version: 66.02
glider: 14
mission: 3
dive: 69
start: 2 28 108 8 53 20
data:
$ID,14
$MISSION,3
$DIVE,69
$D_SURF,4
$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,440
$T_MISSION,480
$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,1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-132880.08
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2320
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2540
$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,2
$AH0_24V,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.807375
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$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,3
$ALTIM_SENSITIVITY,3
$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,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,083538,6129.909,-444.845,58,1.5,58,-6.9
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.4
$GPS2,085227,6129.864,-444.820,10,1.8,10,-6.9
$SPEED_LIMITS,0.130,0.228
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,-0.210
$KALMAN_X,114460.6,1108.9,461.7,-200611.7,-17862.2
$KALMAN_Y,-76954.7,1596.6,-412.7,68165.6,-1627.1
$MHEAD_RNG_PITCHd_Wd,163.6,143124,-13.5,-7.500
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-60.20,0.000,2,0.000,0.000,35,2322,2699
$GC,94,-1.10,-146.6,3.7,-4.9,3,123,11.57,2.72,-9.77,0.000,4,0.181,0.114,2095,3718,3141
$GC,258,-1.10,-146.6,21.3,-4.2,10,263,0.00,2.40,0.00,0.000,6,0.000,0.060,2095,2318,3141
$GC,575,-1.10,-146.6,58.0,-8.9,25,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2317,3141
$GC,886,-1.10,-146.6,84.5,-9.6,40,890,0.00,2.65,0.00,0.000,4,0.000,0.100,2095,3718,3140
$GC,929,-1.10,-146.6,89.0,-9.6,42,934,0.00,2.40,0.00,0.000,6,0.000,0.061,2095,2321,3141
$GC,1252,-1.10,-146.6,111.1,-5.9,58,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,1562,-1.10,-146.6,130.0,-6.4,73,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,1871,-1.10,-146.6,151.2,-7.0,88,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,2179,-1.10,-146.6,173.6,-7.2,103,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,2489,-1.10,-146.6,195.0,-7.1,118,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,2798,-1.10,-146.6,216.3,-7.2,133,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,3107,-1.10,-146.6,238.0,-6.4,148,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2321,3141
$GC,3416,-1.10,-146.6,256.9,-6.1,163,3421,0.00,2.67,0.00,0.000,4,0.000,0.108,2095,3718,3141
$GC,3450,-1.10,-146.6,259.1,-5.7,164,3456,0.00,2.42,0.00,0.000,6,0.000,0.063,2095,2316,3141
$GC,3766,-1.10,-146.6,279.0,-6.6,180,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2316,3141
$GC,4075,-1.10,-146.6,299.4,-6.9,195,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2316,3142
$GC,4384,-1.10,-146.6,322.0,-7.5,210,4389,0.00,2.65,0.00,0.000,4,0.000,0.108,2095,3717,3141
$GC,4446,-1.10,-146.6,327.4,-8.9,213,4451,0.00,2.42,0.00,0.000,6,0.000,0.065,2095,2313,3142
$GC,4773,-1.10,-146.6,355.1,-9.1,229,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2308,3142
$GC,5083,-1.10,-146.6,380.9,-7.5,244,5087,0.00,2.65,0.00,0.000,4,0.000,0.106,2095,3718,3142
$GC,5138,-1.10,-146.6,385.3,-7.8,246,5144,0.00,2.42,0.00,0.000,6,0.000,0.064,2095,2318,3142
$STATE,5265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5265,begin apogee
$GC,5274,-0.32,0.0,395.7,8.0,253,5397,0.82,0.00,119.85,0.988,6,0.093,0.000,2269,2109,2540
$STATE,5398,end apogee,CONTROL_FINISHED_OK
$STATE,5398,begin climb
$GC,5401,1.10,146.6,402.1,0.0,259,5530,1.42,2.72,115.78,0.962,4,0.078,0.091,2579,3521,1943
$GC,5693,1.21,216.7,398.1,5.0,273,5755,0.12,2.45,56.12,0.950,6,0.067,0.066,2616,2124,1655
$GC,6077,1.22,217.3,369.2,7.5,292,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2124,1654
$GC,6386,1.22,217.3,344.3,9.1,307,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2124,1654
$GC,6695,1.22,217.3,313.1,10.4,322,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2124,1654
$GC,7005,1.22,217.3,279.5,11.0,337,7009,0.00,2.58,0.00,0.000,4,0.000,0.089,2616,3522,1653
$GC,7060,1.22,217.3,273.0,11.5,339,7066,0.00,2.45,0.00,0.000,6,0.000,0.064,2617,2117,1654
$GC,7376,1.22,217.3,237.2,11.2,355,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2117,1653
$GC,7685,1.22,217.3,204.6,9.8,370,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2117,1653
$GC,7994,1.22,217.3,174.1,9.7,385,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2117,1653
$GC,8304,1.22,217.3,144.3,9.7,400,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2117,1653
$GC,8614,1.22,217.3,116.1,8.1,415,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2117,1653
$GC,8923,1.22,217.3,94.0,8.4,430,8927,0.00,2.58,0.00,0.000,4,0.000,0.087,2616,3524,1653
$GC,8968,1.22,217.3,89.4,10.3,432,8973,0.00,2.42,0.00,0.000,6,0.000,0.062,2616,2122,1653
$GC,9291,1.22,217.3,58.7,10.1,448,9295,0.00,2.55,0.00,0.000,4,0.000,0.090,2617,717,1653
$GC,9340,1.22,217.3,53.1,11.8,450,9345,0.00,2.40,0.00,0.000,6,0.000,0.056,2616,2131,1653
$GC,9658,1.22,217.3,19.6,10.2,465,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2131,1653
$STATE,9820,end climb,SURFACE_DEPTH_REACHED
$STATE,9820,begin surface coast
$FINISH,1.2,1.027544
$STATE,9840,end surface coast,CONTROL_FINISHED_OK
$STATE,9840,begin surface
$SM_CCo,9865,16.08,0.697,0,0,1520,250.21
$SM_GC,1.49,0.00,0.00,16.08,0.000,0.000,0.697,40,2325,1520,-10.58,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1758
$TCM_TEMP,1.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,325.4,79.2
$24V_AH,23.8,13.299
$10V_AH,10.2,6.712
$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
$DEVICE_SECS,25.250,46.200,291.750,16.075,0.000,130.149,163.441,388.500,3.000,0.000,0.000,15.032,875.595,7910.056,417.646,763.665,934.672,33.354,890.187,0.000,520.120,0.000,16.902
$DEVICE_MAMPS,181.012,114.283,987.896,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.944,444.906,387.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22236,474
$CFSIZE,254472192,248627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280208,113908,6127.646,-445.035,26,1.3,26,-6.9