version: 66.04
glider: 14
mission: 6
dive: 331
start: 10 14 108 10 28 25
data:
$ID,14
$MISSION,6
$DIVE,331
$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,-656576.94
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,101538,6355.684,-1249.115,28,1.7,28,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-59.2
$GPS2,102803,6355.722,-1248.766,12,1.6,12,-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,298.2,35635,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.07,0.000,2,0.000,0.000,380,1612,2918
$GC,88,-1.16,-146.6,4.1,-4.6,4,107,11.50,0.00,-4.93,0.000,6,0.179,0.000,2416,1611,3140
$GC,415,-1.16,-146.6,47.1,-10.9,20,419,0.00,2.53,0.00,0.000,4,0.000,0.077,2416,210,3143
$GC,493,-1.16,-146.6,56.3,-11.5,23,499,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1613,3143
$GC,812,-1.16,-146.6,85.3,-9.4,39,816,0.00,2.47,0.00,0.000,4,0.000,0.077,2417,2998,3143
$GC,834,-1.16,-146.6,88.0,-10.8,40,839,0.00,2.42,0.00,0.000,6,0.000,0.064,2417,1598,3143
$GC,1157,-1.16,-146.6,120.7,-10.1,56,1161,0.00,2.47,0.00,0.000,4,0.000,0.079,2417,213,3143
$GC,1213,-1.16,-146.6,126.9,-11.4,58,1219,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1607,3144
$GC,1529,-1.16,-146.6,158.5,-9.6,74,1534,0.00,2.50,0.00,0.000,4,0.000,0.076,2417,210,3143
$GC,1603,-1.16,-146.6,166.5,-10.8,77,1607,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1608,3143
$GC,1920,-1.16,-146.6,197.3,-9.6,92,1924,0.00,2.50,0.00,0.000,4,0.000,0.076,2417,206,3144
$GC,1988,-1.16,-146.6,204.8,-10.6,95,1993,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1602,3143
$GC,2316,-1.16,-146.6,236.7,-9.1,111,2321,0.00,2.50,0.00,0.000,4,0.000,0.076,2416,205,3144
$GC,2362,-1.16,-146.6,240.8,-9.0,113,2366,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1600,3144
$GC,2683,-1.16,-146.6,267.9,-8.2,129,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1604,3142
$GC,2993,-1.16,-146.6,294.2,-8.4,144,2997,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,209,3143
$GC,3061,-1.16,-146.6,300.3,-9.3,147,3066,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1603,3144
$GC,3383,-1.16,-146.6,329.7,-10.2,163,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1605,3143
$GC,3692,-1.16,-146.6,364.1,-11.7,178,3697,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,210,3143
$GC,3734,-1.16,-146.6,369.1,-13.0,180,3738,0.00,2.38,0.00,0.000,6,0.000,0.059,2417,1603,3143
$GC,4062,-1.16,-146.6,408.3,-11.4,196,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1606,3144
$GC,4371,-1.16,-146.6,444.2,-11.8,211,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1606,3143
$GC,4681,-1.16,-146.6,482.8,-12.7,226,4685,0.00,2.50,0.00,0.000,4,0.000,0.078,2416,212,3144
$GC,4725,-1.16,-146.6,488.9,-12.6,228,4730,0.00,2.38,0.00,0.000,6,0.000,0.059,2417,1599,3143
$GC,5048,-1.16,-146.6,521.8,-8.4,244,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1604,3143
$GC,5357,-1.16,-146.6,543.2,-5.8,259,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1604,3144
$GC,5666,-1.16,-146.6,543.8,4.7,274,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1604,3144
$GC,5980,-1.16,-146.6,550.1,-5.2,289,5985,0.00,2.50,0.00,0.000,4,0.000,0.078,2417,212,3143
$GC,6011,-1.16,-146.6,552.4,-7.2,290,6015,0.00,2.38,0.00,0.000,6,0.000,0.060,2417,1603,3144
$GC,6327,-1.16,-146.6,582.5,-10.4,305,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1608,3143
$GC,6637,-1.16,-146.6,611.4,-9.8,320,6641,0.00,2.55,0.00,0.000,4,0.000,0.095,2417,2993,3143
$GC,6694,-1.16,-146.6,617.5,-10.7,322,6701,0.00,2.42,0.00,0.000,6,0.000,0.070,2416,1604,3143
$STATE,6760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6760,begin apogee
$GC,6770,-0.32,0.0,625.4,11.4,326,6907,0.90,0.00,128.82,1.104,6,0.115,0.000,2599,2195,2538
$STATE,6908,end apogee,CONTROL_FINISHED_OK
$STATE,6908,begin climb
