version: 66.04
glider: 14
mission: 6
dive: 349
start: 10 17 108 3 1 22
data:
$ID,14
$MISSION,6
$DIVE,349
$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,-656875.62
$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,21
$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
$GPS1,025037,6349.821,-1320.631,35,1.2,40,-12.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.1
$GPS2,030102,6349.826,-1320.640,11,1.5,28,-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,179.6,20578,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.25,0.000,2,0.000,0.000,375,1592,2967
$GC,103,-1.16,-146.6,5.0,-5.5,4,126,11.45,2.53,-3.50,0.000,4,0.179,0.086,2412,3006,3141
$GC,183,-1.16,-146.6,22.2,-14.4,7,187,0.00,2.45,0.00,0.000,6,0.000,0.064,2412,1600,3142
$GC,500,-1.16,-146.6,59.3,-11.8,22,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3142
$GC,810,-1.16,-146.6,94.8,-11.0,37,815,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,212,3143
$GC,867,-1.16,-146.6,101.7,-12.2,39,873,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1623,3142
$GC,1184,-1.16,-146.6,136.8,-10.6,55,1189,0.00,2.55,0.00,0.000,4,0.000,0.077,2410,204,3142
$GC,1308,-1.16,-146.6,152.1,-12.6,60,1315,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3142
$GC,1625,-1.16,-146.6,187.4,-10.5,76,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3143
$GC,1934,-1.16,-146.6,218.0,-10.1,91,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1605,3142
$GC,2243,-1.16,-146.6,248.3,-10.0,106,2248,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,211,3142
$GC,2323,-1.16,-146.6,257.4,-11.4,109,2329,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1595,3143
$GC,2639,-1.16,-146.6,288.9,-9.2,125,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1598,3143
$GC,2949,-1.16,-146.6,316.7,-8.5,140,2953,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,212,3142
$GC,3000,-1.16,-146.6,321.4,-9.6,142,3004,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3142
$GC,3322,-1.16,-146.6,346.7,-7.4,158,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3142
$GC,3631,-1.16,-146.6,369.3,-7.2,173,3635,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,207,3142
$GC,3683,-1.16,-146.6,373.2,-7.9,175,3687,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3142
$GC,4005,-1.16,-146.6,396.4,-7.3,191,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3142
$GC,4315,-1.16,-146.6,418.9,-7.5,206,4320,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,208,3143
$GC,4361,-1.16,-146.6,422.5,-8.0,208,4365,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3143
$GC,4683,-1.16,-146.6,447.1,-7.9,224,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3142
$GC,4992,-1.16,-146.6,473.5,-9.3,239,4997,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,209,3143
$GC,5037,-1.16,-146.6,478.1,-10.2,241,5042,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1598,3142
$GC,5359,-1.16,-146.6,512.3,-11.1,257,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3143
$GC,5670,-1.16,-146.6,550.8,-12.5,272,5674,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,205,3142
$GC,5704,-1.16,-146.6,555.5,-12.9,273,5708,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1603,3142
