version: 66.04
glider: 14
mission: 6
dive: 99
start: 9 19 108 5 9 30
data:
$ID,14
$MISSION,6
$DIVE,99
$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,-651972.44
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,050038,6431.383,-947.565,40,1.7,40,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.9
$GPS2,050909,6431.423,-947.754,14,1.8,14,-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,326.3,58593,-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,-60.20,0.000,2,0.000,0.000,379,1597,2716
$GC,83,-1.16,-146.6,3.4,-5.3,3,110,11.52,2.53,-9.65,0.000,4,0.177,0.090,2446,209,3137
$GC,273,-1.16,-146.6,32.8,-9.4,11,280,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1623,3138
$GC,590,-1.16,-146.6,53.4,-5.7,27,594,0.00,2.53,0.00,0.000,4,0.000,0.074,2445,210,3140
$GC,737,-1.16,-146.6,61.7,-6.4,33,741,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1604,3139
$GC,1056,-1.16,-146.6,80.2,-5.7,48,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1609,3140
$GC,1364,-1.16,-146.6,102.3,-7.7,63,1368,0.00,2.50,0.00,0.000,4,0.000,0.074,2446,209,3140
$GC,1427,-1.16,-146.6,108.3,-9.2,66,1431,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1605,3141
$GC,1755,-1.16,-146.6,142.4,-11.4,82,1759,0.00,2.53,0.00,0.000,4,0.000,0.075,2446,201,3141
$GC,1796,-1.16,-146.6,147.3,-12.2,84,1800,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1612,3142
$GC,2123,-1.16,-146.6,187.1,-12.6,100,2127,0.00,2.53,0.00,0.000,4,0.000,0.075,2446,206,3141
$GC,2163,-1.16,-146.6,192.3,-13.0,102,2167,0.00,2.33,0.00,0.000,6,0.000,0.054,2446,1603,3142
$GC,2491,-1.16,-146.6,232.7,-12.1,118,2495,0.00,2.53,0.00,0.000,4,0.000,0.076,2446,202,3142
$GC,2609,-1.16,-146.6,246.1,-11.6,123,2613,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1606,3142
$GC,2926,-1.16,-146.6,273.1,-6.4,138,2930,0.00,2.53,0.00,0.000,4,0.000,0.078,2446,210,3144
$GC,3124,-1.16,-146.6,285.2,-6.4,147,3128,0.00,2.35,0.00,0.000,6,0.000,0.055,2446,1603,3145
$GC,3457,-1.16,-146.6,305.2,-7.4,163,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1607,3146
$GC,3766,-1.16,-146.6,327.6,-8.0,178,3770,0.00,2.53,0.00,0.000,4,0.000,0.081,2445,210,3146
$GC,3903,-1.16,-146.6,339.0,-7.4,184,3907,0.00,2.35,0.00,0.000,6,0.000,0.056,2446,1600,3146
$GC,4230,-1.16,-146.6,366.3,-8.9,200,4234,0.00,2.55,0.00,0.000,4,0.000,0.084,2446,212,3146
$GC,4349,-1.16,-146.6,376.9,-9.3,205,4354,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1606,3146
$GC,4666,-1.16,-146.6,403.3,-8.6,220,4670,0.00,2.58,0.00,0.000,4,0.000,0.085,2446,206,3146
$GC,4738,-1.16,-146.6,410.6,-10.0,223,4743,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1602,3145
$GC,5055,-1.16,-146.6,439.3,-9.5,238,5059,0.00,2.53,0.00,0.000,4,0.000,0.084,2446,213,3145
$GC,5128,-1.16,-146.6,446.9,-10.3,241,5132,0.00,2.38,0.00,0.000,6,0.000,0.056,2446,1603,3145
$GC,5445,-1.16,-146.6,476.6,-9.3,256,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1604,3143
$GC,5754,-1.16,-146.6,505.5,-9.1,271,5758,0.00,2.55,0.00,0.000,4,0.000,0.086,2446,212,3142
$GC,5810,-1.16,-146.6,511.7,-11.9,273,5816,0.00,2.38,0.00,0.000,6,0.000,0.056,2445,1603,3142
$STATE,6102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6102,begin apogee
$GC,6111,-0.32,0.0,536.9,8.7,288,6245,0.93,0.00,127.40,1.138,6,0.114,0.000,2633,2191,2538
