version: 66.04
glider: 14
mission: 6
dive: 337
start: 10 15 108 9 38 19
data:
$ID,14
$MISSION,6
$DIVE,337
$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,-656664.69
$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,36
$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
$GPS1,093232,6400.505,-1303.288,39,1.4,39,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.1
$GPS2,093757,6400.585,-1303.145,10,1.6,10,-12.5
$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,284.4,22614,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-56.10,0.000,2,0.000,0.000,378,1621,2616
$GC,78,-1.16,-146.6,3.3,-3.6,3,111,11.43,2.45,-14.95,0.000,4,0.179,0.086,2413,2991,3138
$GC,246,-1.16,-146.6,23.4,-11.9,10,253,0.00,2.42,0.00,0.000,6,0.000,0.063,2414,1593,3138
$GC,564,-1.16,-146.6,58.9,-11.1,26,569,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,209,3138
$GC,718,-1.16,-146.6,76.5,-10.3,33,722,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3138
$GC,1046,-1.16,-146.6,111.4,-10.1,49,1050,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,209,3139
$GC,1119,-1.16,-146.6,118.9,-10.8,52,1123,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3139
$GC,1436,-1.16,-146.6,152.4,-11.0,67,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3139
$GC,1744,-1.16,-146.6,185.2,-10.1,82,1748,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3140
$GC,1789,-1.16,-146.6,189.9,-10.8,84,1793,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3140
$GC,2111,-1.16,-146.6,221.5,-9.6,100,2115,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,208,3140
$GC,2150,-1.16,-146.6,225.7,-10.4,101,2156,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1602,3140
$GC,2467,-1.16,-146.6,255.4,-9.1,117,2470,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,209,3140
$GC,2506,-1.16,-146.6,259.4,-10.2,118,2512,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3140
$GC,2823,-1.16,-146.6,292.5,-10.5,134,2827,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3140
$GC,2873,-1.16,-146.6,298.5,-11.2,136,2877,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1605,3140
$GC,3195,-1.16,-146.6,331.5,-10.0,152,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3140
$GC,3505,-1.16,-146.6,364.0,-10.7,167,3509,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,212,3140
$GC,3567,-1.16,-146.6,371.3,-12.0,169,3573,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1598,3140
$GC,3883,-1.16,-146.6,405.0,-11.0,185,3888,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3140
$GC,3924,-1.16,-146.6,409.6,-11.1,187,3928,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1600,3140
$GC,4252,-1.16,-146.6,440.0,-8.6,203,4256,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3140
$GC,4332,-1.16,-146.6,448.5,-9.9,206,4338,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1602,3140
$GC,4648,-1.16,-146.6,481.6,-10.7,222,4652,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,206,3140
$GC,4682,-1.16,-146.6,485.6,-11.1,223,4687,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1602,3140
$GC,4999,-1.16,-146.6,519.0,-11.0,238,5004,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,212,3141
$GC,5067,-1.16,-146.6,527.5,-12.2,241,5072,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1603,3141
$GC,5389,-1.16,-146.6,561.0,-10.6,257,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3141
$GC,5699,-1.16,-146.6,589.9,-9.2,272,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$GC,6008,-1.16,-146.6,620.9,-10.6,287,6012,0.00,2.58,0.00,0.000,4,0.000,0.097,2413,2995,3141
$GC,6042,-1.16,-146.6,623.3,-6.6,288,6048,0.00,2.47,0.00,0.000,6,0.000,0.072,2413,1595,3141
$STATE,6231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6231,begin apogee
$GC,6241,-0.32,0.0,644.7,11.2,298,6379,0.95,0.00,129.70,1.125,6,0.125,0.000,2604,2198,2539
