version: 66.04
glider: 14
mission: 6
dive: 329
start: 10 14 108 3 11 1
data:
$ID,14
$MISSION,6
$DIVE,329
$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,-656547.5
$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,17
$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
$GPS1,030508,6351.529,-1247.813,37,1.0,37,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.9
$GPS2,031039,6351.517,-1247.814,10,1.2,10,-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,308.9,39195,-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,-60.83,0.000,2,0.000,0.000,373,1597,2763
$GC,83,-1.16,-146.6,3.4,-4.7,3,109,11.40,2.53,-9.12,0.000,4,0.176,0.089,2415,201,3139
$GC,334,-1.16,-146.6,38.8,-13.5,14,339,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1620,3139
$GC,653,-1.16,-146.6,79.8,-13.2,29,657,0.00,2.53,0.00,0.000,4,0.000,0.075,2415,208,3140
$GC,709,-1.16,-146.6,87.9,-13.8,31,715,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1607,3140
$GC,1026,-1.16,-146.6,128.2,-13.2,47,1030,0.00,2.50,0.00,0.000,4,0.000,0.074,2415,202,3141
$GC,1128,-1.16,-146.6,141.6,-13.0,51,1134,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1603,3141
$GC,1445,-1.16,-146.6,177.0,-10.8,67,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3141
$GC,1753,-1.16,-146.6,208.2,-9.8,82,1757,0.00,2.47,0.00,0.000,4,0.000,0.075,2415,209,3142
$GC,1798,-1.16,-146.6,213.1,-11.2,84,1802,0.00,2.35,0.00,0.000,6,0.000,0.058,2415,1595,3142
$GC,2120,-1.16,-146.6,243.2,-9.6,100,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1598,3143
$GC,2428,-1.16,-146.6,274.1,-10.3,115,2433,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,201,3142
$GC,2469,-1.16,-146.6,278.5,-11.6,117,2473,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1599,3142
$GC,2797,-1.16,-146.6,314.3,-11.1,133,2801,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,201,3142
$GC,2831,-1.16,-146.6,318.5,-12.2,134,2837,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1599,3142
$GC,3147,-1.16,-146.6,354.1,-11.2,150,3151,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,207,3143
$GC,3203,-1.16,-146.6,360.9,-12.8,152,3209,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1600,3142
$GC,3520,-1.16,-146.6,395.0,-10.2,168,3524,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,210,3142
$GC,3571,-1.16,-146.6,400.3,-10.9,170,3575,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1600,3142
$GC,3888,-1.16,-146.6,433.8,-10.8,185,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3142
$GC,4196,-1.16,-146.6,474.2,-12.9,200,4201,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,205,3141
$GC,4243,-1.16,-146.6,480.0,-12.3,202,4247,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1596,3142
$GC,4565,-1.16,-146.6,521.1,-12.0,218,4569,0.00,2.55,0.00,0.000,4,0.000,0.089,2415,3000,3142
$GC,4593,-1.16,-146.6,524.3,-10.3,219,4598,0.00,2.45,0.00,0.000,6,0.000,0.067,2415,1593,3142
$GC,4915,-1.16,-146.6,551.4,-8.4,235,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1593,3142
$GC,5225,-1.16,-146.6,573.1,-7.1,250,5230,0.00,2.55,0.00,0.000,4,0.000,0.084,2415,2994,3142
$GC,5293,-1.16,-146.6,579.0,-8.2,253,5297,0.00,2.45,0.00,0.000,6,0.000,0.069,2415,1594,3142
$STATE,5529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5529,begin apogee
$GC,5538,-0.32,0.0,600.1,8.7,265,5676,0.93,0.00,128.82,1.062,6,0.111,0.000,2604,2201,2539
$STATE,5676,end apogee,CONTROL_FINISHED_OK
$STATE,5676,begin climb
$GC,5681,1.16,146.6,604.1,0.0,272,5810,1.48,2.75,121.12,1.045,4,0.074,0.104,2927,3601,1940
$GC,5916,1.16,146.6,590.2,9.0,283,5921,0.00,2.53,0.00,0.000,6,0.000,0.072,2927,2195,1939
$GC,6244,1.26,206.0,568.8,5.7,299,6295,0.00,0.00,49.10,1.028,6,0.000,0.000,2927,2195,1698
$GC,6594,1.26,206.0,538.3,9.5,316,6598,0.00,2.67,0.00,0.000,4,0.000,0.099,2927,3601,1696
