version: 66.04
glider: 14
mission: 6
dive: 165
start: 9 27 108 19 41 51
data:
$ID,14
$MISSION,6
$DIVE,165
$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,412.5
$T_MISSION,440
$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,-1
$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,-653145.62
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,193638,6425.476,-1146.906,35,1.0,35,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.3
$GPS2,194127,6425.535,-1146.579,12,1.0,12,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,2BT
$TGT_LATLONG,6405.000,-1245.000
$TGT_RADIUS,5000.000
$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,243.1,60683,-14.4,-8.000
$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,13,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.35,0.000,2,0.000,0.000,373,1594,3133
$GC,103,-1.16,-146.6,5.4,-6.2,4,118,11.65,0.00,0.00,0.000,6,0.183,0.000,2417,1595,3136
$GC,430,-1.16,-146.6,56.6,-12.5,20,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1595,3140
$GC,737,-1.16,-146.6,93.3,-11.2,35,742,0.00,2.53,0.00,0.000,4,0.000,0.081,2418,212,3140
$GC,828,-1.16,-146.6,103.8,-10.6,39,832,0.00,2.40,0.00,0.000,6,0.000,0.054,2417,1630,3141
$GC,1155,-1.16,-146.6,139.3,-10.0,55,1159,0.00,2.40,0.00,0.000,4,0.000,0.072,2417,2983,3142
$GC,1178,-1.16,-146.6,142.0,-11.1,56,1182,0.00,2.42,0.00,0.000,6,0.000,0.064,2418,1594,3142
$GC,1502,-1.16,-146.6,175.2,-11.9,72,1506,0.00,2.53,0.00,0.000,4,0.000,0.082,2417,207,3142
$GC,1581,-1.16,-146.6,185.3,-11.9,75,1588,0.00,2.35,0.00,0.000,6,0.000,0.055,2417,1606,3142
$GC,1898,-1.16,-146.6,218.1,-10.9,91,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1607,3144
$GC,2207,-1.16,-146.6,249.1,-9.4,106,2211,0.00,2.53,0.00,0.000,4,0.000,0.081,2418,213,3144
$GC,2280,-1.16,-146.6,256.9,-10.3,109,2284,0.00,2.35,0.00,0.000,6,0.000,0.055,2417,1605,3144
$GC,2596,-1.16,-146.6,287.4,-9.7,124,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1609,3144
$GC,2905,-1.16,-146.6,316.2,-9.4,139,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1609,3145
$GC,3215,-1.16,-146.6,347.7,-10.6,154,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1609,3144
$GC,3524,-1.16,-146.6,380.8,-10.7,169,3529,0.00,2.58,0.00,0.000,4,0.000,0.087,2418,215,3144
$GC,3610,-1.16,-146.6,390.4,-10.8,173,3614,0.00,2.35,0.00,0.000,6,0.000,0.056,2417,1596,3145
$STATE,3913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3913,begin apogee
$GC,3923,-0.32,0.0,422.2,10.5,188,4056,0.93,0.00,127.82,1.041,6,0.123,0.000,2600,2184,2538
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4057,begin climb
$GC,4060,1.16,146.6,428.0,0.0,195,4189,1.58,2.83,120.55,1.012,4,0.098,0.108,2926,3598,1940
$GC,4253,1.20,170.4,419.8,7.1,204,4279,0.00,2.53,20.62,0.943,6,0.000,0.069,2926,2190,1844
$GC,4604,1.22,179.3,393.4,7.7,221,4619,0.00,2.62,8.35,0.866,4,0.000,0.084,2926,804,1808
$GC,4718,1.22,179.3,383.4,9.1,226,4722,0.00,2.42,0.00,0.000,6,0.000,0.057,2926,2207,1807
$GC,5051,1.23,185.3,356.9,7.8,242,5065,0.00,2.65,6.45,0.821,4,0.000,0.076,2926,791,1782
$GC,5145,1.23,185.3,348.8,8.9,246,5149,0.00,2.45,0.00,0.000,6,0.000,0.056,2926,2209,1782
$GC,5467,1.23,185.3,322.0,8.3,262,5471,0.00,2.58,0.00,0.000,4,0.000,0.075,2925,794,1780
$GC,5556,1.27,210.8,314.7,7.0,266,5586,0.12,2.45,22.15,0.960,6,0.071,0.057,2959,2204,1678
$GC,5906,1.27,210.8,284.9,8.5,283,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2204,1676
$GC,6212,1.27,210.8,259.9,8.2,298,6216,0.00,2.58,0.00,0.000,4,0.000,0.075,2959,790,1675
$GC,6279,1.27,210.8,253.4,9.8,301,6283,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2199,1675
$GC,6601,1.27,210.8,225.0,8.6,317,6605,0.00,2.55,0.00,0.000,4,0.000,0.074,2959,791,1674
$GC,6703,1.27,210.8,215.7,9.4,321,6707,0.00,2.45,0.00,0.000,6,0.000,0.057,2959,2205,1674
$GC,7020,1.27,210.8,187.0,9.7,336,7024,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,796,1674
$GC,7088,1.27,210.8,180.9,8.7,339,7092,0.00,2.45,0.00,0.000,6,0.000,0.057,2960,2212,1673
$GC,7409,1.27,210.8,152.1,9.1,355,7413,0.00,2.60,0.00,0.000,4,0.000,0.093,2959,3602,1673
$GC,7541,1.27,210.8,139.7,9.9,361,7545,0.00,2.45,0.00,0.000,6,0.000,0.064,2959,2200,1673
$GC,7870,1.27,210.8,109.8,9.5,377,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2200,1672
$GC,8178,1.27,210.8,81.1,9.8,392,8182,0.00,2.60,0.00,0.000,4,0.000,0.086,2960,3601,1672
$GC,8443,1.27,210.8,57.6,8.6,404,8447,0.00,2.45,0.00,0.000,6,0.000,0.064,2960,2201,1673
$GC,8770,1.27,210.8,28.9,9.7,420,8774,0.00,2.55,0.00,0.000,4,0.000,0.078,2960,788,1672
$GC,8844,1.27,210.8,21.8,9.4,423,8848,0.00,2.42,0.00,0.000,6,0.000,0.055,2960,2212,1673
$STATE,9054,end climb,SURFACE_DEPTH_REACHED
$STATE,9054,begin surface coast
$FINISH,0.6,1.018433
$STATE,9076,end surface coast,CONTROL_FINISHED_OK
$STATE,9076,begin surface
$SM_CCo,9102,49.75,0.719,0,0,1316,300.00
$SM_GC,1.27,0.00,0.00,49.75,0.000,0.000,0.719,372,1600,1316,-10.59,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1938
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.2,79.0
$24V_AH,23.6,24.915
$10V_AH,10.1,13.966
$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,25.450,77.150,305.950,49.750,0.000,37.760,26.479,113.178,2.500,0.000,0.000,13.599,848.345,6663.453,443.577,1094.462,405.367,0.000,1005.703,0.000,1071.545,0.000,21.469,0.000
$DEVICE_MAMPS,182.546,108.147,1040.819,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.739,294.134,339.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22299,434
$CAP_FILE_SIZE,69156,0
$CFSIZE,254472192,243077120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,270908,221558,6424.756,-1145.293,31,2.4,50,-11.9