version: 66.04
glider: 14
mission: 6
dive: 38
start: 9 6 108 3 27 49
data:
$ID,14
$MISSION,6
$DIVE,38
$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,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$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,-650918
$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,29
$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
$GPS1,031738,6330.891,-620.387,35,1.0,35,-8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.9
$GPS2,032727,6331.000,-620.444,11,1.3,11,-8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6338.637,-637.644
$TGT_RADIUS,1852.000
$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,323.4,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.33,0.000,2,0.000,0.000,379,1595,2714
$GC,83,-1.38,-146.6,4.3,-7.0,3,109,11.48,2.53,-9.07,0.000,4,0.184,0.092,2396,220,3139
$GC,317,-1.38,-146.6,48.1,-14.7,13,323,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1622,3141
$GC,635,-1.38,-146.6,88.2,-13.0,29,639,0.00,2.55,0.00,0.000,4,0.000,0.077,2396,219,3143
$GC,758,-1.38,-146.6,104.9,-12.7,34,765,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1606,3144
$GC,1077,-1.38,-146.6,142.1,-11.6,50,1081,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,212,3146
$GC,1290,-1.38,-146.6,170.7,-13.4,59,1296,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1606,3148
$GC,1606,-1.38,-146.6,209.9,-11.7,75,1611,0.00,2.53,0.00,0.000,4,0.000,0.079,2396,220,3149
$GC,1714,-1.38,-146.6,223.1,-12.3,80,1719,0.00,2.35,0.00,0.000,6,0.000,0.055,2396,1602,3149
$GC,2042,-1.38,-146.6,262.6,-12.4,96,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3149
$GC,2352,-1.38,-146.6,302.0,-13.0,111,2356,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,220,3149
$GC,2392,-1.38,-146.6,307.8,-14.1,112,2398,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3149
$GC,2708,-1.38,-146.6,348.3,-13.0,128,2713,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,220,3149
$GC,2754,-1.38,-146.6,354.6,-13.6,130,2758,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3149
$GC,3076,-1.38,-146.6,394.6,-12.5,146,3080,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,220,3149
$GC,3109,-1.38,-146.6,399.1,-12.7,147,3115,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3149
$GC,3426,-1.38,-146.6,438.7,-12.6,163,3430,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,221,3148
$GC,3476,-1.38,-146.6,445.4,-13.6,165,3480,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3148
$GC,3793,-1.38,-146.6,483.7,-12.1,180,3797,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,221,3146
$GC,3849,-1.38,-146.6,490.9,-12.8,182,3855,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3146
$GC,4165,-1.38,-146.6,529.2,-12.3,198,4169,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,220,3145
$GC,4205,-1.38,-146.6,534.3,-13.1,200,4209,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3145
$GC,4532,-1.38,-146.6,573.6,-12.1,216,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3144
$GC,4842,-1.38,-146.6,610.1,-11.6,231,4846,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,217,3143
$GC,4937,-1.38,-146.6,622.2,-12.3,235,4941,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3143
$GC,5259,-1.38,-146.6,660.3,-11.9,251,5263,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,220,3141
$GC,5309,-1.38,-146.6,666.7,-12.7,253,5314,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3142
$GC,5626,-1.38,-146.6,704.9,-11.8,268,5630,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,221,3142
$GC,5676,-1.38,-146.6,711.3,-12.6,270,5680,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1602,3142
$GC,5992,-1.38,-146.6,747.3,-11.3,285,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1602,3140
$GC,6301,-1.38,-146.6,782.0,-11.0,300,6306,0.00,2.55,0.00,0.000,4,0.000,0.084,2396,212,3140
$GC,6380,-1.38,-146.6,791.6,-11.5,303,6386,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1607,3139
$GC,6699,-1.38,-146.6,826.2,-11.0,319,6703,0.00,2.55,0.00,0.000,4,0.000,0.083,2396,212,3139
$GC,6761,-1.38,-146.6,833.9,-12.0,322,6766,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1612,3139
$GC,7089,-1.38,-146.6,870.4,-11.1,338,7093,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,215,3138
$GC,7134,-1.38,-146.6,875.7,-11.8,340,7138,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1600,3138
$GC,7456,-1.38,-146.6,910.9,-10.8,356,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1601,3138
$GC,7765,-1.38,-146.6,943.5,-10.5,371,7769,0.00,2.53,0.00,0.000,4,0.000,0.082,2395,212,3137
$GC,7834,-1.38,-146.6,951.6,-12.6,374,7838,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1597,3137
$GC,8161,-1.38,-146.6,985.7,-10.5,390,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1597,3137
$STATE,8199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8199,begin apogee