$STATE,6246,end apogee,CONTROL_FINISHED_OK
$STATE,6246,begin climb
$GC,6250,1.16,146.6,540.7,0.0,295,6380,1.55,2.83,121.47,1.098,4,0.092,0.110,2958,3605,1940
$GC,6608,1.18,154.1,520.8,7.7,311,6621,0.00,2.53,7.45,0.910,6,0.000,0.071,2958,2194,1911
$GC,6930,1.18,154.1,493.6,8.8,327,6934,0.00,2.55,0.00,0.000,4,0.000,0.081,2958,793,1909
$GC,6986,1.18,154.1,488.3,9.5,329,6992,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2209,1909
$GC,7302,1.18,154.1,459.9,9.3,345,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2209,1907
$GC,7611,1.18,154.1,429.4,8.9,360,7615,0.00,2.58,0.00,0.000,4,0.000,0.077,2958,798,1906
$GC,7701,1.18,154.1,420.9,9.7,364,7705,0.00,2.42,0.00,0.000,6,0.000,0.056,2958,2203,1906
$GC,8022,1.21,176.0,396.9,7.2,380,8046,0.00,2.65,18.10,0.963,4,0.000,0.074,2958,798,1820
$GC,8148,1.21,176.0,386.0,9.5,385,8152,0.00,2.45,0.00,0.000,6,0.000,0.056,2957,2211,1819
$GC,8464,1.21,176.0,359.7,8.2,400,8468,0.00,2.58,0.00,0.000,4,0.000,0.074,2958,798,1818
$GC,8617,1.21,176.0,345.5,10.0,407,8621,0.00,2.42,0.00,0.000,6,0.000,0.057,2958,2203,1817
$GC,8944,1.21,176.0,312.5,10.3,423,8948,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,798,1816
$GC,9023,1.21,176.0,304.1,10.7,426,9027,0.00,2.42,0.00,0.000,6,0.000,0.057,2958,2202,1817
$GC,9339,1.21,176.0,271.2,11.2,441,9344,0.00,2.53,0.00,0.000,4,0.000,0.074,2958,798,1816
$GC,9475,1.21,176.0,255.1,9.7,447,9479,0.00,2.45,0.00,0.000,6,0.000,0.057,2958,2210,1816
$GC,9796,1.31,238.3,231.4,5.6,463,9852,0.15,2.60,50.03,0.959,4,0.070,0.074,2998,797,1566
$GC,9955,1.31,239.6,221.1,8.0,470,9959,0.00,2.45,0.00,0.000,6,0.000,0.057,2998,2203,1564
$GC,10277,1.31,239.6,197.3,8.6,486,10281,0.00,2.55,0.00,0.000,4,0.000,0.074,2998,788,1562
$GC,10385,1.31,239.6,184.5,13.1,491,10389,0.00,2.45,0.00,0.000,6,0.000,0.057,2998,2204,1561
$GC,10718,1.31,239.6,139.5,13.4,507,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2204,1562
$GC,11029,1.31,239.6,100.0,13.0,522,11033,0.00,2.50,0.00,0.000,4,0.000,0.072,2998,796,1562
$GC,11114,1.31,239.6,88.3,12.9,526,11118,0.00,2.40,0.00,0.000,6,0.000,0.056,2998,2201,1561
$GC,11443,1.31,239.6,44.3,12.6,542,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2201,1562
$GC,11752,1.31,239.6,9.1,12.1,557,11756,0.00,2.53,0.00,0.000,4,0.000,0.071,2998,786,1561
$STATE,11816,end climb,SURFACE_DEPTH_REACHED
$STATE,11816,begin surface coast
$FINISH,0.7,1.026917
$STATE,11822,end surface coast,CONTROL_FINISHED_OK
$STATE,11823,begin surface
$SM_CCo,11849,33.97,0.690,0,0,1315,300.00
$SM_GC,1.69,0.00,0.00,33.97,0.000,0.000,0.690,377,1638,1315,-10.71,1.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1948
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,501.8,43.4
$24V_AH,23.6,17.464
$10V_AH,10.1,10.217
$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,25.575,113.875,324.450,33.975,0.000,76.876,53.845,191.298,4.250,0.000,0.000,16.126,1112.795,8711.701,447.764,1529.833,600.992,0.000,1215.240,0.000,1490.407,0.000,28.198,0.000
$DEVICE_MAMPS,177.177,110.448,1138.228,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.812,380.654,386.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,560
$CAP_FILE_SIZE,96322,0
$CFSIZE,254472192,245776384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,190908,082931,6432.920,-951.654,74,1.3,74,-10.8