version: 66.04
glider: 14
mission: 6
dive: 87
start: 9 17 108 11 28 39
data:
$ID,14
$MISSION,6
$DIVE,87
$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,-651768.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,112201,6423.446,-934.789,69,1.4,69,-10.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-52.7
$GPS2,112815,6423.510,-934.670,12,1.5,12,-10.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$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,328.3,76307,-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,-60.42,0.000,2,0.000,0.000,382,1593,2750
$GC,83,-1.16,-146.6,3.7,-5.1,3,113,11.48,2.50,-9.93,0.000,4,0.175,0.082,2442,3003,3138
$GC,366,-1.16,-146.6,36.4,-8.3,15,372,0.00,2.38,0.00,0.000,6,0.000,0.058,2442,1595,3140
$GC,684,-1.16,-146.6,68.1,-10.6,31,688,0.00,2.47,0.00,0.000,4,0.000,0.077,2441,215,3141
$GC,872,-1.16,-146.6,86.6,-9.0,39,876,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1630,3142
$GC,1194,-1.16,-146.6,115.9,-9.2,55,1198,0.00,2.55,0.00,0.000,4,0.000,0.075,2442,212,3143
$GC,1284,-1.16,-146.6,125.2,-10.6,59,1288,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1607,3144
$GC,1605,-1.16,-146.6,158.3,-10.5,75,1609,0.00,2.50,0.00,0.000,4,0.000,0.074,2442,215,3144
$GC,1690,-1.16,-146.6,167.8,-11.6,79,1694,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1608,3145
$GC,2017,-1.16,-146.6,198.6,-9.3,95,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1612,3145
$GC,2326,-1.16,-146.6,227.7,-9.3,110,2330,0.00,2.50,0.00,0.000,4,0.000,0.076,2441,211,3145
$GC,2495,-1.16,-146.6,245.0,-10.6,117,2500,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1604,3145
$GC,2812,-1.16,-146.6,273.5,-9.0,132,2815,0.00,2.47,0.00,0.000,4,0.000,0.077,2441,221,3146
$GC,2868,-1.16,-146.6,279.2,-10.6,134,2872,0.00,2.33,0.00,0.000,6,0.000,0.054,2442,1607,3147
$GC,3185,-1.16,-146.6,310.8,-10.5,149,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1612,3148
$GC,3494,-1.16,-146.6,342.0,-10.1,164,3498,0.00,2.53,0.00,0.000,4,0.000,0.080,2442,221,3148
$GC,3612,-1.16,-146.6,354.4,-10.1,169,3616,0.00,2.33,0.00,0.000,6,0.000,0.055,2442,1601,3148
$GC,3928,-1.16,-146.6,384.0,-9.0,184,3932,0.00,2.47,0.00,0.000,4,0.000,0.078,2441,2987,3148
$GC,3991,-1.16,-146.6,389.8,-8.9,187,3996,0.00,2.40,0.00,0.000,6,0.000,0.064,2442,1604,3148
$GC,4319,-1.16,-146.6,417.9,-8.1,203,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1603,3148
$GC,4628,-1.16,-146.6,444.1,-8.5,218,4632,0.00,2.47,0.00,0.000,4,0.000,0.076,2442,2982,3148
$GC,4662,-1.16,-146.6,447.1,-8.2,219,4668,0.00,2.42,0.00,0.000,6,0.000,0.065,2442,1592,3147
$GC,4979,-1.16,-146.6,474.3,-9.2,235,4983,0.00,2.55,0.00,0.000,4,0.000,0.092,2442,210,3147
$GC,5091,-1.16,-146.6,485.5,-10.3,240,5095,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1597,3146
$GC,5412,-1.16,-146.6,515.4,-10.1,256,5417,0.00,2.55,0.00,0.000,4,0.000,0.087,2442,214,3145
$GC,5469,-1.16,-146.6,520.9,-9.1,258,5475,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1600,3145
$GC,5785,-1.16,-146.6,549.6,-10.1,274,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1604,3144
$GC,6095,-1.16,-146.6,579.0,-9.9,289,6099,0.00,2.55,0.00,0.000,4,0.000,0.087,2442,213,3143
$GC,6156,-1.16,-146.6,585.3,-9.2,291,6163,0.00,2.35,0.00,0.000,6,0.000,0.055,2442,1596,3142
$STATE,6201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6201,begin apogee
$GC,6211,-0.32,0.0,589.5,8.8,294,6345,0.93,0.00,125.88,1.045,6,0.111,0.000,2631,2189,2538
$STATE,6345,end apogee,CONTROL_FINISHED_OK
