version: 66.04
glider: 14
mission: 6
dive: 335
start: 10 15 108 1 51 54
data:
$ID,14
$MISSION,6
$DIVE,335
$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,-656636.56
$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,21
$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
$GPS1,014555,6359.544,-1256.133,38,1.4,38,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.2
$GPS2,015132,6359.518,-1256.062,9,0.9,14,-12.4
$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,287.9,28480,-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,-60.85,0.000,2,0.000,0.000,370,1592,2731
$GC,83,-1.16,-146.6,3.4,-4.9,3,113,11.40,2.53,-10.12,0.000,4,0.176,0.092,2413,209,3138
$GC,248,-1.16,-146.6,25.7,-11.9,10,252,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1611,3138
$GC,566,-1.16,-146.6,61.9,-10.8,25,571,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,209,3138
$GC,623,-1.16,-146.6,67.9,-10.7,27,629,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3138
$GC,940,-1.16,-146.6,94.1,-7.0,43,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3139
$GC,1249,-1.16,-146.6,112.3,-5.6,58,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3139
$GC,1558,-1.16,-146.6,136.1,-9.1,73,1562,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,207,3140
$GC,1644,-1.16,-146.6,145.1,-11.2,77,1648,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3140
$GC,1972,-1.16,-146.6,186.9,-14.5,93,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3141
$GC,2281,-1.16,-146.6,235.0,-16.0,108,2285,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3141
$GC,2345,-1.16,-146.6,245.2,-16.4,111,2349,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3142
$GC,2672,-1.16,-146.6,294.2,-14.8,127,2676,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,203,3142
$GC,2717,-1.16,-146.6,301.0,-15.0,129,2721,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1599,3141
$GC,3044,-1.16,-146.6,346.6,-13.6,145,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1602,3141
$GC,3354,-1.16,-146.6,390.5,-13.6,160,3358,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,203,3141
$GC,3394,-1.16,-146.6,395.9,-13.3,162,3399,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1595,3141
$GC,3722,-1.16,-146.6,435.3,-11.3,178,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3141
$GC,4031,-1.16,-146.6,469.1,-11.0,193,4035,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,210,3141
$GC,4073,-1.16,-146.6,473.6,-11.2,195,4077,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1603,3141
$GC,4401,-1.16,-146.6,508.2,-10.6,211,4405,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,203,3141
$GC,4451,-1.16,-146.6,513.9,-11.0,213,4456,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1605,3141
$GC,4769,-1.16,-146.6,551.2,-11.4,228,4773,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,208,3141
$GC,4842,-1.16,-146.6,559.9,-11.7,231,4846,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1606,3142
$GC,5160,-1.16,-146.6,592.1,-8.4,246,5164,0.00,2.53,0.00,0.000,4,0.000,0.090,2413,2994,3141
$GC,5246,-1.16,-146.6,598.0,-6.1,250,5250,0.00,2.45,0.00,0.000,6,0.000,0.069,2413,1591,3141
$GC,5574,-1.16,-146.6,615.9,-3.8,266,5578,0.00,2.55,0.00,0.000,4,0.000,0.084,2413,2994,3141
$GC,5615,-1.16,-146.6,617.2,-3.4,268,5619,0.00,2.45,0.00,0.000,6,0.000,0.070,2413,1596,3141
$GC,5942,-1.16,-146.6,626.8,-5.9,284,5946,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,203,3142
$GC,6065,-1.16,-146.6,639.3,-10.7,289,6072,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1598,3142
$STATE,6379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6379,begin apogee
$GC,6389,-0.32,0.0,673.7,11.3,305,6527,0.93,0.00,129.25,1.134,6,0.114,0.000,2602,2199,2538
