16,-146.6,267.3,-11.2,139,2941,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1608,3145
$GC,3265,-1.16,-146.6,303.2,-11.0,155,3269,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,206,3144
$GC,3327,-1.16,-146.6,310.9,-12.5,158,3331,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1595,3144
$GC,3661,-1.16,-146.6,349.3,-11.3,174,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3144
$GC,3970,-1.16,-146.6,384.7,-11.3,189,3974,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,208,3145
$GC,4055,-1.16,-146.6,395.0,-11.7,193,4059,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1602,3144
$GC,4382,-1.16,-146.6,430.6,-10.5,209,4387,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,211,3144
$GC,4433,-1.16,-146.6,436.3,-11.0,211,4438,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3144
$GC,4750,-1.16,-146.6,464.4,-8.1,226,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1608,3144
$GC,5060,-1.16,-146.6,486.2,-6.2,241,5064,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,205,3144
$GC,5125,-1.16,-146.6,490.4,-6.7,244,5130,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3145
$GC,5454,-1.16,-146.6,506.9,-4.1,260,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3144
$GC,5763,-1.16,-146.6,519.2,-3.9,275,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3144
$GC,6072,-1.16,-146.6,533.8,-5.4,290,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3144
$GC,6381,-1.16,-146.6,555.4,-8.2,305,6386,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,208,3144
$GC,6427,-1.16,-146.6,560.1,-9.9,307,6430,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3144
$GC,6754,-1.16,-146.6,597.5,-12.5,323,6758,0.00,2.55,0.00,0.000,4,0.000,0.090,2413,2999,3144
$GC,6833,-1.16,-146.6,607.6,-12.5,326,6839,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1598,3144
$GC,7150,-1.16,-146.6,652.7,-14.8,342,7155,0.00,2.55,0.00,0.000,4,0.000,0.082,2413,3000,3144
$GC,7179,-1.16,-146.6,657.4,-16.7,343,7183,0.00,2.45,0.00,0.000,6,0.000,0.068,2413,1599,3143
$GC,7495,-1.16,-146.6,708.6,-16.4,358,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3144
$GC,7804,-1.16,-146.6,753.7,-13.7,373,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1598,3144
$GC,8113,-1.16,-146.6,789.9,-11.1,388,8118,0.00,2.53,0.00,0.000,4,0.000,0.084,2413,2994,3144
$GC,8165,-1.16,-146.6,795.5,-11.0,390,8169,0.00,2.45,0.00,0.000,6,0.000,0.071,2413,1601,3144
$GC,8481,-1.16,-146.6,829.4,-11.0,405,8486,0.00,2.55,0.00,0.000,4,0.000,0.087,2413,201,3144
$GC,8555,-1.16,-146.6,838.0,-11.7,408,8559,0.00,2.42,0.00,0.000,6,0.000,0.061,2413,1604,3144
$GC,8871,-1.16,-146.6,869.0,-9.7,423,8875,0.00,2.50,0.00,0.000,4,0.000,0.084,2413,2995,3143
$GC,8934,-1.16,-146.6,875.4,-10.3,425,8941,0.00,2.45,0.00,0.000,6,0.000,0.069,2413,1599,3143
$STATE,8958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8958,begin apogee
$GC,8967,-0.32,0.0,877.9,9.9,427,9109,0.95,0.00,133.00,1.283,6,0.127,0.000,2601,2204,2538
$STATE,9110,end apogee,CONTROL_FINISHED_OK
$STATE,9110,begin climb
$GC,9114,1.16,146.6,883.7,0.0,434,9247,1.52,2.75,124.12,1.271,4,0.084,0.102,2926,3605,1941
$GC,9467,1.18,155.1,861.9,7.7,450,9484,0.00,2.53,8.52,1.048,6,0.000,0.069,2926,2194,1906
$GC,9794,1.21,177.4,838.3,7.2,466,9816,0.00,0.00,20.05,1.196,6,0.000,0.000,2927,2194,1814
$GC,10123,1.29,227.0,815.6,6.1,482,10169,0.12,0.00,43.00,1.237,6,0.067,0.000,2964,2194,1613
$GC,10472,1.29,227.0,788.6,8.3,499,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2194,1610
$GC,10781,1.35,265.3,766.7,6.5,514,10824,0.00,2.80,32.45,1.205,4,0.000,0.096,2963,3615,1456
$GC,10837,1.45,325.1,763.6,5.7,516,10894,0.12,2.55,50.80,1.203,6,0.067,0.068,2999,2202,1213
