version: 66.04
glider: 14
mission: 6
dive: 275
start: 10 8 108 23 5 16
data:
$ID,14
$MISSION,6
$DIVE,275
$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,315
$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,-655437.94
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,225923,6415.228,-1121.940,11,3.6,30,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.4
$GPS2,230453,6415.178,-1121.817,12,3.6,31,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6422.814,-1139.477
$TGT_RADIUS,1852.000
$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,326.6,20000,-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,-60.47,0.000,2,0.000,0.000,381,1598,2794
$GC,83,-1.16,-146.6,3.9,-6.4,3,109,11.40,2.58,-7.10,0.000,4,0.179,0.091,2414,198,3139
$GC,214,-1.16,-146.6,29.1,-14.0,8,220,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1616,3140
$GC,532,-1.16,-146.6,73.0,-13.5,24,537,0.00,2.55,0.00,0.000,4,0.000,0.077,2415,201,3140
$GC,618,-1.16,-146.6,85.2,-14.4,28,623,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1604,3140
$GC,947,-1.16,-146.6,129.0,-12.9,44,951,0.00,2.47,0.00,0.000,4,0.000,0.077,2415,2995,3141
$GC,970,-1.16,-146.6,132.1,-12.5,45,974,0.00,2.42,0.00,0.000,6,0.000,0.065,2414,1596,3141
$GC,1292,-1.16,-146.6,173.1,-13.3,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1596,3141
$GC,1601,-1.16,-146.6,214.6,-13.1,76,1605,0.00,2.50,0.00,0.000,4,0.000,0.081,2415,206,3142
$GC,1657,-1.16,-146.6,222.2,-13.7,78,1664,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1601,3142
$GC,1974,-1.16,-146.6,262.7,-13.0,94,1978,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,203,3142
$GC,2047,-1.16,-146.6,272.6,-12.8,97,2051,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1600,3143
$GC,2369,-1.16,-146.6,315.0,-14.1,113,2373,0.00,2.53,0.00,0.000,4,0.000,0.080,2415,205,3143
$GC,2425,-1.16,-146.6,322.8,-13.9,115,2431,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1599,3143
$STATE,2552,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2552,begin apogee
$GC,2562,-0.32,0.0,338.2,12.0,122,2688,0.90,0.00,122.50,0.890,6,0.109,0.000,2599,2198,2539
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2693,1.16,146.6,343.8,0.0,128,2819,1.55,2.80,117.93,0.863,4,0.093,0.106,2925,3601,1941
$GC,3094,1.27,212.1,326.5,5.5,146,3157,0.12,2.47,52.75,0.847,6,0.066,0.069,2964,2199,1674
$GC,3467,1.27,215.4,296.0,7.9,164,3476,0.00,2.60,3.85,0.550,4,0.000,0.080,2964,783,1661
$GC,3563,1.32,242.7,288.8,7.0,168,3592,0.00,2.50,23.15,0.835,6,0.000,0.061,2964,2206,1548
$GC,3910,1.32,243.3,262.9,8.0,185,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2206,1548
$GC,4219,1.32,243.3,236.5,10.1,200,4223,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,792,1547
$GC,4337,1.32,243.3,223.8,10.3,205,4342,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1547
$GC,4655,1.33,250.1,194.7,7.7,220,4668,0.00,2.58,6.80,0.690,4,0.000,0.074,2965,789,1518
$GC,4819,1.37,277.2,183.9,7.0,227,4848,0.00,2.47,22.38,0.778,6,0.000,0.062,2964,2203,1408
$GC,5167,1.37,277.2,152.5,10.2,244,5171,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,792,1408
$GC,5234,1.37,277.2,144.9,11.6,247,5239,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2203,1408
$GC,5557,1.37,277.2,113.8,9.4,263,5561,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,792,1408
$GC,5613,1.37,277.2,108.2,10.7,265,5620,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2211,1408
$GC,5931,1.37,277.2,73.4,12.2,281,5936,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,793,1408
$GC,6010,1.37,277.2,62.5,13.5,284,6017,0.00,2.45,0.00,0.000,6,0.000,0.062,2964,2199,1408
$GC,6329,1.41,300.9,32.2,7.1,300,6355,0.00,2.60,19.48,0.664,4,0.000,0.074,2964,790,1311
$GC,6443,1.41,300.9,22.8,9.0,305,6447,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2202,1311
$STATE,6685,end climb,SURFACE_DEPTH_REACHED
$STATE,6685,begin surface coast
$FINISH,0.4,1.025255
$STATE,6708,end surface coast,CONTROL_FINISHED_OK
$STATE,6708,begin surface
$SM_CCo,6795,0.00,0.000,0,0,1307,301.47
$SM_GC,1.45,11.25,0.00,0.00,0.058,0.000,0.000,380,1601,1307,-10.49,0.03,301.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1911
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.1,94.5
$24V_AH,23.7,38.091
$10V_AH,10.2,19.327
$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,25.225,72.125,368.825,0.000,0.000,39.110,34.060,122.714,1.500,0.000,0.000,33.761,647.994,4732.808,426.325,927.733,399.817,0.000,918.665,0.000,889.344,0.000,12.159,0.000
$DEVICE_MAMPS,178.711,105.846,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.881,214.457,282.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,318
$CAP_FILE_SIZE,58154,0
$CFSIZE,254472192,239194112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,091008,005938,6414.803,-1120.814,27,1.4,27,-11.6