version: 66.04
glider: 14
mission: 6
dive: 330
start: 10 14 108 6 46 37
data:
$ID,14
$MISSION,6
$DIVE,330
$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,-656562.06
$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,34
$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
$GPS1,064038,6352.750,-1251.092,33,1.5,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.3
$GPS2,064615,6352.780,-1250.930,12,1.8,12,-12.3
$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,307.4,35900,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-56.10,0.000,2,0.000,0.000,377,1620,2652
$GC,78,-1.16,-146.6,3.3,-3.9,3,109,11.38,2.58,-13.00,0.000,4,0.176,0.091,2413,213,3139
$GC,216,-1.16,-146.6,19.5,-10.3,9,221,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3140
$GC,539,-1.16,-146.6,60.9,-12.7,25,543,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,209,3140
$GC,583,-1.16,-146.6,67.3,-13.7,27,588,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1604,3140
$GC,906,-1.16,-146.6,108.4,-13.6,43,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3140
$GC,1215,-1.16,-146.6,148.4,-12.4,58,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3140
$GC,1524,-1.16,-146.6,185.1,-11.9,73,1528,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,207,3141
$GC,1597,-1.16,-146.6,194.3,-12.7,76,1601,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3141
$GC,1919,-1.16,-146.6,230.1,-10.7,92,1923,0.00,2.50,0.00,0.000,4,0.000,0.075,2413,206,3141
$GC,1960,-1.16,-146.6,234.8,-11.7,94,1964,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3141
$GC,2288,-1.16,-146.6,267.8,-10.2,110,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3141
$GC,2596,-1.16,-146.6,299.4,-10.3,125,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3141
$GC,2905,-1.16,-146.6,331.3,-10.2,140,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3141
$GC,3215,-1.16,-146.6,361.6,-10.0,155,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1606,3141
$GC,3524,-1.16,-146.6,394.1,-10.9,170,3528,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,201,3141
$GC,3552,-1.16,-146.6,397.5,-11.8,171,3556,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3141
$GC,3869,-1.16,-146.6,433.5,-11.5,186,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3141
$GC,4178,-1.16,-146.6,466.7,-10.4,201,4182,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,205,3141
$GC,4234,-1.16,-146.6,473.3,-12.2,203,4240,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1607,3141
$GC,4550,-1.16,-146.6,504.3,-9.0,219,4555,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3141
$GC,4592,-1.16,-146.6,508.3,-10.8,221,4596,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1599,3142
$GC,4919,-1.16,-146.6,537.5,-9.2,237,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3141
$GC,5229,-1.16,-146.6,565.3,-7.9,252,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3141
$GC,5538,-1.16,-146.6,594.5,-11.5,267,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1599,3141
$STATE,5782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5782,begin apogee
$GC,5792,-0.32,0.0,622.1,10.4,279,5929,0.93,0.00,128.50,1.078,6,0.114,0.000,2601,2193,2539
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5930,begin climb
$GC,5933,1.16,146.6,626.0,0.0,286,6063,1.50,2.83,120.80,1.067,4,0.077,0.116,2927,3601,1940
$GC,6335,1.16,146.6,597.0,9.2,304,6340,0.00,2.50,0.00,0.000,6,0.000,0.071,2927,2198,1939
$GC,6656,1.16,146.6,565.4,8.5,320,6661,0.00,2.55,0.00,0.000,4,0.000,0.079,2926,795,1937
$GC,6691,1.20,171.1,562.8,7.1,321,6718,0.00,2.47,20.73,1.001,6,0.000,0.063,2926,2203,1840
