version: 66.04
glider: 14
mission: 6
dive: 113
start: 9 21 108 19 58 42
data:
$ID,14
$MISSION,6
$DIVE,113
$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,-652230.75
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,195301,6444.979,-1017.397,38,1.3,38,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-57.1
$GPS2,195821,6444.984,-1017.437,10,1.8,10,-11.1
$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,324.4,24352,-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,-60.22,0.000,2,0.000,0.000,374,1600,2577
$GC,83,-1.16,-146.6,3.2,-4.1,3,118,11.52,2.55,-17.00,0.000,4,0.175,0.091,2446,213,3139
$GC,388,-1.16,-146.6,40.4,-12.8,16,395,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1614,3141
$GC,705,-1.16,-146.6,81.1,-13.1,32,709,0.00,2.55,0.00,0.000,4,0.000,0.077,2446,209,3141
$GC,925,-1.16,-146.6,104.8,-8.9,42,929,0.00,2.35,0.00,0.000,6,0.000,0.054,2446,1610,3143
$GC,1253,-1.16,-146.6,130.5,-7.7,58,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1614,3146
$GC,1562,-1.16,-146.6,158.8,-9.7,73,1566,0.00,2.45,0.00,0.000,4,0.000,0.073,2446,2989,3148
$GC,1634,-1.16,-146.6,165.9,-9.1,76,1639,0.00,2.42,0.00,0.000,6,0.000,0.063,2446,1592,3147
$GC,1956,-1.16,-146.6,197.0,-10.3,92,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1591,3149
$GC,2266,-1.16,-146.6,227.2,-9.0,107,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1592,3149
$GC,2575,-1.16,-146.6,252.1,-7.8,122,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1592,3149
$GC,2884,-1.16,-146.6,277.3,-8.5,137,2888,0.00,2.53,0.00,0.000,4,0.000,0.077,2446,2984,3149
$GC,2912,-1.16,-146.6,279.9,-8.6,138,2916,0.00,2.42,0.00,0.000,6,0.000,0.064,2446,1595,3149
$GC,3228,-1.16,-146.6,308.1,-8.9,153,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1596,3149
$GC,3538,-1.16,-146.6,336.4,-9.5,168,3542,0.00,2.47,0.00,0.000,4,0.000,0.077,2446,2978,3149
$GC,3568,-1.16,-146.6,339.3,-9.9,169,3572,0.00,2.40,0.00,0.000,6,0.000,0.064,2446,1600,3149
$GC,3884,-1.16,-146.6,371.0,-10.0,184,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3149
$GC,4195,-1.16,-146.6,400.1,-9.3,199,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3149
$GC,4503,-1.16,-146.6,427.0,-8.5,214,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3148
$GC,4812,-1.16,-146.6,454.0,-9.0,229,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3147
$GC,5121,-1.16,-146.6,481.5,-8.7,244,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1600,3146
$GC,5430,-1.16,-146.6,508.6,-8.7,259,5435,0.00,2.50,0.00,0.000,4,0.000,0.079,2446,2984,3145
$GC,5464,-1.16,-146.6,511.7,-8.8,260,5471,0.00,2.42,0.00,0.000,6,0.000,0.064,2446,1596,3144
$GC,5781,-1.16,-146.6,540.1,-8.9,276,5785,0.00,2.58,0.00,0.000,4,0.000,0.093,2446,208,3144
$STATE,5828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5828,begin apogee
$GC,5840,-0.32,0.0,544.9,9.4,278,5972,0.90,0.00,127.85,1.016,6,0.117,0.000,2630,2178,2538
$STATE,5973,end apogee,CONTROL_FINISHED_OK
$STATE,5973,begin climb
$GC,5977,1.16,146.6,550.3,0.0,285,6106,1.52,2.83,120.80,0.980,4,0.081,0.105,2956,3599,1941
$GC,6199,1.16,146.6,540.3,9.5,295,6204,0.00,2.50,0.00,0.000,6,0.000,0.067,2956,2195,1940