$STATE,6345,begin climb
$GC,6349,1.16,146.6,595.5,0.0,301,6478,1.50,2.80,120.53,0.994,4,0.078,0.107,2954,3599,1941
$GC,6667,1.16,146.6,573.9,11.0,315,6674,0.00,2.50,0.00,0.000,6,0.000,0.068,2954,2195,1938
$GC,6984,1.16,146.6,544.2,9.3,331,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2195,1938
$GC,7293,1.21,174.6,519.2,6.9,346,7323,0.00,2.65,23.92,1.086,4,0.000,0.081,2954,806,1826
$GC,7405,1.21,174.6,510.2,8.9,351,7409,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2203,1825
$GC,7732,1.22,179.4,483.7,7.8,367,7742,0.00,2.60,5.32,0.846,4,0.000,0.074,2954,792,1806
$GC,7827,1.22,179.4,476.0,8.8,371,7831,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2205,1806
$GC,8144,1.25,197.9,452.5,7.3,386,8167,0.00,2.65,16.48,0.976,4,0.000,0.074,2954,799,1730
$GC,8259,1.25,197.9,443.1,8.2,391,8263,0.00,2.42,0.00,0.000,6,0.000,0.056,2954,2202,1729
$GC,8586,1.25,197.9,416.2,8.2,407,8591,0.10,2.67,0.00,0.000,4,0.076,0.100,2982,3606,1728
$GC,8649,1.25,197.9,410.3,9.3,410,8653,0.00,2.47,0.00,0.000,6,0.000,0.062,2982,2195,1728
$GC,8976,1.25,197.9,379.6,9.6,426,8980,0.00,2.62,0.00,0.000,4,0.000,0.089,2982,3604,1728
$GC,9084,1.25,197.9,368.6,9.9,431,9088,0.00,2.45,0.00,0.000,6,0.000,0.063,2982,2202,1726
$GC,9417,1.25,197.9,333.9,11.0,447,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1725
$GC,9727,1.25,197.9,301.7,9.9,462,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1724
$GC,10036,1.25,197.9,270.7,10.2,477,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,1724
$GC,10345,1.25,197.9,237.8,10.8,492,10349,0.00,2.55,0.00,0.000,4,0.000,0.079,2982,789,1724
$GC,10435,1.25,197.9,227.9,11.0,496,10439,0.00,2.40,0.00,0.000,6,0.000,0.056,2982,2203,1724
$GC,10763,1.25,197.9,191.9,11.2,512,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2202,1723
$GC,11072,1.25,197.9,159.3,10.1,527,11076,0.00,2.53,0.00,0.000,4,0.000,0.073,2982,792,1723
$GC,11158,1.25,197.9,149.5,12.0,531,11162,0.00,2.40,0.00,0.000,6,0.000,0.056,2982,2209,1723
$GC,11485,1.25,197.9,114.4,10.3,547,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2209,1723
$GC,11794,1.25,197.9,81.5,9.6,562,11799,0.00,2.53,0.00,0.000,4,0.000,0.071,2982,789,1722
$GC,11926,1.25,197.9,67.9,12.1,568,11930,0.00,2.40,0.00,0.000,6,0.000,0.056,2982,2202,1723
$GC,12255,1.25,197.9,36.1,8.8,584,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,1723
$GC,12563,1.37,272.9,6.6,5.2,599,12606,0.00,0.00,41.22,0.680,2,0.000,0.000,2982,2203,1516
$STATE,12607,end climb,SURFACE_DEPTH_REACHED
$STATE,12607,begin surface coast
$FINISH,0.3,1.026910
$STATE,12625,end surface coast,CONTROL_FINISHED_OK
$STATE,12625,begin surface
$SM_CCo,12651,27.58,0.656,0,0,1314,300.00
$SM_GC,1.30,0.00,0.00,27.58,0.000,0.000,0.656,379,1586,1314,-10.70,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1909
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.8,46.4
$24V_AH,23.6,16.057
$10V_AH,10.1,9.473
$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,25.525,106.000,333.350,27.575,0.000,37.762,33.253,181.145,4.500,0.000,0.000,14.384,1164.215,9362.322,451.476,1548.697,535.714,0.000,1231.463,0.000,1511.114,0.000,31.442,0.000
$DEVICE_MAMPS,174.876,106.613,1086.072,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.633,409.176,404.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31689,602
$CAP_FILE_SIZE,96935,0
$CFSIZE,254472192,246321152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,170908,150207,6423.284,-935.114,81,1.3,86,-10.6