version: 66.04
glider: 14
mission: 6
dive: 61
start: 9 11 108 3 38 40
data:
$ID,14
$MISSION,6
$DIVE,61
$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,-651293.69
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,033209,6344.259,-801.002,34,1.4,35,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.4
$GPS2,033815,6344.288,-801.093,14,1.2,14,-9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6351.924,-818.428
$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,324.5,20000,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-74.20,0.000,6,0.000,0.000,383,1598,3138
$GC,102,-1.38,-146.6,7.0,-9.0,4,123,11.40,2.45,0.00,0.000,4,0.182,0.063,2396,3006,3142
$GC,394,-1.38,-146.6,58.9,-13.7,17,399,0.00,2.42,0.00,0.000,6,0.000,0.060,2396,1591,3145
$GC,722,-1.38,-146.6,101.6,-11.6,33,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1591,3147
$GC,1032,-1.38,-146.6,141.4,-13.4,48,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1590,3148
$GC,1340,-1.38,-146.6,183.0,-13.4,63,1345,0.00,2.50,0.00,0.000,4,0.000,0.081,2396,209,3149
$GC,1419,-1.38,-146.6,194.3,-13.7,66,1425,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1633,3149
$GC,1736,-1.38,-146.6,236.9,-13.5,82,1740,0.00,2.55,0.00,0.000,4,0.000,0.076,2397,211,3149
$GC,1814,-1.38,-146.6,247.8,-14.0,85,1821,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1603,3149
$GC,2131,-1.38,-146.6,286.7,-12.0,101,2135,0.00,2.47,0.00,0.000,4,0.000,0.076,2396,212,3149
$GC,2187,-1.38,-146.6,293.9,-12.8,103,2191,0.00,2.30,0.00,0.000,6,0.000,0.054,2396,1597,3149
$GC,2503,-1.38,-146.6,331.6,-11.4,118,2507,0.00,2.47,0.00,0.000,4,0.000,0.077,2396,214,3150
$GC,2616,-1.38,-146.6,344.4,-11.0,123,2621,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1603,3149
$GC,2944,-1.38,-146.6,383.0,-12.2,139,2948,0.00,2.53,0.00,0.000,4,0.000,0.077,2396,209,3150
$GC,3056,-1.38,-146.6,398.7,-14.1,144,3061,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3151
$GC,3378,-1.38,-146.6,438.1,-11.0,160,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1603,3151
$GC,3687,-1.38,-146.6,469.9,-10.7,175,3692,0.00,2.50,0.00,0.000,4,0.000,0.082,2396,2991,3152
$GC,3728,-1.38,-146.6,474.2,-11.0,177,3733,0.00,2.42,0.00,0.000,6,0.000,0.064,2396,1593,3151
$GC,4056,-1.38,-146.6,510.5,-10.8,193,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1596,3151
$GC,4365,-1.38,-146.6,541.6,-10.1,208,4369,0.00,2.47,0.00,0.000,4,0.000,0.075,2396,2986,3151
$GC,4410,-1.38,-146.6,546.5,-10.8,210,4414,0.00,2.42,0.00,0.000,6,0.000,0.064,2396,1592,3151
$GC,4732,-1.38,-146.6,580.1,-10.7,226,4736,0.00,2.53,0.00,0.000,4,0.000,0.088,2396,214,3149
$GC,4772,-1.38,-146.6,585.0,-12.8,228,4776,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1604,3149
$GC,5099,-1.38,-146.6,619.5,-10.6,244,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1607,3147
$GC,5408,-1.38,-146.6,652.6,-10.9,259,5412,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,212,3146
$GC,5441,-1.38,-146.6,656.8,-11.8,260,5448,0.00,2.33,0.00,0.000,6,0.000,0.054,2396,1594,3146
$GC,5759,-1.38,-146.6,690.6,-10.3,276,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1594,3145
$GC,6067,-1.38,-146.6,723.8,-10.8,291,6072,0.00,2.53,0.00,0.000,4,0.000,0.082,2396,207,3143
$GC,6125,-1.38,-146.6,730.4,-11.8,293,6131,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1603,3143
$GC,6442,-1.38,-146.6,764.3,-10.8,309,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1604,3141
$GC,6751,-1.38,-146.6,796.7,-10.5,324,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1608,3140
$GC,7060,-1.38,-146.6,829.3,-10.5,339,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1608,3139
$GC,7369,-1.38,-146.6,861.8,-10.5,354,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1608,3138
$GC,7678,-1.38,-146.6,893.9,-10.4,369,7683,0.00,2.55,0.00,0.000,4,0.000,0.081,2396,209,3136
$GC,7736,-1.38,-146.6,900.3,-11.6,371,7742,0.00,2.35,0.00,0.000,6,0.000,0.054,2396,1605,3136
$GC,8052,-1.38,-146.6,933.6,-10.5,387,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1606,3135
$GC,8362,-1.38,-146.6,964.2,-9.8,402,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1607,3134
$STATE,8626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8626,begin apogee
$GC,8635,-0.32,0.0,990.3,9.7,415,8775,1.17,0.00,131.45,1.329,6,0.118,0.000,2633,2197,2539
$STATE,8776,end apogee,CONTROL_FINISHED_OK
$STATE,8776,begin climb
$GC,8780,1.38,146.6,995.5,0.0,422,8914,1.77,2.67,125.78,1.305,4,0.090,0.087,3006,3600,1941
