version: 66.04
glider: 14
mission: 6
dive: 46
start: 9 7 108 21 29 3
data:
$ID,14
$MISSION,6
$DIVE,46
$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,-651039.81
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,212237,6335.607,-658.609,30,1.7,30,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.6
$GPS2,212838,6335.511,-658.527,12,1.6,12,-8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6343.147,-715.773
$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,-60.45,0.000,2,0.000,0.000,376,1591,2744
$GC,83,-1.38,-146.6,4.0,-6.1,3,109,11.43,2.50,-8.82,0.000,4,0.181,0.091,2397,221,3140
$GC,379,-1.38,-146.6,56.8,-15.9,16,383,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1614,3142
$GC,701,-1.38,-146.6,101.9,-13.0,32,705,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,220,3144
$GC,960,-1.38,-146.6,134.2,-11.5,43,966,0.00,2.30,0.00,0.000,6,0.000,0.054,2397,1609,3145
$GC,1276,-1.38,-146.6,170.7,-11.5,59,1280,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,211,3146
$GC,1355,-1.38,-146.6,179.6,-11.2,62,1361,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1606,3146
$GC,1672,-1.38,-146.6,212.8,-10.8,78,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1611,3147
$GC,1981,-1.38,-146.6,247.7,-12.1,93,1985,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,212,3149
$GC,2044,-1.38,-146.6,255.4,-11.9,96,2048,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1603,3149
$GC,2371,-1.38,-146.6,291.6,-11.1,112,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1607,3150
$GC,2681,-1.38,-146.6,325.5,-11.9,127,2685,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,220,3150
$GC,2726,-1.38,-146.6,331.8,-12.8,129,2731,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1597,3151
$GC,3048,-1.38,-146.6,369.3,-11.9,145,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3151
$GC,3358,-1.38,-146.6,405.9,-11.8,160,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3151
$GC,3667,-1.38,-146.6,442.4,-11.8,175,3671,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,222,3150
$GC,3723,-1.38,-146.6,449.2,-12.1,177,3729,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1606,3150
$GC,4039,-1.38,-146.6,485.0,-11.6,193,4043,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,221,3149
$GC,4089,-1.38,-146.6,491.3,-12.1,195,4093,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1610,3149
$GC,4406,-1.38,-146.6,527.4,-11.8,210,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1611,3148
$GC,4715,-1.38,-146.6,563.9,-11.9,225,4719,0.00,2.55,0.00,0.000,4,0.000,0.082,2397,210,3148
$GC,4805,-1.38,-146.6,575.5,-12.9,229,4810,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1599,3148
$GC,5127,-1.38,-146.6,613.1,-11.4,245,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3146
$GC,5437,-1.38,-146.6,645.7,-10.2,260,5441,0.00,2.53,0.00,0.000,4,0.000,0.083,2397,220,3145
$GC,5487,-1.38,-146.6,651.3,-11.1,262,5491,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1601,3145
$GC,5804,-1.38,-146.6,684.6,-10.4,277,5808,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,220,3143
$GC,5860,-1.38,-146.6,690.9,-11.4,279,5866,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1600,3143
$GC,6177,-1.38,-146.6,722.3,-9.8,295,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3142
$GC,6487,-1.38,-146.6,751.7,-9.4,310,6491,0.00,2.50,0.00,0.000,4,0.000,0.082,2396,220,3143
$GC,6556,-1.38,-146.6,759.0,-10.5,313,6560,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1605,3142
$GC,6883,-1.38,-146.6,790.5,-9.6,329,6888,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,221,3141
$GC,6929,-1.38,-146.6,795.3,-10.4,331,6933,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1606,3141
$GC,7251,-1.38,-146.6,826.9,-9.8,347,7256,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,222,3139
$GC,7292,-1.38,-146.6,831.2,-10.6,349,7296,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1604,3139
$GC,7620,-1.38,-146.6,862.5,-9.3,365,7624,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,220,3138
$GC,7670,-1.38,-146.6,867.6,-9.9,367,7674,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1602,3138
$GC,7987,-1.38,-146.6,895.2,-8.6,382,7991,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,214,3138
$GC,8043,-1.38,-146.6,900.7,-10.1,384,8049,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1600,3138
$GC,8359,-1.38,-146.6,930.4,-9.9,400,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1600,3136
$GC,8669,-1.38,-146.6,960.5,-9.4,415,8673,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,220,3137
$GC,8713,-1.38,-146.6,965.3,-10.8,417,8717,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1606,3137
$STATE,8976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8976,begin apogee
$GC,8985,-0.32,0.0,991.0,9.6,430,9119,1.15,0.00,129.23,1.357,6,0.118,0.000,2629,2192,2538
$STATE,9120,end apogee,CONTROL_FINISHED_OK