$GC,7029,1.30,233.2,546.6,5.6,338,7086,0.15,2.62,51.28,1.037,4,0.065,0.074,2970,792,1587
$GC,7152,1.30,233.2,535.2,10.4,342,7158,0.00,2.50,0.00,0.000,6,0.000,0.063,2970,2206,1585
$GC,7468,1.30,233.2,498.1,12.9,358,7472,0.00,2.58,0.00,0.000,4,0.000,0.074,2970,784,1583
$GC,7552,1.30,233.2,486.5,13.7,362,7557,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2200,1583
$GC,7881,1.30,233.2,445.6,12.1,378,7885,0.00,2.55,0.00,0.000,4,0.000,0.073,2970,786,1583
$GC,7960,1.30,233.2,435.5,12.9,381,7967,0.00,2.47,0.00,0.000,6,0.000,0.063,2970,2200,1583
$GC,8277,1.30,233.2,394.9,12.9,397,8281,0.00,2.53,0.00,0.000,4,0.000,0.071,2970,792,1583
$GC,8350,1.30,233.2,385.4,13.0,400,8354,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2200,1583
$GC,8666,1.30,233.2,352.1,9.4,415,8671,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,790,1583
$GC,8740,1.30,233.2,345.4,8.5,418,8744,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2201,1583
$GC,9057,1.30,233.2,320.7,8.1,433,9060,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,789,1583
$GC,9130,1.30,233.2,313.9,9.5,436,9134,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2200,1583
$GC,9451,1.30,233.2,284.9,9.9,452,9455,0.00,2.50,0.00,0.000,4,0.000,0.071,2970,791,1583
$GC,9531,1.30,233.2,276.7,10.2,455,9537,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2205,1583
$GC,9847,1.30,233.2,241.5,11.9,471,9852,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,785,1583
$GC,9921,1.30,233.2,232.0,13.3,474,9925,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1583
$GC,10238,1.30,233.2,197.2,10.1,489,10242,0.00,2.55,0.00,0.000,4,0.000,0.072,2970,784,1583
$GC,10316,1.30,233.2,188.7,10.7,492,10322,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2200,1583
$GC,10632,1.30,233.2,159.0,9.1,508,10636,0.00,2.50,0.00,0.000,4,0.000,0.072,2970,791,1583
$GC,10730,1.30,233.2,149.8,10.0,512,10734,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2210,1583
$GC,11052,1.32,245.1,123.9,7.5,528,11068,0.00,2.58,10.32,0.686,4,0.000,0.071,2970,787,1538
$GC,11164,1.32,245.1,115.4,8.5,532,11168,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2200,1538
$GC,11488,1.41,299.3,93.1,5.9,548,11538,0.00,2.60,43.12,0.718,4,0.000,0.072,2970,789,1316
$GC,11639,1.41,299.3,81.3,9.5,554,11646,0.00,2.47,0.00,0.000,6,0.000,0.062,2970,2202,1315
$GC,11958,1.41,299.3,49.9,9.3,570,11962,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,789,1315
$GC,12036,1.41,299.3,41.4,11.5,573,12042,0.00,2.45,0.00,0.000,6,0.000,0.062,2970,2199,1315
$GC,12355,1.41,299.3,5.5,11.6,589,12359,0.00,2.53,0.00,0.000,4,0.000,0.072,2970,788,1315
$STATE,12379,end climb,SURFACE_DEPTH_REACHED
$STATE,12379,begin surface coast
$FINISH,1.4,1.027113
$STATE,12386,end surface coast,CONTROL_FINISHED_OK
$STATE,12386,begin surface
$SM_CCo,12473,0.00,0.000,0,0,1309,300.74
$SM_GC,1.31,11.32,0.00,0.00,0.058,0.000,0.000,379,1612,1309,-10.51,0.34,300.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1889
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.4,78.9
$24V_AH,23.6,43.735
$10V_AH,10.2,21.900
$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,25.275,114.850,374.750,0.000,0.000,37.765,27.305,136.368,4.500,0.000,0.000,13.923,1125.309,9275.832,458.787,1448.165,504.836,0.000,1210.818,0.000,1410.542,0.000,31.538,0.000
$DEVICE_MAMPS,176.410,115.817,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.341,401.727,389.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,590
$CAP_FILE_SIZE,93498,0
$CFSIZE,254472192,237199360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,141008,101538,6355.684,-1249.115,28,1.7,28,-12.3