version: 66.03
glider: 122
mission: 6
dive: 20
start: 2 19 108 19 3 44
data:
$ID,122
$MISSION,6
$DIVE,20
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$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,1.0274
$MASS,51598
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,410
$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,-27860.625
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.76
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$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,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.1162887
$PRESSURE_SLOPE,0.00025722419
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044208211
$SEABIRD_T_H,0.00065343338
$SEABIRD_T_I,2.7514026e-05
$SEABIRD_T_J,3.0288847e-06
$SEABIRD_C_G,-10.084093
$SEABIRD_C_H,1.1290534
$SEABIRD_C_I,-0.0015321091
$SEABIRD_C_J,0.00018406138
$GPS1,185807,1246.681,12021.046,31,2.0,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-70.1
$GPS2,190253,1246.725,12021.058,12,3.1,31,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,80.1,39858,-23.3,-10.000
$D_GRID,821
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.73,-86.6,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,251,2132,2662
$GC,88,-1.78,-118.4,3.4,-7.2,13,115,13.18,2.42,-6.65,0.000,4,0.174,0.059,2514,759,3023
$GC,228,-1.58,-118.4,47.6,-26.8,38,235,0.25,2.35,0.00,0.000,6,0.126,0.030,2558,2154,3025
$GC,571,-1.52,-118.4,107.2,-15.6,99,577,0.00,2.40,0.00,0.000,4,0.000,0.045,2558,3555,3027
$GC,672,-1.48,-118.4,121.7,-15.3,117,679,0.12,2.33,0.00,0.000,6,0.115,0.029,2580,2157,3028
$GC,1015,-1.48,-118.4,161.9,-10.9,178,1021,0.00,2.47,0.00,0.000,4,0.000,0.048,2580,741,3029
$GC,1223,-1.51,-118.4,186.6,-11.2,215,1229,0.00,2.38,0.00,0.000,6,0.000,0.030,2580,2164,3029
$GC,1566,-1.55,-120.7,221.3,-9.8,276,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2164,3029
$GC,1906,-1.61,-125.0,254.3,-9.6,333,1911,0.12,2.50,0.00,0.000,4,0.058,0.049,2544,740,3030
$GC,1938,-1.61,-125.0,257.9,-11.2,335,1945,0.00,2.40,0.00,0.000,6,0.000,0.030,2544,2154,3030
$GC,2262,-1.61,-125.0,292.9,-10.9,366,2267,0.00,2.47,0.00,0.000,4,0.000,0.051,2544,741,3030
$GC,2345,-1.61,-125.0,302.4,-10.5,373,2352,0.00,2.40,0.00,0.000,6,0.000,0.031,2544,2146,3029
$GC,2670,-1.61,-126.5,335.2,-9.9,404,2674,0.00,2.42,0.00,0.000,4,0.000,0.049,2544,3551,3028
$GC,2708,-1.61,-126.5,339.0,-10.0,407,2712,0.00,2.35,0.00,0.000,6,0.000,0.031,2544,2140,3028
$GC,3040,-1.63,-140.9,370.0,-8.8,438,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2138,3026
$GC,3356,-1.63,-140.9,401.4,-10.5,468,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2138,3025
$GC,3676,-1.64,-146.0,430.9,-8.8,498,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2138,3023
$GC,3994,-1.64,-146.0,459.4,-9.2,528,3998,0.00,2.47,0.00,0.000,4,0.000,0.051,2544,3555,3021
$GC,4043,-1.64,-146.0,464.4,-10.3,532,4047,0.00,2.38,0.00,0.000,6,0.000,0.033,2544,2144,3021
