version: 66.04
glider: 14
mission: 6
dive: 343
start: 10 16 108 2 9 27
data:
$ID,14
$MISSION,6
$DIVE,343
$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,-656770.31
$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,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
$GPS1,020038,6401.346,-1311.922,37,1.2,38,-12.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.5
$GPS2,020904,6401.260,-1311.807,11,2.9,30,-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,196.2,41308,-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,-80.60,0.000,2,0.000,0.000,373,1595,2666
$GC,103,-1.16,-146.6,3.6,-3.3,4,133,11.40,2.58,-12.23,0.000,4,0.176,0.085,2414,3004,3138
$GC,403,-1.16,-146.6,47.0,-14.8,17,408,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1595,3139
$GC,720,-1.16,-146.6,95.2,-16.6,32,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1595,3139
$GC,1031,-1.16,-146.6,151.0,-13.9,47,1035,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,206,3140
$GC,1093,-1.16,-146.6,159.2,-11.8,50,1098,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1619,3140
$GC,1428,-1.16,-146.6,197.2,-11.1,66,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1621,3140
$GC,1736,-1.16,-146.6,232.4,-11.8,81,1741,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,205,3140
$GC,1810,-1.16,-146.6,241.7,-12.4,84,1814,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1598,3140
$GC,2132,-1.16,-146.6,281.2,-11.9,100,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3140
$GC,2441,-1.16,-146.6,314.6,-10.3,115,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3140
$GC,2750,-1.16,-146.6,344.3,-9.4,130,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3140
$GC,3060,-1.16,-146.6,374.5,-9.9,145,3065,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,212,3140
$GC,3144,-1.16,-146.6,383.2,-10.1,148,3150,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3139
$GC,3460,-1.16,-146.6,413.7,-9.4,164,3465,0.00,2.53,0.00,0.000,4,0.000,0.086,2414,2997,3140
$GC,3512,-1.16,-146.6,417.7,-6.3,166,3517,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1602,3140
$GC,3829,-1.16,-146.6,448.3,-10.3,181,3833,0.00,2.53,0.00,0.000,4,0.000,0.084,2414,201,3140
$GC,3892,-1.16,-146.6,455.8,-11.5,184,3896,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3140
$GC,4226,-1.16,-146.6,486.0,-9.2,200,4230,0.00,2.53,0.00,0.000,4,0.000,0.085,2414,2996,3140
$GC,4316,-1.16,-146.6,495.2,-9.5,204,4321,0.00,2.45,0.00,0.000,6,0.000,0.067,2414,1591,3140
$GC,4639,-1.16,-146.6,530.4,-11.2,220,4643,0.00,2.55,0.00,0.000,4,0.000,0.082,2414,2997,3140
$GC,4747,-1.16,-146.6,544.8,-13.9,225,4751,0.00,2.45,0.00,0.000,6,0.000,0.068,2414,1596,3140
$GC,5082,-1.16,-146.6,571.5,-4.2,241,5085,0.00,2.55,0.00,0.000,4,0.000,0.083,2414,2999,3141
$GC,5134,-1.16,-146.6,571.6,-2.1,243,5138,0.00,2.45,0.00,0.000,6,0.000,0.069,2414,1602,3141
$STATE,5307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5307,begin apogee
$GC,5317,-0.32,0.0,605.0,23.8,252,5455,0.90,0.00,129.77,1.072,6,0.099,0.000,2603,2195,2539
$STATE,5456,end apogee,CONTROL_FINISHED_OK
$STATE,5456,begin climb
$GC,5460,1.16,146.6,622.1,0.0,259,5592,1.45,2.80,121.75,1.062,4,0.065,0.104,2930,3599,1940
$GC,5609,1.29,222.9,612.7,5.1,266,5680,0.12,2.55,63.17,1.039,6,0.067,0.072,2969,2191,1629
$GC,6002,1.29,222.9,578.5,11.4,285,6006,0.00,2.58,0.00,0.000,4,0.000,0.084,2969,791,1627