$GC,9149,1.38,146.6,964.6,11.4,439,9154,0.00,2.45,0.00,0.000,6,0.000,0.059,3006,2190,1939
$GC,9477,1.38,146.6,930.1,10.4,455,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2190,1939
$GC,9786,1.38,146.6,898.5,10.2,470,9791,0.00,2.60,0.00,0.000,4,0.000,0.080,3006,3604,1938
$GC,9910,1.38,146.6,885.1,10.6,475,9917,0.00,2.45,0.00,0.000,6,0.000,0.059,3006,2197,1938
$GC,10227,1.38,146.6,852.9,10.1,491,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2198,1938
$GC,10536,1.38,146.6,821.4,10.3,506,10540,0.00,2.58,0.00,0.000,4,0.000,0.081,3006,3601,1937
$GC,10632,1.39,153.3,811.0,9.7,510,10648,0.00,2.42,6.62,1.028,6,0.000,0.060,3006,2199,1914
$GC,10959,1.39,153.3,777.0,10.3,526,10963,0.00,2.55,0.00,0.000,4,0.000,0.081,3008,3597,1913
$GC,11027,1.39,153.3,769.7,10.4,529,11032,0.00,2.42,0.00,0.000,6,0.000,0.059,3006,2202,1912
$GC,11355,1.41,164.8,738.2,9.5,545,11368,0.00,0.00,11.18,1.088,6,0.000,0.000,3006,2202,1866
$GC,11665,1.42,172.0,708.7,9.7,560,11679,0.00,2.65,7.72,1.004,4,0.000,0.081,3006,3597,1836
$GC,11783,1.42,172.0,695.9,11.1,565,11787,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2201,1836
$GC,12105,1.42,172.0,660.4,11.3,581,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1836
$GC,12414,1.42,172.0,626.4,10.7,596,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1837
$GC,12724,1.45,186.0,596.4,9.3,611,12745,0.00,2.65,13.07,1.048,4,0.000,0.082,3006,3594,1779
$GC,12809,1.45,186.0,587.8,11.1,614,12815,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2201,1779
$GC,13126,1.45,186.0,553.1,11.7,630,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1778
$GC,13435,1.45,186.0,514.6,13.0,645,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1778
$GC,13744,1.45,186.0,476.6,12.0,660,13745,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2201,1778
$GC,14053,1.45,186.0,441.5,11.1,675,14058,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3601,1777
$GC,14177,1.45,186.0,427.4,10.7,680,14184,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2194,1777
$GC,14494,1.45,186.0,395.2,10.2,696,14498,0.00,2.58,0.00,0.000,4,0.000,0.080,3006,3605,1777
$GC,14572,1.45,186.0,386.6,11.3,699,14579,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,2197,1777
$GC,14889,1.46,196.5,354.7,9.5,715,14904,0.00,2.60,9.77,0.959,4,0.000,0.081,3006,3594,1737
$GC,14996,1.46,196.5,342.8,11.6,719,15000,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2199,1737
$GC,15323,1.46,196.5,305.9,11.7,735,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1736
$GC,15633,1.46,196.5,270.1,11.1,750,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1736
$GC,15942,1.46,196.5,235.1,11.6,765,15943,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1736
$GC,16251,1.46,196.5,198.8,11.7,780,16256,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3600,1736
$GC,16330,1.46,196.5,189.2,12.3,783,16337,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2202,1736
$GC,16647,1.46,196.5,153.3,11.3,799,16648,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1737
$GC,16956,1.46,196.5,118.4,10.9,814,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1736
$GC,17267,1.46,196.5,84.1,11.6,829,17272,0.00,2.53,0.00,0.000,4,0.000,0.081,3006,3596,1736
$GC,17335,1.46,196.5,75.8,11.2,832,17339,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2192,1736
$GC,17659,1.47,203.4,42.2,9.7,848,17668,0.00,0.00,8.02,0.653,6,0.000,0.000,3006,2192,1708
$GC,17968,1.47,203.4,2.8,13.1,863,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2192,1708
$STATE,17983,end climb,SURFACE_DEPTH_REACHED
$STATE,17983,begin surface coast
$FINISH,0.6,1.018005
$STATE,18005,end surface coast,CONTROL_FINISHED_OK
$STATE,18005,begin surface
$SM_CCo,18031,56.97,0.651,2,0,1316,300.00
$SM_GC,1.14,0.00,0.00,56.97,0.000,0.000,0.651,378,1596,1316,-10.71,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.4,12.583
$10V_AH,10.1,7.120
$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,25.875,115.750,313.625,56.975,0.000,37.764,31.503,156.018,8.500,0.000,0.000,15.817,1590.410,13855.302,527.408,1917.976,580.960,0.000,1476.039,0.000,1873.439,0.000,55.992,0.000
$DEVICE_MAMPS,181.779,88.205,1329.211,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.683,590.489,456.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44243,865
$CAP_FILE_SIZE,122871,0
$CFSIZE,254472192,248020992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,3,0
$GPS,110908,084137,6346.192,-804.855,35,1.4,35,-9.5