$STATE,6380,end apogee,CONTROL_FINISHED_OK
$STATE,6380,begin climb
$GC,6384,1.16,146.6,649.4,0.0,305,6516,1.50,2.78,122.40,1.108,4,0.079,0.110,2926,3594,1940
$GC,6600,1.16,146.6,636.4,10.6,315,6604,0.00,2.53,0.00,0.000,6,0.000,0.073,2927,2197,1938
$GC,6928,1.23,188.2,613.7,6.4,331,6966,0.00,0.00,34.65,1.082,6,0.000,0.000,2927,2197,1770
$GC,7277,1.23,188.2,582.3,8.3,348,7281,0.00,2.70,0.00,0.000,4,0.000,0.104,2927,3602,1769
$GC,7333,1.23,188.2,577.4,8.8,350,7339,0.00,2.53,0.00,0.000,6,0.000,0.073,2927,2197,1767
$GC,7650,1.32,242.0,556.3,6.0,366,7700,0.15,2.67,44.78,1.094,4,0.066,0.086,2968,785,1552
$GC,7760,1.32,242.0,547.2,9.8,371,7764,0.00,2.50,0.00,0.000,6,0.000,0.064,2968,2195,1549
$GC,8087,1.32,242.0,514.5,10.4,387,8090,0.00,2.58,0.00,0.000,4,0.000,0.076,2968,785,1547
$GC,8171,1.32,242.0,504.5,11.6,390,8178,0.00,2.50,0.00,0.000,6,0.000,0.064,2968,2205,1546
$GC,8488,1.32,242.0,464.5,13.4,406,8493,0.00,2.58,0.00,0.000,4,0.000,0.075,2968,789,1545
$GC,8574,1.32,242.0,453.2,12.9,410,8578,0.00,2.47,0.00,0.000,6,0.000,0.064,2968,2200,1544
$GC,8902,1.32,242.0,421.1,8.4,426,8906,0.00,2.53,0.00,0.000,4,0.000,0.074,2968,789,1544
$GC,9065,1.32,242.0,406.1,9.5,433,9069,0.00,2.47,0.00,0.000,6,0.000,0.063,2968,2201,1543
$GC,9386,1.32,242.0,376.6,9.2,449,9390,0.00,2.53,0.00,0.000,4,0.000,0.072,2968,787,1543
$GC,9465,1.32,242.0,368.4,10.2,452,9471,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2204,1542
$GC,9781,1.32,242.0,336.2,10.7,468,9785,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,787,1542
$GC,9866,1.32,242.0,326.5,11.2,471,9872,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2208,1542
$GC,10183,1.32,242.0,290.8,11.6,487,10187,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,788,1542
$GC,10268,1.32,242.0,280.3,12.8,491,10273,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2210,1542
$GC,10596,1.32,242.0,244.3,10.5,507,10600,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,787,1542
$GC,10694,1.32,242.0,234.9,9.1,511,10698,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2208,1542
$GC,11015,1.43,312.3,214.0,5.3,527,11078,0.00,2.62,55.85,0.821,4,0.000,0.071,2968,785,1264
$GC,11186,1.50,358.0,204.6,6.3,534,11229,0.15,2.50,36.88,0.791,6,0.064,0.062,3013,2200,1078
$GC,11544,1.50,358.0,171.0,10.5,551,11548,0.00,2.53,0.00,0.000,4,0.000,0.072,3013,789,1076
$GC,11652,1.50,358.0,155.0,16.8,556,11657,0.00,2.47,0.00,0.000,6,0.000,0.062,3013,2208,1076
$GC,11982,1.50,358.0,93.0,17.1,572,11986,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,781,1076
$GC,12050,1.50,358.0,82.0,14.6,575,12054,0.00,2.47,0.00,0.000,6,0.000,0.062,3014,2198,1077
$GC,12373,1.50,358.0,50.4,9.3,591,12377,0.00,2.53,0.00,0.000,4,0.000,0.072,3013,781,1076
$GC,12513,1.50,358.0,34.0,11.9,597,12517,0.00,2.47,0.00,0.000,6,0.000,0.062,3014,2200,1076
$STATE,12764,end climb,SURFACE_DEPTH_REACHED
$STATE,12764,begin surface coast
$FINISH,0.3,1.002688
$STATE,12786,end surface coast,CONTROL_FINISHED_OK
$STATE,12786,begin surface
$SM_CCo,12873,0.00,0.000,0,0,1076,358.87
$SM_GC,1.16,11.43,0.00,0.00,0.056,0.000,0.000,381,1593,1076,-10.49,-0.17,358.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1908
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,28.4
$24V_AH,23.5,44.640
$10V_AH,10.2,22.376
$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,25.600,136.775,424.250,0.000,0.000,37.762,30.051,125.379,5.250,0.000,0.000,12.359,1173.122,9443.331,516.821,1557.770,508.182,0.000,1337.346,0.000,1516.534,0.000,36.263,0.000
$DEVICE_MAMPS,178.711,109.681,1125.189,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.903,414.247,370.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31664,610
$CAP_FILE_SIZE,100916,0
$CFSIZE,254472192,236838912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,151008,131408,6400.695,-1306.377,36,1.0,36,-12.5