version: 66.04
glider: 14
mission: 6
dive: 332
start: 10 14 108 14 15 31
data:
$ID,14
$MISSION,6
$DIVE,332
$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,-656594.75
$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,22
$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
$GPS1,140938,6355.818,-1252.122,25,1.1,25,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-62.8
$GPS2,141509,6355.835,-1252.122,15,1.3,15,-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,299.2,32963,-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,-60.78,0.000,2,0.000,0.000,374,1591,2743
$GC,83,-1.16,-146.6,3.5,-5.0,3,113,11.40,2.50,-9.95,0.000,4,0.178,0.090,2412,210,3139
$GC,171,-1.16,-146.6,17.1,-15.3,7,176,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1614,3139
$GC,500,-1.16,-146.6,56.1,-11.8,23,504,0.00,2.53,0.00,0.000,4,0.000,0.075,2412,206,3139
$GC,608,-1.16,-146.6,69.7,-11.5,28,612,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3139
$GC,936,-1.16,-146.6,103.0,-9.9,44,940,0.00,2.50,0.00,0.000,4,0.000,0.074,2412,203,3139
$GC,1000,-1.16,-146.6,109.7,-10.3,47,1004,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3140
$GC,1327,-1.16,-146.6,140.8,-10.1,63,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3140
$GC,1637,-1.16,-146.6,173.0,-10.2,78,1641,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,203,3141
$GC,1726,-1.16,-146.6,183.6,-12.2,82,1730,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1600,3141
$GC,2048,-1.16,-146.6,221.2,-11.6,98,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3141
$GC,2358,-1.16,-146.6,256.3,-10.7,113,2362,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,201,3141
$GC,2397,-1.16,-146.6,261.1,-12.2,114,2403,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1597,3141
$GC,2713,-1.16,-146.6,296.1,-10.1,130,2717,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,208,3142
$GC,2770,-1.16,-146.6,302.4,-10.8,132,2776,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1603,3141
$GC,3087,-1.16,-146.6,334.9,-10.1,148,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3141
$GC,3396,-1.16,-146.6,367.4,-10.8,163,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3141
$GC,3707,-1.16,-146.6,401.0,-11.0,178,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1603,3141
$GC,4014,-1.16,-146.6,435.7,-11.4,193,4018,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,203,3141
$GC,4071,-1.16,-146.6,442.7,-12.3,195,4075,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1602,3141
$GC,4388,-1.16,-146.6,478.7,-11.2,210,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3141
$GC,4696,-1.16,-146.6,509.1,-9.0,225,4701,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,208,3141
$GC,4742,-1.16,-146.6,513.2,-9.2,227,4746,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1605,3141
$GC,5064,-1.16,-146.6,546.3,-13.6,243,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1607,3141
$GC,5372,-1.16,-146.6,588.8,-12.6,258,5377,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,203,3141
$GC,5413,-1.16,-146.6,594.2,-13.6,260,5417,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3141
$GC,5741,-1.16,-146.6,631.7,-10.3,276,5745,0.00,2.58,0.00,0.000,4,0.000,0.094,2413,3004,3141
$GC,5814,-1.16,-146.6,638.4,-7.9,279,5818,0.00,2.45,0.00,0.000,6,0.000,0.070,2412,1602,3141
$GC,6136,-1.16,-146.6,666.2,-9.2,295,6140,0.00,2.55,0.00,0.000,4,0.000,0.089,2412,201,3141
$GC,6214,-1.16,-146.6,674.6,-11.4,298,6221,0.00,2.42,0.00,0.000,6,0.000,0.061,2412,1613,3141
$STATE,6239,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6239,begin apogee
$GC,6248,-0.32,0.0,677.6,11.5,300,6386,0.88,0.00,129.73,1.124,6,0.077,0.000,2607,2197,2539
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6391,1.16,146.6,677.5,0.0,307,6523,1.45,2.62,122.22,1.108,4,0.075,0.074,2926,792,1940
$GC,6659,1.19,159.7,662.9,7.5,319,6678,0.00,2.50,12.18,0.980,6,0.000,0.065,2926,2203,1887