$GC,6020,-1.16,-146.6,596.5,-13.0,288,6024,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,212,3142
$GC,6065,-1.16,-146.6,602.8,-14.0,290,6069,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1606,3143
$GC,6387,-1.16,-146.6,646.8,-14.3,306,6391,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,206,3142
$GC,6487,-1.16,-146.6,662.5,-15.1,310,6494,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1599,3142
$GC,6805,-1.16,-146.6,706.2,-13.7,326,6809,0.00,2.58,0.00,0.000,4,0.000,0.092,2412,3003,3142
$GC,6849,-1.16,-146.6,712.4,-13.5,328,6854,0.00,2.45,0.00,0.000,6,0.000,0.069,2412,1604,3142
$GC,7172,-1.16,-146.6,758.6,-15.1,344,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3142
$GC,7481,-1.16,-146.6,802.3,-13.5,359,7485,0.00,2.53,0.00,0.000,4,0.000,0.087,2411,207,3142
$GC,7577,-1.16,-146.6,816.2,-14.4,363,7581,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1603,3142
$GC,7905,-1.16,-146.6,856.9,-11.1,379,7910,0.00,2.55,0.00,0.000,4,0.000,0.084,2412,207,3142
$GC,7969,-1.16,-146.6,863.2,-9.4,382,7973,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1606,3142
$GC,8296,-1.16,-146.6,894.5,-10.2,398,8300,0.00,2.55,0.00,0.000,4,0.000,0.084,2412,201,3142
$STATE,8346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8346,begin apogee
$GC,8358,-0.32,0.0,900.1,10.6,400,8500,0.90,0.00,133.00,1.293,6,0.118,0.000,2598,2198,2539
$STATE,8501,end apogee,CONTROL_FINISHED_OK
$STATE,8501,begin climb
$GC,8504,1.16,146.6,907.4,0.0,407,8638,1.52,2.80,124.95,1.277,4,0.080,0.108,2926,3607,1941
$GC,8676,1.16,146.6,899.8,8.6,415,8680,0.00,2.53,0.00,0.000,6,0.000,0.068,2926,2195,1940
$GC,8998,1.23,187.9,877.1,6.4,431,9040,0.00,2.60,35.15,1.235,4,0.000,0.079,2926,796,1772
$GC,9087,1.25,202.3,871.3,7.5,435,9109,0.00,2.50,13.98,1.141,6,0.000,0.063,2926,2208,1713
$GC,9419,1.26,204.8,847.0,7.9,451,9424,0.10,2.58,0.00,0.000,4,0.071,0.074,2958,788,1712
$GC,9510,1.26,205.4,839.5,8.0,455,9520,0.00,2.50,3.75,0.739,6,0.000,0.064,2958,2200,1700
$GC,9838,1.28,221.1,814.6,7.4,471,9860,0.00,2.62,15.23,1.171,4,0.000,0.076,2958,792,1635
$GC,9929,1.28,221.1,806.9,8.8,475,9933,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2200,1635
$GC,10257,1.28,221.1,775.1,9.1,491,10261,0.00,2.55,0.00,0.000,4,0.000,0.075,2958,789,1634
$GC,10336,1.28,221.1,766.5,11.2,494,10340,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2203,1633
$GC,10652,1.28,221.1,725.1,14.3,509,10656,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,788,1632
$GC,10709,1.28,221.1,716.3,16.0,511,10715,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2201,1632
$GC,11025,1.28,221.1,672.5,12.4,527,11029,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,794,1631
$GC,11122,1.28,221.1,659.4,14.1,531,11127,0.00,2.50,0.00,0.000,6,0.000,0.064,2958,2208,1630
$GC,11444,1.28,221.1,612.7,14.8,547,11449,0.00,2.55,0.00,0.000,4,0.000,0.074,2958,789,1630
$GC,11546,1.28,221.1,596.6,16.3,551,11552,0.00,2.47,0.00,0.000,6,0.000,0.063,2958,2201,1630
$GC,11863,1.28,221.1,550.1,14.8,567,11867,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,794,1630
$GC,11907,1.28,221.1,542.9,15.7,569,11911,0.00,2.45,0.00,0.000,6,0.000,0.062,2958,2200,1630
