version: 66.04
glider: 14
mission: 6
dive: 19
start: 9 1 108 20 34 35
data:
$ID,14
$MISSION,6
$DIVE,19
$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,330
$T_MISSION,340
$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,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,-650498.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$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,14
$R_STBD_OVSHOOT,29
$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
$GPS1,202658,6336.090,-559.870,27,2.1,46,-8.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-55.6
$GPS2,203338,6336.190,-559.827,16,1.5,33,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,-0.155
$KALMAN_X,44300.7,-267.9,-690.1,-41533.4,4041.7
$KALMAN_Y,42602.3,-150.1,-428.3,-55799.0,3406.4
$MHEAD_RNG_PITCHd_Wd,240.9,104156,-17.8,-10.000
$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,-1.38,-146.6,0.0,0.0,0,89,0.00,0.00,-70.68,0.000,2,0.000,0.000,380,1594,3047
$GC,93,-1.38,-146.6,5.8,-5.9,4,115,11.38,2.53,-1.67,0.000,4,0.180,0.079,2395,2998,3141
$GC,342,-1.38,-146.6,47.5,-11.3,15,347,0.00,2.45,0.00,0.000,6,0.000,0.061,2395,1581,3143
$GC,670,-1.38,-146.6,86.7,-11.8,31,675,0.00,2.50,0.00,0.000,4,0.000,0.085,2395,213,3146
$GC,817,-1.38,-146.6,106.3,-15.2,37,823,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1615,3146
$GC,1135,-1.38,-146.6,149.0,-13.8,53,1140,0.00,2.55,0.00,0.000,4,0.000,0.078,2395,206,3147
$GC,1213,-1.38,-146.6,160.8,-14.6,56,1217,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1599,3147
$GC,1530,-1.38,-146.6,203.0,-13.0,71,1534,0.00,2.50,0.00,0.000,4,0.000,0.077,2394,213,3148
$GC,1644,-1.38,-146.6,218.2,-13.0,76,1648,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1607,3148
$GC,1971,-1.38,-146.6,257.0,-11.8,92,1975,0.00,2.55,0.00,0.000,4,0.000,0.080,2395,210,3150
$GC,2112,-1.38,-146.6,275.5,-13.3,98,2116,0.00,2.35,0.00,0.000,6,0.000,0.056,2395,1596,3150
$GC,2428,-1.38,-146.6,313.9,-11.9,113,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1598,3151
$GC,2738,-1.38,-146.6,350.0,-11.2,128,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3150
$GC,3047,-1.38,-146.6,383.2,-10.4,143,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3151
$GC,3356,-1.38,-146.6,414.7,-10.6,158,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3151
$GC,3665,-1.38,-146.6,446.9,-10.4,173,3670,0.00,2.55,0.00,0.000,4,0.000,0.081,2395,206,3150
$GC,3729,-1.38,-146.6,453.9,-10.6,176,3733,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1595,3150
$GC,4056,-1.38,-146.6,485.7,-9.4,192,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1596,3149
$GC,4365,-1.38,-146.6,515.2,-9.8,207,4370,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,207,3148
$GC,4411,-1.38,-146.6,520.3,-10.9,209,4415,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1603,3149
$GC,4732,-1.38,-146.6,553.2,-10.5,225,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3148
$GC,5041,-1.38,-146.6,586.2,-10.8,240,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3146
$GC,5351,-1.38,-146.6,619.2,-10.8,255,5355,0.00,2.55,0.00,0.000,4,0.000,0.085,2395,215,3146
$GC,5429,-1.38,-146.6,628.2,-11.3,258,5435,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1601,3145
$GC,5745,-1.38,-146.6,661.4,-10.5,274,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1601,3143
