version: 66.04
glider: 14
mission: 6
dive: 334
start: 10 14 108 22 1 1
data:
$ID,14
$MISSION,6
$DIVE,334
$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,-656620.44
$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,24
$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
$GPS1,214908,6359.177,-1255.296,37,1.2,37,-12.4
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.9
$GPS2,220039,6359.333,-1254.991,11,1.2,11,-12.4
$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,288.4,29380,-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,-60.83,0.000,2,0.000,0.000,379,1592,2746
$GC,83,-1.16,-146.6,3.3,-5.3,3,110,11.40,2.53,-9.57,0.000,4,0.178,0.090,2411,203,3137
$GC,307,-1.16,-146.6,34.4,-13.4,13,311,0.00,2.42,0.00,0.000,6,0.000,0.058,2411,1614,3138
$GC,630,-1.16,-146.6,74.6,-12.9,29,635,0.00,2.53,0.00,0.000,4,0.000,0.074,2411,210,3139
$GC,687,-1.16,-146.6,83.0,-14.0,31,693,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1607,3139
$GC,1004,-1.16,-146.6,121.8,-12.1,47,1008,0.00,2.50,0.00,0.000,4,0.000,0.074,2411,212,3140
$GC,1061,-1.16,-146.6,129.1,-12.6,49,1067,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1606,3140
$GC,1377,-1.16,-146.6,163.8,-10.6,65,1381,0.00,2.50,0.00,0.000,4,0.000,0.075,2411,211,3140
$GC,1422,-1.16,-146.6,169.1,-11.9,67,1426,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1604,3141
$GC,1744,-1.16,-146.6,202.3,-9.9,83,1748,0.00,2.50,0.00,0.000,4,0.000,0.076,2411,210,3141
$GC,1789,-1.16,-146.6,207.5,-11.6,85,1793,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1601,3141
$GC,2111,-1.16,-146.6,238.1,-9.3,101,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1602,3141
$GC,2420,-1.16,-146.6,263.7,-9.4,116,2424,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,212,3141
$GC,2476,-1.16,-146.6,269.3,-9.6,118,2482,0.00,2.38,0.00,0.000,6,0.000,0.059,2411,1602,3141
$GC,2793,-1.16,-146.6,300.3,-10.4,134,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1605,3141
$GC,3101,-1.16,-146.6,330.9,-9.8,149,3105,0.00,2.53,0.00,0.000,4,0.000,0.078,2411,203,3141
$GC,3142,-1.16,-146.6,335.1,-10.5,151,3146,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1604,3141
$GC,3469,-1.16,-146.6,371.1,-11.5,167,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1608,3141
$GC,3779,-1.16,-146.6,407.8,-12.4,182,3783,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,207,3141
$GC,3842,-1.16,-146.6,416.5,-14.0,185,3846,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1604,3141
$GC,4175,-1.16,-146.6,460.1,-12.8,201,4180,0.00,2.53,0.00,0.000,4,0.000,0.078,2412,206,3141
$GC,4226,-1.16,-146.6,466.9,-13.0,203,4230,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1601,3141
$GC,4543,-1.16,-146.6,503.2,-10.8,218,4547,0.00,2.50,0.00,0.000,4,0.000,0.078,2412,208,3141
$GC,4576,-1.16,-146.6,506.8,-10.2,219,4582,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1605,3141
$GC,4893,-1.16,-146.6,533.9,-8.3,235,4897,0.00,2.50,0.00,0.000,4,0.000,0.079,2411,211,3141
$GC,4921,-1.16,-146.6,536.4,-8.5,236,4925,0.00,2.38,0.00,0.000,6,0.000,0.059,2411,1601,3141
$GC,5238,-1.16,-146.6,562.7,-9.2,251,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1605,3141
$GC,5547,-1.16,-146.6,589.6,-8.4,266,5551,0.00,2.53,0.00,0.000,4,0.000,0.081,2411,210,3141
$GC,5581,-1.16,-146.6,592.9,-9.5,267,5585,0.00,2.40,0.00,0.000,6,0.000,0.061,2411,1601,3141
$GC,5897,-1.16,-146.6,623.0,-9.8,282,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1601,3142
$STATE,6141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6141,begin apogee
$GC,6151,-0.32,0.0,647.0,9.5,294,6289,0.93,0.00,129.23,1.108,6,0.111,0.000,2601,2196,2539
$STATE,6289,end apogee,CONTROL_FINISHED_OK
$STATE,6289,begin climb
$GC,6294,1.16,146.6,652.3,0.0,301,6425,1.52,2.65,122.18,1.094,4,0.087,0.076,2925,791,1939
$GC,6551,1.16,146.6,635.9,9.6,313,6555,0.00,2.50,0.00,0.000,6,0.000,0.066,2926,2199,1939