$GC,12229,1.28,221.1,494.7,14.3,585,12232,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,790,1630
$GC,12291,1.28,221.1,485.6,14.8,587,12297,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2208,1630
$GC,12609,1.28,221.1,443.8,13.0,603,12613,0.00,2.53,0.00,0.000,4,0.000,0.073,2958,792,1630
$GC,12694,1.28,221.1,432.2,13.5,607,12698,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2205,1631
$GC,13022,1.28,221.1,388.1,14.1,623,13026,0.00,2.50,0.00,0.000,4,0.000,0.072,2958,795,1630
$GC,13119,1.28,221.1,374.3,15.4,627,13123,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,2208,1630
$GC,13441,1.28,221.1,334.1,11.7,643,13445,0.00,2.53,0.00,0.000,4,0.000,0.072,2958,786,1630
$GC,13536,1.28,221.1,322.9,10.5,647,13541,0.00,2.45,0.00,0.000,6,0.000,0.061,2958,2198,1630
$GC,13854,1.28,221.1,292.6,8.8,662,13858,0.00,2.50,0.00,0.000,4,0.000,0.071,2958,791,1630
$GC,13941,1.28,221.1,284.9,8.5,666,13945,0.00,2.45,0.00,0.000,6,0.000,0.062,2958,2200,1630
$GC,14268,1.34,256.4,261.1,6.7,682,14303,0.00,2.60,28.95,0.836,4,0.000,0.072,2958,795,1492
$GC,14395,1.36,269.6,252.2,7.5,687,14412,0.00,2.47,11.80,0.765,6,0.000,0.062,2958,2208,1439
$GC,14729,1.47,339.9,232.6,5.3,704,14792,0.17,2.60,56.20,0.810,4,0.062,0.071,3014,794,1152
$GC,14911,1.47,339.9,217.3,8.7,712,14915,0.00,2.50,0.00,0.000,6,0.000,0.062,3014,2209,1151
$GC,15232,1.47,339.9,190.3,8.8,728,15236,0.00,2.55,0.00,0.000,4,0.000,0.072,3014,786,1151
$GC,15322,1.47,339.9,181.7,9.9,732,15326,0.00,2.47,0.00,0.000,6,0.000,0.062,3014,2201,1151
$GC,15644,1.47,339.9,151.3,9.9,748,15648,0.00,2.53,0.00,0.000,4,0.000,0.072,3014,789,1151
$GC,15711,1.47,339.9,143.9,11.4,751,15716,0.00,2.47,0.00,0.000,6,0.000,0.061,3014,2208,1151
$GC,16033,1.47,339.9,110.2,10.9,767,16037,0.00,2.53,0.00,0.000,4,0.000,0.073,3014,790,1151
$GC,16096,1.47,339.9,102.8,11.3,769,16102,0.00,2.45,0.00,0.000,6,0.000,0.062,3014,2201,1151
$GC,16414,1.47,339.9,66.1,12.6,785,16418,0.00,2.53,0.00,0.000,4,0.000,0.074,3014,788,1151
$GC,16504,1.47,339.9,53.9,13.6,789,16508,0.00,2.45,0.00,0.000,6,0.000,0.061,3014,2198,1151
$GC,16826,1.47,339.9,12.9,13.8,805,16830,0.00,2.50,0.00,0.000,4,0.000,0.074,3014,793,1151
$STATE,16895,end climb,SURFACE_DEPTH_REACHED
$STATE,16895,begin surface coast
$FINISH,0.9,1.027152
$STATE,16902,end surface coast,CONTROL_FINISHED_OK
$STATE,16902,begin surface
$SM_CCo,16989,0.00,0.000,0,0,1151,340.72
$SM_GC,1.18,11.38,0.00,0.00,0.054,0.000,0.000,373,1621,1151,-10.50,0.59,340.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,1887
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,900.1,9.2
$24V_AH,23.5,46.314
$10V_AH,10.2,23.142
$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,25.525,179.725,423.000,0.000,0.000,76.876,56.760,260.122,8.250,0.000,0.000,30.056,1542.449,12720.647,553.293,1997.313,796.379,0.000,1580.962,0.000,1925.892,0.000,54.011,0.000
$DEVICE_MAMPS,179.478,108.147,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.326,550.969,440.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41197,808
$CAP_FILE_SIZE,136035,0
$CFSIZE,254472192,236228608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,171008,074557,6346.956,-1321.459,26,2.6,45,-12.5