$GC,6055,-1.38,-146.6,694.0,-10.5,289,6059,0.00,2.55,0.00,0.000,4,0.000,0.085,2395,214,3142
$GC,6099,-1.38,-146.6,699.2,-11.9,291,6104,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1600,3142
$GC,6421,-1.38,-146.6,731.6,-10.0,307,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1601,3142
$GC,6731,-1.38,-146.6,762.2,-9.9,322,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1601,3141
$GC,7040,-1.38,-146.6,792.8,-9.9,337,7044,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,210,3140
$GC,7103,-1.38,-146.6,799.6,-11.6,340,7110,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1600,3140
$GC,7439,-1.38,-146.6,833.4,-10.0,356,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1600,3139
$GC,7748,-1.38,-146.6,864.4,-10.0,371,7753,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,210,3138
$GC,7789,-1.38,-146.6,868.7,-10.4,373,7793,0.00,2.38,0.00,0.000,6,0.000,0.055,2395,1599,3138
$GC,8117,-1.38,-146.6,902.3,-10.4,389,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3137
$GC,8426,-1.38,-146.6,934.5,-10.6,404,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1599,3137
$GC,8735,-1.38,-146.6,966.4,-10.4,419,8739,0.00,2.53,0.00,0.000,4,0.000,0.084,2394,212,3136
$GC,8775,-1.38,-146.6,970.9,-11.7,420,8781,0.00,2.40,0.00,0.000,6,0.000,0.055,2395,1606,3136
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8973,-0.32,0.0,991.1,10.5,430,9107,1.17,0.00,128.32,1.371,6,0.116,0.000,2633,2194,2539
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9108,begin climb
$GC,9112,1.38,146.6,997.5,0.0,437,9246,1.75,2.78,125.88,1.331,4,0.083,0.097,3004,3609,1940
$GC,9407,1.38,146.6,980.2,10.4,450,9413,0.00,2.50,0.00,0.000,6,0.000,0.064,3003,2200,1940
$GC,9724,1.41,162.9,951.4,9.2,466,9746,0.00,2.70,15.55,1.286,4,0.000,0.085,3004,3604,1873
$GC,9793,1.41,162.9,944.5,10.2,469,9797,0.00,2.50,0.00,0.000,6,0.000,0.062,3004,2199,1873
$GC,10120,1.41,162.9,911.8,10.1,485,10125,0.00,2.62,0.00,0.000,4,0.000,0.085,3004,3608,1873
$GC,10165,1.41,162.9,906.9,10.8,487,10170,0.00,2.50,0.00,0.000,6,0.000,0.061,3003,2195,1872
$GC,10487,1.41,162.9,874.7,10.0,503,10492,0.00,2.62,0.00,0.000,4,0.000,0.084,3004,3609,1872
$GC,10534,1.41,162.9,870.0,10.4,505,10538,0.00,2.50,0.00,0.000,6,0.000,0.062,3004,2197,1872
$GC,10856,1.41,162.9,837.1,10.1,521,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,1872
$GC,11165,1.41,162.9,805.2,10.3,536,11169,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3602,1872
$GC,11232,1.41,162.9,797.8,10.9,539,11236,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2200,1872
$GC,11554,1.41,162.9,765.5,10.1,555,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1872
$GC,11863,1.41,162.9,734.2,10.1,570,11868,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3602,1872
$GC,11955,1.41,162.9,724.4,10.2,574,11959,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2201,1872
$GC,12277,1.41,164.3,692.1,9.9,590,12281,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3602,1872
$GC,12366,1.41,164.7,682.3,10.0,594,12371,0.00,2.47,0.00,0.000,6,0.000,0.063,3004,2200,1872
$GC,12688,1.41,164.7,649.7,10.2,610,12693,0.00,2.62,0.00,0.000,4,0.000,0.085,3004,3605,1872
$GC,12739,1.41,165.5,644.2,10.0,612,12744,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2194,1872
$GC,13056,1.41,165.5,611.1,10.5,627,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2194,1872
