version: 66.04
glider: 14
mission: 6
dive: 326
start: 10 13 108 16 44 25
data:
$ID,14
$MISSION,6
$DIVE,326
$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,-656507.19
$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,25
$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
$GPS1,163833,6350.618,-1248.688,38,1.3,39,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.9
$GPS2,164403,6350.563,-1248.582,15,1.2,15,-12.3
$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,311.6,39473,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.75,0.000,2,0.000,0.000,378,1585,2767
$GC,83,-1.16,-146.6,3.9,-5.8,3,108,11.40,2.55,-8.73,0.000,4,0.178,0.087,2412,3008,3139
$GC,211,-1.16,-146.6,22.4,-11.7,8,217,0.00,2.45,0.00,0.000,6,0.000,0.064,2412,1599,3139
$GC,529,-1.16,-146.6,59.6,-11.8,24,533,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,209,3140
$GC,557,-1.16,-146.6,63.1,-11.8,25,561,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1618,3139
$GC,874,-1.16,-146.6,100.4,-12.2,40,878,0.00,2.55,0.00,0.000,4,0.000,0.076,2413,201,3140
$GC,897,-1.16,-146.6,103.4,-11.7,41,901,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1611,3141
$GC,1219,-1.16,-146.6,142.4,-12.4,57,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1611,3141
$GC,1528,-1.16,-146.6,183.0,-13.4,72,1532,0.00,2.53,0.00,0.000,4,0.000,0.076,2412,201,3141
$GC,1573,-1.16,-146.6,189.5,-14.1,74,1578,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1597,3141
$GC,1895,-1.16,-146.6,230.9,-12.8,90,1899,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,2996,3141
$GC,1924,-1.16,-146.6,234.6,-12.7,91,1928,0.00,2.42,0.00,0.000,6,0.000,0.066,2412,1598,3141
$GC,2241,-1.16,-146.6,270.6,-10.9,106,2245,0.00,2.47,0.00,0.000,4,0.000,0.080,2412,211,3141
$GC,2282,-1.16,-146.6,275.3,-12.3,107,2288,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1609,3141
$GC,2599,-1.16,-146.6,308.3,-10.0,123,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3141
$GC,2909,-1.16,-146.6,340.1,-10.1,138,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1609,3142
$GC,3217,-1.16,-146.6,370.2,-9.6,153,3221,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,206,3141
$GC,3268,-1.16,-146.6,375.7,-10.7,155,3272,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1595,3141
$GC,3591,-1.16,-146.6,404.9,-8.8,171,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1598,3142
$GC,3901,-1.16,-146.6,433.0,-9.7,186,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1598,3141
$GC,4210,-1.16,-146.6,464.4,-10.5,201,4214,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,212,3142
$GC,4254,-1.16,-146.6,469.9,-11.6,203,4258,0.00,2.38,0.00,0.000,6,0.000,0.060,2412,1600,3141
$GC,4576,-1.16,-146.6,504.5,-10.3,219,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3141
$GC,4886,-1.16,-146.6,535.0,-10.1,234,4890,0.00,2.53,0.00,0.000,4,0.000,0.082,2411,209,3141
$GC,4933,-1.16,-146.6,539.9,-10.8,236,4937,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1606,3142
$GC,5260,-1.16,-146.6,572.3,-10.2,252,5264,0.00,2.55,0.00,0.000,4,0.000,0.091,2412,3001,3141
$GC,5294,-1.16,-146.6,575.9,-9.6,253,5300,0.00,2.45,0.00,0.000,6,0.000,0.069,2412,1600,3141
$STATE,5340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5340,begin apogee
$GC,5349,-0.32,0.0,580.3,9.2,256,5486,0.95,0.00,128.57,1.040,6,0.117,0.000,2605,2199,2539
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5491,1.16,146.6,585.5,0.0,263,5620,1.48,2.75,121.53,1.029,4,0.079,0.106,2925,3594,1940
$GC,5794,1.16,146.6,564.9,8.9,277,5798,0.00,2.50,0.00,0.000,6,0.000,0.071,2925,2197,1939
$GC,6121,1.17,150.2,536.7,7.9,293,6129,0.00,0.00,4.25,0.663,6,0.000,0.000,2925,2197,1925
