version: 66.04
glider: 14
mission: 6
dive: 345
start: 10 16 108 9 26 12
data:
$ID,14
$MISSION,6
$DIVE,345
$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,-656801
$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,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
$GPS1,092008,6357.757,-1317.246,40,1.3,40,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-64.0
$GPS2,092551,6357.841,-1317.144,15,1.4,15,-12.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT4
$TGT_LATLONG,6339.000,-1315.000
$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,189.7,34937,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.12,0.000,2,0.000,0.000,381,1590,2611
$GC,83,-1.16,-146.6,3.6,-3.1,3,116,11.38,2.50,-14.70,0.000,4,0.178,0.090,2413,212,3137
$GC,385,-1.16,-146.6,46.1,-15.1,16,392,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1622,3139
$GC,702,-1.16,-146.6,87.2,-12.3,32,706,0.00,2.55,0.00,0.000,4,0.000,0.075,2413,203,3139
$GC,838,-1.16,-146.6,105.2,-13.3,38,842,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1596,3140
$GC,1161,-1.16,-146.6,143.9,-11.7,54,1165,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,3000,3140
$GC,1195,-1.16,-146.6,148.3,-11.3,55,1202,0.00,2.42,0.00,0.000,6,0.000,0.064,2413,1601,3139
$GC,1513,-1.16,-146.6,185.0,-11.2,71,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3140
$GC,1821,-1.16,-146.6,218.6,-10.6,86,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3139
$GC,2131,-1.16,-146.6,250.5,-9.9,101,2136,0.00,2.50,0.00,0.000,4,0.000,0.080,2413,206,3139
$GC,2228,-1.16,-146.6,261.4,-12.1,105,2232,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3139
$GC,2544,-1.16,-146.6,290.8,-8.7,120,2548,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,211,3140
$GC,2617,-1.16,-146.6,297.4,-9.3,123,2621,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1605,3140
$GC,2939,-1.16,-146.6,323.1,-8.0,139,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1607,3139
$GC,3248,-1.16,-146.6,351.5,-10.0,154,3253,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3140
$GC,3316,-1.16,-146.6,359.2,-11.3,157,3320,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1599,3140
$GC,3638,-1.16,-146.6,394.4,-11.3,173,3642,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,209,3139
$GC,3677,-1.16,-146.6,399.2,-11.6,174,3683,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1602,3139
$GC,3994,-1.16,-146.6,438.9,-12.4,190,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3139
$GC,4303,-1.16,-146.6,479.3,-13.2,205,4307,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,207,3139
$GC,4347,-1.16,-146.6,485.1,-10.6,207,4352,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1597,3139
$GC,4670,-1.16,-146.6,522.7,-12.8,223,4674,0.00,2.55,0.00,0.000,4,0.000,0.089,2414,2995,3139
$GC,4732,-1.16,-146.6,529.2,-9.5,226,4736,0.00,2.42,0.00,0.000,6,0.000,0.069,2413,1603,3140
$GC,5065,-1.16,-146.6,567.2,-11.3,242,5069,0.00,2.53,0.00,0.000,4,0.000,0.085,2413,2998,3140
$GC,5151,-1.16,-146.6,576.2,-10.9,245,5157,0.00,2.47,0.00,0.000,6,0.000,0.071,2413,1592,3140
$GC,5467,-1.16,-146.6,609.5,-10.8,261,5471,0.00,2.53,0.00,0.000,4,0.000,0.087,2413,202,3140
$GC,5518,-1.16,-146.6,615.7,-11.9,263,5523,0.00,2.40,0.00,0.000,6,0.000,0.061,2413,1601,3140
$GC,5841,-1.16,-146.6,653.6,-11.8,279,5845,0.00,2.55,0.00,0.000,4,0.000,0.091,2413,2994,3141
$GC,5942,-1.16,-146.6,665.0,-10.8,283,5948,0.00,2.47,0.00,0.000,6,0.000,0.071,2414,1593,3141
$STATE,6234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6234,begin apogee
$GC,6244,-0.32,0.0,697.5,10.9,298,6383,0.90,0.00,130.32,1.164,6,0.107,0.000,2599,2197,2539
