version: 66.04
glider: 14
mission: 6
dive: 438
start: 10 31 108 2 56 5
data:
$ID,14
$MISSION,6
$DIVE,438
$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,275
$T_MISSION,300
$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,250
$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,-658777.25
$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,22
$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
$GPS1,025027,6337.197,-1011.501,30,3.5,49,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.0
$GPS2,025541,6337.155,-1011.527,10,3.7,29,-10.7
$SPEED_LIMITS,0.208,0.341
$TGT_NAME,SF
$TGT_LATLONG,6400.000,-800.000
$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,79.1,114858,-16.0,-12.000
$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,-1.42,-244.4,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,2,0.000,0.000,379,1586,2622
$GC,83,-1.42,-244.4,3.4,-3.7,3,127,11.10,2.55,-27.60,0.000,4,0.178,0.089,2359,201,3538
$GC,249,-1.42,-244.4,27.2,-15.9,10,253,0.00,2.42,0.00,0.000,6,0.000,0.058,2359,1618,3539
$GC,577,-1.42,-244.4,81.7,-15.8,26,581,0.00,2.55,0.00,0.000,4,0.000,0.075,2359,207,3541
$GC,663,-1.42,-244.4,96.2,-16.1,30,668,0.00,2.40,0.00,0.000,6,0.000,0.058,2359,1604,3541
$GC,993,-1.42,-244.4,148.1,-16.6,46,997,0.00,2.53,0.00,0.000,4,0.000,0.077,2359,209,3541
$GC,1056,-1.42,-244.4,158.6,-15.4,49,1060,0.00,2.38,0.00,0.000,6,0.000,0.058,2359,1601,3541
$GC,1389,-1.42,-244.4,209.7,-15.7,65,1393,0.00,2.53,0.00,0.000,4,0.000,0.076,2359,203,3541
$GC,1452,-1.42,-244.4,220.0,-15.3,68,1457,0.00,2.40,0.00,0.000,6,0.000,0.058,2359,1601,3541
$GC,1780,-1.42,-244.4,269.1,-14.8,84,1784,0.00,2.53,0.00,0.000,4,0.000,0.076,2359,206,3542
$GC,1858,-1.42,-244.4,282.3,-17.6,87,1864,0.00,2.40,0.00,0.000,6,0.000,0.058,2359,1603,3542
$GC,2175,-1.42,-244.4,331.6,-14.7,103,2179,0.00,2.55,0.00,0.000,4,0.000,0.079,2359,201,3543
$GC,2215,-1.42,-244.4,337.8,-15.1,105,2219,0.00,2.40,0.00,0.000,6,0.000,0.058,2359,1597,3543
$GC,2542,-1.42,-244.4,384.6,-13.6,121,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1601,3545
$GC,2853,-1.42,-244.4,429.4,-14.7,136,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1601,3545
$GC,3161,-1.42,-244.4,473.1,-13.9,151,3165,0.00,2.58,0.00,0.000,4,0.000,0.084,2359,201,3546
$GC,3225,-1.42,-244.4,482.5,-13.5,154,3229,0.00,2.42,0.00,0.000,6,0.000,0.061,2358,1599,3546
$STATE,3514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3514,begin apogee
$GC,3524,-0.32,0.0,524.0,12.9,168,3745,1.20,0.00,211.77,1.057,6,0.111,0.000,2602,2189,2539
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3750,1.42,244.4,532.5,0.0,179,3962,1.77,2.92,198.93,1.035,4,0.080,0.117,2981,3606,1540
$GC,4216,1.43,250.6,490.9,11.8,200,4232,0.00,2.53,6.35,0.810,6,0.000,0.070,2980,2197,1516
$GC,4542,1.49,289.6,454.7,10.7,216,4584,0.00,2.67,32.95,1.011,4,0.000,0.080,2981,794,1358
$GC,4613,1.49,289.6,446.4,12.3,219,4617,0.00,2.53,0.00,0.000,6,0.000,0.062,2981,2209,1357
$GC,4938,1.56,331.8,411.4,10.6,235,4981,0.15,2.65,34.70,1.001,4,0.067,0.074,3021,787,1185
$GC,5050,1.56,331.8,396.3,13.9,240,5055,0.00,2.55,0.00,0.000,6,0.000,0.063,3021,2210,1183
$GC,5379,1.56,331.8,351.7,14.3,256,5383,0.00,2.55,0.00,0.000,4,0.000,0.074,3021,792,1179
$GC,5457,1.56,331.8,339.5,15.6,259,5462,0.00,2.50,0.00,0.000,6,0.000,0.063,3021,2204,1179
$GC,5774,1.56,331.8,293.7,14.7,274,5778,0.00,2.55,0.00,0.000,4,0.000,0.074,3019,793,1177
$GC,5864,1.56,331.8,280.4,14.9,278,5868,0.00,2.47,0.00,0.000,6,0.000,0.063,3021,2202,1177
$GC,6191,1.56,331.8,232.1,15.2,294,6195,0.00,2.55,0.00,0.000,4,0.000,0.073,3021,788,1175
$GC,6264,1.56,331.8,220.7,15.5,297,6268,0.00,2.50,0.00,0.000,6,0.000,0.062,3021,2209,1175
$GC,6581,1.56,331.8,172.6,15.4,312,6585,0.00,2.55,0.00,0.000,4,0.000,0.072,3021,785,1174
$GC,6682,1.56,331.8,157.2,14.5,316,6686,0.00,2.50,0.00,0.000,6,0.000,0.061,3021,2202,1174
$GC,7000,1.56,331.8,113.5,14.3,331,7005,0.00,2.53,0.00,0.000,4,0.000,0.073,3021,791,1175
$GC,7103,1.56,331.8,96.9,16.2,335,7109,0.00,2.47,0.00,0.000,6,0.000,0.062,3021,2207,1175
$GC,7419,1.56,331.8,54.8,14.1,351,7424,0.00,2.55,0.00,0.000,4,0.000,0.073,3021,785,1174
$GC,7506,1.56,331.8,41.5,16.6,355,7510,0.00,2.47,0.00,0.000,6,0.000,0.061,3021,2201,1175
$STATE,7809,end climb,SURFACE_DEPTH_REACHED
$STATE,7809,begin surface coast
$FINISH,0.7,1.027366
$STATE,7832,end surface coast,CONTROL_FINISHED_OK
$STATE,7832,begin surface
$SM_CCo,7919,0.00,0.000,0,0,1174,334.83
$SM_GC,1.69,11.52,0.00,0.00,0.056,0.000,0.000,381,1594,1174,-10.49,-0.17,334.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.6,58.1
$24V_AH,23.5,57.961
$10V_AH,10.2,29.138
$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,25.750,82.850,484.700,0.000,0.000,37.761,33.136,105.759,4.000,0.000,0.000,31.615,732.640,5521.537,543.834,1046.375,397.496,0.000,1110.200,0.000,996.560,0.000,29.545,0.000
$DEVICE_MAMPS,177.944,116.584,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.697,250.584,262.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19142,371
$CAP_FILE_SIZE,64344,0
$CFSIZE,254472192,231882752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,311008,050917,6336.699,-1010.757,12,5.1,31,-10.6