version: 66.04
glider: 14
mission: 6
dive: 336
start: 10 15 108 5 31 13
data:
$ID,14
$MISSION,6
$DIVE,336
$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,-656651.69
$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
$GPS1,052508,6358.600,-1301.861,40,1.2,40,-12.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.0
$GPS2,053051,6358.581,-1301.790,13,1.3,13,-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,293.1,24120,-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,-60.85,0.000,2,0.000,0.000,380,1600,2665
$GC,83,-1.16,-146.6,3.0,-4.6,3,114,11.38,2.55,-12.85,0.000,4,0.178,0.091,2412,216,3138
$GC,329,-1.16,-146.6,36.4,-12.7,14,333,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1622,3139
$GC,656,-1.16,-146.6,80.0,-12.4,30,661,0.00,2.55,0.00,0.000,4,0.000,0.076,2412,206,3139
$GC,713,-1.16,-146.6,87.2,-13.3,32,720,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1606,3140
$GC,1030,-1.16,-146.6,121.9,-9.4,48,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,1341,-1.16,-146.6,145.7,-7.1,63,1346,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,209,3139
$GC,1393,-1.16,-146.6,149.6,-7.5,65,1401,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1605,3140
$GC,1718,-1.16,-146.6,182.6,-12.4,81,1722,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3141
$GC,1786,-1.16,-146.6,192.7,-15.4,84,1791,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3141
$GC,2115,-1.16,-146.6,239.0,-12.2,100,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3141
$GC,2424,-1.16,-146.6,259.6,-5.1,115,2428,0.00,2.50,0.00,0.000,4,0.000,0.077,2410,210,3141
$GC,2497,-1.16,-146.6,263.8,-5.7,118,2501,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3141
$GC,2814,-1.16,-146.6,283.0,-7.5,133,2818,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,209,3141
$GC,2853,-1.16,-146.6,286.6,-9.1,134,2859,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1602,3141
$GC,3169,-1.16,-146.6,315.6,-9.5,150,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3141
$GC,3479,-1.16,-146.6,349.0,-10.7,165,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3141
$GC,3788,-1.16,-146.6,378.1,-8.7,180,3792,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,206,3140
$GC,3838,-1.16,-146.6,382.8,-9.5,182,3842,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1597,3141
$GC,4155,-1.16,-146.6,411.5,-9.4,197,4159,0.00,2.53,0.00,0.000,4,0.000,0.086,2412,2994,3141
$GC,4188,-1.16,-146.6,415.0,-9.4,198,4194,0.00,2.42,0.00,0.000,6,0.000,0.066,2412,1596,3141
$GC,4505,-1.16,-146.6,448.1,-10.6,214,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1596,3141
$GC,4814,-1.16,-146.6,479.8,-10.4,229,4819,0.00,2.50,0.00,0.000,4,0.000,0.084,2412,212,3141
$GC,4856,-1.16,-146.6,484.3,-11.7,231,4860,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1605,3141
$GC,5183,-1.16,-146.6,519.8,-11.2,247,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1608,3141
$GC,5494,-1.16,-146.6,551.1,-8.6,262,5498,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,203,3141
$GC,5618,-1.16,-146.6,562.5,-9.7,267,5622,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1603,3141
$GC,5935,-1.16,-146.6,589.7,-8.4,282,5939,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,203,3141
$GC,6075,-1.16,-146.6,604.2,-12.4,288,6079,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1596,3141
$GC,6392,-1.16,-146.6,639.5,-11.0,303,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1596,3141
$GC,6700,-1.16,-146.6,667.5,-10.0,318,6705,0.00,2.53,0.00,0.000,4,0.000,0.084,2412,206,3141
$STATE,6821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6821,begin apogee
$GC,6833,-0.32,0.0,681.6,14.3,323,6972,0.90,0.00,130.15,1.144,6,0.115,0.000,2598,2196,2538
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6973,begin climb
$GC,6977,1.16,146.6,689.2,0.0,330,7109,1.52,2.85,122.25,1.132,4,0.086,0.120,2923,3601,1940
$GC,7260,1.16,146.6,674.3,9.9,343,7265,0.00,2.53,0.00,0.000,6,0.000,0.074,2923,2199,1937
$GC,7588,1.23,187.5,652.1,6.4,359,7631,0.00,2.67,33.80,1.113,4,0.000,0.082,2923,796,1773
