version: 66.04
glider: 14
mission: 6
dive: 364
start: 10 20 108 6 39 36
data:
$ID,14
$MISSION,6
$DIVE,364
$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,-657228.19
$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,38
$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
$GPS1,062329,6323.394,-1325.118,64,1.4,68,-12.4
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-43.0
$GPS2,063915,6323.144,-1325.166,11,1.6,11,-12.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$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,163.1,17300,-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,-146.6,0.0,0.0,0,130,0.00,0.00,-110.80,0.000,2,0.000,0.000,383,1623,2826
$GC,135,-1.16,-146.6,5.0,-4.2,6,158,11.35,2.60,-6.32,0.000,4,0.176,0.088,2412,209,3139
$GC,430,-1.16,-146.6,56.7,-10.0,19,434,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3143
$GC,758,-1.16,-146.6,99.7,-14.1,35,762,0.00,2.50,0.00,0.000,4,0.000,0.075,2412,210,3144
$GC,963,-1.16,-146.6,124.1,-13.9,44,967,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3144
$GC,1292,-1.16,-146.6,166.9,-13.7,60,1296,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,203,3145
$GC,1342,-1.16,-146.6,174.3,-14.0,62,1347,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1599,3144
$GC,1670,-1.16,-146.6,217.1,-12.9,78,1674,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,211,3145
$GC,1744,-1.16,-146.6,226.8,-13.6,81,1748,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3145
$GC,2060,-1.16,-146.6,268.8,-13.4,96,2064,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,213,3145
$GC,2117,-1.16,-146.6,277.1,-14.3,98,2121,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3145
$GC,2433,-1.16,-146.6,319.6,-13.5,113,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3145
$GC,2742,-1.16,-146.6,358.2,-12.1,128,2746,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3144
$GC,2811,-1.16,-146.6,366.7,-12.3,131,2816,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1597,3145
$GC,3133,-1.16,-146.6,402.9,-11.7,147,3137,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,210,3145
$GC,3195,-1.16,-146.6,411.0,-12.7,149,3202,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3146
$GC,3512,-1.16,-146.6,449.0,-13.0,165,3517,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3145
$GC,3574,-1.16,-146.6,457.7,-13.5,167,3580,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1599,3146
$GC,3891,-1.16,-146.6,500.4,-13.9,183,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1601,3146
$GC,4201,-1.16,-146.6,545.3,-14.6,198,4205,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,210,3146
$GC,4309,-1.16,-146.6,561.8,-15.1,203,4313,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3146
$GC,4636,-1.16,-146.6,607.3,-13.1,219,4641,0.00,2.55,0.00,0.000,4,0.000,0.088,2413,2999,3146
$GC,4670,-1.16,-146.6,612.0,-12.2,220,4677,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1602,3145
$GC,4987,-1.16,-146.6,649.8,-11.5,236,4992,0.00,2.53,0.00,0.000,4,0.000,0.086,2413,206,3145
$GC,5111,-1.16,-146.6,664.7,-12.5,241,5115,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3146