$GC,4367,-1.64,-146.0,493.9,-8.3,562,4371,0.00,2.47,0.00,0.000,4,0.000,0.056,2544,750,3020
$GC,4466,-1.64,-146.0,503.0,-9.8,569,4473,0.00,2.40,0.00,0.000,6,0.000,0.034,2544,2142,3020
$GC,4781,-1.64,-146.0,529.8,-8.5,585,4786,0.00,2.45,0.00,0.000,4,0.000,0.053,2544,3547,3018
$GC,4863,-1.64,-146.0,537.8,-10.0,588,4870,0.00,2.40,0.00,0.000,6,0.000,0.034,2544,2147,3017
$GC,5179,-1.64,-146.0,564.4,-8.1,604,5183,0.00,2.47,0.00,0.000,4,0.000,0.053,2544,3557,3016
$GC,5240,-1.64,-146.0,569.9,-8.9,607,5245,0.00,2.38,0.00,0.000,6,0.000,0.035,2544,2149,3016
$GC,5571,-1.64,-146.0,594.3,-7.3,623,5575,0.00,2.50,0.00,0.000,4,0.000,0.058,2544,747,3014
$GC,5614,-1.64,-146.0,598.0,-8.3,625,5618,0.00,2.40,0.00,0.000,6,0.000,0.035,2544,2152,3014
$GC,5941,-1.66,-146.0,623.4,-7.4,641,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2152,3012
$GC,6250,-1.69,-146.0,647.0,-7.3,656,6254,0.00,2.45,0.00,0.000,4,0.000,0.056,2544,3552,3011
$GC,6349,-1.69,-146.0,655.0,-7.8,660,6356,0.00,2.40,0.00,0.000,6,0.000,0.035,2544,2152,3011
$GC,6665,-1.71,-146.0,678.9,-7.3,676,6669,0.00,2.47,0.00,0.000,4,0.000,0.054,2544,3558,3009
$GC,6718,-1.71,-146.0,683.1,-7.2,678,6725,0.00,2.42,0.00,0.000,6,0.000,0.036,2544,2148,3009
$GC,7035,-1.74,-146.0,705.6,-7.5,694,7039,0.00,2.47,0.00,0.000,4,0.000,0.054,2544,3551,3008
$GC,7078,-1.77,-146.0,709.1,-7.8,696,7083,0.12,2.38,0.00,0.000,6,0.068,0.036,2514,2150,3008
$GC,7403,-1.77,-146.0,738.0,-10.0,712,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2149,3007
$GC,7713,-1.77,-146.0,768.6,-9.8,727,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2150,3006
$GC,8022,-1.77,-146.0,797.2,-9.2,742,8027,0.00,2.45,0.00,0.000,4,0.000,0.056,2514,3550,3005
$GC,8111,-1.77,-146.0,806.3,-9.9,746,8115,0.00,2.40,0.00,0.000,6,0.000,0.038,2514,2157,3005
$STATE,8271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8272,begin apogee
$GC,8275,-0.34,0.0,821.6,9.6,754,8376,1.60,0.00,96.80,1.262,6,0.111,0.000,2829,2407,2539
$STATE,8377,end apogee,CONTROL_FINISHED_OK
$STATE,8377,begin climb
$GC,8379,1.83,146.0,824.3,0.0,759,8507,2.17,0.00,123.30,1.219,6,0.059,0.000,3305,2407,1942
$GC,8809,1.70,146.0,752.7,19.5,780,8814,0.15,2.35,0.00,0.000,4,0.142,0.060,3277,3714,1940
$GC,8848,1.59,146.0,745.1,19.5,782,8852,0.15,2.28,0.00,0.000,6,0.141,0.038,3253,2398,1939
$GC,9173,1.53,146.0,690.5,16.3,798,9177,0.00,2.55,0.00,0.000,4,0.000,0.061,3253,991,1939
$GC,9199,1.46,146.0,686.2,16.3,799,9204,0.12,2.47,0.00,0.000,6,0.129,0.039,3229,2390,1937
$GC,9521,1.44,146.0,639.3,14.4,815,9525,0.00,2.40,0.00,0.000,4,0.000,0.062,3228,3729,1937
$GC,9575,1.39,146.0,631.1,15.1,817,9582,0.08,2.30,0.00,0.000,6,0.137,0.038,3207,2403,1938
$GC,9890,1.39,146.0,588.7,13.8,833,9894,0.00,2.55,0.00,0.000,4,0.000,0.061,3207,991,1937
$GC,9928,1.39,146.0,583.6,13.3,835,9932,0.00,2.45,0.00,0.000,6,0.000,0.039,3207,2402,1937
$GC,10254,1.39,146.0,541.6,13.0,851,10258,0.00,2.55,0.00,0.000,4,0.000,0.058,3207,989,1936