$GC,6912,1.16,146.6,632.5,0.0,333,7040,1.52,2.75,120.05,1.094,4,0.084,0.106,2927,3597,1941
$GC,7126,1.20,171.3,623.7,7.1,343,7153,0.00,2.53,21.50,1.014,6,0.000,0.072,2927,2193,1840
$GC,7476,1.26,205.0,596.0,6.7,360,7506,0.00,0.00,28.52,1.041,6,0.000,0.000,2927,2193,1703
$GC,7805,1.32,243.9,575.6,6.5,376,7847,0.15,2.78,32.80,1.039,4,0.065,0.099,2970,3595,1544
$GC,7905,1.32,243.9,566.3,10.6,380,7909,0.00,2.50,0.00,0.000,6,0.000,0.071,2971,2202,1543
$GC,8221,1.32,243.9,529.8,12.5,395,8225,0.00,2.60,0.00,0.000,4,0.000,0.082,2971,782,1540
$GC,8271,1.32,243.9,522.9,13.6,397,8276,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2197,1539
$GC,8588,1.32,243.9,488.6,10.2,412,8592,0.00,2.55,0.00,0.000,4,0.000,0.074,2970,780,1538
$GC,8650,1.32,243.9,480.8,14.5,414,8656,0.00,2.50,0.00,0.000,6,0.000,0.062,2970,2208,1537
$GC,8967,1.32,243.9,438.7,12.2,430,8971,0.00,2.55,0.00,0.000,4,0.000,0.073,2971,784,1538
$GC,9075,1.32,243.9,425.2,12.7,435,9079,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2206,1538
$GC,9408,1.32,243.9,388.3,10.7,451,9413,0.00,2.55,0.00,0.000,4,0.000,0.072,2970,786,1538
$GC,9504,1.32,243.9,377.3,11.4,455,9508,0.00,2.47,0.00,0.000,6,0.000,0.061,2970,2200,1538
$GC,9821,1.32,243.9,344.4,10.2,470,9825,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,779,1538
$GC,9918,1.32,243.9,334.3,10.2,474,9922,0.00,2.47,0.00,0.000,6,0.000,0.061,2970,2203,1538
$GC,10240,1.32,243.9,302.4,9.4,490,10244,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,788,1538
$GC,10330,1.32,243.9,292.7,10.6,494,10334,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2200,1538
$GC,10651,1.32,243.9,261.5,9.3,510,10655,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,788,1538
$GC,10753,1.32,243.9,251.7,9.8,514,10759,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2201,1538
$GC,11069,1.32,243.9,223.3,9.0,530,11073,0.00,2.53,0.00,0.000,4,0.000,0.073,2971,785,1538
$GC,11176,1.32,243.9,212.3,10.5,534,11182,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2201,1538
$GC,11493,1.32,243.9,178.7,11.7,550,11497,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,788,1538
$GC,11594,1.32,243.9,165.5,13.1,554,11600,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2202,1538
$GC,11911,1.32,243.9,124.7,12.5,570,11915,0.00,2.53,0.00,0.000,4,0.000,0.073,2971,783,1538
$GC,12029,1.32,243.9,110.4,12.3,575,12033,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2199,1538
$GC,12345,1.32,243.9,78.2,10.0,590,12350,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,787,1538
$GC,12419,1.32,243.9,70.5,10.3,593,12424,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2204,1538
$GC,12738,1.32,243.9,39.1,9.6,608,12742,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,781,1538
$GC,12833,1.32,243.9,28.9,10.3,612,12837,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2199,1538
$STATE,13127,end climb,SURFACE_DEPTH_REACHED
$STATE,13127,begin surface coast
$FINISH,0.8,1.026902
$STATE,13147,end surface coast,CONTROL_FINISHED_OK
$STATE,13147,begin surface
$SM_CCo,13174,29.55,0.650,0,0,1316,300.00
$SM_GC,1.63,0.00,0.00,29.55,0.000,0.000,0.650,374,1593,1316,-10.58,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1913
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,84.1
$24V_AH,23.6,43.869
$10V_AH,10.2,21.969
$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,25.200,126.550,331.700,29.550,0.000,115.984,89.403,272.828,5.000,0.000,0.000,14.273,1199.472,9977.198,479.973,1495.716,804.031,0.000,1247.537,0.000,1460.607,0.000,31.554,0.000
$DEVICE_MAMPS,178.711,105.846,1103.713,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.686,426.547,403.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31704,627
$CAP_FILE_SIZE,105715,0
$CFSIZE,254472192,237137920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,141008,140938,6355.818,-1252.122,25,1.1,25,-12.3