$GC,6091,1.29,222.9,567.1,13.7,289,6096,0.00,2.47,0.00,0.000,6,0.000,0.064,2969,2193,1627
$GC,6413,1.29,222.9,516.9,16.0,305,6418,0.00,2.70,0.00,0.000,4,0.000,0.102,2969,3605,1624
$GC,6504,1.29,222.9,497.7,19.8,309,6508,0.00,2.50,0.00,0.000,6,0.000,0.068,2969,2200,1621
$GC,6825,1.29,222.9,454.0,12.6,325,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2200,1619
$GC,7135,1.29,222.9,418.1,10.0,340,7139,0.00,2.55,0.00,0.000,4,0.000,0.081,2969,792,1616
$GC,7169,1.29,222.9,414.3,10.7,341,7175,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1616
$GC,7487,1.29,222.9,383.7,8.9,357,7491,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,790,1616
$GC,7549,1.29,222.9,378.4,8.3,360,7553,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1616
$GC,7878,1.29,222.9,351.9,8.4,376,7882,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,789,1616
$GC,7950,1.29,222.9,345.0,9.3,379,7954,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2201,1616
$GC,8272,1.29,222.9,314.7,9.5,395,8277,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,781,1616
$GC,8330,1.29,222.9,308.6,11.1,397,8336,0.00,2.47,0.00,0.000,6,0.000,0.061,2969,2209,1616
$GC,8646,1.29,222.9,278.1,10.5,413,8650,0.00,2.53,0.00,0.000,4,0.000,0.071,2969,786,1616
$GC,8764,1.29,222.9,264.0,13.0,418,8768,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2203,1616
$GC,9086,1.29,222.9,222.0,13.0,434,9090,0.00,2.53,0.00,0.000,4,0.000,0.072,2969,785,1616
$GC,9193,1.29,222.9,208.4,12.5,439,9197,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2201,1616
$GC,9526,1.29,222.9,176.1,8.3,455,9530,0.00,2.50,0.00,0.000,4,0.000,0.072,2969,791,1616
$GC,9645,1.29,222.9,163.8,10.6,460,9649,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2205,1616
$GC,9962,1.29,222.9,126.0,13.1,475,9966,0.00,2.53,0.00,0.000,4,0.000,0.072,2969,784,1616
$GC,9985,1.29,222.9,122.9,12.6,476,9989,0.00,2.47,0.00,0.000,6,0.000,0.061,2969,2201,1616
$GC,10307,1.29,222.9,86.0,10.5,492,10311,0.00,2.50,0.00,0.000,4,0.000,0.072,2969,789,1616
$GC,10396,1.29,222.9,76.9,9.4,496,10401,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2198,1616
$GC,10719,1.29,222.9,48.0,9.0,512,10723,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,788,1616
$GC,10808,1.29,222.9,38.5,10.9,516,10812,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1616
$GC,11137,1.29,222.9,4.5,10.7,532,11141,0.00,2.50,0.00,0.000,4,0.000,0.070,2969,786,1616
$STATE,11161,end climb,SURFACE_DEPTH_REACHED
$STATE,11161,begin surface coast
$FINISH,0.9,1.027084
$STATE,11168,end surface coast,CONTROL_FINISHED_OK
$STATE,11168,begin surface
$SM_CCo,11195,40.92,0.628,1,0,1315,300.00
$SM_GC,1.61,0.00,0.00,40.92,0.000,0.000,0.628,375,1621,1315,-10.58,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.6,85.6
$24V_AH,23.6,45.375
$10V_AH,10.2,22.690
$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,25.100,114.875,314.700,40.925,0.000,76.944,65.995,160.679,4.500,0.000,0.000,32.764,1040.244,8270.031,482.041,1379.260,591.580,0.000,1184.215,0.000,1325.837,0.000,29.950,0.000
$DEVICE_MAMPS,175.643,104.312,1072.266,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.011,362.673,340.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28581,533
$CAP_FILE_SIZE,89751,0
$CFSIZE,254472192,236621824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,2,0
$GPS,161008,051745,6358.704,-1315.569,13,1.7,13,-12.6