$GC,11216,1.45,325.1,728.2,9.7,535,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2202,1209
$GC,11527,1.49,353.7,703.8,6.9,550,11556,0.00,2.67,24.38,1.150,4,0.000,0.082,2998,796,1097
$GC,11598,1.50,360.6,698.4,7.7,553,11614,0.00,2.50,7.80,0.977,6,0.000,0.062,2998,2207,1067
$GC,11925,1.51,364.3,675.9,7.9,569,11935,0.00,2.58,4.75,0.818,4,0.000,0.075,2999,792,1053
$GC,12003,1.51,364.3,669.2,9.4,572,12009,0.00,2.50,0.00,0.000,6,0.000,0.064,2997,2208,1052
$GC,12320,1.51,364.3,639.0,10.7,588,12324,0.00,2.55,0.00,0.000,4,0.000,0.074,2998,790,1051
$GC,12366,1.51,364.3,633.5,12.2,590,12370,0.00,2.47,0.00,0.000,6,0.000,0.063,3000,2201,1051
$GC,12700,1.51,364.3,593.1,11.9,606,12704,0.00,2.53,0.00,0.000,4,0.000,0.074,2998,790,1051
$GC,12784,1.51,364.3,582.9,11.1,609,12790,0.00,2.47,0.00,0.000,6,0.000,0.062,2999,2202,1050
$GC,13101,1.51,364.3,547.6,11.7,625,13105,0.00,2.53,0.00,0.000,4,0.000,0.074,2998,790,1051
$GC,13202,1.51,364.3,534.0,13.6,629,13207,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2199,1051
$GC,13519,1.51,364.3,494.2,12.4,644,13523,0.00,2.53,0.00,0.000,4,0.000,0.074,2999,789,1050
$GC,13627,1.51,364.3,480.1,12.5,649,13631,0.00,2.45,0.00,0.000,6,0.000,0.063,2999,2200,1051
$GC,13960,1.51,364.3,439.1,12.9,665,13964,0.00,2.53,0.00,0.000,4,0.000,0.074,2998,788,1051
$GC,14055,1.51,364.3,425.0,15.2,669,14059,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2201,1051
$GC,14372,1.51,364.3,382.0,13.7,684,14376,0.00,2.50,0.00,0.000,4,0.000,0.073,2999,791,1051
$GC,14456,1.51,364.3,369.4,15.7,687,14462,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2201,1051
$GC,14773,1.51,364.3,324.0,13.9,703,14777,0.00,2.50,0.00,0.000,4,0.000,0.072,2999,789,1051
$GC,14864,1.51,364.3,311.6,13.2,707,14868,0.00,2.45,0.00,0.000,6,0.000,0.062,2998,2200,1051
$GC,15197,1.51,364.3,267.3,13.3,723,15201,0.00,2.53,0.00,0.000,4,0.000,0.072,2998,789,1051
$GC,15298,1.51,364.3,253.2,14.6,727,15304,0.00,2.47,0.00,0.000,6,0.000,0.062,2998,2204,1051
$GC,15615,1.51,364.3,214.6,12.0,743,15619,0.00,2.53,0.00,0.000,4,0.000,0.073,2998,788,1051
$GC,15727,1.51,364.3,201.0,12.1,748,15731,0.00,2.47,0.00,0.000,6,0.000,0.062,2999,2203,1051
$GC,16049,1.51,364.3,160.6,13.1,764,16053,0.00,2.53,0.00,0.000,4,0.000,0.073,2999,784,1051
$GC,16150,1.51,364.3,146.4,13.8,768,16154,0.00,2.47,0.00,0.000,6,0.000,0.062,2999,2200,1051
$GC,16468,1.51,364.3,105.3,12.7,783,16472,0.00,2.53,0.00,0.000,4,0.000,0.074,2999,790,1051
$GC,16598,1.51,364.3,87.9,12.1,789,16603,0.00,2.47,0.00,0.000,6,0.000,0.062,2999,2208,1051
$GC,16928,1.51,364.3,47.1,12.1,805,16932,0.00,2.53,0.00,0.000,4,0.000,0.073,2998,789,1051
$GC,17052,1.51,364.3,31.6,10.8,810,17058,0.00,2.45,0.00,0.000,6,0.000,0.062,2998,2200,1050
$STATE,17282,end climb,SURFACE_DEPTH_REACHED
$STATE,17282,begin surface coast
$FINISH,0.5,1.018467
$STATE,17306,end surface coast,CONTROL_FINISHED_OK
$STATE,17306,begin surface
$SM_CCo,17392,0.00,0.000,0,0,1051,365.01
$SM_GC,1.43,11.23,0.00,0.00,0.054,0.000,0.000,374,1598,1051,-10.50,-0.06,365.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1894
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.4,85.6
$24V_AH,23.5,46.152
$10V_AH,10.2,23.059
$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,25.400,166.675,448.875,0.000,0.000,39.022,26.395,160.857,7.000,0.000,0.000,10.675,1559.548,12975.869,578.378,2024.617,614.731,0.000,1615.606,0.000,1972.648,0.000,47.744,0.000
$DEVICE_MAMPS,179.478,102.011,1283.191,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.478,560.866,463.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41096,823
$CAP_FILE_SIZE,131329,0
$CFSIZE,254472192,236302336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,171008,025037,6349.821,-1320.631,35,1.2,40,-12.6