version: 66.04
glider: 14
mission: 6
dive: 338
start: 10 15 108 13 19 55
data:
$ID,14
$MISSION,6
$DIVE,338
$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,-656678.06
$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,24
$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
$GPS1,131408,6400.695,-1306.377,36,1.0,36,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.6
$GPS2,131933,6400.700,-1306.391,11,2.0,11,-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,284.1,19975,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.82,0.000,2,0.000,0.000,382,1590,3005
$GC,103,-1.16,-146.6,4.5,-5.8,4,126,11.43,2.55,-2.78,0.000,4,0.179,0.087,2414,2997,3141
$GC,307,-1.16,-146.6,33.8,-10.8,13,312,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1601,3142
$GC,635,-1.16,-146.6,72.5,-13.1,29,640,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,209,3143
$GC,766,-1.16,-146.6,90.4,-14.3,35,771,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1622,3143
$GC,1095,-1.16,-146.6,132.2,-11.7,51,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1625,3144
$GC,1404,-1.16,-146.6,173.4,-14.7,66,1408,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,201,3144
$GC,1462,-1.16,-146.6,182.5,-16.0,68,1468,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3144
$GC,1779,-1.16,-146.6,225.6,-11.7,84,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3144
$GC,2087,-1.16,-146.6,253.8,-8.9,99,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3144
$GC,2397,-1.16,-146.6,286.8,-12.0,114,2401,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,2442,-1.16,-146.6,292.9,-13.4,116,2447,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1605,3144
$GC,2770,-1.16,-146.6,333.0,-12.0,132,2774,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,202,3144
$GC,2821,-1.16,-146.6,339.5,-12.6,134,2825,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3144
$GC,3137,-1.16,-146.6,374.5,-10.9,149,3142,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3144
$GC,3171,-1.16,-146.6,378.3,-11.5,150,3175,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3144
$GC,3488,-1.16,-146.6,412.8,-10.5,165,3491,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,212,3144
$GC,3550,-1.16,-146.6,420.2,-12.1,167,3556,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1599,3144
$GC,3867,-1.16,-146.6,457.0,-10.0,183,3871,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,206,3144
$GC,3895,-1.16,-146.6,459.8,-8.9,184,3900,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1604,3144
$GC,4212,-1.16,-146.6,487.6,-9.0,199,4216,0.00,2.53,0.00,0.000,4,0.000,0.087,2414,2995,3144
$GC,4257,-1.16,-146.6,491.6,-8.7,201,4261,0.00,2.45,0.00,0.000,6,0.000,0.067,2414,1595,3144
$GC,4585,-1.16,-146.6,522.7,-10.7,217,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1594,3145
$GC,4894,-1.16,-146.6,564.2,-13.3,232,4898,0.00,2.53,0.00,0.000,4,0.000,0.088,2414,210,3145
$GC,4980,-1.16,-146.6,576.7,-14.2,236,4985,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1600,3145
$GC,5308,-1.16,-146.6,612.2,-9.5,252,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1601,3144
$GC,5617,-1.16,-146.6,642.3,-7.3,267,5622,0.00,2.53,0.00,0.000,4,0.000,0.083,2414,209,3145
$GC,5726,-1.16,-146.6,654.8,-14.4,272,5730,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1600,3145
$STATE,5734,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5734,begin apogee
$GC,5743,-0.32,0.0,656.3,14.7,272,5883,0.90,0.00,130.95,1.134,6,0.123,0.000,2597,2198,2538
