version: 66.04
glider: 14
mission: 6
dive: 222
start: 10 3 108 16 1 22
data:
$ID,14
$MISSION,6
$DIVE,222
$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,576.94562
$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,-654315.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,155537,6412.188,-1232.050,40,1.9,40,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.2
$GPS2,160059,6412.206,-1231.994,14,2.4,33,-12.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IS1
$TGT_LATLONG,6410.000,-1300.000
$TGT_RADIUS,3000.000
$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,272.0,22967,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,119,0.00,0.00,-100.38,0.000,2,0.000,0.000,382,1594,2639
$GC,123,-1.16,-146.6,4.1,-3.3,5,154,11.38,2.58,-11.23,0.000,4,0.178,0.083,2414,3009,3139
$GC,276,-1.16,-146.6,28.8,-13.7,11,282,0.00,2.42,0.00,0.000,6,0.000,0.061,2414,1598,3142
$GC,593,-1.16,-146.6,75.1,-14.7,27,597,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,212,3144
$GC,689,-1.16,-146.6,89.7,-15.2,31,693,0.00,2.38,0.00,0.000,6,0.000,0.055,2414,1617,3144
$GC,1006,-1.16,-146.6,131.7,-12.9,46,1010,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,205,3144
$GC,1092,-1.16,-146.6,143.8,-14.2,50,1096,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1602,3144
$GC,1420,-1.16,-146.6,188.7,-13.4,66,1424,0.00,2.50,0.00,0.000,4,0.000,0.076,2413,211,3144
$GC,1510,-1.16,-146.6,201.5,-13.7,70,1514,0.00,2.35,0.00,0.000,6,0.000,0.056,2413,1605,3145
$GC,1832,-1.16,-146.6,244.0,-12.6,86,1836,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,212,3145
$GC,1940,-1.16,-146.6,257.3,-11.0,91,1945,0.00,2.35,0.00,0.000,6,0.000,0.056,2414,1606,3145
$GC,2268,-1.16,-146.6,294.7,-11.8,107,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3145
$GC,2577,-1.16,-146.6,332.6,-13.1,122,2581,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,210,3145
$GC,2645,-1.16,-146.6,341.7,-13.4,125,2649,0.00,2.35,0.00,0.000,6,0.000,0.057,2414,1596,3145
$GC,2973,-1.16,-146.6,384.0,-13.2,141,2976,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,215,3146
$GC,3057,-1.16,-146.6,395.6,-12.9,144,3063,0.00,2.38,0.00,0.000,6,0.000,0.057,2414,1606,3147
$GC,3374,-1.16,-146.6,432.5,-11.4,160,3378,0.00,2.55,0.00,0.000,4,0.000,0.081,2413,206,3146
$GC,3459,-1.16,-146.6,443.0,-12.8,164,3463,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3146
$GC,3787,-1.16,-146.6,480.6,-10.9,180,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1604,3146
$STATE,3886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3886,begin apogee
$GC,3895,-0.32,0.0,492.1,11.1,185,4022,0.93,0.00,123.88,1.018,6,0.111,0.000,2602,2191,2539
$STATE,4023,end apogee,CONTROL_FINISHED_OK
$STATE,4023,begin climb
$GC,4027,1.16,146.6,498.4,0.0,191,4156,1.52,2.78,120.62,0.988,4,0.084,0.107,2928,3601,1940
$GC,4177,1.24,195.1,496.2,6.2,198,4223,0.00,2.50,40.25,0.956,6,0.000,0.067,2929,2200,1743
$GC,4543,1.29,222.6,470.3,7.0,216,4573,0.12,2.67,23.60,0.943,4,0.067,0.081,2966,793,1631
$GC,4620,1.29,222.6,463.2,9.8,219,4624,0.00,2.47,0.00,0.000,6,0.000,0.059,2966,2211,1631