$GC,7002,1.19,159.7,633.6,8.9,336,7007,0.00,2.58,0.00,0.000,4,0.000,0.075,2926,785,1886
$GC,7059,1.19,163.5,628.9,7.9,338,7069,0.00,2.50,4.25,0.717,6,0.000,0.064,2926,2203,1873
$GC,7398,1.33,251.6,614.1,4.7,355,7477,0.17,0.00,73.28,1.098,6,0.063,0.000,2975,2203,1513
$GC,7787,1.33,251.6,566.8,14.0,374,7791,0.00,2.58,0.00,0.000,4,0.000,0.074,2976,784,1509
$GC,7876,1.33,251.6,555.9,11.0,378,7881,0.00,2.50,0.00,0.000,6,0.000,0.064,2975,2204,1509
$GC,8199,1.35,265.0,530.6,7.5,394,8220,0.00,2.60,11.73,0.956,4,0.000,0.073,2976,786,1457
$GC,8260,1.35,265.0,525.5,8.7,396,8266,0.00,2.50,0.00,0.000,6,0.000,0.063,2975,2200,1457
$GC,8577,1.35,265.0,496.2,9.8,412,8581,0.00,2.55,0.00,0.000,4,0.000,0.073,2976,780,1456
$GC,8666,1.35,265.0,486.4,11.3,416,8671,0.00,2.47,0.00,0.000,6,0.000,0.062,2975,2201,1456
$GC,8988,1.35,265.0,451.5,11.4,432,8992,0.00,2.53,0.00,0.000,4,0.000,0.072,2975,781,1456
$GC,9057,1.35,265.0,443.2,13.3,435,9061,0.00,2.50,0.00,0.000,6,0.000,0.062,2976,2208,1456
$GC,9384,1.35,265.0,404.0,11.5,451,9389,0.00,2.55,0.00,0.000,4,0.000,0.071,2975,784,1456
$GC,9475,1.35,265.0,393.2,11.2,455,9479,0.00,2.47,0.00,0.000,6,0.000,0.061,2976,2200,1456
$GC,9797,1.35,265.0,359.7,10.1,471,9801,0.00,2.53,0.00,0.000,4,0.000,0.071,2975,784,1456
$GC,9906,1.35,265.0,348.5,10.0,475,9912,0.00,2.47,0.00,0.000,6,0.000,0.062,2975,2198,1456
$GC,10223,1.35,265.0,317.7,9.5,491,10227,0.00,2.50,0.00,0.000,4,0.000,0.071,2975,786,1456
$GC,10319,1.35,265.0,308.2,9.9,495,10323,0.00,2.47,0.00,0.000,6,0.000,0.062,2975,2201,1456
$GC,10647,1.36,266.6,280.6,7.9,511,10651,0.00,2.53,0.00,0.000,4,0.000,0.072,2975,779,1456
$GC,10732,1.36,266.6,273.4,8.5,515,10737,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2205,1456
$GC,11061,1.36,266.6,243.5,10.1,531,11065,0.00,2.53,0.00,0.000,4,0.000,0.072,2976,785,1456
$GC,11150,1.36,266.6,232.9,12.0,535,11155,0.00,2.47,0.00,0.000,6,0.000,0.062,2975,2200,1456
$GC,11473,1.36,266.6,192.7,13.8,551,11477,0.00,2.50,0.00,0.000,4,0.000,0.073,2975,786,1456
$GC,11558,1.36,266.6,179.3,16.2,554,11564,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2203,1456
$GC,11875,1.36,266.6,133.9,13.0,570,11879,0.00,2.53,0.00,0.000,4,0.000,0.073,2976,781,1456
$GC,11971,1.36,266.6,121.8,12.0,574,11975,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2208,1456
$GC,12287,1.36,266.6,90.6,9.1,589,12292,0.00,2.53,0.00,0.000,4,0.000,0.073,2975,787,1455
$GC,12355,1.36,266.6,84.5,8.3,592,12360,0.00,2.45,0.00,0.000,6,0.000,0.062,2976,2198,1456
$GC,12678,1.41,301.8,64.4,6.7,608,12713,0.00,2.58,30.08,0.690,4,0.000,0.073,2975,788,1307
$GC,12793,1.41,301.8,55.4,8.4,613,12798,0.00,2.47,0.00,0.000,6,0.000,0.062,2976,2199,1307
$GC,13116,1.41,301.8,28.2,9.2,629,13120,0.00,2.53,0.00,0.000,4,0.000,0.073,2976,782,1306
$GC,13212,1.41,301.8,17.4,11.3,633,13216,0.00,2.47,0.00,0.000,6,0.000,0.063,2976,2203,1307
$STATE,13365,end climb,SURFACE_DEPTH_REACHED
$STATE,13365,begin surface coast
$FINISH,0.5,1.007464
$STATE,13389,end surface coast,CONTROL_FINISHED_OK
$STATE,13389,begin surface
$SM_CCo,13476,0.00,0.000,0,0,1304,302.95
$SM_GC,1.21,11.30,0.00,0.00,0.057,0.000,0.000,377,1587,1304,-10.51,-0.37,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1900
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,602.0,82.6
$24V_AH,23.6,43.996
$10V_AH,10.2,22.036
$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,25.200,136.625,383.450,0.000,0.000,37.764,29.140,127.457,5.250,0.000,0.000,17.211,1225.916,9967.450,506.036,1597.378,512.490,0.000,1316.916,0.000,1549.296,0.000,37.743,0.000
$DEVICE_MAMPS,177.944,93.574,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.736,436.450,418.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,642
$CAP_FILE_SIZE,103691,0
$CFSIZE,254472192,237084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,141008,180126,6356.303,-1257.373,39,1.6,39,-12.4