version: 66.04
glider: 14
mission: 6
dive: 397
start: 10 26 108 7 29 55
data:
$ID,14
$MISSION,6
$DIVE,397
$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,-657875.5
$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,20
$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
$GPS1,072008,6243.622,-1149.064,38,1.1,38,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.5
$GPS2,072933,6243.602,-1148.864,9,1.9,9,-11.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,CS
$TGT_LATLONG,6321.000,-1058.000
$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,42.6,81132,-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,-60.85,0.000,2,0.000,0.000,383,1589,2726
$GC,83,-1.16,-146.6,3.9,-5.4,3,113,11.38,2.53,-10.70,0.000,4,0.178,0.090,2413,203,3137
$GC,287,-1.16,-146.6,30.7,-12.6,12,292,0.00,2.42,0.00,0.000,6,0.000,0.058,2413,1619,3138
$GC,610,-1.16,-146.6,67.3,-10.7,28,614,0.00,2.55,0.00,0.000,4,0.000,0.075,2413,203,3138
$GC,677,-1.16,-146.6,75.9,-11.8,31,681,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1608,3138
$GC,1000,-1.16,-146.6,108.2,-10.2,47,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1612,3138
$GC,1308,-1.16,-146.6,141.6,-10.8,62,1313,0.00,2.53,0.00,0.000,4,0.000,0.074,2413,203,3138
$GC,1382,-1.16,-146.6,150.6,-11.6,65,1386,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1609,3138
$GC,1698,-1.16,-146.6,184.6,-10.4,80,1702,0.00,2.53,0.00,0.000,4,0.000,0.074,2413,199,3138
$GC,1749,-1.16,-146.6,190.5,-11.8,82,1753,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1608,3138
$GC,2066,-1.16,-146.6,226.5,-11.6,97,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3138
$GC,2374,-1.16,-146.6,262.1,-11.3,112,2379,0.00,2.53,0.00,0.000,4,0.000,0.074,2413,200,3140
$GC,2432,-1.16,-146.6,269.0,-12.4,114,2438,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1597,3140
$GC,2748,-1.16,-146.6,304.3,-11.0,130,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1600,3140
$GC,3057,-1.16,-146.6,338.0,-10.9,145,3061,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,207,3140
$GC,3131,-1.16,-146.6,346.7,-12.0,148,3135,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3140
$GC,3453,-1.16,-146.6,382.1,-10.9,164,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3139
$GC,3762,-1.16,-146.6,414.8,-10.6,179,3766,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3140
$GC,3803,-1.16,-146.6,419.3,-11.3,181,3807,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3140
$GC,4130,-1.16,-146.6,453.6,-10.4,197,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3139
$GC,4439,-1.16,-146.6,486.0,-10.3,212,4444,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,201,3140
$GC,4508,-1.16,-146.6,493.6,-11.7,215,4512,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1605,3140
$GC,4832,-1.16,-146.6,526.7,-10.3,231,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1609,3139
$GC,5140,-1.16,-146.6,558.3,-10.1,246,5144,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,206,3140
$GC,5236,-1.16,-146.6,569.3,-11.3,250,5240,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1601,3140
$GC,5552,-1.16,-146.6,602.3,-10.2,265,5557,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,207,3140
$GC,5621,-1.16,-146.6,609.3,-10.6,268,5625,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1601,3140
$GC,5948,-1.16,-146.6,640.2,-8.5,284,5953,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,201,3140
$GC,5982,-1.16,-146.6,643.8,-10.5,285,5989,0.00,2.42,0.00,0.000,6,0.000,0.060,2413,1606,3141
$STATE,6048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6048,begin apogee
$GC,6058,-0.32,0.0,650.6,10.3,289,6196,0.93,0.00,129.50,1.102,6,0.104,0.000,2604,2201,2539
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6197,begin climb
$GC,6201,1.16,146.6,656.2,0.0,296,6333,1.48,2.88,122.28,1.086,4,0.077,0.114,2925,3609,1940
$GC,6392,1.17,152.2,645.2,7.8,305,6403,0.00,2.53,6.05,0.818,6,0.000,0.070,2925,2196,1917
