version: 66.04
glider: 14
mission: 6
dive: 96
start: 9 18 108 18 59 54
data:
$ID,14
$MISSION,6
$DIVE,96
$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,-651922.62
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,185426,6428.696,-948.860,38,1.6,38,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-60.2
$GPS2,185933,6428.793,-948.604,11,2.0,11,-10.8
$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,329.9,61723,-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,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,374,1626,2713
$GC,83,-1.16,-146.6,3.5,-5.5,3,113,11.52,2.38,-10.52,0.000,4,0.176,0.081,2444,2977,3138
$GC,149,-1.16,-146.6,13.0,-10.4,6,153,0.00,2.38,0.00,0.000,6,0.000,0.060,2445,1591,3140
$GC,483,-1.16,-146.6,48.4,-9.9,22,487,0.00,2.42,0.00,0.000,4,0.000,0.066,2444,2979,3141
$GC,736,-1.16,-146.6,70.8,-8.6,33,740,0.00,2.38,0.00,0.000,6,0.000,0.060,2445,1597,3142
$GC,1058,-1.16,-146.6,98.9,-9.2,49,1063,0.00,2.50,0.00,0.000,4,0.000,0.081,2444,213,3143
$GC,1137,-1.16,-146.6,106.6,-10.4,52,1144,0.00,2.30,0.00,0.000,6,0.000,0.054,2444,1599,3143
$GC,1455,-1.16,-146.6,137.0,-9.4,68,1460,0.00,2.50,0.00,0.000,4,0.000,0.077,2445,213,3143
$GC,1520,-1.16,-146.6,142.8,-8.4,71,1524,0.00,2.30,0.00,0.000,6,0.000,0.054,2444,1602,3144
$GC,1848,-1.16,-146.6,164.8,-6.4,87,1852,0.00,2.50,0.00,0.000,4,0.000,0.075,2444,214,3144
$GC,1998,-1.16,-146.6,175.4,-8.0,93,2004,0.00,2.33,0.00,0.000,6,0.000,0.054,2444,1612,3145
$GC,2315,-1.16,-146.6,200.7,-8.0,109,2319,0.00,2.53,0.00,0.000,4,0.000,0.077,2444,210,3147
$GC,2505,-1.16,-146.6,216.9,-8.6,117,2511,0.00,2.33,0.00,0.000,6,0.000,0.055,2445,1597,3147
$GC,2822,-1.16,-146.6,241.4,-7.6,133,2826,0.00,2.53,0.00,0.000,4,0.000,0.080,2444,207,3148
$GC,2862,-1.16,-146.6,244.6,-8.3,135,2866,0.00,2.35,0.00,0.000,6,0.000,0.055,2444,1603,3148
$GC,3190,-1.16,-146.6,271.9,-9.3,151,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1607,3148
$GC,3498,-1.16,-146.6,305.0,-10.8,166,3503,0.00,2.55,0.00,0.000,4,0.000,0.082,2444,210,3148
$GC,3617,-1.16,-146.6,318.3,-11.2,171,3622,0.00,2.38,0.00,0.000,6,0.000,0.056,2444,1606,3148
$GC,3934,-1.16,-146.6,353.9,-12.0,186,3938,0.00,2.55,0.00,0.000,4,0.000,0.084,2444,213,3148
$GC,3990,-1.16,-146.6,360.7,-11.5,188,3994,0.00,2.35,0.00,0.000,6,0.000,0.056,2445,1600,3148
$GC,4306,-1.16,-146.6,391.4,-9.0,203,4311,0.00,2.55,0.00,0.000,4,0.000,0.086,2444,215,3147
$GC,4347,-1.16,-146.6,395.4,-9.6,205,4351,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1599,3147
$GC,4675,-1.16,-146.6,420.1,-6.8,221,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1604,3146
$GC,4984,-1.16,-146.6,442.1,-7.2,236,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1604,3145
$GC,5293,-1.16,-146.6,466.1,-7.7,251,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1604,3144
$GC,5602,-1.16,-146.6,491.9,-8.0,266,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1604,3144
$GC,5912,-1.16,-146.6,518.4,-8.9,281,5916,0.00,2.58,0.00,0.000,4,0.000,0.088,2444,211,3142
$GC,5975,-1.16,-146.6,524.1,-7.9,284,5979,0.00,2.38,0.00,0.000,4,0.000,0.056,2444,1605,3142
$STATE,5980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5980,begin apogee
$GC,5989,-0.32,0.0,524.8,8.4,284,6118,0.90,0.00,125.15,1.001,6,0.128,0.000,2627,2196,2538
