version: 66.04
glider: 14
mission: 6
dive: 45
start: 9 7 108 16 15 4
data:
$ID,14
$MISSION,6
$DIVE,45
$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,-651025.25
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,160838,6335.995,-653.691,26,1.2,26,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.3
$GPS2,161439,6335.897,-653.655,15,1.6,15,-8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6343.533,-710.905
$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,323.8,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.55,0.000,2,0.000,0.000,380,1603,2703
$GC,83,-1.38,-146.6,3.8,-5.4,3,112,11.57,2.58,-10.15,0.000,4,0.184,0.091,2400,212,3140
$GC,158,-1.38,-146.6,18.9,-15.9,6,164,0.00,2.35,0.00,0.000,6,0.000,0.054,2400,1625,3141
$GC,474,-1.38,-146.6,64.8,-12.6,22,479,0.00,2.58,0.00,0.000,4,0.000,0.075,2400,201,3143
$GC,643,-1.38,-146.6,86.7,-12.1,29,650,0.00,2.33,0.00,0.000,6,0.000,0.054,2400,1605,3144
$GC,960,-1.38,-146.6,124.5,-11.6,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1609,3147
$GC,1269,-1.38,-146.6,162.6,-12.3,60,1273,0.00,2.53,0.00,0.000,4,0.000,0.077,2400,203,3149
$GC,1429,-1.38,-146.6,182.6,-12.3,67,1433,0.00,2.33,0.00,0.000,6,0.000,0.054,2401,1598,3149
$GC,1756,-1.38,-146.6,218.2,-10.6,83,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1602,3150
$GC,2068,-1.38,-146.6,252.0,-10.9,98,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1602,3150
$GC,2375,-1.38,-146.6,288.1,-11.8,113,2379,0.00,2.55,0.00,0.000,4,0.000,0.081,2400,208,3150
$GC,2442,-1.38,-146.6,296.7,-13.3,116,2446,0.00,2.35,0.00,0.000,6,0.000,0.054,2400,1602,3150
$GC,2763,-1.38,-146.6,332.9,-10.7,132,2768,0.00,2.47,0.00,0.000,4,0.000,0.077,2400,2983,3150
$GC,2793,-1.38,-146.6,336.2,-11.4,133,2798,0.00,2.40,0.00,0.000,6,0.000,0.062,2400,1597,3150
$GC,3110,-1.38,-146.6,371.0,-11.4,148,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3150
$GC,3419,-1.38,-146.6,406.8,-11.5,163,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3150
$GC,3728,-1.38,-146.6,442.5,-11.2,178,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3150
$GC,4037,-1.38,-146.6,478.0,-11.7,193,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3149
$GC,4347,-1.38,-146.6,514.5,-12.0,208,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3148
$GC,4657,-1.38,-146.6,550.6,-11.9,223,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3148
$GC,4965,-1.38,-146.6,586.9,-11.8,238,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1597,3146
$GC,5274,-1.38,-146.6,622.5,-11.2,253,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3145
$GC,5584,-1.38,-146.6,654.9,-10.0,268,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3144
$GC,5893,-1.38,-146.6,686.6,-10.2,283,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3143
$GC,6202,-1.38,-146.6,718.7,-10.7,298,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3143
$GC,6512,-1.38,-146.6,749.8,-9.9,313,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3143
$GC,6821,-1.38,-146.6,781.3,-10.2,328,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3142
$GC,7131,-1.38,-146.6,811.6,-9.8,343,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1598,3142
$GC,7440,-1.38,-146.6,841.4,-9.4,358,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1599,3140
$GC,7749,-1.38,-146.6,870.3,-9.3,373,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1600,3140
$GC,8058,-1.38,-146.6,899.1,-9.4,388,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1600,3139
$GC,8367,-1.38,-146.6,928.3,-9.4,403,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1600,3139
$GC,8677,-1.38,-146.6,958.0,-9.4,418,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1600,3139
$GC,8986,-1.38,-146.6,986.9,-9.2,433,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1601,3138
$STATE,9023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9023,begin apogee
$GC,9033,-0.32,0.0,990.7,9.3,435,9167,1.15,0.00,129.52,1.358,6,0.117,0.000,2632,2195,2538
$STATE,9168,end apogee,CONTROL_FINISHED_OK
$STATE,9168,begin climb
$GC,9171,1.38,146.6,995.4,0.0,442,9305,1.75,2.70,125.43,1.322,4,0.084,0.090,3003,3590,1941
$GC,9506,1.38,146.6,971.0,10.7,457,9510,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2197,1941
$GC,9822,1.38,146.6,938.6,10.2,472,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1941
$GC,10131,1.38,146.6,907.5,10.0,487,10135,0.00,2.58,0.00,0.000,4,0.000,0.081,3003,3597,1940