$GC,6720,1.19,161.4,620.0,7.6,321,6734,0.00,2.60,9.07,0.933,4,0.000,0.080,2925,795,1880
$GC,6798,1.19,161.4,613.4,8.9,324,6803,0.00,2.50,0.00,0.000,6,0.000,0.064,2925,2207,1879
$GC,7116,1.22,182.0,589.2,7.2,339,7140,0.00,2.65,18.20,1.026,4,0.000,0.075,2925,795,1795
$GC,7243,1.22,182.0,578.4,8.5,344,7249,0.00,2.50,0.00,0.000,6,0.000,0.064,2925,2207,1794
$GC,7560,1.26,208.7,555.3,7.0,360,7591,0.12,2.62,22.85,1.042,4,0.067,0.074,2963,803,1688
$GC,7687,1.26,208.7,543.1,10.2,365,7694,0.00,2.47,0.00,0.000,6,0.000,0.063,2962,2207,1686
$GC,8004,1.26,208.7,513.4,9.3,381,8008,0.00,2.58,0.00,0.000,4,0.000,0.073,2962,785,1684
$GC,8106,1.26,208.7,503.3,10.0,385,8112,0.00,2.50,0.00,0.000,6,0.000,0.062,2962,2208,1684
$GC,8422,1.26,208.7,473.4,9.7,401,8427,0.00,2.55,0.00,0.000,4,0.000,0.071,2963,793,1682
$GC,8519,1.26,208.7,463.6,9.9,405,8523,0.00,2.45,0.00,0.000,6,0.000,0.062,2962,2201,1682
$GC,8842,1.26,208.7,432.6,9.5,421,8846,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,784,1682
$GC,8927,1.26,208.7,423.9,10.7,425,8931,0.00,2.47,0.00,0.000,6,0.000,0.062,2962,2202,1682
$GC,9255,1.26,208.7,391.6,10.0,441,9259,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,783,1682
$GC,9351,1.26,208.7,381.5,10.3,445,9355,0.00,2.47,0.00,0.000,6,0.000,0.061,2963,2203,1682
$GC,9667,1.26,208.7,351.6,9.4,460,9672,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,791,1682
$GC,9769,1.26,208.7,341.5,10.2,464,9776,0.00,2.45,0.00,0.000,6,0.000,0.061,2962,2202,1682
$GC,10086,1.26,208.7,311.6,9.3,480,10090,0.00,2.50,0.00,0.000,4,0.000,0.070,2963,789,1682
$GC,10171,1.26,208.7,302.9,10.5,484,10175,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2201,1682
$GC,10499,1.26,208.7,272.3,9.1,500,10503,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,786,1682
$GC,10623,1.26,208.7,260.2,9.4,505,10627,0.00,2.47,0.00,0.000,6,0.000,0.061,2963,2201,1682
$GC,10940,1.26,208.7,232.5,8.5,520,10944,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,786,1682
$GC,11058,1.26,208.7,221.0,9.5,525,11062,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2199,1682
$GC,11380,1.26,208.7,192.2,8.9,541,11384,0.00,2.50,0.00,0.000,4,0.000,0.071,2962,788,1682
$GC,11467,1.26,208.7,183.9,9.4,545,11471,0.00,2.45,0.00,0.000,6,0.000,0.061,2962,2200,1683
$GC,11800,1.26,208.7,153.1,9.6,561,11804,0.00,2.53,0.00,0.000,4,0.000,0.071,2963,785,1682
$GC,11924,1.26,208.7,140.8,9.0,566,11931,0.00,2.45,0.00,0.000,6,0.000,0.061,2962,2199,1682
$GC,12242,1.26,208.7,114.7,8.2,582,12247,0.00,2.50,0.00,0.000,4,0.000,0.071,2963,787,1682
$GC,12310,1.41,304.1,110.8,4.4,585,12391,0.00,2.45,74.45,0.724,6,0.000,0.061,2962,2201,1298
$GC,12705,1.41,304.1,65.9,12.3,604,12709,0.00,2.53,0.00,0.000,4,0.000,0.071,2962,788,1297
$GC,12858,1.41,304.1,45.8,12.3,611,12863,0.00,2.47,0.00,0.000,6,0.000,0.061,2963,2206,1296
$GC,13188,1.50,355.9,24.6,6.0,627,13235,0.17,2.58,41.35,0.650,4,0.064,0.071,3018,792,1086
$GC,13335,1.50,355.9,4.6,13.9,633,13339,0.00,2.47,0.00,0.000,6,0.000,0.062,3019,2200,1084
$STATE,13359,end climb,SURFACE_DEPTH_REACHED
$STATE,13359,begin surface coast
$FINISH,0.6,1.006372
$STATE,13381,end surface coast,CONTROL_FINISHED_OK
$STATE,13381,begin surface
$SM_CCo,13468,0.00,0.000,0,0,1084,356.91
$SM_GC,1.20,11.43,0.00,0.00,0.054,0.000,0.000,372,1602,1084,-10.50,0.08,356.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1879
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.1,34.2
$24V_AH,23.5,53.096
$10V_AH,10.2,26.946
$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,25.500,141.825,423.750,0.000,0.000,75.553,88.016,204.814,5.500,0.000,0.000,11.242,1233.588,9906.127,510.155,1677.445,707.255,0.000,1386.002,0.000,1633.768,0.000,36.279,0.000
$DEVICE_MAMPS,177.944,113.516,1102.179,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.507,431.746,406.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,635
$CAP_FILE_SIZE,108384,0
$CFSIZE,254472192,233422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,261008,111608,6244.643,-1144.798,65,1.7,65,-11.2