$GC,6645,1.26,206.0,533.4,9.9,318,6649,0.00,2.50,0.00,0.000,6,0.000,0.070,2927,2200,1696
$GC,6961,1.26,206.0,505.5,8.2,333,6965,0.00,2.58,0.00,0.000,4,0.000,0.080,2927,784,1694
$GC,7034,1.26,206.0,499.6,8.2,336,7038,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2198,1694
$GC,7351,1.26,206.0,476.1,8.5,351,7355,0.00,2.55,0.00,0.000,4,0.000,0.073,2927,783,1693
$GC,7435,1.26,206.0,467.7,9.8,354,7442,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2200,1692
$GC,7752,1.26,206.0,440.9,8.2,370,7756,0.00,2.53,0.00,0.000,4,0.000,0.072,2927,789,1690
$GC,7826,1.26,206.0,434.8,8.7,373,7830,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2208,1690
$GC,8148,1.29,225.0,409.4,7.3,389,8170,0.12,2.60,15.75,0.907,4,0.067,0.071,2966,787,1620
$GC,8278,1.29,225.0,396.3,11.2,394,8284,0.00,2.50,0.00,0.000,6,0.000,0.062,2966,2207,1620
$GC,8595,1.29,225.0,364.3,10.4,410,8599,0.00,2.55,0.00,0.000,4,0.000,0.071,2966,785,1620
$GC,8695,1.29,225.0,352.8,11.7,414,8701,0.00,2.50,0.00,0.000,6,0.000,0.062,2966,2208,1620
$GC,9012,1.29,225.0,319.4,10.3,430,9016,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,791,1620
$GC,9114,1.29,225.0,308.9,10.7,434,9118,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1620
$GC,9430,1.29,225.0,280.9,8.5,449,9435,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,790,1620
$GC,9521,1.29,225.0,272.3,9.6,453,9525,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1620
$GC,9842,1.29,225.0,244.6,8.2,469,9847,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,789,1620
$GC,9938,1.29,225.0,236.7,8.2,473,9943,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2205,1620
$GC,10255,1.31,240.7,214.2,7.4,488,10277,0.00,2.58,14.30,0.765,4,0.000,0.072,2966,786,1556
$GC,10351,1.31,240.7,206.2,8.4,492,10356,0.00,2.50,0.00,0.000,6,0.000,0.062,2966,2205,1555
$GC,10673,1.31,240.7,179.6,8.1,508,10677,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,781,1556
$GC,10764,1.31,240.7,171.3,9.7,512,10768,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1555
$GC,11099,1.31,240.7,139.1,10.7,528,11103,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,785,1555
$GC,11217,1.31,240.7,125.7,11.9,533,11221,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2207,1555
$GC,11534,1.31,240.7,91.6,10.0,548,11538,0.00,2.53,0.00,0.000,4,0.000,0.072,2966,787,1556
$GC,11624,1.31,240.7,82.4,10.1,552,11628,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1555
$GC,11947,1.31,240.7,50.4,9.8,568,11951,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,789,1556
$GC,12015,1.31,240.7,42.8,10.9,571,12019,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2205,1555
$GC,12339,1.36,272.5,12.8,6.8,587,12370,0.00,2.58,25.88,0.648,4,0.000,0.073,2966,791,1426
$STATE,12443,end climb,SURFACE_DEPTH_REACHED
$STATE,12444,begin surface coast
$FINISH,0.9,1.027102
$STATE,12450,end surface coast,CONTROL_FINISHED_OK
$STATE,12450,begin surface
$SM_CCo,12477,17.73,0.573,1,0,1315,300.00
$SM_GC,1.24,0.00,0.00,17.73,0.000,0.000,0.573,376,1620,1315,-10.58,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1886
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.4,83.7
$24V_AH,23.6,43.616
$10V_AH,10.2,21.838
$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,25.200,134.700,354.975,17.725,0.000,37.763,27.697,132.005,4.250,0.000,0.000,11.649,1154.234,9172.931,492.616,1507.475,511.685,0.000,1270.484,0.000,1472.901,0.000,29.935,0.000
$DEVICE_MAMPS,176.410,104.312,1061.528,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.455,402.354,372.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,592
$CAP_FILE_SIZE,98776,0
$CFSIZE,254472192,237236224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,141008,064038,6352.750,-1251.092,33,1.5,33,-12.3