$STATE,6528,end apogee,CONTROL_FINISHED_OK
$STATE,6528,begin climb
$GC,6531,1.16,146.6,680.0,0.0,312,6663,1.52,2.85,122.07,1.117,4,0.087,0.114,2925,3599,1940
$GC,6774,1.16,146.6,663.7,9.7,323,6779,0.00,2.53,0.00,0.000,6,0.000,0.072,2926,2195,1938
$GC,7097,1.42,308.3,653.2,1.9,339,7235,0.22,2.62,131.73,1.112,4,0.061,0.080,2989,792,1282
$GC,7312,1.42,308.3,628.0,13.2,348,7317,0.00,2.50,0.00,0.000,6,0.000,0.064,2989,2199,1281
$GC,7637,1.42,308.3,589.9,10.5,364,7641,0.00,2.58,0.00,0.000,4,0.000,0.075,2989,786,1278
$GC,7678,1.42,308.3,584.9,11.6,366,7682,0.00,2.50,0.00,0.000,6,0.000,0.064,2990,2200,1278
$GC,8005,1.42,308.3,545.7,12.5,382,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2200,1276
$GC,8314,1.42,308.3,512.3,10.2,397,8319,0.00,2.53,0.00,0.000,4,0.000,0.074,2989,793,1274
$GC,8438,1.42,308.3,498.1,10.9,402,8445,0.00,2.47,0.00,0.000,6,0.000,0.063,2989,2205,1274
$GC,8755,1.42,308.3,462.3,12.8,418,8759,0.00,2.55,0.00,0.000,4,0.000,0.073,2989,789,1274
$GC,8834,1.42,308.3,450.9,15.2,421,8840,0.00,2.47,0.00,0.000,6,0.000,0.062,2989,2200,1274
$GC,9150,1.42,308.3,399.2,17.2,437,9154,0.00,2.53,0.00,0.000,4,0.000,0.072,2989,792,1274
$GC,9239,1.42,308.3,384.0,16.7,441,9244,0.00,2.47,0.00,0.000,6,0.000,0.061,2989,2203,1274
$GC,9562,1.42,308.3,342.2,10.9,457,9566,0.00,2.53,0.00,0.000,4,0.000,0.071,2989,783,1274
$GC,9635,1.42,308.3,334.4,9.7,460,9639,0.00,2.50,0.00,0.000,6,0.000,0.061,2989,2210,1274
$GC,9951,1.42,308.3,308.0,8.1,475,9955,0.00,2.53,0.00,0.000,4,0.000,0.071,2989,790,1274
$GC,10036,1.42,308.3,299.9,10.3,479,10040,0.00,2.45,0.00,0.000,6,0.000,0.062,2989,2200,1274
$GC,10369,1.42,308.3,264.2,12.6,495,10373,0.00,2.53,0.00,0.000,4,0.000,0.072,2989,788,1274
$GC,10448,1.42,308.3,253.0,14.3,498,10454,0.00,2.47,0.00,0.000,6,0.000,0.062,2990,2203,1274
$GC,10764,1.42,308.3,210.4,13.8,514,10768,0.00,2.53,0.00,0.000,4,0.000,0.072,2989,793,1274
$GC,10855,1.42,308.3,196.3,14.6,518,10859,0.00,2.47,0.00,0.000,6,0.000,0.062,2989,2208,1274
$GC,11188,1.42,308.3,159.9,8.9,534,11193,0.00,2.53,0.00,0.000,4,0.000,0.073,2989,790,1274
$GC,11267,1.42,308.3,148.2,16.1,537,11273,0.00,2.47,0.00,0.000,6,0.000,0.062,2990,2205,1274
$GC,11586,1.43,313.2,109.5,7.8,553,11596,0.00,2.55,5.12,0.575,4,0.000,0.073,2989,792,1258
$GC,11710,1.43,313.2,97.8,10.2,558,11716,0.00,2.45,0.00,0.000,6,0.000,0.062,2990,2200,1258
$GC,12026,1.43,313.2,66.1,10.7,574,12031,0.00,2.53,0.00,0.000,4,0.000,0.073,2989,789,1258
$GC,12113,1.43,313.2,55.5,12.0,578,12118,0.00,2.45,0.00,0.000,6,0.000,0.062,2989,2199,1258
$GC,12443,1.43,313.2,20.6,11.3,594,12447,0.00,2.50,0.00,0.000,4,0.000,0.073,2989,793,1258
$GC,12528,1.43,313.2,10.1,12.6,598,12533,0.00,2.45,0.00,0.000,6,0.000,0.063,2990,2200,1259
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FINISH,0.3,1.027134
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12627,begin surface
$SM_CCo,12714,0.00,0.000,0,0,1258,314.23
$SM_GC,1.09,11.25,0.00,0.00,0.055,0.000,0.000,380,1601,1258,-10.49,0.03,314.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1893
$TCM_TEMP,17.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,625.3,57.6
$24V_AH,23.6,44.381
$10V_AH,10.2,22.238
$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,25.325,131.650,388.175,0.000,0.000,37.759,26.537,139.422,6.500,0.000,0.000,15.517,1165.646,9347.824,480.300,1548.511,510.351,0.000,1281.928,0.000,1503.300,0.000,36.339,0.000
$DEVICE_MAMPS,175.643,114.283,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.539,409.939,406.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31760,603
$CAP_FILE_SIZE,100308,0
$CFSIZE,254472192,236941312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,151008,052508,6358.600,-1301.861,40,1.2,40,-12.4