version: 66.04
glider: 14
mission: 6
dive: 327
start: 10 13 108 20 19 1
data:
$ID,14
$MISSION,6
$DIVE,327
$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,-656522.94
$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,21
$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
$GPS1,200937,6351.859,-1246.500,40,0.9,40,-12.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.9
$GPS2,201839,6351.847,-1246.187,13,2.0,13,-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,307.2,40118,-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,-60.75,0.000,2,0.000,0.000,379,1589,2766
$GC,83,-1.16,-146.6,3.6,-5.3,3,109,11.40,2.55,-9.00,0.000,4,0.178,0.086,2414,3005,3139
$GC,250,-1.16,-146.6,25.9,-11.3,10,256,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1592,3140
$GC,568,-1.16,-146.6,62.9,-12.2,26,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1592,3140
$GC,876,-1.16,-146.6,98.5,-11.4,41,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1592,3140
$GC,1185,-1.16,-146.6,132.6,-10.9,56,1189,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,207,3141
$GC,1230,-1.16,-146.6,138.0,-11.5,58,1234,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1616,3141
$GC,1552,-1.16,-146.6,174.6,-11.7,74,1560,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,210,3141
$GC,1588,-1.16,-146.6,179.3,-12.1,75,1592,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3142
$GC,1911,-1.16,-146.6,216.4,-11.8,91,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1608,3141
$GC,2223,-1.16,-146.6,251.8,-11.3,106,2227,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3142
$GC,2279,-1.16,-146.6,259.0,-12.4,108,2285,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1606,3142
$GC,2595,-1.16,-146.6,295.9,-11.7,124,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3141
$GC,2905,-1.16,-146.6,331.4,-11.4,139,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3142
$GC,3214,-1.16,-146.6,366.1,-11.2,154,3217,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,209,3142
$GC,3253,-1.16,-146.6,370.9,-11.7,155,3260,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1595,3142
$GC,3570,-1.16,-146.6,405.8,-10.7,171,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3142
$GC,3879,-1.16,-146.6,439.3,-10.7,186,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1599,3142
$GC,4188,-1.16,-146.6,473.8,-11.0,201,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1598,3142
$GC,4498,-1.16,-146.6,507.6,-11.7,216,4502,0.00,2.55,0.00,0.000,4,0.000,0.091,2414,2997,3142
$GC,4532,-1.16,-146.6,512.0,-12.1,217,4537,0.00,2.45,0.00,0.000,6,0.000,0.068,2414,1593,3142
$GC,4848,-1.16,-146.6,545.0,-8.5,232,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1593,3142
$STATE,5031,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5031,begin apogee
$GC,5041,-0.32,0.0,559.0,8.3,241,5178,0.90,0.00,128.45,1.019,6,0.101,0.000,2602,2199,2539
$STATE,5179,end apogee,CONTROL_FINISHED_OK
$STATE,5179,begin climb
$GC,5183,1.16,146.6,566.1,0.0,248,5312,1.50,2.75,121.00,1.010,4,0.084,0.107,2925,3597,1940
$GC,5585,1.16,146.6,530.1,9.5,266,5589,0.00,2.50,0.00,0.000,6,0.000,0.072,2925,2200,1939
$GC,5903,1.27,212.2,509.8,5.5,281,5961,0.12,0.00,54.00,0.986,6,0.067,0.000,2966,2200,1674
$GC,6271,1.27,212.2,478.6,9.2,299,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2200,1671
$GC,6580,1.27,212.2,449.3,9.8,314,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2200,1670
$GC,6890,1.27,212.2,417.8,10.6,329,6894,0.00,2.55,0.00,0.000,4,0.000,0.080,2965,788,1669
$GC,6929,1.27,212.2,413.3,10.5,330,6936,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2198,1669
$GC,7246,1.27,212.2,380.6,10.1,346,7250,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,787,1669
$GC,7325,1.27,212.2,372.4,10.4,349,7331,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1669
$GC,7641,1.27,212.2,341.6,9.5,365,7646,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,788,1669
$GC,7715,1.27,212.2,334.1,10.5,368,7719,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2199,1670
$GC,8031,1.27,212.2,305.4,8.7,383,8035,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,782,1669
$GC,8116,1.27,212.2,297.3,10.2,386,8122,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1669
$GC,8432,1.27,212.2,269.1,9.0,402,8437,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,784,1669
$GC,8523,1.27,212.2,260.2,9.2,406,8527,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2207,1669
$GC,8847,1.27,212.2,227.2,10.5,422,8851,0.00,2.55,0.00,0.000,4,0.000,0.072,2965,783,1669
$GC,8936,1.27,212.2,216.6,11.6,426,8941,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2202,1669
$GC,9259,1.27,212.2,182.8,10.3,442,9263,0.00,2.50,0.00,0.000,4,0.000,0.072,2965,789,1669
$GC,9356,1.27,212.2,172.7,10.6,446,9360,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2206,1669
$GC,9679,1.27,212.2,141.7,9.6,462,9683,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,787,1669
$GC,9791,1.27,212.2,130.0,10.6,467,9795,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2202,1669
$GC,10114,1.27,212.2,98.8,9.7,483,10118,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,781,1669
$GC,10238,1.27,212.2,85.9,10.6,488,10244,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2202,1669
$GC,10556,1.27,212.2,57.3,9.0,504,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2202,1669
$GC,10864,1.27,212.2,30.1,8.5,519,10868,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,782,1668
$GC,10988,1.27,212.2,17.2,9.9,524,10994,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2202,1669
$STATE,11156,end climb,SURFACE_DEPTH_REACHED
$STATE,11157,begin surface coast
$FINISH,0.5,1.012956
$STATE,11180,end surface coast,CONTROL_FINISHED_OK
$STATE,11180,begin surface
$SM_CCo,11206,45.80,0.644,0,0,1315,300.00
$SM_GC,1.35,0.00,0.00,45.80,0.000,0.000,0.644,379,1597,1315,-10.56,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,476.0,91.5
$24V_AH,23.6,43.380
$10V_AH,10.2,21.711
$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,25.150,86.925,303.450,45.800,0.000,78.223,61.001,205.962,4.000,0.000,0.000,15.110,1008.863,8448.430,459.331,1265.133,620.417,0.000,1095.868,0.000,1237.838,0.000,26.726,0.000
$DEVICE_MAMPS,177.944,106.613,1019.343,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.904,362.701,375.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25491,534
$CAP_FILE_SIZE,82447,0
$CFSIZE,254472192,237346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,131008,232756,6352.457,-1243.679,38,1.1,38,-12.2