$STATE,6119,end apogee,CONTROL_FINISHED_OK
$STATE,6119,begin climb
$GC,6123,1.16,146.6,529.8,0.0,290,6251,1.52,2.83,119.53,0.956,4,0.077,0.110,2956,3593,1941
$GC,6330,1.16,146.6,519.5,9.4,299,6336,0.00,2.50,0.00,0.000,6,0.000,0.069,2957,2198,1940
$GC,6646,1.16,146.6,495.3,8.0,315,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2198,1938
$GC,6956,1.19,162.5,473.9,7.4,330,6975,0.00,0.00,14.05,1.011,6,0.000,0.000,2957,2198,1875
$GC,7285,1.27,213.2,451.7,6.1,346,7335,0.12,2.78,41.88,0.972,4,0.072,0.094,2990,3600,1669
$GC,7429,1.27,213.2,440.1,9.0,352,7434,0.00,2.50,0.00,0.000,6,0.000,0.067,2990,2197,1669
$GC,7745,1.27,213.2,409.9,9.6,367,7750,0.00,2.62,0.00,0.000,4,0.000,0.092,2990,3598,1667
$GC,7858,1.27,213.2,397.7,10.5,372,7863,0.00,2.47,0.00,0.000,6,0.000,0.067,2990,2203,1666
$GC,8180,1.27,213.2,364.3,11.0,388,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2202,1665
$GC,8490,1.27,213.2,328.2,13.2,403,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2202,1664
$GC,8799,1.27,213.2,283.8,14.6,418,8803,0.00,2.58,0.00,0.000,4,0.000,0.084,2990,792,1664
$GC,8890,1.27,213.2,269.9,14.8,422,8894,0.00,2.42,0.00,0.000,6,0.000,0.056,2990,2213,1664
$GC,9223,1.27,213.2,227.2,11.2,438,9227,0.00,2.60,0.00,0.000,4,0.000,0.075,2990,783,1663
$GC,9279,1.27,213.2,220.8,11.8,440,9285,0.00,2.42,0.00,0.000,6,0.000,0.057,2990,2197,1662
$GC,9595,1.27,213.2,189.2,9.7,456,9600,0.00,2.55,0.00,0.000,4,0.000,0.076,2991,787,1661
$GC,9736,1.27,213.2,174.5,11.0,462,9740,0.00,2.45,0.00,0.000,6,0.000,0.057,2990,2207,1661
$GC,10053,1.27,213.2,143.8,9.9,477,10058,0.00,2.55,0.00,0.000,4,0.000,0.075,2990,791,1661
$GC,10149,1.27,213.2,133.4,12.0,481,10153,0.00,2.42,0.00,0.000,6,0.000,0.057,2990,2201,1661
$GC,10471,1.27,213.2,100.1,9.8,497,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2201,1659
$GC,10780,1.27,213.2,71.4,9.3,512,10784,0.00,2.53,0.00,0.000,4,0.000,0.072,2990,787,1659
$GC,10866,1.27,213.2,62.8,10.2,516,10870,0.00,2.42,0.00,0.000,6,0.000,0.057,2990,2209,1659
$GC,11195,1.27,213.2,32.1,10.8,532,11199,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,786,1659
$GC,11296,1.27,213.2,20.0,13.1,536,11302,0.00,2.40,0.00,0.000,6,0.000,0.056,2990,2199,1659
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FINISH,0.6,1.017009
$STATE,11528,end surface coast,CONTROL_FINISHED_OK
$STATE,11528,begin surface
$SM_CCo,11554,45.72,0.696,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,45.72,0.000,0.000,0.696,378,1594,1315,-10.70,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1981
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,33.5
$24V_AH,23.6,17.103
$10V_AH,10.1,10.034
$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,25.300,101.075,300.600,45.725,0.000,37.761,30.905,119.507,4.250,0.000,0.000,12.694,1067.065,8539.210,444.071,1405.326,459.978,0.000,1152.906,0.000,1371.628,0.000,31.055,0.000
$DEVICE_MAMPS,175.643,109.681,1010.906,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.419,372.222,393.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28524,548
$CAP_FILE_SIZE,88258,0
$CFSIZE,254472192,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,180908,221438,6430.836,-946.420,40,1.3,40,-10.8