version: 66.04
glider: 14
mission: 6
dive: 41
start: 9 6 108 19 17 10
data:
$ID,14
$MISSION,6
$DIVE,41
$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,330
$T_MISSION,340
$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,-650960.12
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,191026,6333.341,-634.289,40,1.0,40,-8.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.4
$GPS2,191645,6333.353,-634.088,12,1.0,12,-8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6340.989,-651.312
$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,323.6,20000,-17.8,-10.000
$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,-1.38,-146.6,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,381,1631,2193
$GC,63,-1.38,-146.6,3.4,-7.2,2,116,11.43,2.58,-34.62,0.000,4,0.182,0.091,2396,220,3137
$GC,192,-1.38,-146.6,16.8,-16.5,8,197,0.00,2.33,0.00,0.000,6,0.000,0.054,2395,1601,3138
$GC,522,-1.38,-146.6,62.8,-13.7,24,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3140
$GC,830,-1.38,-146.6,104.2,-13.9,39,834,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,221,3145
$GC,1066,-1.38,-146.6,139.0,-14.5,49,1073,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,1603,3145
$GC,1382,-1.38,-146.6,178.4,-12.5,65,1387,0.00,2.50,0.00,0.000,4,0.000,0.078,2396,220,3148
$GC,1540,-1.38,-146.6,200.0,-14.0,72,1548,0.00,2.33,0.00,0.000,6,0.000,0.055,2395,1600,3148
$GC,1870,-1.38,-146.6,241.3,-12.3,88,1874,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,219,3148
$GC,1979,-1.38,-146.6,255.1,-13.2,93,1983,0.00,2.35,0.00,0.000,6,0.000,0.055,2395,1604,3148
$GC,2306,-1.38,-146.6,295.3,-12.6,109,2310,0.00,2.53,0.00,0.000,4,0.000,0.079,2396,221,3149
$GC,2373,-1.38,-146.6,304.2,-13.4,112,2377,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1604,3148
$GC,2694,-1.38,-146.6,345.7,-13.1,128,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1606,3148
$GC,3004,-1.38,-146.6,385.3,-12.8,143,3008,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,214,3149
$GC,3067,-1.38,-146.6,393.5,-12.9,146,3071,0.00,2.38,0.00,0.000,6,0.000,0.054,2396,1607,3149
$GC,3394,-1.38,-146.6,432.2,-11.2,162,3398,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,214,3148
$GC,3450,-1.38,-146.6,439.1,-12.2,164,3456,0.00,2.38,0.00,0.000,6,0.000,0.054,2395,1606,3148
$GC,3767,-1.38,-146.6,475.2,-11.6,180,3772,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,217,3147
$GC,3824,-1.38,-146.6,482.4,-12.5,182,3830,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1601,3148
$GC,4140,-1.38,-146.6,519.3,-11.7,198,4144,0.00,2.53,0.00,0.000,4,0.000,0.084,2396,221,3146
$GC,4196,-1.38,-146.6,526.3,-12.4,200,4203,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1605,3146
$GC,4513,-1.38,-146.6,561.5,-10.9,216,4517,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,219,3145
$GC,4557,-1.38,-146.6,566.9,-11.5,218,4562,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1602,3145
$GC,4880,-1.38,-146.6,601.0,-10.3,234,4884,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,212,3143
$GC,4925,-1.38,-146.6,606.3,-11.3,236,4929,0.00,2.38,0.00,0.000,6,0.000,0.054,2395,1604,3143
$GC,5252,-1.38,-146.6,641.3,-10.8,252,5257,0.00,2.55,0.00,0.000,4,0.000,0.083,2395,214,3142
$GC,5303,-1.38,-146.6,647.2,-11.5,254,5307,0.00,2.38,0.00,0.000,6,0.000,0.054,2395,1610,3143
$GC,5619,-1.38,-146.6,681.9,-11.0,269,5624,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,222,3142
$GC,5670,-1.38,-146.6,687.8,-11.5,271,5675,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3142
$GC,5987,-1.38,-146.6,722.9,-11.4,286,5992,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,222,3142
$GC,6032,-1.38,-146.6,728.4,-11.7,288,6036,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1601,3142
$GC,6354,-1.38,-146.6,764.7,-11.1,304,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1601,3142
$GC,6663,-1.38,-146.6,799.1,-11.0,319,6667,0.00,2.53,0.00,0.000,4,0.000,0.083,2395,222,3141
$GC,6725,-1.38,-146.6,806.5,-11.4,322,6730,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1605,3141
$GC,7053,-1.38,-146.6,842.0,-10.7,338,7057,0.00,2.55,0.00,0.000,4,0.000,0.084,2395,213,3140
$GC,7098,-1.38,-146.6,847.4,-12.8,340,7102,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1601,3140
$GC,7420,-1.38,-146.6,882.7,-11.2,356,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1602,3139
$GC,7729,-1.38,-146.6,916.3,-10.8,371,7734,0.00,2.53,0.00,0.000,4,0.000,0.081,2395,214,3139
$GC,7819,-1.38,-146.6,926.5,-11.5,375,7823,0.00,2.35,0.00,0.000,6,0.000,0.054,2395,1604,3138
$GC,8147,-1.38,-146.6,960.3,-10.2,391,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1604,3138
$STATE,8453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8453,begin apogee