$GC,5429,-1.16,-146.6,701.2,-11.8,256,5433,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3146
$GC,5480,-1.16,-146.6,707.9,-13.5,258,5484,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1603,3145
$GC,5797,-1.16,-146.6,745.1,-11.9,273,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3145
$GC,6105,-1.16,-146.6,780.7,-11.2,288,6109,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,206,3146
$GC,6207,-1.16,-146.6,792.6,-11.3,292,6213,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1606,3145
$GC,6524,-1.16,-146.6,820.5,-9.3,308,6528,0.00,2.53,0.00,0.000,4,0.000,0.088,2412,2996,3145
$GC,6547,-1.16,-146.6,822.7,-9.6,309,6551,0.00,2.45,0.00,0.000,6,0.000,0.067,2413,1592,3146
$GC,6869,-1.16,-146.6,854.0,-11.0,325,6873,0.00,2.53,0.00,0.000,4,0.000,0.087,2412,201,3146
$GC,6964,-1.16,-146.6,864.4,-10.7,329,6969,0.00,2.42,0.00,0.000,6,0.000,0.060,2412,1613,3146
$STATE,7092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7092,begin apogee
$GC,7101,-0.32,0.0,877.4,10.3,335,7235,0.95,0.00,126.25,1.256,6,0.124,0.000,2602,2191,2538
$STATE,7235,end apogee,CONTROL_FINISHED_OK
$STATE,7235,begin climb
$GC,7240,1.16,146.6,885.1,0.0,342,7384,1.42,2.80,129.00,1.229,4,0.058,0.107,2941,3604,1941
$GC,7427,1.16,146.6,877.7,9.5,350,7434,0.00,2.53,0.00,0.000,6,0.000,0.069,2941,2193,1941
$GC,7745,1.16,146.6,852.3,8.9,366,7749,0.00,2.67,0.00,0.000,4,0.000,0.096,2941,3602,1941
$GC,7974,1.16,146.6,831.5,10.6,376,7978,0.00,2.50,0.00,0.000,6,0.000,0.067,2941,2198,1941
$GC,8291,1.16,146.6,805.2,8.2,391,8296,0.00,2.55,0.00,0.000,4,0.000,0.078,2941,786,1941
$GC,8343,1.19,164.0,801.0,7.3,393,8363,0.00,2.47,15.48,1.154,6,0.000,0.062,2941,2200,1870
$GC,8680,1.27,214.4,778.4,6.1,410,8731,0.00,2.80,43.38,1.214,4,0.000,0.100,2941,3605,1664
$GC,8768,1.30,232.7,772.7,7.3,414,8790,0.00,2.53,16.60,1.126,6,0.000,0.067,2941,2196,1590
$GC,9100,1.31,240.4,747.4,7.7,430,9109,0.00,0.00,7.70,0.992,6,0.000,0.000,2941,2196,1559
$GC,9410,1.31,240.4,722.4,8.4,445,9414,0.00,2.53,0.00,0.000,4,0.000,0.079,2941,797,1558
$GC,9483,1.31,240.4,715.7,9.1,448,9487,0.00,2.45,0.00,0.000,6,0.000,0.061,2941,2199,1559
$GC,9804,1.31,240.4,688.5,8.3,464,9809,0.00,2.53,0.00,0.000,4,0.000,0.073,2941,789,1559
$GC,9850,1.31,240.4,684.2,9.1,466,9855,0.00,2.45,0.00,0.000,6,0.000,0.061,2941,2198,1559
$GC,10171,1.31,240.4,657.4,8.4,482,10176,0.00,2.53,0.00,0.000,4,0.000,0.072,2942,785,1559
$GC,10267,1.31,240.4,648.5,9.0,486,10272,0.00,2.47,0.00,0.000,6,0.000,0.062,2941,2202,1559
$GC,10585,1.31,240.4,619.8,9.3,501,10589,0.00,2.53,0.00,0.000,4,0.000,0.072,2941,785,1559
$GC,10703,1.31,240.4,607.2,11.7,506,10707,0.00,2.47,0.00,0.000,6,0.000,0.062,2941,2205,1559
$GC,11025,1.31,240.4,574.2,10.4,522,11029,0.00,2.50,0.00,0.000,4,0.000,0.073,2941,792,1559
$GC,11109,1.31,240.4,564.6,12.1,525,11116,0.00,2.45,0.00,0.000,6,0.000,0.061,2941,2201,1559
$GC,11426,1.31,240.4,532.3,9.8,541,11430,0.00,2.53,0.00,0.000,4,0.000,0.073,2941,784,1559
$GC,11499,1.31,240.4,524.9,10.3,544,11503,0.00,2.47,0.00,0.000,6,0.000,0.061,2941,2202,1559