$GC,13365,1.41,165.5,578.2,10.6,642,13369,0.00,2.62,0.00,0.000,4,0.000,0.087,3004,3610,1872
$GC,13477,1.41,165.5,565.7,11.5,647,13481,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2199,1872
$GC,13798,1.41,165.5,532.7,10.2,663,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1872
$GC,14108,1.41,165.5,500.8,10.3,678,14112,0.00,2.60,0.00,0.000,4,0.000,0.086,3004,3605,1872
$GC,14204,1.41,165.5,490.3,11.2,682,14208,0.00,2.50,0.00,0.000,6,0.000,0.065,3004,2197,1872
$GC,14521,1.41,165.5,457.2,10.4,697,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,1872
$GC,14830,1.41,165.5,425.5,10.1,712,14834,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3604,1872
$GC,14897,1.42,167.0,418.4,9.9,715,14907,0.00,2.47,4.57,0.821,6,0.000,0.064,3004,2198,1858
$GC,15219,1.42,168.8,386.4,9.9,730,15223,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3607,1857
$GC,15292,1.44,185.1,379.2,9.2,733,15313,0.00,2.50,16.25,0.939,6,0.000,0.064,3004,2193,1783
$GC,15630,1.44,185.1,345.8,10.1,750,15634,0.00,2.62,0.00,0.000,4,0.000,0.086,3004,3606,1783
$GC,15692,1.44,185.1,339.0,11.3,753,15697,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2196,1783
$GC,16020,1.45,185.8,306.1,10.0,769,16025,0.00,2.60,0.00,0.000,4,0.000,0.085,3004,3602,1783
$GC,16076,1.45,185.8,299.9,10.9,771,16082,0.00,2.47,0.00,0.000,6,0.000,0.064,3004,2201,1783
$GC,16392,1.46,195.7,268.5,9.5,787,16408,0.00,2.65,10.35,0.905,4,0.000,0.088,3004,795,1741
$GC,16559,1.46,195.7,251.2,10.6,793,16566,0.00,2.42,0.00,0.000,6,0.000,0.055,3004,2206,1741
$GC,16876,1.49,212.0,221.6,9.2,809,16898,0.12,2.62,14.77,0.938,4,0.072,0.074,3037,789,1674
$GC,17072,1.49,212.0,199.3,11.6,817,17079,0.00,2.42,0.00,0.000,6,0.000,0.056,3038,2199,1673
$GC,17389,1.49,212.0,162.9,12.4,833,17393,0.00,2.53,0.00,0.000,4,0.000,0.071,3038,792,1673
$GC,17435,1.49,212.0,156.9,13.5,835,17439,0.00,2.40,0.00,0.000,6,0.000,0.056,3038,2199,1672
$GC,17768,1.49,212.0,117.1,12.1,851,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1672
$GC,18077,1.49,212.0,79.4,12.3,866,18078,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1672
$GC,18386,1.49,212.0,43.0,11.0,881,18391,0.00,2.60,0.00,0.000,4,0.000,0.092,3038,3597,1672
$GC,18454,1.49,212.0,35.1,11.0,884,18459,0.00,2.42,0.00,0.000,6,0.000,0.061,3038,2192,1671
$STATE,18732,end climb,SURFACE_DEPTH_REACHED
$STATE,18732,begin surface coast
$FINISH,0.6,1.026436
$STATE,18755,end surface coast,CONTROL_FINISHED_OK
$STATE,18755,begin surface
$SM_CCo,18781,47.65,0.735,0,0,1315,300.00
$SM_GC,1.55,0.00,0.00,47.65,0.000,0.000,0.735,381,1595,1315,-10.69,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1973
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,6.295
$10V_AH,10.1,3.554
$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,26.150,152.775,315.700,47.650,0.000,37.764,27.782,177.741,8.500,0.000,0.000,35.100,1683.701,14320.312,502.371,2106.388,621.776,33.368,1544.055,0.000,2034.249,0.000,56.009,0.000
$DEVICE_MAMPS,180.245,97.409,1370.629,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.034,613.924,467.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47308,899
$CAP_FILE_SIZE,136005,0
$CFSIZE,254472192,250695680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,020908,014937,6335.673,-601.139,29,1.1,29,-8.3