$GC,8463,-0.32,0.0,991.4,10.0,406,8596,1.17,0.00,129.85,1.358,6,0.120,0.000,2632,2189,2539
$STATE,8597,end apogee,CONTROL_FINISHED_OK
$STATE,8597,begin climb
$GC,8601,1.38,146.6,997.1,0.0,413,8735,1.73,2.75,126.22,1.326,4,0.076,0.093,3003,3604,1940
$GC,9009,1.40,157.9,969.9,9.5,431,9025,0.00,2.45,11.07,1.274,6,0.000,0.060,3003,2203,1894
$GC,9342,1.43,176.1,938.3,9.1,448,9364,0.00,2.70,17.30,1.250,4,0.000,0.081,3003,3601,1820
$GC,9478,1.43,176.1,924.4,10.7,454,9483,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2200,1820
$GC,9806,1.44,184.6,893.0,9.6,470,9816,0.00,0.00,8.43,1.136,6,0.000,0.000,3003,2200,1786
$GC,10116,1.46,195.6,863.7,9.5,485,10136,0.00,2.65,11.23,1.160,4,0.000,0.081,3003,3599,1740
$GC,10193,1.46,195.6,855.7,10.2,488,10198,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2199,1740
$GC,10515,1.46,195.6,823.5,10.2,504,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1740
$GC,10825,1.46,195.6,791.0,10.7,519,10829,0.00,2.60,0.00,0.000,4,0.000,0.084,3003,3607,1740
$GC,10887,1.46,195.6,784.1,12.3,522,10892,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,2196,1740
$GC,11215,1.46,195.6,748.2,11.1,538,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1740
$GC,11524,1.46,195.6,713.9,11.1,553,11528,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3601,1740
$GC,11609,1.46,195.6,703.9,12.1,557,11613,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2200,1740
$GC,11942,1.46,195.6,667.0,10.7,573,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1739
$GC,12252,1.46,195.6,633.0,11.1,588,12256,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3601,1740
$GC,12315,1.46,195.6,625.8,10.7,591,12319,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2200,1740
$GC,12642,1.46,195.6,590.2,10.8,607,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1740
$GC,12951,1.46,195.6,556.9,10.8,622,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1740
$GC,13260,1.46,195.6,522.5,11.0,637,13265,0.00,2.60,0.00,0.000,4,0.000,0.082,3003,3605,1740
$GC,13324,1.46,195.6,515.2,11.8,640,13328,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2201,1740
$GC,13651,1.46,195.6,477.6,11.5,656,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2201,1740
$GC,13961,1.46,195.6,441.5,11.7,671,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2201,1740
$GC,14269,1.46,195.6,406.6,11.4,686,14274,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3603,1740
$GC,14337,1.46,195.6,398.9,10.5,689,14342,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2199,1740
$GC,14660,1.51,225.3,368.1,8.6,705,14688,0.12,0.00,25.60,0.950,6,0.074,0.000,3036,2199,1619
$GC,14989,1.51,225.3,332.9,11.6,721,14993,0.00,2.58,0.00,0.000,4,0.000,0.081,3036,3602,1619
$GC,15113,1.51,225.3,316.9,11.6,726,15119,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2199,1619
$GC,15429,1.51,225.3,277.6,13.7,742,15433,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3605,1618
$GC,15496,1.51,225.3,268.1,14.7,745,15500,0.00,2.47,0.00,0.000,6,0.000,0.062,3036,2196,1618
$GC,15818,1.51,225.3,223.3,14.4,761,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,1618
$GC,16127,1.51,225.3,180.8,13.5,776,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,1618
$GC,16437,1.51,225.3,140.2,12.8,791,16438,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,1619
$GC,16747,1.51,225.3,104.7,10.8,806,16751,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3602,1618
$GC,16925,1.51,225.3,83.7,13.4,814,16929,0.00,2.45,0.00,0.000,6,0.000,0.062,3036,2198,1618
$GC,17253,1.55,250.6,49.6,8.8,830,17279,0.00,2.65,21.10,0.834,4,0.000,0.080,3036,3602,1516
$GC,17382,1.55,250.6,35.7,12.3,836,17387,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2197,1515
$STATE,17665,end climb,SURFACE_DEPTH_REACHED
$STATE,17665,begin surface coast
$FINISH,0.7,1.001656
$STATE,17687,end surface coast,CONTROL_FINISHED_OK
$STATE,17687,begin surface
$SM_CCo,17713,34.95,0.780,0,0,1316,300.00
$SM_GC,1.87,0.00,0.00,34.95,0.000,0.000,0.780,382,1601,1316,-10.69,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2024
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.3,9.767
$10V_AH,10.1,5.475
$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,26.200,146.025,350.800,34.950,0.000,37.763,29.646,174.256,8.500,0.000,0.000,14.057,1604.197,13391.358,508.966,2022.400,607.223,0.000,1518.811,0.000,1970.929,0.000,58.741,0.000
$DEVICE_MAMPS,181.779,92.807,1357.590,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.815,581.921,453.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44260,851
$CAP_FILE_SIZE,129905,0
$CFSIZE,254472192,249286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,070908,001407,6334.001,-639.780,25,1.4,25,-8.6