$GC,6454,1.17,150.2,506.8,8.8,309,6458,0.00,2.65,0.00,0.000,4,0.000,0.097,2925,3602,1924
$GC,6532,1.17,150.2,500.3,8.6,312,6539,0.00,2.50,0.00,0.000,6,0.000,0.069,2925,2196,1923
$GC,6849,1.17,150.2,475.5,8.3,328,6854,0.00,2.55,0.00,0.000,4,0.000,0.080,2925,792,1923
$GC,6923,1.17,150.2,469.0,9.0,331,6927,0.00,2.45,0.00,0.000,6,0.000,0.062,2925,2199,1923
$GC,7239,1.17,150.2,443.5,8.2,346,7244,0.00,2.55,0.00,0.000,4,0.000,0.073,2925,782,1923
$GC,7326,1.17,150.2,436.1,8.6,350,7330,0.00,2.47,0.00,0.000,6,0.000,0.061,2925,2206,1922
$GC,7654,1.18,156.2,409.6,7.8,366,7665,0.00,2.58,5.85,0.749,4,0.000,0.071,2925,784,1901
$GC,7740,1.18,156.2,402.7,8.0,370,7744,0.00,2.47,0.00,0.000,6,0.000,0.062,2925,2203,1901
$GC,8068,1.24,193.0,379.7,6.6,386,8104,0.00,2.60,30.98,0.914,4,0.000,0.071,2925,789,1751
$GC,8184,1.25,199.1,371.2,7.8,390,8196,0.00,2.47,6.43,0.736,6,0.000,0.061,2925,2198,1726
$GC,8507,1.26,209.7,346.7,7.6,406,8523,0.12,2.58,10.52,0.810,4,0.067,0.071,2966,783,1683
$GC,8587,1.26,209.7,339.1,10.3,408,8593,0.00,2.50,0.00,0.000,6,0.000,0.062,2966,2200,1683
$GC,8904,1.26,209.7,308.5,9.8,424,8908,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,790,1682
$GC,8989,1.26,209.7,299.7,10.5,428,8993,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1682
$GC,9316,1.26,209.7,268.5,9.3,444,9320,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,790,1682
$GC,9384,1.26,209.7,261.6,10.1,447,9388,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1682
$GC,9711,1.26,209.7,231.1,9.5,463,9715,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,789,1682
$GC,9801,1.26,209.7,221.9,10.8,467,9805,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2204,1682
$GC,10123,1.26,209.7,190.2,9.7,483,10127,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,783,1682
$GC,10191,1.26,209.7,183.1,10.4,486,10195,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2210,1682
$GC,10518,1.26,209.7,151.9,9.6,502,10522,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,788,1682
$GC,10597,1.26,209.7,143.9,10.2,505,10603,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1682
$GC,10915,1.26,209.7,114.6,8.9,521,10920,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,783,1682
$GC,11005,1.26,209.7,105.6,9.6,525,11010,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1682
$GC,11328,1.26,209.7,76.1,9.0,541,11333,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,789,1683
$GC,11447,1.26,209.7,64.0,11.6,546,11451,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1682
$GC,11764,1.26,209.7,35.4,9.0,561,11768,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,783,1682
$GC,11815,1.26,209.7,30.5,9.1,563,11819,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2208,1682
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,0.5,1.023345
$STATE,12155,end surface coast,CONTROL_FINISHED_OK
$STATE,12155,begin surface
$SM_CCo,12181,47.30,0.643,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,47.30,0.000,0.000,0.643,378,1592,1315,-10.57,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1886
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,552.1,37.4
$24V_AH,23.6,43.266
$10V_AH,10.2,21.652
$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,25.050,126.950,308.125,47.300,0.000,38.954,27.537,133.137,5.000,0.000,0.000,17.012,1123.661,9052.951,466.684,1425.861,498.478,0.000,1196.509,0.000,1383.715,0.000,37.203,0.000
$DEVICE_MAMPS,177.944,105.846,1040.052,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.352,394.760,386.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28513,580
$CAP_FILE_SIZE,95547,0
$CFSIZE,254472192,237379584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,131008,200937,6351.859,-1246.500,40,0.9,40,-12.2