version: 66.04
glider: 14
mission: 6
dive: 398
start: 10 26 108 11 22 28
data:
$ID,14
$MISSION,6
$DIVE,398
$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,-657906
$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,16
$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
$GPS1,111608,6244.643,-1144.798,65,1.7,65,-11.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-55.6
$GPS2,112208,6244.577,-1144.752,11,1.7,28,-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,41.1,77837,-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,-60.35,0.000,2,0.000,0.000,372,1594,2459
$GC,83,-1.16,-146.6,3.4,-3.7,3,127,11.23,2.50,-25.05,0.000,4,0.169,0.087,2415,209,3137
$GC,190,-1.16,-146.6,9.8,-9.2,7,196,0.00,2.42,0.00,0.000,6,0.000,0.058,2415,1626,3138
$GC,508,-1.16,-146.6,42.3,-11.2,23,512,0.00,2.58,0.00,0.000,4,0.000,0.076,2415,201,3139
$GC,558,-1.16,-146.6,49.4,-13.8,25,562,0.00,2.40,0.00,0.000,6,0.000,0.058,2416,1604,3138
$GC,876,-1.16,-146.6,84.8,-11.9,40,881,0.00,2.50,0.00,0.000,4,0.000,0.075,2415,208,3139
$GC,922,-1.16,-146.6,90.9,-12.8,42,927,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1601,3139
$GC,1244,-1.16,-146.6,128.3,-11.3,58,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1605,3138
$GC,1553,-1.16,-146.6,162.7,-11.0,73,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1605,3139
$GC,1863,-1.16,-146.6,197.3,-11.2,88,1867,0.00,2.50,0.00,0.000,4,0.000,0.074,2415,204,3139
$GC,1953,-1.16,-146.6,208.4,-12.3,92,1957,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1606,3139
$GC,2275,-1.16,-146.6,244.9,-11.3,108,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1607,3139
$GC,2583,-1.16,-146.6,279.6,-10.8,123,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1608,3139
$GC,2893,-1.16,-146.6,313.4,-11.3,138,2897,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,203,3138
$GC,2960,-1.16,-146.6,321.3,-11.7,141,2965,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1595,3139
$GC,3282,-1.16,-146.6,355.8,-10.6,157,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1599,3139
$GC,3592,-1.16,-146.6,388.8,-10.6,172,3596,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,207,3139
$GC,3648,-1.16,-146.6,395.5,-12.1,174,3654,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1598,3139
$GC,3965,-1.16,-146.6,430.4,-11.0,190,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1601,3139
$GC,4274,-1.16,-146.6,466.0,-11.9,205,4278,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,209,3139
$GC,4308,-1.16,-146.6,470.2,-12.2,206,4314,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1600,3139
$GC,4624,-1.16,-146.6,507.4,-11.6,222,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1604,3139
$GC,4934,-1.16,-146.6,540.4,-10.1,237,4938,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,200,3139
$GC,5036,-1.16,-146.6,550.9,-10.8,241,5042,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1600,3139
$GC,5352,-1.16,-146.6,580.7,-10.1,257,5356,0.00,2.53,0.00,0.000,4,0.000,0.077,2415,201,3139
$GC,5430,-1.16,-146.6,589.2,-10.9,260,5437,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1597,3139
$GC,5748,-1.16,-146.6,621.5,-9.8,276,5752,0.00,2.50,0.00,0.000,4,0.000,0.079,2415,208,3138
$GC,5798,-1.16,-146.6,627.3,-10.8,278,5803,0.00,2.40,0.00,0.000,6,0.000,0.060,2416,1598,3139
$STATE,5884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5885,begin apogee
$GC,5895,-0.32,0.0,635.5,9.1,282,6033,0.93,0.00,129.48,1.084,6,0.112,0.000,2603,2193,2539
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6034,begin climb
$GC,6037,1.16,146.6,642.5,0.0,289,6170,1.52,2.90,122.20,1.071,4,0.091,0.117,2925,3602,1940
$GC,6255,1.19,161.5,632.0,7.4,299,6275,0.00,2.53,13.48,0.963,6,0.000,0.071,2925,2196,1879
$GC,6604,1.24,195.5,607.9,6.7,316,6635,0.00,0.00,29.27,1.039,6,0.000,0.000,2925,2196,1741