$GC,6879,1.17,151.5,611.4,7.8,329,6889,0.00,2.78,5.35,0.804,4,0.000,0.114,2926,3605,1920
$GC,6942,1.17,151.5,606.0,8.3,332,6946,0.00,2.53,0.00,0.000,6,0.000,0.071,2926,2195,1920
$GC,7269,1.17,151.5,578.1,8.2,348,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2195,1918
$GC,7580,1.17,151.5,553.4,8.4,363,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2195,1915
$GC,7887,1.17,151.5,527.3,8.9,378,7892,0.00,2.67,0.00,0.000,4,0.000,0.098,2926,3610,1915
$GC,7984,1.17,151.5,517.8,10.1,382,7988,0.00,2.50,0.00,0.000,6,0.000,0.069,2926,2203,1915
$GC,8300,1.17,151.5,492.8,8.0,397,8304,0.00,2.58,0.00,0.000,4,0.000,0.081,2926,789,1913
$GC,8488,1.22,184.3,479.2,6.8,405,8521,0.00,2.47,26.50,1.012,6,0.000,0.062,2926,2209,1787
$GC,8831,1.31,236.8,457.7,6.0,422,8882,0.15,2.65,43.62,0.999,4,0.064,0.074,2971,792,1572
$GC,8990,1.31,236.8,443.9,8.9,429,8994,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2200,1571
$GC,9311,1.31,236.8,414.6,9.2,445,9315,0.00,2.55,0.00,0.000,4,0.000,0.072,2971,789,1571
$GC,9390,1.31,236.8,407.0,9.1,448,9396,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2202,1570
$GC,9707,1.31,236.8,378.0,10.8,464,9711,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,790,1570
$GC,9809,1.31,236.8,368.3,9.4,468,9813,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2208,1570
$GC,10125,1.31,236.8,336.1,11.0,483,10129,0.00,2.53,0.00,0.000,4,0.000,0.071,2971,790,1570
$GC,10193,1.31,236.8,328.4,12.1,486,10197,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2201,1570
$GC,10514,1.31,236.8,293.6,11.0,502,10519,0.00,2.53,0.00,0.000,4,0.000,0.071,2971,782,1570
$GC,10610,1.31,236.8,282.3,11.9,506,10614,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2203,1570
$GC,10927,1.31,236.8,242.5,13.5,521,10931,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,781,1570
$GC,11000,1.31,236.8,233.2,12.5,524,11004,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2203,1571
$GC,11322,1.31,236.8,197.9,9.7,540,11326,0.00,2.53,0.00,0.000,4,0.000,0.073,2971,785,1570
$GC,11429,1.31,236.8,187.3,9.3,544,11435,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2207,1569
$GC,11745,1.31,236.8,160.6,8.4,560,11749,0.00,2.53,0.00,0.000,4,0.000,0.073,2971,790,1570
$GC,11859,1.31,236.8,150.2,9.2,565,11863,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2201,1570
$GC,12182,1.31,236.8,120.1,10.1,581,12186,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,782,1570
$GC,12282,1.31,236.8,108.6,11.8,585,12289,0.00,2.47,0.00,0.000,6,0.000,0.062,2972,2208,1570
$GC,12601,1.31,236.8,71.2,11.9,601,12605,0.00,2.53,0.00,0.000,4,0.000,0.072,2971,784,1570
$GC,12714,1.31,236.8,57.8,10.6,606,12718,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2208,1570
$GC,13038,1.31,236.8,28.2,9.1,622,13042,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,790,1570
$GC,13138,1.31,236.8,18.0,8.8,626,13145,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2203,1570
$STATE,13328,end climb,SURFACE_DEPTH_REACHED
$STATE,13328,begin surface coast
$FINISH,0.4,1.014653
$STATE,13351,end surface coast,CONTROL_FINISHED_OK
$STATE,13351,begin surface
$SM_CCo,13378,33.08,0.648,0,0,1315,300.00
$SM_GC,1.36,0.00,0.00,33.08,0.000,0.000,0.648,370,1597,1315,-10.60,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,17.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,575.6,79.5
$24V_AH,23.6,44.246
$10V_AH,10.2,22.173
$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,25.275,136.700,326.875,33.075,0.000,118.109,88.090,229.134,7.250,0.000,0.000,12.509,1229.274,10039.038,485.643,1590.321,764.138,0.000,1295.721,0.000,1552.971,0.000,33.158,0.000
$DEVICE_MAMPS,177.944,113.516,1108.315,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.201,433.501,398.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31739,637
$CAP_FILE_SIZE,107669,0
$CFSIZE,254472192,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,151008,014555,6359.544,-1256.133,38,1.4,38,-12.4