version: 66.04
glider: 14
mission: 6
dive: 328
start: 10 13 108 23 33 37
data:
$ID,14
$MISSION,6
$DIVE,328
$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,-656535.25
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,232756,6352.457,-1243.679,38,1.1,38,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.4
$GPS2,233315,6352.430,-1243.626,10,1.3,10,-12.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$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,304.6,41587,-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,-60.75,0.000,2,0.000,0.000,379,1592,2776
$GC,83,-1.16,-146.6,3.9,-5.5,3,108,11.45,2.53,-8.50,0.000,4,0.180,0.091,2415,207,3138
$GC,182,-1.16,-146.6,19.9,-11.9,7,187,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1624,3139
$GC,501,-1.16,-146.6,58.2,-11.8,22,505,0.00,2.55,0.00,0.000,4,0.000,0.076,2414,209,3139
$GC,546,-1.16,-146.6,64.8,-13.8,24,550,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1598,3139
$GC,867,-1.16,-146.6,104.8,-12.7,40,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3140
$GC,1177,-1.16,-146.6,143.3,-11.9,55,1182,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,206,3140
$GC,1250,-1.16,-146.6,152.7,-12.0,58,1254,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1603,3141
$GC,1572,-1.16,-146.6,189.9,-11.2,74,1576,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,208,3141
$GC,1613,-1.16,-146.6,194.6,-11.9,76,1617,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1604,3141
$GC,1940,-1.16,-146.6,231.5,-11.4,92,1944,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,210,3141
$GC,1974,-1.16,-146.6,235.6,-12.1,93,1980,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1604,3141
$GC,2291,-1.16,-146.6,269.0,-10.3,109,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3141
$GC,2601,-1.16,-146.6,301.8,-10.9,124,2605,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3141
$GC,2680,-1.16,-146.6,310.9,-11.6,127,2686,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1605,3141
$GC,2996,-1.16,-146.6,345.9,-10.9,143,3001,0.00,2.53,0.00,0.000,4,0.000,0.078,2414,203,3141
$GC,3042,-1.16,-146.6,351.4,-12.8,145,3046,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3141
$GC,3364,-1.16,-146.6,386.8,-11.1,161,3368,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,202,3141
$GC,3404,-1.16,-146.6,391.4,-11.5,163,3408,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1601,3141
$GC,3731,-1.16,-146.6,424.0,-9.5,179,3735,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,208,3141
$GC,3772,-1.16,-146.6,428.0,-10.0,181,3776,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1607,3141
$GC,4100,-1.16,-146.6,456.2,-7.5,197,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3141
$GC,4409,-1.16,-146.6,472.3,-4.3,212,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3141
$GC,4719,-1.16,-146.6,475.7,0.9,227,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3141
$GC,5027,-1.16,-146.6,472.5,-0.6,242,5032,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,206,3141
$GC,5114,-1.16,-146.6,475.5,-4.0,246,5118,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1606,3141
$GC,5442,-1.16,-146.6,485.3,-1.9,262,5446,0.00,2.50,0.00,0.000,4,0.000,0.081,2415,211,3141
$GC,5522,-1.16,-146.6,488.7,-5.7,265,5526,0.00,2.38,0.00,0.000,6,0.000,0.060,2414,1598,3141
$GC,5839,-1.16,-146.6,507.9,-6.8,280,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3142
$GC,6147,-1.16,-146.6,532.1,-8.9,295,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3141
$STATE,6391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6391,begin apogee
$GC,6401,-0.32,0.0,560.3,11.5,307,6537,0.90,0.00,127.90,1.044,6,0.111,0.000,2599,2191,2539
