version: 66.04
glider: 14
mission: 6
dive: 56
start: 9 10 108 1 37 52
data:
$ID,14
$MISSION,6
$DIVE,56
$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,-651179.5
$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,26
$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
$GPS1,013138,6338.769,-735.927,38,1.0,38,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.8
$GPS2,013727,6338.777,-735.947,12,1.2,12,-9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6346.413,-753.226
$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,324.2,20000,-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,-60.47,0.000,2,0.000,0.000,383,1594,2758
$GC,83,-1.38,-146.6,3.7,-5.5,3,109,11.30,2.47,-8.90,0.000,4,0.178,0.077,2397,3002,3139
$GC,294,-1.38,-146.6,36.1,-14.3,12,298,0.00,2.40,0.00,0.000,6,0.000,0.060,2397,1604,3142
$GC,612,-1.38,-146.6,77.0,-12.4,27,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3143
$GC,920,-1.38,-146.6,113.4,-11.9,42,924,0.00,2.50,0.00,0.000,4,0.000,0.080,2398,212,3144
$GC,1006,-1.38,-146.6,125.0,-13.8,46,1010,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1633,3144
$GC,1339,-1.38,-146.6,167.5,-12.8,62,1343,0.00,2.58,0.00,0.000,4,0.000,0.076,2397,209,3145
$GC,1406,-1.38,-146.6,176.8,-13.6,65,1410,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1600,3145
$GC,1733,-1.38,-146.6,218.4,-12.8,81,1738,0.00,2.50,0.00,0.000,4,0.000,0.074,2397,209,3145
$GC,1812,-1.38,-146.6,229.4,-13.5,84,1818,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1602,3145
$GC,2129,-1.38,-146.6,270.4,-12.7,100,2133,0.00,2.50,0.00,0.000,4,0.000,0.075,2397,211,3145
$GC,2191,-1.38,-146.6,279.1,-14.0,102,2197,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1597,3145
$GC,2507,-1.38,-146.6,314.4,-10.0,118,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1599,3145
$GC,2817,-1.38,-146.6,343.1,-9.6,133,2821,0.00,2.50,0.00,0.000,4,0.000,0.077,2397,213,3146
$GC,2929,-1.38,-146.6,356.5,-12.8,138,2933,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1599,3146
$GC,3250,-1.38,-146.6,396.3,-12.3,154,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1601,3147
$GC,3559,-1.38,-146.6,434.6,-12.6,169,3564,0.00,2.53,0.00,0.000,4,0.000,0.079,2397,211,3148
$GC,3616,-1.38,-146.6,442.1,-12.7,171,3622,0.00,2.35,0.00,0.000,6,0.000,0.055,2398,1602,3148
$GC,3932,-1.38,-146.6,478.1,-10.6,187,3936,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,213,3148
$GC,4017,-1.38,-146.6,487.9,-11.4,190,4024,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1603,3148
$GC,4334,-1.38,-146.6,519.8,-10.2,206,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1604,3148
$GC,4644,-1.38,-146.6,550.5,-9.7,221,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1605,3148
$GC,4952,-1.38,-146.6,581.4,-10.0,236,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1604,3147
$GC,5262,-1.38,-146.6,613.0,-10.7,251,5266,0.00,2.55,0.00,0.000,4,0.000,0.084,2398,211,3147
$GC,5306,-1.38,-146.6,618.5,-11.8,253,5311,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1601,3147
$GC,5628,-1.38,-146.6,653.5,-10.9,269,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1601,3145
$GC,5938,-1.38,-146.6,688.2,-11.4,284,5942,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,209,3144
$GC,5978,-1.38,-146.6,693.2,-13.2,286,5982,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1599,3143
$GC,6306,-1.38,-146.6,730.4,-11.3,302,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1599,3142
$GC,6615,-1.38,-146.6,765.3,-11.4,317,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3141
$GC,6924,-1.38,-146.6,799.8,-10.9,332,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3140
$GC,7234,-1.38,-146.6,832.7,-10.6,347,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1599,3138
$GC,7543,-1.38,-146.6,864.9,-10.4,362,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1599,3137
$GC,7852,-1.38,-146.6,896.5,-10.1,377,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1600,3136
$GC,8162,-1.38,-146.6,927.2,-9.8,392,8166,0.00,2.53,0.00,0.000,4,0.000,0.082,2397,213,3135
$GC,8212,-1.38,-146.6,932.8,-10.7,394,8217,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1609,3135
$GC,8529,-1.38,-146.6,963.4,-9.6,409,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1613,3134
$STATE,8814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8814,begin apogee
$GC,8823,-0.32,0.0,991.1,9.6,423,8963,1.15,0.00,131.10,1.332,6,0.116,0.000,2631,2188,2539
