version: 66.04
glider: 14
mission: 6
dive: 200
start: 9 30 108 23 23 47
data:
$ID,14
$MISSION,6
$DIVE,200
$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,-653913.31
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,231157,6406.357,-1205.024,34,5.3,53,-11.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.0
$GPS2,232327,6406.225,-1204.737,15,2.0,15,-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,277.9,32669,-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,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.35,0.000,2,0.000,0.000,378,1590,2747
$GC,83,-1.16,-146.6,3.6,-5.0,3,110,11.35,2.55,-9.38,0.000,4,0.176,0.087,2414,3007,3136
$GC,258,-1.16,-146.6,30.5,-10.7,11,262,0.00,2.45,0.00,0.000,6,0.000,0.065,2414,1602,3138
$GC,585,-1.16,-146.6,70.8,-13.3,27,589,0.00,2.53,0.00,0.000,4,0.000,0.082,2414,204,3138
$GC,664,-1.16,-146.6,82.2,-13.8,30,671,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1614,3138
$GC,981,-1.16,-146.6,124.2,-11.1,46,985,0.00,2.45,0.00,0.000,4,0.000,0.077,2414,2994,3139
$GC,1032,-1.16,-146.6,129.3,-9.2,48,1036,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1601,3139
$GC,1348,-1.16,-146.6,161.5,-10.1,63,1353,0.00,2.50,0.00,0.000,4,0.000,0.081,2415,206,3140
$GC,1552,-1.16,-146.6,183.8,-10.7,72,1556,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1611,3140
$GC,1873,-1.16,-146.6,220.3,-11.5,88,1878,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,208,3140
$GC,1970,-1.16,-146.6,231.9,-11.7,92,1974,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3141
$GC,2286,-1.16,-146.6,258.5,-6.7,107,2291,0.00,2.50,0.00,0.000,4,0.000,0.079,2414,209,3141
$GC,2405,-1.16,-146.6,266.7,-6.6,112,2410,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1599,3141
$GC,2722,-1.16,-146.6,288.5,-8.3,127,2726,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,201,3141
$GC,2829,-1.16,-146.6,301.1,-13.5,132,2834,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1599,3141
$GC,3160,-1.16,-146.6,351.1,-16.6,148,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3142
$GC,3466,-1.16,-146.6,393.2,-11.8,163,3470,0.00,2.53,0.00,0.000,4,0.000,0.088,2414,2994,3143
$GC,3512,-1.16,-146.6,398.6,-9.9,165,3516,0.00,2.45,0.00,0.000,6,0.000,0.070,2414,1597,3142
$STATE,3583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3583,begin apogee
$GC,3593,-0.32,0.0,407.3,12.2,169,3729,0.90,0.00,127.12,0.927,6,0.102,0.000,2602,2196,2539
$STATE,3730,end apogee,CONTROL_FINISHED_OK
$STATE,3730,begin climb
$GC,3733,1.16,146.6,413.1,0.0,176,3862,1.50,2.75,120.53,0.911,4,0.077,0.104,2929,3594,1940
$GC,4069,1.23,190.8,394.9,6.3,191,4111,0.00,2.50,36.30,0.881,6,0.000,0.071,2929,2194,1761
$GC,4436,1.27,209.9,369.1,7.3,209,4459,0.00,2.75,17.40,0.850,4,0.000,0.097,2929,3593,1683
$GC,4561,1.27,209.9,359.6,8.1,214,4566,0.10,2.50,0.00,0.000,6,0.071,0.071,2962,2197,1682
$GC,4877,1.27,209.9,332.4,8.8,229,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2197,1680
$GC,5186,1.27,209.9,305.1,8.6,244,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2197,1679
$GC,5495,1.27,209.9,279.4,8.3,259,5500,0.00,2.55,0.00,0.000,4,0.000,0.081,2962,792,1678
$GC,5541,1.27,209.9,275.2,9.3,261,5545,0.00,2.45,0.00,0.000,6,0.000,0.063,2962,2203,1677
$GC,5869,1.27,209.9,244.8,10.3,277,5873,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,790,1678
$GC,5909,1.27,209.9,240.4,11.0,279,5913,0.00,2.45,0.00,0.000,6,0.000,0.063,2962,2200,1677
$GC,6236,1.27,209.9,202.1,11.8,295,6240,0.00,2.55,0.00,0.000,4,0.000,0.075,2962,786,1677
$GC,6292,1.27,209.9,195.2,12.4,297,6298,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2200,1677
$GC,6608,1.27,209.9,159.8,11.8,313,6612,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,782,1677
$GC,6682,1.27,209.9,150.0,14.0,316,6686,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2202,1677
$GC,7004,1.27,209.9,110.5,11.7,332,7008,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,784,1677
$GC,7094,1.27,209.9,100.3,11.4,336,7098,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2199,1677
$GC,7416,1.27,209.9,64.2,12.2,352,7420,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,788,1677
$GC,7443,1.27,209.9,60.5,12.5,353,7448,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2206,1677
$GC,7760,1.27,209.9,23.4,11.4,368,7765,0.00,2.53,0.00,0.000,4,0.000,0.074,2962,785,1677
$GC,7824,1.27,209.9,15.9,12.1,371,7828,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2205,1677
$STATE,7983,end climb,SURFACE_DEPTH_REACHED
$STATE,7983,begin surface coast
$FINISH,0.4,1.001742
$STATE,8005,end surface coast,CONTROL_FINISHED_OK
$STATE,8005,begin surface
$SM_CCo,8031,45.35,0.653,0,0,1315,300.00
$SM_GC,1.24,0.00,0.00,45.35,0.000,0.000,0.653,381,1595,1315,-10.56,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,351.1,66.2
$24V_AH,23.7,28.343
$10V_AH,10.2,15.506
$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,25.025,87.025,301.350,45.350,0.000,114.645,84.264,239.752,3.000,0.000,0.000,17.052,769.783,5853.452,427.129,1050.930,675.758,0.000,973.505,0.000,1021.988,0.000,18.563,0.000
$DEVICE_MAMPS,176.410,103.545,926.536,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.716,257.661,297.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19059,380
$CAP_FILE_SIZE,72731,0
$CFSIZE,254472192,241897472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,011008,013958,6404.990,-1206.418,30,4.0,49,-11.9