$GC,8208,-0.32,0.0,990.0,10.5,392,8342,1.17,0.00,129.00,1.358,6,0.121,0.000,2631,2192,2539
$STATE,8343,end apogee,CONTROL_FINISHED_OK
$STATE,8343,begin climb
$GC,8346,1.38,146.6,995.8,0.0,399,8481,1.73,2.72,126.18,1.323,4,0.076,0.091,3004,3604,1941
$GC,8747,1.38,146.6,970.3,10.2,417,8752,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2196,1941
$GC,9070,1.41,166.5,941.1,9.1,433,9090,0.00,0.00,18.33,1.266,6,0.000,0.000,3004,2196,1859
$GC,9399,1.43,176.7,909.9,9.5,449,9415,0.00,2.65,10.57,1.179,4,0.000,0.081,3004,3601,1817
$GC,9472,1.43,176.7,902.5,10.8,451,9476,0.00,2.47,0.00,0.000,6,0.000,0.059,3004,2189,1817
$GC,9789,1.43,176.7,870.3,10.2,466,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2189,1816
$GC,10098,1.43,177.3,839.1,10.0,481,10103,0.00,2.60,0.00,0.000,4,0.000,0.081,3004,3602,1817
$GC,10221,1.43,177.3,826.3,10.6,486,10227,0.00,2.45,0.00,0.000,6,0.000,0.060,3004,2200,1817
$GC,10538,1.44,185.1,795.4,9.6,502,10548,0.00,0.00,8.38,1.077,6,0.000,0.000,3004,2200,1785
$GC,10847,1.46,193.3,765.4,9.6,517,10858,0.00,0.00,8.68,1.058,6,0.000,0.000,3004,2200,1751
$GC,11156,1.46,196.9,735.2,9.8,532,11166,0.00,2.62,4.78,0.868,4,0.000,0.083,3004,3607,1736
$GC,11242,1.46,196.9,726.5,10.8,536,11246,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2197,1736
$GC,11569,1.47,203.8,694.7,9.7,552,11578,0.00,0.00,7.82,1.008,6,0.000,0.000,3004,2197,1708
$GC,11878,1.47,203.8,663.7,10.0,567,11882,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3604,1707
$GC,11940,1.47,203.8,656.9,10.6,570,11945,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2200,1707
$GC,12269,1.47,203.8,622.5,10.4,586,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2200,1707
$GC,12578,1.47,203.8,590.2,10.5,601,12582,0.00,2.60,0.00,0.000,4,0.000,0.081,3004,3606,1707
$GC,12645,1.47,203.8,582.6,11.2,604,12649,0.00,2.47,0.00,0.000,6,0.000,0.062,3004,2199,1707
$GC,12972,1.47,203.8,548.1,10.9,620,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1707
$GC,13281,1.47,203.8,515.8,10.6,635,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1707
$GC,13590,1.47,203.8,482.8,10.7,650,13595,0.00,2.58,0.00,0.000,4,0.000,0.082,3004,3604,1707
$GC,13709,1.47,203.8,469.5,11.0,655,13713,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2198,1707
$GC,14025,1.48,206.3,437.9,9.9,670,14032,0.10,0.00,3.78,0.739,6,0.078,0.000,3031,2198,1697
$GC,14334,1.48,206.3,404.8,10.6,685,14339,0.00,2.55,0.00,0.000,4,0.000,0.081,3031,3601,1698
$GC,14413,1.48,206.3,395.6,11.0,688,14420,0.00,2.45,0.00,0.000,6,0.000,0.061,3031,2199,1698
$GC,14730,1.48,206.3,360.4,11.4,704,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,1698
$GC,15039,1.48,206.3,324.3,12.1,719,15043,0.00,2.58,0.00,0.000,4,0.000,0.081,3032,3608,1697
$GC,15117,1.48,206.3,314.6,12.3,722,15122,0.00,2.45,0.00,0.000,6,0.000,0.061,3031,2199,1698
$GC,15434,1.48,206.3,276.3,12.4,737,15438,0.00,2.55,0.00,0.000,4,0.000,0.081,3031,3601,1698
$GC,15512,1.48,206.3,265.8,13.9,740,15518,0.00,2.45,0.00,0.000,6,0.000,0.062,3031,2200,1698
$GC,15829,1.48,206.3,226.7,11.8,756,15833,0.00,2.55,0.00,0.000,4,0.000,0.082,3031,799,1698
$GC,15907,1.48,206.3,216.9,12.4,759,15912,0.00,2.40,0.00,0.000,6,0.000,0.054,3031,2214,1698
$GC,16223,1.48,206.3,180.8,11.4,774,16228,0.00,2.53,0.00,0.000,4,0.000,0.072,3031,796,1698
$GC,16369,1.48,206.3,163.3,11.4,780,16376,0.00,2.40,0.00,0.000,6,0.000,0.054,3031,2205,1698
$GC,16686,1.48,206.3,125.8,11.4,796,16687,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2205,1697
$GC,16996,1.48,206.6,93.5,10.0,811,17000,0.00,2.55,0.00,0.000,4,0.000,0.071,3031,789,1697
$GC,17091,1.48,206.6,83.4,11.1,815,17095,0.00,2.40,0.00,0.000,6,0.000,0.054,3031,2200,1697
$GC,17408,1.48,206.6,52.3,10.2,830,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,1698
$GC,17717,1.52,231.3,24.2,8.8,845,17740,0.00,0.00,21.27,0.785,6,0.000,0.000,3031,2201,1595
$STATE,17940,end climb,SURFACE_DEPTH_REACHED
$STATE,17940,begin surface coast
$FINISH,0.6,1.010866
$STATE,17961,end surface coast,CONTROL_FINISHED_OK
$STATE,17962,begin surface
$SM_CCo,17987,45.80,0.758,0,0,1315,300.00
$SM_GC,2.01,0.00,0.00,45.80,0.000,0.000,0.758,379,1593,1315,-10.70,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1983
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,23.3,9.330
$10V_AH,10.1,5.221
$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,26.100,150.600,338.775,45.800,0.000,76.865,74.430,238.320,8.750,0.000,0.000,12.545,1621.566,13685.955,526.614,2027.242,763.759,0.000,1534.655,0.000,1977.587,0.000,55.974,0.000
$DEVICE_MAMPS,184.080,92.040,1358.357,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.078,585.717,463.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,857
$CAP_FILE_SIZE,135568,0
$CFSIZE,254472192,249470976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,060908,082949,6331.656,-625.024,31,1.6,43,-8.5