$STATE,5884,end apogee,CONTROL_FINISHED_OK
$STATE,5884,begin climb
$GC,5887,1.16,146.6,662.3,0.0,279,6018,1.55,2.67,122.53,1.118,4,0.086,0.075,2926,785,1940
$GC,6171,1.19,162.5,644.5,7.4,292,6191,0.00,2.53,14.20,1.016,6,0.000,0.066,2926,2199,1875
$GC,6509,1.49,351.5,629.1,0.8,309,6677,0.30,2.67,154.02,1.116,4,0.060,0.079,3007,784,1105
$GC,6757,1.49,351.5,605.2,15.0,320,6761,0.00,2.55,0.00,0.000,6,0.000,0.065,3006,2200,1103
$GC,7074,1.49,351.5,571.1,8.2,335,7078,0.00,2.58,0.00,0.000,4,0.000,0.077,3006,791,1100
$GC,7251,1.49,351.5,552.6,12.0,343,7256,0.00,2.50,0.00,0.000,6,0.000,0.065,3007,2203,1098
$GC,7580,1.49,351.5,508.4,14.3,359,7583,0.00,2.55,0.00,0.000,4,0.000,0.074,3008,791,1096
$GC,7703,1.49,351.5,491.6,11.3,364,7708,0.00,2.50,0.00,0.000,6,0.000,0.064,3007,2206,1095
$GC,8020,1.49,351.5,452.8,12.3,379,8024,0.00,2.55,0.00,0.000,4,0.000,0.074,3007,790,1094
$GC,8132,1.49,351.5,437.4,14.2,384,8137,0.00,2.50,0.00,0.000,6,0.000,0.063,3007,2210,1094
$GC,8454,1.49,351.5,397.2,12.3,400,8459,0.00,2.55,0.00,0.000,4,0.000,0.072,3006,787,1094
$GC,8567,1.49,351.5,382.3,13.6,405,8571,0.00,2.47,0.00,0.000,6,0.000,0.063,3006,2201,1094
$GC,8890,1.49,351.5,339.9,13.6,421,8894,0.00,2.53,0.00,0.000,4,0.000,0.072,3007,786,1094
$GC,8990,1.49,351.5,326.9,12.3,425,8997,0.00,2.50,0.00,0.000,6,0.000,0.063,3007,2206,1094
$GC,9308,1.49,351.5,293.5,9.9,441,9312,0.00,2.53,0.00,0.000,4,0.000,0.071,3006,789,1094
$GC,9409,1.49,351.5,281.7,11.6,445,9414,0.00,2.50,0.00,0.000,6,0.000,0.062,3006,2212,1094
$GC,9725,1.49,351.5,252.1,8.4,460,9730,0.00,2.55,0.00,0.000,4,0.000,0.071,3007,781,1094
$GC,9812,1.50,354.6,245.6,7.9,464,9816,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2201,1094
$GC,10139,1.50,354.6,212.8,12.0,480,10143,0.00,2.53,0.00,0.000,4,0.000,0.074,3007,789,1094
$GC,10230,1.50,354.6,201.1,13.1,484,10234,0.00,2.47,0.00,0.000,6,0.000,0.063,3007,2208,1095
$GC,10558,1.50,354.6,159.0,13.5,500,10562,0.00,2.53,0.00,0.000,4,0.000,0.073,3007,790,1094
$GC,10659,1.50,354.6,139.9,17.7,504,10665,0.00,2.45,0.00,0.000,6,0.000,0.061,3007,2202,1094
$GC,10976,1.50,354.6,92.8,8.2,520,10980,0.00,2.53,0.00,0.000,4,0.000,0.072,3007,784,1094
$GC,11043,1.50,354.6,83.6,14.3,523,11048,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2205,1094
$GC,11365,1.50,354.6,37.9,15.3,539,11369,0.00,2.53,0.00,0.000,4,0.000,0.072,3007,786,1094
$GC,11466,1.50,354.6,22.3,15.9,543,11473,0.00,2.47,0.00,0.000,6,0.000,0.062,3007,2201,1094
$STATE,11616,end climb,SURFACE_DEPTH_REACHED
$STATE,11616,begin surface coast
$FINISH,0.5,1.002651
$STATE,11636,end surface coast,CONTROL_FINISHED_OK
$STATE,11636,begin surface
$SM_CCo,11723,0.00,0.000,0,0,1094,354.46
$SM_GC,1.16,11.32,0.00,0.00,0.055,0.000,0.000,375,1592,1094,-10.50,-0.23,354.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.8,90.3
$24V_AH,23.5,44.785
$10V_AH,10.2,22.436
$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,25.500,121.925,421.700,0.000,0.000,37.760,31.100,123.527,4.750,0.000,0.000,12.728,1084.182,8482.718,518.960,1479.242,485.193,0.000,1293.321,0.000,1441.654,0.000,33.201,0.000
$DEVICE_MAMPS,179.478,88.205,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.509,374.479,336.473,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28587,552
$CAP_FILE_SIZE,93558,0
$CFSIZE,254472192,236802048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,151008,163637,6358.859,-1314.783,39,1.0,39,-12.6