version: 66.04
glider: 14
mission: 6
dive: 399
start: 10 26 108 15 9 57
data:
$ID,14
$MISSION,6
$DIVE,399
$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,-657926.62
$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
$GPS1,150002,6245.003,-1143.649,48,1.6,48,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.4
$GPS2,150933,6244.880,-1143.621,14,1.6,14,-11.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,CS
$TGT_LATLONG,6321.000,-1058.000
$TGT_RADIUS,5000.000
$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,40.7,76883,-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,-60.58,0.000,2,0.000,0.000,378,1595,2745
$GC,83,-1.16,-146.6,4.1,-6.2,3,112,11.38,2.53,-9.48,0.000,4,0.173,0.089,2417,209,3139
$GC,225,-1.16,-146.6,29.0,-14.1,9,231,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1616,3139
$GC,542,-1.16,-146.6,67.0,-8.2,25,546,0.00,2.55,0.00,0.000,4,0.000,0.074,2417,201,3139
$GC,583,-1.16,-146.6,71.4,-10.9,27,587,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1603,3139
$GC,916,-1.16,-146.6,108.1,-11.8,43,921,0.00,2.53,0.00,0.000,4,0.000,0.075,2417,203,3139
$GC,973,-1.16,-146.6,117.4,-18.8,45,980,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1610,3140
$GC,1293,-1.16,-146.6,150.9,-11.1,61,1297,0.00,2.53,0.00,0.000,4,0.000,0.074,2417,207,3140
$GC,1348,-1.16,-146.6,157.6,-11.4,63,1355,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1605,3140
$GC,1665,-1.16,-146.6,190.4,-10.3,79,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1605,3140
$GC,1974,-1.16,-146.6,223.2,-10.6,94,1978,0.00,2.50,0.00,0.000,4,0.000,0.075,2417,209,3140
$GC,2025,-1.16,-146.6,229.1,-11.6,96,2029,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1606,3140
$GC,2342,-1.16,-146.6,263.2,-10.8,111,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1607,3140
$GC,2651,-1.16,-146.6,297.0,-10.9,126,2655,0.00,2.53,0.00,0.000,4,0.000,0.077,2417,203,3140
$GC,2723,-1.16,-146.6,305.5,-11.4,129,2728,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1594,3139
$GC,3040,-1.16,-146.6,338.7,-10.5,144,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1598,3140
$GC,3349,-1.16,-146.6,371.6,-10.8,159,3353,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,209,3140
$GC,3416,-1.16,-146.6,379.5,-12.4,162,3420,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1601,3140
$GC,3738,-1.16,-146.6,413.0,-10.1,178,3742,0.00,2.50,0.00,0.000,4,0.000,0.077,2417,209,3139
$GC,3779,-1.16,-146.6,417.3,-10.3,180,3783,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1600,3140
$GC,4107,-1.16,-146.6,449.5,-9.6,196,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1603,3139
$GC,4416,-1.16,-146.6,477.5,-8.8,211,4420,0.00,2.53,0.00,0.000,4,0.000,0.079,2417,204,3139
$GC,4552,-1.16,-146.6,491.5,-10.8,217,4556,0.00,2.40,0.00,0.000,6,0.000,0.059,2417,1603,3140
$GC,4880,-1.16,-146.6,524.9,-9.5,233,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1606,3140
$GC,5188,-1.16,-146.6,553.8,-9.6,248,5193,0.00,2.53,0.00,0.000,4,0.000,0.080,2417,210,3140
$GC,5256,-1.16,-146.6,561.1,-10.3,251,5260,0.00,2.40,0.00,0.000,6,0.000,0.059,2417,1603,3140
$GC,5584,-1.16,-146.6,590.4,-9.0,267,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1602,3140
$GC,5892,-1.16,-146.6,620.7,-9.3,282,5897,0.00,2.53,0.00,0.000,4,0.000,0.081,2417,206,3140
$STATE,5934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5934,begin apogee
$GC,5947,-0.32,0.0,625.5,10.9,284,6086,0.88,0.00,129.62,1.088,6,0.117,0.000,2597,2194,2539
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6090,1.16,146.6,631.7,0.0,291,6222,1.50,2.85,122.18,1.071,4,0.075,0.108,2925,3601,1941
$GC,6294,1.25,202.1,626.4,5.9,300,6348,0.10,2.53,46.20,1.045,6,0.070,0.070,2957,2193,1714
$GC,6662,1.25,202.1,593.0,9.7,318,6666,0.00,2.58,0.00,0.000,4,0.000,0.082,2957,791,1712
$GC,6702,1.25,202.1,588.6,10.1,320,6707,0.00,2.50,0.00,0.000,6,0.000,0.064,2957,2208,1712