$GC,11821,1.31,240.4,493.5,10.0,560,11825,0.00,2.50,0.00,0.000,4,0.000,0.072,2941,793,1559
$GC,11911,1.31,240.4,483.7,10.7,564,11915,0.00,2.47,0.00,0.000,6,0.000,0.061,2941,2211,1559
$GC,12233,1.31,240.4,450.2,10.7,580,12237,0.00,2.53,0.00,0.000,4,0.000,0.071,2941,789,1559
$GC,12345,1.31,240.4,436.8,11.9,585,12349,0.00,2.45,0.00,0.000,6,0.000,0.061,2940,2198,1559
$GC,12667,1.31,240.4,397.5,12.9,601,12672,0.00,2.50,0.00,0.000,4,0.000,0.072,2941,789,1559
$GC,12776,1.31,240.4,383.3,12.8,606,12780,0.00,2.47,0.00,0.000,6,0.000,0.061,2941,2210,1559
$GC,13103,1.31,240.4,344.8,11.3,622,13107,0.00,2.53,0.00,0.000,4,0.000,0.072,2941,786,1559
$GC,13216,1.31,240.4,331.3,11.4,627,13220,0.00,2.47,0.00,0.000,6,0.000,0.061,2941,2208,1559
$GC,13537,1.31,240.4,296.3,10.5,643,13541,0.00,2.53,0.00,0.000,4,0.000,0.071,2941,785,1559
$GC,13638,1.31,240.4,285.8,10.1,647,13645,0.00,2.47,0.00,0.000,6,0.000,0.061,2941,2204,1559
$GC,13955,1.31,240.4,254.5,9.9,663,13959,0.00,2.53,0.00,0.000,4,0.000,0.072,2941,788,1560
$GC,14052,1.31,240.4,245.0,9.9,667,14056,0.00,2.45,0.00,0.000,6,0.000,0.061,2941,2200,1560
$GC,14374,1.31,240.7,217.3,8.0,683,14379,0.00,2.50,0.00,0.000,4,0.000,0.072,2941,793,1560
$GC,14483,1.35,265.1,208.8,7.1,688,14512,0.12,2.45,21.77,0.780,6,0.068,0.062,2981,2201,1458
$GC,14838,1.37,278.1,179.9,7.5,705,14859,0.00,2.60,11.55,0.716,4,0.000,0.072,2981,792,1404
$GC,14986,1.37,278.1,165.4,10.2,711,14991,0.00,2.47,0.00,0.000,6,0.000,0.061,2981,2205,1404
$GC,15304,1.37,278.1,135.9,10.0,726,15308,0.00,2.53,0.00,0.000,4,0.000,0.073,2981,789,1404
$GC,15354,1.37,278.1,130.9,9.4,728,15358,0.00,2.45,0.00,0.000,6,0.000,0.061,2981,2199,1405
$GC,15671,1.37,278.1,95.0,12.3,743,15675,0.00,2.53,0.00,0.000,4,0.000,0.073,2981,784,1404
$GC,15767,1.37,278.1,81.8,15.1,747,15771,0.00,2.47,0.00,0.000,6,0.000,0.061,2981,2211,1404
$GC,16083,1.37,278.1,44.9,12.8,762,16088,0.00,2.53,0.00,0.000,4,0.000,0.073,2981,792,1405
$GC,16140,1.37,278.1,35.7,16.6,764,16146,0.00,2.45,0.00,0.000,6,0.000,0.062,2981,2203,1405
$GC,16459,1.38,282.4,10.4,7.8,780,16470,0.00,2.55,5.75,0.538,4,0.000,0.072,2981,789,1386
$STATE,16519,end climb,SURFACE_DEPTH_REACHED
$STATE,16519,begin surface coast
$FINISH,0.8,1.027196
$STATE,16524,end surface coast,CONTROL_FINISHED_OK
$STATE,16524,begin surface
$SM_CCo,16551,13.43,0.628,0,0,1315,300.00
$SM_GC,1.33,0.00,0.00,13.43,0.000,0.000,0.628,378,1618,1315,-10.57,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,825.8,60.0
$24V_AH,23.5,48.729
$10V_AH,10.2,24.446
$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,25.225,184.200,377.475,13.425,0.000,75.529,62.171,592.561,7.750,0.000,0.000,12.690,1530.041,12183.067,565.407,2087.532,1144.728,0.000,1635.259,0.000,2026.035,0.000,52.250,0.000
$DEVICE_MAMPS,176.410,106.613,1256.346,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.551,536.121,430.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41194,783
$CAP_FILE_SIZE,143337,0
$CFSIZE,254472192,235253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,201008,111722,6322.833,-1324.625,37,5.5,56,-12.4