$GC,7783,1.23,187.5,634.4,10.3,367,7790,0.00,2.50,0.00,0.000,6,0.000,0.065,2923,2199,1772
$GC,8100,1.28,219.4,609.2,6.8,383,8135,0.15,2.67,27.00,1.102,4,0.066,0.076,2965,788,1644
$GC,8315,1.28,219.4,587.4,10.1,392,8321,0.00,2.50,0.00,0.000,6,0.000,0.064,2965,2200,1642
$GC,8632,1.28,219.4,555.8,10.3,408,8636,0.00,2.55,0.00,0.000,4,0.000,0.075,2965,790,1640
$GC,8855,1.28,219.4,533.2,10.8,418,8860,0.00,2.50,0.00,0.000,6,0.000,0.064,2965,2209,1638
$GC,9177,1.28,219.4,500.5,10.0,434,9181,0.00,2.55,0.00,0.000,4,0.000,0.074,2965,791,1635
$GC,9323,1.28,219.4,485.6,10.4,440,9329,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2202,1635
$GC,9640,1.28,219.4,454.8,10.1,456,9644,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,789,1635
$GC,9724,1.28,219.4,445.1,12.1,459,9730,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2200,1635
$GC,10043,1.28,219.4,413.2,10.4,475,10047,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,784,1635
$GC,10106,1.28,219.4,406.4,10.7,478,10110,0.00,2.50,0.00,0.000,6,0.000,0.062,2965,2208,1635
$GC,10433,1.28,219.4,373.5,9.9,494,10437,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,789,1634
$GC,10534,1.28,219.4,362.8,11.0,498,10540,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2201,1634
$GC,10850,1.28,219.4,327.6,11.5,514,10854,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,781,1635
$GC,10924,1.28,219.4,318.6,12.3,517,10928,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2201,1634
$GC,11246,1.28,219.4,283.5,10.8,533,11250,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,782,1635
$GC,11341,1.28,219.4,272.8,11.2,537,11345,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2204,1635
$GC,11657,1.28,219.4,243.0,8.8,552,11662,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,785,1635
$GC,11759,1.28,219.4,233.7,9.7,556,11765,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2200,1635
$GC,12076,1.28,219.4,207.1,8.8,572,12080,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,782,1635
$GC,12162,1.28,219.4,198.7,10.2,576,12166,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2205,1635
$GC,12489,1.28,219.4,168.1,9.0,592,12493,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,786,1635
$GC,12606,1.28,219.4,156.3,9.4,597,12611,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2210,1635
$GC,12924,1.28,219.4,128.7,8.5,612,12928,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,790,1635
$GC,13041,1.28,219.4,117.6,8.7,617,13046,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2200,1635
$GC,13360,1.28,219.4,89.1,9.7,632,13364,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,782,1635
$GC,13472,1.28,219.4,76.5,10.5,637,13477,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2204,1635
$GC,13796,1.28,219.4,47.4,8.4,653,13801,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,784,1635
$GC,13887,1.28,219.4,38.8,8.7,657,13892,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1635
$GC,14210,1.28,219.4,10.7,9.2,673,14214,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,786,1635
$STATE,14296,end climb,SURFACE_DEPTH_REACHED
$STATE,14296,begin surface coast
$FINISH,0.4,1.027064
$STATE,14319,end surface coast,CONTROL_FINISHED_OK
$STATE,14319,begin surface
$SM_CCo,14346,43.67,0.628,1,0,1315,300.00
$SM_GC,1.20,0.00,0.00,43.67,0.000,0.000,0.628,377,1621,1315,-10.57,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1894
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,626.2,65.4
$24V_AH,23.6,44.503
$10V_AH,10.2,22.311
$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,25.125,144.775,313.200,43.675,0.000,37.763,27.666,149.260,5.500,0.000,0.000,14.492,1331.493,10535.234,497.483,1832.526,549.244,0.000,1411.878,0.000,1782.633,0.000,36.370,0.000
$DEVICE_MAMPS,177.944,120.419,1143.597,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.942,461.566,429.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34895,678
$CAP_FILE_SIZE,112815,0
$CFSIZE,254472192,236875776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,2,0
$GPS,151008,093232,6400.505,-1303.288,39,1.4,39,-12.5