$GC,10217,1.38,146.6,898.4,11.3,491,10221,0.00,2.45,0.00,0.000,6,0.000,0.060,3003,2199,1939
$GC,10550,1.38,146.6,864.5,10.1,507,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2199,1939
$GC,10859,1.40,156.4,834.4,9.5,522,10871,0.00,0.00,9.60,1.118,6,0.000,0.000,3003,2199,1901
$GC,11169,1.40,156.4,803.0,10.2,537,11173,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3596,1901
$GC,11282,1.40,156.4,791.2,10.6,542,11287,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2197,1901
$GC,11610,1.41,165.2,759.7,9.6,558,11624,0.00,2.60,8.95,1.062,4,0.000,0.081,3003,3589,1865
$GC,11688,1.41,165.2,751.6,10.7,561,11692,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2201,1865
$GC,12005,1.43,173.9,721.0,9.6,576,12016,0.00,0.00,9.05,1.048,6,0.000,0.000,3003,2201,1830
$GC,12315,1.45,187.8,691.5,9.3,591,12336,0.00,2.65,12.77,1.088,4,0.000,0.082,3003,3585,1773
$GC,12393,1.45,187.8,683.5,10.0,594,12397,0.00,2.45,0.00,0.000,6,0.000,0.061,3003,2196,1773
$GC,12715,1.48,208.3,654.2,9.0,610,12736,0.12,0.00,19.12,1.098,6,0.071,0.000,3036,2196,1689
$GC,13044,1.48,208.3,618.7,11.0,626,13049,0.00,2.58,0.00,0.000,4,0.000,0.083,3036,3596,1688
$GC,13123,1.48,208.3,609.6,11.3,629,13129,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2200,1688
$GC,13439,1.48,208.3,576.6,10.2,645,13443,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3597,1687
$GC,13524,1.48,208.3,567.6,10.5,648,13530,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2200,1687
$GC,13840,1.48,208.3,534.3,10.9,664,13845,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3590,1687
$GC,13914,1.48,208.3,525.8,11.1,667,13918,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2197,1687
$GC,14230,1.48,208.3,490.6,11.3,682,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2197,1687
$GC,14540,1.48,208.3,454.5,11.8,697,14544,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3596,1687
$GC,14607,1.48,208.3,445.7,12.1,700,14611,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2197,1687
$GC,14929,1.48,208.3,406.5,11.7,716,14933,0.00,2.55,0.00,0.000,4,0.000,0.081,3036,3589,1687
$GC,15037,1.48,208.3,393.5,12.2,721,15041,0.00,2.42,0.00,0.000,6,0.000,0.061,3036,2200,1687
$GC,15370,1.48,208.3,352.3,12.3,737,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2200,1686
$GC,15679,1.48,208.3,314.2,12.4,752,15683,0.00,2.55,0.00,0.000,4,0.000,0.082,3036,3589,1686
$GC,15857,1.48,208.3,290.5,14.5,760,15861,0.00,2.42,0.00,0.000,6,0.000,0.061,3036,2200,1686
$GC,16185,1.48,208.3,244.5,13.6,776,16189,0.00,2.55,0.00,0.000,4,0.000,0.083,3036,3593,1685
$GC,16362,1.48,208.3,221.4,12.3,784,16367,0.00,2.45,0.00,0.000,6,0.000,0.063,3036,2197,1686
$GC,16690,1.48,208.3,183.4,11.2,800,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2197,1685
$GC,16999,1.48,208.3,148.4,11.2,815,17003,0.00,2.55,0.00,0.000,4,0.000,0.082,3036,3596,1684
$GC,17130,1.48,208.3,133.2,13.3,821,17135,0.00,2.42,0.00,0.000,6,0.000,0.061,3036,2199,1684
$GC,17458,1.48,208.3,96.0,11.3,837,17463,0.00,2.53,0.00,0.000,4,0.000,0.081,3036,3590,1684
$GC,17526,1.48,208.3,88.0,11.4,840,17530,0.00,2.40,0.00,0.000,6,0.000,0.061,3036,2198,1684
$GC,17848,1.48,208.3,50.2,12.5,856,17852,0.00,2.53,0.00,0.000,4,0.000,0.077,3036,790,1685
$GC,17904,1.48,208.3,42.8,11.5,858,17910,0.00,2.38,0.00,0.000,6,0.000,0.055,3036,2200,1684
$GC,18221,1.48,208.3,7.0,11.3,874,18222,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,1685
$STATE,18279,end climb,SURFACE_DEPTH_REACHED
$STATE,18279,begin surface coast
$FINISH,0.8,1.026897
$STATE,18302,end surface coast,CONTROL_FINISHED_OK
$STATE,18302,begin surface
$SM_CCo,18328,51.35,0.719,0,0,1316,300.00
$SM_GC,1.40,0.00,0.00,51.35,0.000,0.000,0.719,376,1593,1316,-10.71,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1916
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.3,10.354
$10V_AH,10.1,5.811
$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,26.300,101.750,314.450,51.350,0.000,39.025,26.191,155.415,8.500,0.000,0.000,16.610,1610.112,14163.312,482.344,1914.099,576.537,0.000,1413.352,0.000,1869.711,0.000,55.973,0.000
$DEVICE_MAMPS,184.080,91.273,1358.357,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.571,600.329,463.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44166,878
$CAP_FILE_SIZE,121763,0
$CFSIZE,254472192,249032704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,070908,212237,6335.607,-658.609,30,1.7,30,-8.8