$GC,6933,1.28,218.2,585.0,7.1,332,6959,0.12,2.60,19.95,1.017,4,0.066,0.081,2965,797,1648
$GC,7034,1.28,218.2,575.6,9.9,336,7040,0.00,2.50,0.00,0.000,6,0.000,0.064,2965,2205,1648
$GC,7350,1.28,218.2,546.8,9.5,352,7354,0.00,2.58,0.00,0.000,4,0.000,0.074,2965,791,1645
$GC,7485,1.28,218.2,533.4,9.6,358,7490,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2201,1644
$GC,7807,1.28,218.2,506.1,8.8,374,7812,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,792,1643
$GC,7949,1.28,218.2,492.8,9.5,380,7953,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2206,1643
$GC,8265,1.28,218.2,462.6,10.2,395,8270,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,794,1641
$GC,8361,1.28,218.2,452.1,11.5,399,8365,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2199,1641
$GC,8678,1.28,218.2,419.2,10.1,414,8682,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,794,1641
$GC,8769,1.28,218.2,409.5,11.0,418,8773,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2202,1641
$GC,9102,1.28,218.2,376.1,10.1,434,9106,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,793,1641
$GC,9210,1.28,218.2,364.7,11.1,439,9214,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2204,1641
$GC,9543,1.28,218.2,330.4,10.3,455,9547,0.00,2.50,0.00,0.000,4,0.000,0.070,2965,794,1641
$GC,9661,1.28,218.2,317.6,10.0,460,9666,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2204,1641
$GC,9978,1.28,218.2,286.1,9.8,475,9982,0.00,2.50,0.00,0.000,4,0.000,0.070,2965,792,1641
$GC,10079,1.28,218.2,275.4,10.8,479,10086,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2205,1641
$GC,10396,1.28,218.2,243.6,10.1,495,10400,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,792,1641
$GC,10497,1.28,218.2,232.9,10.7,499,10502,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2203,1641
$GC,10814,1.28,218.2,201.9,9.8,514,10818,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,792,1641
$GC,10915,1.28,218.2,191.4,10.4,518,10921,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2201,1641
$GC,11231,1.28,218.2,159.8,10.2,534,11236,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,791,1641
$GC,11341,1.28,218.2,147.4,11.5,539,11345,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2212,1641
$GC,11674,1.28,218.2,115.8,8.8,555,11678,0.00,2.53,0.00,0.000,4,0.000,0.070,2966,784,1641
$GC,11792,1.29,226.3,105.4,7.7,560,11805,0.00,2.45,7.40,0.634,6,0.000,0.062,2965,2196,1615
$GC,12116,1.29,226.3,78.9,11.5,576,12120,0.00,2.50,0.00,0.000,4,0.000,0.071,2966,786,1615
$GC,12194,1.29,226.3,68.3,12.8,579,12201,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2201,1615
$GC,12513,1.29,226.3,36.5,10.8,595,12517,0.00,2.50,0.00,0.000,4,0.000,0.070,2966,787,1615
$GC,12654,1.29,226.3,25.8,8.1,601,12658,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2199,1615
$STATE,12864,end climb,SURFACE_DEPTH_REACHED
$STATE,12864,begin surface coast
$FINISH,0.6,1.015418
$STATE,12886,end surface coast,CONTROL_FINISHED_OK
$STATE,12886,begin surface
$SM_CCo,12913,43.83,0.633,1,0,1316,300.00
$SM_GC,1.54,0.00,0.00,43.83,0.000,0.000,0.633,377,1598,1316,-10.57,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1877
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.7,43.9
$24V_AH,23.5,53.213
$10V_AH,10.2,27.014
$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,25.025,126.250,321.775,43.825,0.000,37.763,28.295,144.149,5.250,0.000,0.000,29.874,1180.063,9537.812,502.816,1581.797,522.988,0.000,1296.238,0.000,1523.840,0.000,37.586,0.000
$DEVICE_MAMPS,168.740,116.584,1083.771,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.080,415.959,404.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31753,612
$CAP_FILE_SIZE,99481,0
$CFSIZE,254472192,233381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,2,0
$GPS,261008,150002,6245.003,-1143.649,48,1.6,48,-11.2