version: 66.04
glider: 14
mission: 6
dive: 372
start: 10 21 108 21 6 41
data:
$ID,14
$MISSION,6
$DIVE,372
$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,-657421.44
$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,19
$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
$GPS1,210001,6316.717,-1320.929,40,1.5,45,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.3
$GPS2,210621,6316.673,-1320.941,14,1.4,33,-12.3
$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,134.3,5842,-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,-60.38,0.000,2,0.000,0.000,380,1597,2745
$GC,83,-1.16,-146.6,4.1,-5.0,3,110,11.32,2.53,-9.60,0.000,4,0.175,0.089,2414,204,3138
$GC,380,-1.16,-146.6,45.9,-13.4,16,384,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1619,3139
$GC,702,-1.16,-146.6,89.4,-13.0,32,706,0.00,2.55,0.00,0.000,4,0.000,0.075,2414,201,3139
$GC,765,-1.16,-146.6,97.5,-12.7,35,770,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1605,3139
$GC,1093,-1.16,-146.6,133.4,-10.9,51,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3139
$GC,1403,-1.16,-146.6,168.9,-13.3,66,1406,0.00,2.53,0.00,0.000,4,0.000,0.076,2413,201,3139
$GC,1587,-1.16,-146.6,192.1,-12.6,74,1591,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1610,3139
$GC,1914,-1.16,-146.6,229.4,-11.1,90,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1612,3139
$GC,2224,-1.16,-146.6,264.4,-11.3,105,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1612,3139
$GC,2532,-1.16,-146.6,296.9,-10.3,120,2536,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,206,3139
$GC,2618,-1.16,-146.6,306.2,-10.9,124,2622,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1598,3140
$GC,2945,-1.16,-146.6,339.0,-10.2,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3140
$GC,3254,-1.16,-146.6,370.4,-10.1,155,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3140
$GC,3563,-1.16,-146.6,402.2,-10.4,170,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3140
$GC,3873,-1.16,-146.6,435.6,-10.7,185,3878,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,201,3141
$GC,3936,-1.16,-146.6,442.8,-11.4,188,3941,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1606,3140
$GC,4266,-1.16,-146.6,476.6,-10.0,204,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3140
$GC,4573,-1.16,-146.6,506.5,-9.4,219,4577,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,206,3140
$GC,4642,-1.16,-146.6,513.2,-10.6,222,4646,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1595,3140
$GC,4970,-1.16,-146.6,544.8,-10.3,238,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3140
$GC,5279,-1.16,-146.6,576.6,-11.1,253,5283,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,205,3140
$GC,5352,-1.16,-146.6,584.9,-11.0,256,5357,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3140
$GC,5675,-1.16,-146.6,620.4,-11.5,272,5679,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,203,3140
$GC,5748,-1.16,-146.6,629.2,-12.0,275,5752,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1602,3140
$GC,6065,-1.16,-146.6,661.9,-10.0,290,6069,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,203,3140
$GC,6161,-1.16,-146.6,672.1,-10.2,294,6165,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1600,3140
$GC,6478,-1.16,-146.6,703.6,-9.8,309,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3140
$GC,6787,-1.16,-146.6,736.5,-9.8,324,6791,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,203,3140
$GC,6856,-1.16,-146.6,743.6,-9.9,327,6860,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1600,3140
$GC,7183,-1.16,-146.6,774.4,-9.4,343,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1600,3141
$STATE,7468,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7468,begin apogee
$GC,7478,-0.32,0.0,804.7,10.4,357,7618,0.95,0.00,131.27,1.207,6,0.124,0.000,2603,2195,2539
$STATE,7619,end apogee,CONTROL_FINISHED_OK
$STATE,7619,begin climb
$GC,7623,1.16,146.6,809.9,0.0,364,7756,1.52,2.85,124.32,1.193,4,0.086,0.112,2927,3600,1940
$GC,7914,1.19,159.9,792.6,7.5,377,7933,0.00,2.53,12.10,1.052,6,0.000,0.070,2927,2185,1885
$GC,8257,1.22,178.5,767.4,7.3,394,8276,0.00,0.00,16.92,1.118,6,0.000,0.000,2927,2185,1810
$GC,8587,1.22,178.5,738.6,8.9,410,8591,0.00,2.53,0.00,0.000,4,0.000,0.077,2927,789,1809
$GC,8633,1.22,178.5,734.1,9.7,412,8638,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2198,1808
$GC,8960,1.22,178.5,702.6,9.5,428,8964,0.00,2.53,0.00,0.000,4,0.000,0.073,2927,790,1807