$GC,7031,1.25,202.1,557.7,9.2,336,7035,0.00,2.58,0.00,0.000,4,0.000,0.074,2957,788,1711
$GC,7126,1.25,202.1,548.2,10.4,340,7131,0.00,2.50,0.00,0.000,6,0.000,0.064,2957,2206,1711
$GC,7443,1.25,202.1,520.7,9.1,355,7448,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,789,1709
$GC,7522,1.25,202.1,513.1,9.4,358,7529,0.00,2.47,0.00,0.000,6,0.000,0.064,2957,2199,1708
$GC,7839,1.25,202.1,485.5,8.8,374,7843,0.00,2.53,0.00,0.000,4,0.000,0.073,2956,792,1706
$GC,7912,1.25,202.1,478.8,9.2,377,7916,0.00,2.47,0.00,0.000,6,0.000,0.063,2957,2200,1705
$GC,8228,1.25,202.1,451.0,8.9,392,8232,0.00,2.53,0.00,0.000,4,0.000,0.072,2957,793,1705
$GC,8352,1.25,202.1,438.8,10.2,397,8357,0.00,2.47,0.00,0.000,6,0.000,0.063,2957,2206,1705
$GC,8669,1.25,202.1,408.5,9.7,412,8673,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,787,1704
$GC,8776,1.25,202.1,397.2,10.4,416,8784,0.00,2.47,0.00,0.000,6,0.000,0.062,2957,2204,1705
$GC,9093,1.25,202.1,365.9,9.9,432,9097,0.00,2.53,0.00,0.000,4,0.000,0.071,2957,787,1704
$GC,9185,1.25,202.1,356.6,11.0,436,9189,0.00,2.47,0.00,0.000,6,0.000,0.062,2957,2211,1705
$GC,9518,1.25,202.1,325.2,9.1,452,9522,0.00,2.53,0.00,0.000,4,0.000,0.070,2957,789,1704
$GC,9613,1.25,202.1,316.2,9.5,456,9617,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2199,1704
$GC,9930,1.25,202.1,289.0,8.4,471,9934,0.00,2.50,0.00,0.000,4,0.000,0.069,2957,785,1704
$GC,10032,1.25,202.1,279.5,9.3,475,10036,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2210,1705
$GC,10349,1.25,202.1,252.6,8.4,490,10353,0.00,2.53,0.00,0.000,4,0.000,0.070,2957,784,1704
$GC,10428,1.25,202.1,245.4,9.2,493,10434,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2201,1704
$GC,10744,1.25,202.1,219.8,8.5,509,10748,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,788,1704
$GC,10834,1.25,202.1,211.1,10.0,513,10839,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2201,1704
$GC,11156,1.27,213.6,185.0,7.6,529,11171,0.00,2.55,9.80,0.716,4,0.000,0.071,2957,781,1668
$GC,11274,1.27,213.6,174.4,9.1,533,11278,0.00,2.47,0.00,0.000,6,0.000,0.061,2957,2209,1667
$GC,11598,1.27,213.6,143.1,9.3,549,11602,0.00,2.55,0.00,0.000,4,0.000,0.070,2957,783,1667
$GC,11732,1.27,213.6,131.2,8.7,555,11736,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,2205,1668
$GC,12055,1.27,213.6,104.9,8.0,571,12060,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,789,1667
$GC,12119,1.27,213.6,98.5,9.6,574,12123,0.00,2.45,0.00,0.000,6,0.000,0.061,2957,2202,1668
$GC,12448,1.31,236.1,67.5,7.1,590,12474,0.00,2.58,19.48,0.684,4,0.000,0.070,2957,795,1576
$GC,12597,1.46,330.1,62.0,4.4,596,12676,0.15,2.45,73.12,0.686,6,0.064,0.061,3002,2202,1192
$GC,13000,1.46,330.1,18.0,14.6,616,13004,0.00,2.53,0.00,0.000,4,0.000,0.071,3002,790,1191
$GC,13085,1.46,330.1,4.4,16.1,620,13090,0.00,2.45,0.00,0.000,6,0.000,0.062,3002,2198,1191
$STATE,13100,end climb,SURFACE_DEPTH_REACHED
$STATE,13101,begin surface coast
$FINISH,1.3,1.027290
$STATE,13122,end surface coast,CONTROL_FINISHED_OK
$STATE,13123,begin surface
$SM_CCo,13208,0.00,0.000,0,0,1187,331.65
$SM_GC,1.12,11.48,0.00,0.00,0.057,0.000,0.000,378,1598,1187,-10.51,-0.03,331.65
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1870
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,551.9,83.4
$24V_AH,23.5,53.345
$10V_AH,10.2,27.083
$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,25.475,141.650,400.400,0.000,0.000,76.996,62.440,234.053,4.750,0.000,0.000,19.999,1201.715,9758.068,490.700,1626.937,707.132,0.000,1338.463,0.000,1580.796,0.000,31.554,0.000
$DEVICE_MAMPS,173.342,108.147,1088.373,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.141,422.914,401.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31665,622
$CAP_FILE_SIZE,106781,0
$CFSIZE,254472192,233324544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,261008,185138,6247.231,-1139.693,40,0.9,53,-11.2