$GC,4936,1.29,222.6,431.9,10.0,234,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2210,1631
$GC,5245,1.29,222.6,401.5,9.4,249,5250,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,790,1631
$GC,5354,1.29,222.6,390.8,10.2,254,5358,0.00,2.45,0.00,0.000,6,0.000,0.060,2966,2203,1631
$GC,5681,1.29,222.6,360.9,9.2,270,5685,0.00,2.55,0.00,0.000,4,0.000,0.072,2966,789,1630
$GC,5737,1.29,222.6,355.3,9.5,272,5743,0.00,2.45,0.00,0.000,6,0.000,0.060,2966,2201,1630
$GC,6053,1.29,222.6,320.0,11.2,288,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2201,1629
$GC,6362,1.29,222.6,287.3,9.9,303,6366,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,793,1629
$GC,6402,1.29,222.6,283.4,9.7,304,6408,0.00,2.45,0.00,0.000,6,0.000,0.060,2966,2200,1629
$GC,6719,1.31,236.1,258.2,7.5,320,6740,0.00,2.60,11.55,0.811,4,0.000,0.071,2966,789,1576
$GC,6769,1.31,236.1,254.0,9.1,322,6773,0.00,2.47,0.00,0.000,6,0.000,0.060,2966,2208,1576
$GC,7090,1.31,236.1,219.6,12.6,338,7094,0.00,2.55,0.00,0.000,4,0.000,0.071,2966,788,1576
$GC,7163,1.31,236.1,209.6,13.7,341,7168,0.00,2.47,0.00,0.000,6,0.000,0.060,2966,2210,1576
$GC,7480,1.31,236.1,173.4,10.3,356,7484,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,793,1576
$GC,7531,1.31,236.1,168.0,10.2,358,7535,0.00,2.42,0.00,0.000,6,0.000,0.059,2966,2200,1576
$GC,7853,1.31,236.1,138.2,9.0,374,7858,0.00,2.53,0.00,0.000,4,0.000,0.071,2966,784,1576
$GC,7921,1.31,236.1,130.9,11.3,377,7925,0.00,2.45,0.00,0.000,6,0.000,0.059,2966,2199,1576
$GC,8243,1.31,236.1,98.6,10.4,393,8247,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,787,1576
$GC,8322,1.31,236.1,90.0,10.5,396,8328,0.00,2.42,0.00,0.000,6,0.000,0.060,2967,2199,1576
$GC,8640,1.31,236.1,62.2,8.1,412,8644,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,787,1576
$GC,8685,1.31,236.1,57.7,9.8,414,8689,0.00,2.42,0.00,0.000,6,0.000,0.060,2966,2198,1576
$GC,9007,1.31,236.1,30.6,8.5,430,9011,0.00,2.50,0.00,0.000,4,0.000,0.071,2967,787,1576
$GC,9097,1.34,256.2,23.7,7.2,434,9121,0.00,2.45,17.35,0.658,6,0.000,0.059,2966,2202,1494
$STATE,9358,end climb,SURFACE_DEPTH_REACHED
$STATE,9358,begin surface coast
$FINISH,0.5,1.019634
$STATE,9380,end surface coast,CONTROL_FINISHED_OK
$STATE,9384,begin surface
$SM_CCo,9409,176.35,0.641,0,0,186,576.95
$SM_GC,1.28,0.00,0.00,176.35,0.000,0.000,0.641,379,1595,186,-10.56,-0.17,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1852
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.4,76.0
$24V_AH,23.7,31.329
$10V_AH,10.2,16.761
$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,25.225,101.425,337.250,176.350,0.000,37.761,32.731,113.016,3.250,0.000,0.000,35.405,872.288,6810.626,633.022,1169.270,434.753,0.000,1246.264,0.000,1120.623,0.000,23.439,0.000
$DEVICE_MAMPS,177.944,106.613,1017.809,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.867,303.827,337.655,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22243,448
$CAP_FILE_SIZE,76805,0
$CFSIZE,254472192,241008640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,031008,184232,6411.436,-1235.200,40,1.7,40,-12.3