$GC,9062,1.22,178.5,692.9,9.8,432,9066,0.00,2.47,0.00,0.000,6,0.000,0.064,2927,2201,1806
$GC,9378,1.22,178.5,664.3,9.2,447,9382,0.00,2.53,0.00,0.000,4,0.000,0.074,2927,798,1804
$GC,9441,1.22,178.5,658.6,9.4,450,9445,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2207,1804
$GC,9769,1.22,178.5,631.3,8.5,466,9773,0.00,2.55,0.00,0.000,4,0.000,0.074,2927,787,1804
$GC,9899,1.22,178.5,620.7,8.7,472,9903,0.00,2.47,0.00,0.000,6,0.000,0.063,2927,2204,1803
$GC,10227,1.27,210.0,596.5,6.8,488,10259,0.10,2.60,26.35,1.076,4,0.071,0.072,2960,796,1682
$GC,10371,1.27,210.0,583.7,9.5,494,10377,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2205,1681
$GC,10688,1.27,210.0,556.7,8.5,510,10693,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,794,1682
$GC,10812,1.27,210.0,546.1,8.5,515,10819,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2210,1681
$GC,11129,1.28,219.7,520.6,7.6,531,11143,0.00,2.58,9.43,0.917,4,0.000,0.072,2960,790,1643
$GC,11247,1.29,223.4,511.6,7.9,536,11257,0.00,2.47,4.65,0.736,6,0.000,0.062,2960,2205,1628
$GC,11569,1.29,223.4,486.8,8.1,551,11573,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,789,1628
$GC,11671,1.29,223.4,478.1,8.2,555,11675,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2206,1628
$GC,11994,1.30,230.7,451.2,7.7,571,12008,0.00,2.58,7.85,0.838,4,0.000,0.071,2960,798,1598
$GC,12094,1.30,230.7,442.1,9.3,575,12099,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2200,1598
$GC,12411,1.30,230.7,412.8,10.0,590,12415,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,793,1598
$GC,12512,1.30,230.7,401.6,10.9,594,12517,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2201,1598
$GC,12829,1.30,230.7,369.2,10.8,609,12834,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,792,1598
$GC,12931,1.30,230.7,357.5,11.6,613,12937,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2201,1598
$GC,13247,1.30,230.7,322.7,11.2,629,13251,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,795,1598
$GC,13321,1.30,230.7,314.4,11.0,632,13325,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2203,1598
$GC,13642,1.30,230.7,279.1,10.7,648,13647,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,789,1598
$GC,13738,1.30,230.7,267.7,11.5,652,13743,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2203,1598
$GC,14055,1.30,230.7,236.3,9.8,667,14059,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,793,1598
$GC,14153,1.30,230.7,226.6,10.2,671,14157,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2205,1598
$GC,14475,1.30,230.7,194.9,9.8,687,14479,0.00,2.50,0.00,0.000,4,0.000,0.072,2959,795,1598
$GC,14593,1.30,230.7,182.2,10.8,692,14597,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2207,1597
$GC,14909,1.30,230.7,151.1,9.8,707,14914,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,795,1598
$GC,14989,1.30,230.7,142.8,10.7,710,14995,0.00,2.45,0.00,0.000,6,0.000,0.061,2960,2208,1598
$GC,15307,1.30,230.7,111.3,10.1,726,15312,0.00,2.50,0.00,0.000,4,0.000,0.071,2961,795,1598
$GC,15499,1.30,230.7,91.8,11.9,734,15505,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2205,1598
$GC,15815,1.30,230.7,60.7,9.7,750,15820,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,789,1598
$GC,15894,1.30,230.7,52.9,8.8,753,15901,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2200,1598
$GC,16212,1.30,230.7,24.1,8.6,769,16216,0.00,2.50,0.00,0.000,4,0.000,0.072,2960,795,1598
$GC,16297,1.30,230.7,16.7,10.0,773,16302,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2208,1598
$STATE,16477,end climb,SURFACE_DEPTH_REACHED
$STATE,16478,begin surface coast
$FINISH,0.5,1.027179
$STATE,16501,end surface coast,CONTROL_FINISHED_OK
$STATE,16501,begin surface
$SM_CCo,16528,42.15,0.633,1,0,1316,300.00
$SM_GC,1.41,0.00,0.00,42.15,0.000,0.000,0.633,378,1601,1316,-10.57,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.4,37.1
$24V_AH,23.5,49.832
$10V_AH,10.2,25.104
$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,25.125,151.350,332.900,42.150,0.000,37.762,34.118,145.649,7.000,0.000,0.000,35.130,1509.110,12307.464,505.376,2039.198,594.888,0.000,1502.726,0.000,1960.630,0.000,48.923,0.000
$DEVICE_MAMPS,174.876,111.982,1207.258,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.214,534.640,452.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41167,783
$CAP_FILE_SIZE,124821,0
$CFSIZE,254472192,234758144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,40,2,0
$GPS,221008,014408,6315.785,-1318.289,28,0.8,28,-12.3