version: 66.04
glider: 14
mission: 6
dive: 325
start: 10 13 108 13 34 28
data:
$ID,14
$MISSION,6
$DIVE,325
$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,-656489.56
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,132455,6351.973,-1246.010,39,1.6,39,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.6
$GPS2,133403,6351.848,-1245.975,12,1.5,12,-12.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$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,307.1,40273,-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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.28,0.000,2,0.000,0.000,377,1592,2746
$GC,83,-1.16,-146.6,3.9,-5.4,3,110,11.35,2.55,-9.27,0.000,4,0.176,0.086,2412,3009,3139
$GC,250,-1.16,-146.6,28.1,-11.8,10,257,0.00,2.45,0.00,0.000,6,0.000,0.064,2412,1598,3140
$GC,569,-1.16,-146.6,66.1,-11.7,26,573,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,211,3140
$GC,654,-1.16,-146.6,75.4,-10.8,30,659,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1616,3140
$GC,982,-1.16,-146.6,109.8,-11.0,46,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1620,3140
$GC,1292,-1.16,-146.6,142.5,-10.6,61,1297,0.00,2.55,0.00,0.000,4,0.000,0.077,2412,201,3141
$GC,1333,-1.16,-146.6,147.3,-11.0,63,1337,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1604,3142
$GC,1666,-1.16,-146.6,182.1,-10.3,79,1670,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,206,3142
$GC,1707,-1.16,-146.6,186.7,-11.2,81,1711,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3142
$GC,2035,-1.16,-146.6,223.7,-11.5,97,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3142
$GC,2345,-1.16,-146.6,261.3,-12.4,112,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3142
$GC,2653,-1.16,-146.6,298.9,-12.3,127,2658,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,209,3142
$GC,2704,-1.16,-146.6,305.6,-13.0,129,2708,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3142
$GC,3021,-1.16,-146.6,342.1,-11.2,144,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3142
$GC,3330,-1.16,-146.6,378.1,-11.2,159,3334,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,210,3142
$GC,3370,-1.16,-146.6,382.8,-12.2,161,3374,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1602,3142
$GC,3698,-1.16,-146.6,419.6,-11.2,177,3703,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,203,3142
$GC,3732,-1.16,-146.6,423.8,-11.1,178,3738,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1604,3142
$GC,4049,-1.16,-146.6,458.1,-10.7,194,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3142
$GC,4358,-1.16,-146.6,491.7,-10.7,209,4363,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,212,3142
$GC,4404,-1.16,-146.6,497.0,-11.7,211,4408,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1599,3142
$GC,4731,-1.16,-146.6,533.4,-10.8,227,4736,0.00,2.55,0.00,0.000,4,0.000,0.091,2412,2998,3142
$GC,4766,-1.16,-146.6,537.1,-10.3,228,4772,0.00,2.45,0.00,0.000,6,0.000,0.069,2412,1595,3142
$STATE,4955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4955,begin apogee
$GC,4964,-0.32,0.0,558.2,11.1,238,5102,0.93,0.00,128.40,1.026,6,0.113,0.000,2600,2197,2538
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5106,1.16,146.6,564.8,0.0,245,5235,1.52,2.75,120.90,1.012,4,0.077,0.104,2929,3596,1940
$GC,5297,1.22,179.1,557.1,6.8,254,5330,0.00,2.50,27.67,0.961,6,0.000,0.071,2929,2201,1807
$GC,5640,1.26,204.8,532.7,7.0,271,5669,0.00,2.75,22.27,0.951,4,0.000,0.098,2929,3593,1703
$GC,5710,1.26,204.8,527.4,8.1,274,5715,0.00,2.50,0.00,0.000,6,0.000,0.071,2929,2200,1703
$GC,6032,1.29,225.6,504.2,7.2,290,6058,0.12,2.65,18.50,0.936,4,0.067,0.081,2968,797,1619
$GC,6161,1.29,225.6,492.1,9.9,295,6168,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2200,1617
$GC,6478,1.29,225.6,460.9,10.4,311,6482,0.00,2.55,0.00,0.000,4,0.000,0.073,2967,789,1616
$GC,6567,1.29,225.6,450.4,11.3,315,6572,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2208,1616
$GC,6890,1.29,225.6,416.2,10.4,331,6894,0.00,2.55,0.00,0.000,4,0.000,0.072,2968,788,1616
$GC,6979,1.29,225.6,406.5,10.1,335,6984,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2208,1616
$GC,7302,1.29,225.6,374.5,10.3,351,7307,0.00,2.55,0.00,0.000,4,0.000,0.072,2968,788,1616
$GC,7411,1.29,225.6,362.8,10.8,356,7415,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2199,1616
$GC,7738,1.29,225.6,330.7,9.8,372,7742,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,790,1616
$GC,7834,1.29,225.6,320.5,10.9,376,7838,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2202,1616
$GC,8150,1.29,225.6,288.4,10.2,391,8155,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,791,1616
$GC,8236,1.29,225.6,279.1,10.9,395,8240,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2208,1615
$GC,8564,1.29,225.6,245.2,10.3,411,8568,0.00,2.55,0.00,0.000,4,0.000,0.072,2968,785,1615
$GC,8665,1.29,225.6,233.9,11.8,415,8671,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2208,1616
$GC,8982,1.29,225.6,201.1,10.5,431,8987,0.00,2.53,0.00,0.000,4,0.000,0.073,2968,786,1616
$GC,9078,1.29,225.6,189.8,12.3,435,9082,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2200,1616
$GC,9400,1.29,225.6,154.7,10.9,451,9404,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,790,1615
$GC,9496,1.29,225.6,143.9,11.2,455,9500,0.00,2.45,0.00,0.000,6,0.000,0.062,2968,2201,1616
$GC,9814,1.29,225.6,110.7,10.6,470,9818,0.00,2.53,0.00,0.000,4,0.000,0.073,2968,783,1616
$GC,9892,1.29,225.6,101.9,10.7,473,9899,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2208,1615
$GC,10211,1.29,225.6,69.7,10.1,489,10215,0.00,2.53,0.00,0.000,4,0.000,0.073,2968,789,1616
$GC,10329,1.29,225.6,56.7,11.5,494,10333,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2205,1615
$GC,10646,1.29,225.6,25.9,10.5,509,10650,0.00,2.53,0.00,0.000,4,0.000,0.074,2968,787,1615
$GC,10747,1.29,225.6,14.7,11.5,513,10753,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2209,1616
$STATE,10876,end climb,SURFACE_DEPTH_REACHED
$STATE,10876,begin surface coast
$FINISH,0.4,1.027197
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10923,38.65,0.642,0,0,1316,300.00
$SM_GC,1.50,0.00,0.00,38.65,0.000,0.000,0.642,378,1587,1316,-10.57,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,501.2,66.5
$24V_AH,23.6,43.158
$10V_AH,10.2,21.590
$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,25.025,117.100,317.750,38.650,0.000,75.530,66.028,215.366,4.250,0.000,0.000,13.482,1016.414,8074.484,460.818,1326.290,642.999,0.000,1150.059,0.000,1291.694,0.000,28.268,0.000
$DEVICE_MAMPS,175.643,104.312,1026.246,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.648,353.697,360.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25303,521
$CAP_FILE_SIZE,90558,0
$CFSIZE,254472192,237428736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,131008,163833,6350.618,-1248.688,38,1.3,39,-12.3