$STATE,6538,end apogee,CONTROL_FINISHED_OK
$STATE,6538,begin climb
$GC,6542,1.16,146.6,568.9,0.0,314,6668,1.58,0.00,121.38,1.031,6,0.091,0.000,2928,2193,1941
$GC,6964,1.23,189.3,546.7,6.4,335,7007,0.00,2.60,35.28,0.994,4,0.000,0.076,2928,785,1766
$GC,7059,1.29,223.1,539.1,6.7,339,7096,0.12,2.50,29.45,0.976,6,0.067,0.064,2964,2200,1628
$GC,7410,1.29,223.1,507.3,9.6,356,7414,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,789,1626
$GC,7473,1.29,223.1,500.7,10.0,359,7478,0.00,2.50,0.00,0.000,6,0.000,0.064,2963,2204,1626
$GC,7802,1.30,233.2,470.9,7.6,375,7816,0.00,2.58,9.25,0.866,4,0.000,0.073,2964,790,1588
$GC,7924,1.36,271.7,462.5,6.5,380,7962,0.00,2.50,32.03,0.964,6,0.000,0.064,2964,2208,1431
$GC,8284,1.36,271.7,435.7,8.6,398,8289,0.00,2.55,0.00,0.000,4,0.000,0.072,2964,785,1427
$GC,8397,1.36,271.7,423.7,10.9,403,8401,0.00,2.50,0.00,0.000,6,0.000,0.063,2963,2208,1427
$GC,8719,1.36,271.7,389.0,11.0,419,8723,0.00,2.55,0.00,0.000,4,0.000,0.071,2964,788,1427
$GC,8819,1.36,271.7,377.0,11.6,423,8825,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2203,1428
$GC,9135,1.36,271.7,342.6,10.3,439,9140,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,786,1427
$GC,9244,1.36,271.7,331.4,10.4,444,9248,0.00,2.50,0.00,0.000,6,0.000,0.063,2964,2210,1427
$GC,9571,1.39,289.2,304.6,7.3,460,9593,0.00,2.60,15.18,0.830,4,0.000,0.071,2964,788,1360
$GC,9702,1.40,291.9,294.4,7.9,465,9712,0.00,2.47,4.25,0.596,6,0.000,0.063,2964,2200,1346
$GC,10041,1.40,296.8,268.8,7.8,482,10051,0.00,2.55,5.55,0.663,4,0.000,0.071,2964,790,1328
$GC,10176,1.40,296.8,255.7,10.0,488,10181,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2204,1328
$GC,10498,1.40,296.8,222.3,10.8,504,10502,0.00,2.53,0.00,0.000,4,0.000,0.073,2963,790,1328
$GC,10617,1.40,296.8,208.5,11.6,509,10621,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2201,1328
$GC,10939,1.40,296.8,174.2,10.5,525,10942,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,789,1328
$GC,11052,1.40,296.8,161.8,10.7,530,11056,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2204,1328
$GC,11381,1.40,296.8,130.0,9.7,546,11385,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,786,1327
$GC,11493,1.40,296.8,118.5,10.5,551,11497,0.00,2.47,0.00,0.000,6,0.000,0.062,2964,2199,1328
$GC,11815,1.40,296.8,82.4,11.4,567,11819,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,786,1328
$GC,11928,1.40,296.8,69.0,11.7,572,11932,0.00,2.47,0.00,0.000,6,0.000,0.063,2964,2200,1328
$GC,12251,1.40,296.8,33.5,10.1,588,12255,0.00,2.50,0.00,0.000,4,0.000,0.073,2964,790,1327
$GC,12369,1.40,296.8,21.1,10.3,593,12374,0.00,2.47,0.00,0.000,6,0.000,0.062,2963,2205,1328
$STATE,12559,end climb,SURFACE_DEPTH_REACHED
$STATE,12559,begin surface coast
$FINISH,0.4,1.007474
$STATE,12581,end surface coast,CONTROL_FINISHED_OK
$STATE,12581,begin surface
$SM_CCo,12607,2.90,0.367,0,0,1316,300.00
$SM_GC,2.35,0.00,0.00,2.90,0.000,0.000,0.367,373,1598,1316,-10.59,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1885
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.8,68.3
$24V_AH,23.6,43.500
$10V_AH,10.2,21.774
$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,25.175,121.500,380.250,2.900,0.000,37.765,31.683,121.905,4.250,0.000,0.000,11.672,1160.772,9301.812,496.524,1489.085,490.394,0.000,1250.534,0.000,1454.491,0.000,31.212,0.000
$DEVICE_MAMPS,180.245,91.273,1043.887,367.393,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.796,410.122,379.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31744,603
$CAP_FILE_SIZE,97528,0
$CFSIZE,254472192,237285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,141008,030508,6351.529,-1247.813,37,1.0,37,-12.3