version: 66.04
glider: 14
mission: 6
dive: 121
start: 9 22 108 20 10 20
data:
$ID,14
$MISSION,6
$DIVE,121
$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,-652375.31
$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,27
$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
$GPS1,200455,6452.274,-1038.078,33,1.5,33,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.5
$GPS2,200957,6452.272,-1037.981,17,1.5,17,-11.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$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,242.3,74162,-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,-60.38,0.000,2,0.000,0.000,376,1597,2656
$GC,83,-1.16,-146.6,3.7,-5.4,3,110,11.50,0.00,-13.12,0.000,6,0.175,0.000,2442,1598,3138
$GC,416,-1.16,-146.6,42.9,-10.6,19,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1598,3140
$GC,725,-1.16,-146.6,70.3,-7.8,34,729,0.00,2.50,0.00,0.000,4,0.000,0.080,2442,212,3140
$GC,759,-1.16,-146.6,73.0,-7.5,35,765,0.00,2.35,0.00,0.000,6,0.000,0.054,2442,1619,3140
$GC,1077,-1.16,-146.6,90.2,-4.3,51,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1623,3143
$GC,1385,-1.16,-146.6,105.5,-5.4,66,1390,0.00,2.55,0.00,0.000,4,0.000,0.079,2442,214,3147
$GC,1480,-1.16,-146.6,113.0,-8.1,70,1485,0.00,2.33,0.00,0.000,6,0.000,0.054,2443,1598,3147
$GC,1797,-1.16,-146.6,143.6,-10.3,85,1801,0.00,2.53,0.00,0.000,4,0.000,0.080,2442,213,3147
$GC,1861,-1.16,-146.6,150.5,-10.4,88,1866,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1611,3148
$GC,2189,-1.16,-146.6,184.5,-9.8,104,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1614,3147
$GC,2498,-1.16,-146.6,217.1,-10.5,119,2502,0.00,2.55,0.00,0.000,4,0.000,0.082,2443,215,3148
$GC,2606,-1.16,-146.6,229.3,-11.9,124,2610,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1603,3147
$GC,2933,-1.16,-146.6,262.8,-9.9,140,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1607,3147
$GC,3242,-1.16,-146.6,296.2,-11.1,155,3247,0.00,2.58,0.00,0.000,4,0.000,0.085,2442,209,3148
$GC,3361,-1.16,-146.6,310.0,-11.5,160,3365,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1605,3147
$GC,3683,-1.16,-146.6,344.9,-9.9,176,3687,0.00,2.55,0.00,0.000,4,0.000,0.084,2442,215,3147
$GC,3861,-1.16,-146.6,363.2,-10.5,184,3865,0.00,2.35,0.00,0.000,6,0.000,0.056,2442,1598,3147
$GC,4188,-1.16,-146.6,392.6,-8.7,200,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1603,3147
$STATE,4494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4494,begin apogee
$GC,4504,-0.32,0.0,420.0,8.8,215,4643,0.95,0.00,130.65,1.028,6,0.122,0.000,2632,2189,2539
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4648,1.16,146.6,425.6,0.0,222,4777,1.50,2.80,121.60,1.008,4,0.078,0.108,2955,3597,1940
$GC,5006,1.16,146.6,403.6,8.2,238,5011,0.00,2.50,0.00,0.000,6,0.000,0.067,2955,2196,1939
$GC,5323,1.17,151.3,378.3,7.8,253,5330,0.00,0.00,5.18,0.759,6,0.000,0.000,2955,2196,1922
$GC,5632,1.22,184.5,356.9,6.7,268,5667,0.00,2.67,28.08,0.977,4,0.000,0.084,2955,803,1784
$GC,5730,1.23,185.1,348.8,8.0,272,5735,0.00,2.42,0.00,0.000,6,0.000,0.055,2955,2205,1784
$GC,6047,1.23,185.1,324.0,8.1,287,6051,0.00,2.58,0.00,0.000,4,0.000,0.076,2955,796,1783
$GC,6199,1.23,185.1,310.4,9.5,294,6204,0.00,2.42,0.00,0.000,6,0.000,0.056,2955,2205,1781
$GC,6526,1.23,185.1,282.1,8.1,310,6531,0.00,2.58,0.00,0.000,4,0.000,0.075,2955,790,1781
$GC,6616,1.23,185.1,274.3,8.2,314,6621,0.00,2.45,0.00,0.000,6,0.000,0.056,2955,2200,1781
$GC,6939,1.23,187.0,248.1,7.9,330,6943,0.00,2.55,0.00,0.000,4,0.000,0.074,2955,792,1779
$GC,7024,1.23,187.0,240.4,9.2,334,7028,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2203,1779
$GC,7351,1.23,187.0,212.3,9.0,350,7355,0.00,2.55,0.00,0.000,4,0.000,0.075,2955,789,1779
$GC,7407,1.23,187.0,207.1,9.2,352,7413,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2202,1779
$GC,7723,1.23,187.0,179.0,9.1,368,7728,0.00,2.53,0.00,0.000,4,0.000,0.074,2955,796,1778
$GC,7802,1.23,187.0,171.3,9.7,371,7808,0.00,2.45,0.00,0.000,6,0.000,0.057,2955,2212,1779
$GC,8119,1.23,187.0,145.1,8.1,387,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2212,1779
$GC,8428,1.26,208.3,121.3,7.2,402,8454,0.12,2.65,19.50,0.834,4,0.069,0.074,2990,793,1689
$GC,8522,1.26,208.3,112.6,9.6,406,8527,0.00,2.45,0.00,0.000,6,0.000,0.057,2990,2199,1688
$GC,8844,1.26,208.3,83.6,9.1,422,8849,0.00,2.53,0.00,0.000,4,0.000,0.075,2990,794,1687
$GC,8872,1.26,208.3,80.8,10.6,423,8877,0.00,2.42,0.00,0.000,6,0.000,0.057,2989,2200,1687
$GC,9189,1.26,208.3,49.0,9.7,438,9193,0.00,2.62,0.00,0.000,4,0.000,0.096,2991,3597,1686
$GC,9279,1.26,208.3,39.4,10.3,442,9283,0.00,2.45,0.00,0.000,6,0.000,0.062,2990,2191,1686
$GC,9602,1.26,208.3,8.4,10.2,458,9606,0.00,2.50,0.00,0.000,4,0.000,0.076,2991,799,1685
$GC,9644,1.29,223.8,4.8,7.4,460,9666,0.00,2.40,13.20,0.719,6,0.000,0.055,2990,2208,1625
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.8,1.026968
$STATE,9705,end surface coast,CONTROL_FINISHED_OK
$STATE,9705,begin surface
$SM_CCo,9731,49.35,0.736,0,0,1315,300.00
$SM_GC,1.24,0.00,0.00,49.35,0.000,0.000,0.736,381,1595,1315,-10.69,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1960
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.7,28.1
$24V_AH,23.6,20.050
$10V_AH,10.1,11.701
$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,25.575,86.875,318.200,49.350,0.000,37.760,33.025,114.154,3.000,0.000,0.000,21.402,905.595,7120.372,457.822,1193.647,418.425,0.000,1065.118,0.000,1164.037,0.000,21.677,0.000
$DEVICE_MAMPS,174.876,108.147,1027.780,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.195,313.996,387.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22223,463
$CAP_FILE_SIZE,76588,0
$CFSIZE,254472192,244699136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,220908,225438,6452.126,-1040.278,33,1.5,33,-11.4