$GC,6516,1.20,167.3,516.7,7.2,310,6536,0.00,0.00,18.20,1.064,6,0.000,0.000,2956,2196,1857
$GC,6846,1.21,175.8,492.4,7.7,326,6860,0.00,2.62,8.90,0.969,4,0.000,0.081,2956,792,1821
$GC,6907,1.21,175.8,487.2,8.1,328,6913,0.00,2.45,0.00,0.000,6,0.000,0.055,2956,2205,1821
$GC,7224,1.23,187.4,462.8,7.6,344,7240,0.00,2.62,10.88,0.987,4,0.000,0.074,2956,794,1773
$GC,7292,1.23,187.4,457.1,8.3,346,7297,0.00,2.45,0.00,0.000,6,0.000,0.055,2956,2208,1773
$GC,7615,1.23,190.1,431.9,7.9,362,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2208,1772
$GC,7924,1.23,190.1,406.8,8.2,377,7928,0.00,2.55,0.00,0.000,4,0.000,0.073,2956,799,1771
$GC,8031,1.23,190.1,397.9,8.2,382,8036,0.00,2.42,0.00,0.000,6,0.000,0.055,2956,2206,1771
$GC,8359,1.29,222.7,374.6,6.8,398,8395,0.12,2.60,29.92,0.925,4,0.073,0.073,2989,798,1628
$GC,8435,1.29,222.7,367.9,8.9,401,8439,0.00,2.45,0.00,0.000,6,0.000,0.057,2989,2196,1628
$GC,8756,1.29,222.7,340.7,8.2,417,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2196,1627
$GC,9066,1.29,222.7,314.8,8.8,432,9070,0.00,2.55,0.00,0.000,4,0.000,0.074,2989,791,1626
$GC,9116,1.29,222.7,310.1,8.7,434,9120,0.00,2.45,0.00,0.000,6,0.000,0.056,2989,2201,1626
$GC,9432,1.29,222.7,283.6,8.7,449,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2201,1625
$GC,9742,1.29,222.7,254.4,10.0,464,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2201,1625
$GC,10053,1.29,222.7,220.9,11.1,479,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,1624
$GC,10360,1.29,222.7,185.4,11.9,494,10364,0.00,2.55,0.00,0.000,4,0.000,0.074,2989,793,1624
$GC,10405,1.29,222.7,180.0,11.6,496,10409,0.00,2.45,0.00,0.000,6,0.000,0.057,2989,2210,1624
$GC,10727,1.29,222.7,143.2,11.8,512,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2210,1624
$GC,11036,1.29,222.7,104.3,12.7,527,11040,0.00,2.53,0.00,0.000,4,0.000,0.073,2989,797,1624
$GC,11148,1.29,222.7,90.6,12.1,532,11152,0.00,2.42,0.00,0.000,6,0.000,0.057,2989,2200,1623
$GC,11470,1.29,222.7,58.0,9.6,548,11474,0.00,2.53,0.00,0.000,4,0.000,0.073,2989,796,1623
$GC,11510,1.29,222.7,54.4,9.1,550,11515,0.00,2.42,0.00,0.000,6,0.000,0.057,2989,2203,1623
$GC,11838,1.29,222.7,17.8,11.9,566,11842,0.00,2.50,0.00,0.000,4,0.000,0.071,2989,796,1623
$GC,11939,1.29,222.7,8.0,11.3,570,11945,0.00,2.40,0.00,0.000,6,0.000,0.057,2989,2196,1624
$STATE,12006,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FINISH,0.7,1.008699
$STATE,12026,end surface coast,CONTROL_FINISHED_OK
$STATE,12027,begin surface
$SM_CCo,12052,41.90,0.718,0,0,1316,300.00
$SM_GC,1.39,0.00,0.00,41.90,0.000,0.000,0.718,380,1596,1316,-10.70,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.7,28.8
$24V_AH,23.5,19.162
$10V_AH,10.1,11.263
$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,25.500,86.850,316.550,41.900,0.000,37.765,26.503,134.921,4.250,0.000,0.000,11.654,1084.696,9100.544,448.488,1320.958,466.529,0.000,1119.629,0.000,1295.523,0.000,29.756,0.000
$DEVICE_MAMPS,174.876,105.079,1063.829,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.884,391.158,382.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28548,575
$CAP_FILE_SIZE,85810,0
$CFSIZE,254472192,245010432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,210908,232158,6445.514,-1019.673,38,2.4,57,-11.2