$STATE,8964,end apogee,CONTROL_FINISHED_OK
$STATE,8964,begin climb
$GC,8968,1.38,146.6,996.8,0.0,430,9101,1.77,2.72,125.28,1.307,4,0.085,0.091,3005,3596,1941
$GC,9336,1.38,146.6,968.0,11.7,446,9342,0.00,2.45,0.00,0.000,6,0.000,0.060,3005,2195,1940
$GC,9652,1.39,149.7,936.5,9.9,462,9658,0.00,0.00,4.07,0.883,6,0.000,0.000,3005,2195,1929
$GC,9961,1.39,149.7,905.1,10.3,477,9966,0.00,2.58,0.00,0.000,4,0.000,0.081,3004,3594,1928
$GC,10074,1.39,149.7,892.9,11.2,482,10078,0.00,2.42,0.00,0.000,6,0.000,0.059,3004,2203,1928
$GC,10395,1.39,149.7,860.1,10.5,498,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2203,1928
$GC,10705,1.39,149.7,827.8,10.5,513,10709,0.00,2.58,0.00,0.000,4,0.000,0.082,3003,3604,1928
$GC,10823,1.39,149.7,814.8,11.8,518,10827,0.00,2.45,0.00,0.000,6,0.000,0.059,3004,2199,1928
$GC,11144,1.39,149.7,781.7,10.1,534,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2199,1928
$GC,11454,1.41,162.6,752.1,9.4,549,11475,0.00,2.67,11.90,1.115,4,0.000,0.082,3005,3593,1877
$GC,11532,1.41,164.4,744.0,9.9,552,11544,0.00,2.45,3.50,0.697,6,0.000,0.060,3005,2199,1868
$GC,11854,1.44,182.7,713.4,9.1,568,11873,0.00,0.00,16.77,1.118,6,0.000,0.000,3005,2199,1794
$GC,12183,1.45,188.4,682.1,9.7,584,12197,0.00,2.65,6.72,0.972,4,0.000,0.083,3004,3602,1770
$GC,12283,1.45,188.4,671.5,10.6,588,12287,0.00,2.47,0.00,0.000,6,0.000,0.061,3004,2196,1770
$GC,12599,1.45,188.4,639.1,10.4,603,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,1769
$GC,12908,1.45,188.4,607.4,10.6,618,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,1769
$GC,13218,1.45,188.4,574.2,10.5,633,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,1768
$GC,13527,1.46,193.9,543.6,9.7,648,13540,0.00,2.62,6.25,0.919,4,0.000,0.081,3003,3601,1747
$GC,13609,1.46,193.9,535.2,10.0,651,13615,0.00,2.45,0.00,0.000,6,0.000,0.061,3005,2199,1747
$GC,13926,1.50,217.7,507.0,8.9,667,13949,0.12,0.00,21.27,1.015,6,0.072,0.000,3038,2199,1651
$GC,14254,1.50,217.7,467.8,12.5,683,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1649
$GC,14564,1.50,217.7,425.8,13.5,698,14568,0.00,2.55,0.00,0.000,4,0.000,0.081,3038,3596,1648
$GC,14710,1.50,217.7,405.1,13.8,704,14716,0.00,2.45,0.00,0.000,6,0.000,0.060,3038,2191,1648
$GC,15026,1.50,217.7,366.5,11.7,720,15030,0.00,2.58,0.00,0.000,4,0.000,0.081,3038,3596,1647
$GC,15071,1.50,217.7,361.0,11.9,722,15075,0.00,2.42,0.00,0.000,6,0.000,0.060,3038,2199,1648
$GC,15392,1.50,217.7,321.1,13.9,738,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1647
$GC,15701,1.50,217.7,277.9,13.5,753,15706,0.00,2.58,0.00,0.000,4,0.000,0.083,3038,3601,1646
$GC,15836,1.50,217.7,258.7,14.2,759,15841,0.00,2.45,0.00,0.000,6,0.000,0.062,3038,2198,1645
$GC,16158,1.50,217.7,215.1,13.4,775,16163,0.00,2.55,0.00,0.000,4,0.000,0.083,3038,3593,1645
$GC,16232,1.50,217.7,205.0,14.2,778,16236,0.00,2.42,0.00,0.000,6,0.000,0.061,3038,2201,1645
$GC,16548,1.50,217.7,165.1,12.5,793,16552,0.00,2.55,0.00,0.000,4,0.000,0.082,3038,3599,1645
$GC,16621,1.50,217.7,155.5,12.1,796,16625,0.00,2.42,0.00,0.000,6,0.000,0.061,3038,2198,1646
$GC,16943,1.50,217.7,114.6,13.2,812,16944,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1645
$GC,17253,1.50,217.7,72.7,13.9,827,17258,0.00,2.55,0.00,0.000,4,0.000,0.081,3038,3603,1646
$GC,17377,1.50,217.7,54.7,13.0,832,17384,0.00,2.42,0.00,0.000,6,0.000,0.061,3038,2198,1646
$GC,17695,1.50,217.7,14.3,12.4,848,17697,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,1646
$STATE,17795,end climb,SURFACE_DEPTH_REACHED
$STATE,17795,begin surface coast
$FINISH,0.6,1.026884
$STATE,17815,end surface coast,CONTROL_FINISHED_OK
$STATE,17815,begin surface
$SM_CCo,17841,48.88,0.695,0,0,1315,300.00
$SM_GC,1.21,0.00,0.00,48.88,0.000,0.000,0.695,380,1602,1315,-10.70,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1909
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.4,11.889
$10V_AH,10.1,6.708
$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,26.000,115.975,326.875,48.875,0.000,37.763,26.020,148.614,8.500,0.000,0.000,13.816,1573.484,13705.457,503.260,1900.254,563.454,0.000,1444.319,0.000,1855.721,0.000,55.994,0.000
$DEVICE_MAMPS,177.944,91.273,1332.279,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.729,582.779,444.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44179,854
$CAP_FILE_SIZE,122447,0
$CFSIZE,254472192,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,100908,063726,6339.654,-739.720,40,1.1,40,-9.2