$STATE,9120,begin climb
$GC,9124,1.38,146.6,996.3,0.0,437,9258,1.75,2.72,125.45,1.319,4,0.081,0.093,3002,3596,1941
$GC,9475,1.38,146.6,971.4,10.9,453,9479,0.00,2.42,0.00,0.000,6,0.000,0.060,3002,2203,1939
$GC,9802,1.40,157.1,940.4,9.5,469,9818,0.00,2.62,10.38,1.229,4,0.000,0.082,3002,3596,1897
$GC,9875,1.40,157.1,933.1,10.1,471,9879,0.00,2.45,0.00,0.000,6,0.000,0.059,3002,2200,1897
$GC,10192,1.41,162.7,902.3,9.7,486,10200,0.00,0.00,6.45,1.068,6,0.000,0.000,3002,2200,1874
$GC,10501,1.41,162.7,870.1,10.6,501,10505,0.00,2.58,0.00,0.000,4,0.000,0.083,3002,3600,1875
$GC,10590,1.41,162.7,860.2,10.5,505,10594,0.00,2.45,0.00,0.000,6,0.000,0.060,3002,2200,1874
$GC,10913,1.41,162.7,826.5,10.7,521,10917,0.00,2.58,0.00,0.000,4,0.000,0.083,3002,3597,1874
$GC,10998,1.41,162.7,817.1,10.8,525,11002,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2197,1874
$GC,11326,1.41,162.7,783.3,10.3,541,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1874
$GC,11635,1.42,167.0,752.8,9.8,556,11645,0.00,2.62,4.95,0.917,4,0.000,0.082,3002,3597,1857
$GC,11724,1.42,167.0,743.4,10.4,560,11729,0.00,2.47,0.00,0.000,6,0.000,0.061,3002,2191,1857
$GC,12047,1.43,173.9,712.0,9.7,576,12061,0.00,2.65,7.68,1.014,4,0.000,0.081,3002,3592,1829
$GC,12125,1.43,173.9,703.6,11.4,579,12130,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2202,1829
$GC,12442,1.44,182.1,672.6,9.6,594,12452,0.00,0.00,8.35,1.016,6,0.000,0.000,3002,2201,1796
$GC,12752,1.44,184.2,642.1,9.9,609,12756,0.00,2.58,0.00,0.000,4,0.000,0.083,3003,3600,1796
$GC,12836,1.44,184.2,633.0,11.0,612,12842,0.00,2.47,0.00,0.000,6,0.000,0.062,3002,2194,1796
$GC,13153,1.46,193.9,601.9,9.5,628,13171,0.00,0.00,11.75,1.019,6,0.000,0.000,3002,2194,1747
$GC,13481,1.46,193.9,569.1,10.1,644,13486,0.00,2.58,0.00,0.000,4,0.000,0.082,3002,3600,1747
$GC,13537,1.46,193.9,562.9,10.9,646,13543,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2200,1747
$GC,13853,1.46,193.9,530.2,10.3,662,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2200,1747
$GC,14162,1.46,193.9,497.2,10.5,677,14167,0.00,2.55,0.00,0.000,4,0.000,0.082,3002,3597,1747
$GC,14226,1.46,193.9,490.1,11.1,680,14230,0.00,2.45,0.00,0.000,6,0.000,0.061,3002,2197,1747
$GC,14553,1.46,193.9,455.1,10.7,696,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1747
$GC,14862,1.46,193.9,422.8,10.4,711,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,1747
$GC,15172,1.46,193.9,390.3,10.7,726,15176,0.00,2.58,0.00,0.000,4,0.000,0.081,3002,3602,1747
$GC,15273,1.46,193.9,377.9,11.3,730,15279,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2200,1747
$GC,15590,1.46,193.9,343.0,10.2,746,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2200,1746
$GC,15899,1.50,218.1,314.2,8.9,761,15926,0.12,2.65,21.00,0.911,4,0.073,0.081,3036,3599,1649
$GC,15984,1.50,218.1,305.1,11.2,765,15988,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2201,1649
$GC,16317,1.50,218.1,264.1,13.0,781,16321,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3602,1648
$GC,16463,1.50,218.1,244.0,12.5,787,16469,0.00,2.45,0.00,0.000,6,0.000,0.062,3036,2201,1649
$GC,16779,1.50,218.1,204.5,12.1,803,16784,0.00,2.55,0.00,0.000,4,0.000,0.082,3036,3599,1647
$GC,16888,1.50,218.1,191.8,12.0,808,16892,0.00,2.45,0.00,0.000,6,0.000,0.062,3036,2199,1647
$GC,17215,1.50,218.1,155.2,11.3,824,17219,0.00,2.58,0.00,0.000,4,0.000,0.082,3036,3608,1646
$GC,17272,1.50,218.1,148.8,11.3,826,17278,0.00,2.45,0.00,0.000,6,0.000,0.061,3036,2199,1646
$GC,17589,1.50,218.1,111.5,12.3,842,17590,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,1646
$GC,17898,1.50,218.1,73.7,12.3,857,17902,0.00,2.55,0.00,0.000,4,0.000,0.081,3036,3602,1646
$GC,17976,1.50,218.1,64.3,11.1,860,17983,0.00,2.42,0.00,0.000,6,0.000,0.061,3034,2197,1646
$GC,18293,1.50,218.1,30.0,10.7,876,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2197,1646
$STATE,18537,end climb,SURFACE_DEPTH_REACHED
$STATE,18537,begin surface coast
$FINISH,0.7,1.002039
$STATE,18560,end surface coast,CONTROL_FINISHED_OK
$STATE,18560,begin surface
$SM_CCo,18586,45.40,0.713,0,0,1316,300.00
$SM_GC,1.55,0.00,0.00,45.40,0.000,0.000,0.713,377,1600,1316,-10.71,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1919
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.4,10.495
$10V_AH,10.1,5.895
$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,26.125,155.550,325.225,45.400,0.000,37.765,31.243,155.564,8.500,0.000,0.000,13.944,1669.455,14130.931,512.767,2082.567,604.579,0.000,1551.466,0.000,2033.129,0.000,55.979,0.000
$DEVICE_MAMPS,181.012,92.807,1356.823,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.836,606.958,460.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44234,889
$CAP_FILE_SIZE,135836,0
$CFSIZE,254472192,248950784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,080908,024101,6335.043,-701.298,38,1.5,43,-8.9