$GC,10342,1.39,146.0,530.1,12.5,855,10347,0.00,2.45,0.00,0.000,6,0.000,0.039,3207,2401,1936
$GC,10666,1.39,146.0,490.2,11.9,874,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2401,1936
$GC,10984,1.39,146.0,451.4,11.5,904,10988,0.00,2.53,0.00,0.000,4,0.000,0.057,3207,993,1936
$GC,11071,1.39,146.0,440.4,13.5,911,11078,0.00,2.47,0.00,0.000,6,0.000,0.039,3207,2403,1936
$GC,11397,1.41,146.0,402.9,11.0,942,11401,0.00,2.35,0.00,0.000,4,0.000,0.060,3206,3726,1936
$GC,11440,1.41,146.0,397.5,11.8,945,11447,0.00,2.30,0.00,0.000,6,0.000,0.035,3207,2392,1936
$GC,11766,1.41,146.0,359.9,11.4,976,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2390,1936
$GC,12084,1.44,146.0,325.1,10.6,1006,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2388,1936
$GC,12403,1.47,146.0,291.9,10.1,1036,12407,0.00,2.47,0.00,0.000,4,0.000,0.054,3208,993,1936
$GC,12446,1.47,146.0,287.1,10.4,1039,12453,0.00,2.45,0.00,0.000,6,0.000,0.037,3207,2401,1936
$GC,12772,1.50,146.0,253.2,11.4,1070,12774,0.10,0.00,0.00,0.000,6,0.081,0.000,3229,2401,1936
$GC,13106,1.50,146.0,216.6,10.2,1127,13112,0.00,2.50,0.00,0.000,4,0.000,0.053,3229,992,1936
$GC,13225,1.50,146.0,203.3,10.9,1148,13231,0.00,2.42,0.00,0.000,6,0.000,0.036,3229,2409,1936
$GC,13568,1.54,169.8,171.3,7.9,1209,13595,0.00,2.62,17.62,0.802,4,0.000,0.052,3229,994,1846
$GC,13702,1.55,177.2,157.8,9.4,1233,13714,0.00,2.42,5.93,0.818,6,0.000,0.035,3229,2408,1816
$GC,14052,1.64,203.6,127.2,7.7,1295,14079,0.15,2.58,20.95,0.752,4,0.071,0.051,3267,990,1708
$GC,14186,1.64,203.6,113.5,11.3,1319,14192,0.00,2.42,0.00,0.000,6,0.000,0.035,3267,2406,1707
$GC,14528,1.65,211.7,78.9,9.3,1380,14540,0.00,2.38,6.50,0.726,4,0.000,0.051,3267,3720,1675
$GC,14793,1.66,215.6,53.6,9.7,1427,14804,0.00,2.22,3.10,0.713,6,0.000,0.030,3267,2385,1659
$GC,15142,1.80,265.5,35.0,5.7,1489,15189,0.12,2.42,38.67,0.624,4,0.072,0.048,3297,3728,1456
$GC,15330,1.84,265.5,17.4,12.2,1523,15336,0.00,2.22,0.00,0.000,6,0.000,0.031,3297,2402,1455
$STATE,15486,end climb,SURFACE_DEPTH_REACHED
$STATE,15487,begin surface coast
$FINISH,-0.0,1.008458
$STATE,15510,end surface coast,CONTROL_FINISHED_OK
$STATE,15510,begin surface
$SM_CCo,15530,68.03,0.561,0,0,867,410.14
$SM_GC,0.65,0.00,0.00,68.03,0.000,0.000,0.561,254,2138,867,-12.19,-0.34,410.14
$IRIDIUM_FIX,1238.83,12020.32,150597,141453
$TT8_MAMPS,0.023777
$HUMID,1890
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.90
$XPDR_PINGS,479
$24V_AH,23.2,8.050
$10V_AH,10.1,2.711
$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
$DEVICE_SECS,32.050,136.675,312.875,68.025,0.000,26.004,13.106,138.178,138.750,0.000,0.000,32.394,2500.524,9924.189,550.989,2599.828,339.647,0.000,1817.499,0.000,2507.496,0.000,118.478
$DEVICE_MAMPS,174.109,62.127,1262.482,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47245,1555
$CAP_FILE_SIZE,155745,0
$CFSIZE,260165632,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,232457,1247.490,12023.308,40,2.0,41,-0.8