$STATE,6384,end apogee,CONTROL_FINISHED_OK
$STATE,6384,begin climb
$GC,6388,1.16,146.6,702.2,0.0,305,6520,1.52,2.85,122.45,1.149,4,0.083,0.114,2926,3597,1941
$GC,6637,1.16,146.6,686.4,10.8,316,6641,0.00,2.53,0.00,0.000,6,0.000,0.073,2926,2199,1937
$GC,6954,1.16,146.6,658.7,8.3,331,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2200,1937
$GC,7263,1.16,146.6,632.5,8.0,346,7267,0.00,2.67,0.00,0.000,4,0.000,0.101,2926,3601,1935
$GC,7353,1.16,146.6,624.7,9.0,350,7357,0.00,2.50,0.00,0.000,6,0.000,0.071,2926,2198,1933
$GC,7681,1.17,147.6,596.6,8.0,366,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2199,1933
$GC,7991,1.43,316.7,581.5,1.6,381,8136,0.25,2.75,137.15,1.126,4,0.061,0.097,2994,3599,1246
$GC,8231,1.43,316.7,563.9,10.1,392,8236,0.00,2.50,0.00,0.000,6,0.000,0.070,2994,2203,1244
$GC,8559,1.43,316.7,530.2,10.2,408,8564,0.00,2.65,0.00,0.000,4,0.000,0.098,2994,3594,1241
$GC,8600,1.43,316.7,524.2,16.0,410,8604,0.00,2.50,0.00,0.000,6,0.000,0.068,2994,2194,1241
$GC,8928,1.43,316.7,478.4,15.0,426,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,1239
$GC,9237,1.43,316.7,437.2,12.6,441,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2194,1239
$GC,9546,1.43,316.7,400.3,12.2,456,9550,0.00,2.55,0.00,0.000,4,0.000,0.079,2995,786,1239
$GC,9568,1.43,316.7,397.3,12.9,457,9573,0.00,2.47,0.00,0.000,6,0.000,0.061,2994,2203,1239
$GC,9890,1.43,316.7,356.6,12.8,473,9894,0.00,2.53,0.00,0.000,4,0.000,0.072,2994,786,1239
$GC,9964,1.43,316.7,346.6,13.9,476,9969,0.00,2.47,0.00,0.000,6,0.000,0.061,2995,2208,1238
$GC,10286,1.43,316.7,305.6,12.8,492,10290,0.00,2.53,0.00,0.000,4,0.000,0.071,2994,788,1239
$GC,10372,1.43,316.7,293.9,14.3,496,10377,0.00,2.45,0.00,0.000,6,0.000,0.061,2994,2199,1239
$GC,10700,1.43,316.7,251.6,12.8,512,10704,0.00,2.53,0.00,0.000,4,0.000,0.072,2994,784,1239
$GC,10801,1.43,316.7,237.8,13.7,516,10807,0.00,2.47,0.00,0.000,6,0.000,0.061,2994,2206,1239
$GC,11118,1.43,316.7,196.7,12.9,532,11122,0.00,2.53,0.00,0.000,4,0.000,0.073,2994,789,1239
$GC,11207,1.43,316.7,183.8,13.7,536,11212,0.00,2.45,0.00,0.000,6,0.000,0.062,2995,2199,1239
$GC,11530,1.43,316.7,142.1,12.8,552,11534,0.00,2.53,0.00,0.000,4,0.000,0.073,2996,785,1239
$GC,11616,1.43,316.7,130.3,14.3,556,11621,0.00,2.47,0.00,0.000,6,0.000,0.061,2994,2198,1239
$GC,11943,1.43,316.7,89.1,12.5,572,11948,0.00,2.53,0.00,0.000,4,0.000,0.073,2994,783,1239
$GC,12032,1.43,316.7,78.5,12.6,576,12036,0.00,2.47,0.00,0.000,6,0.000,0.062,2995,2200,1239
$GC,12361,1.43,316.7,41.1,11.3,592,12365,0.00,2.53,0.00,0.000,4,0.000,0.072,2995,780,1238
$GC,12518,1.43,316.7,21.3,12.9,599,12522,0.00,2.47,0.00,0.000,6,0.000,0.061,2994,2198,1239
$STATE,12691,end climb,SURFACE_DEPTH_REACHED
$STATE,12692,begin surface coast
$FINISH,0.6,1.018194
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12802,0.00,0.000,0,0,1238,318.89
$SM_GC,1.38,11.27,0.00,0.00,0.055,0.000,0.000,378,1593,1238,-10.50,-0.17,318.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1914
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.6,105.4
$24V_AH,23.5,45.664
$10V_AH,10.2,22.825
$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,25.325,122.150,389.925,0.000,0.000,37.760,25.846,144.889,5.000,0.000,0.000,16.910,1167.250,9443.769,478.776,1547.074,508.498,0.000,1277.879,0.000,1503.875,0.000,34.850,0.000
$DEVICE_MAMPS,177.944,114.283,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.767,414.166,367.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31621,609
$CAP_FILE_SIZE,97097,0
$CFSIZE,254472192,236515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,161008,130038,6356.890,-1317.092,24,1.7,24,-12.6