version: 66.03
glider: 122
mission: 6
dive: 221
start: 4 2 108 7 15 55
data:
$ID,122
$MISSION,6
$DIVE,221
$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,366
$T_MISSION,439
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,475
$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,-31269.414
$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,14.2
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$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
$GPS1,070932,1246.886,12023.337,42,1.5,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.2
$GPS2,071521,1246.956,12023.406,14,1.3,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,1000.000
$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,82.9,35613,-18.6,-9.016
$D_GRID,726
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-59.47,0.000,2,0.000,0.000,251,2124,2431
$GC,86,-1.56,-146.0,3.3,-7.1,9,125,13.48,2.38,-17.73,0.000,4,0.173,0.054,2559,760,3345
$GC,210,-1.28,-146.0,31.2,-22.2,30,218,0.35,2.35,0.00,0.000,6,0.117,0.026,2623,2174,3347
$GC,556,-1.17,-146.0,88.4,-14.8,91,564,0.12,2.45,0.00,0.000,4,0.110,0.041,2646,759,3349
$GC,639,-1.17,-146.0,98.9,-12.3,105,646,0.00,2.42,0.00,0.000,6,0.000,0.028,2646,2212,3350
$GC,983,-1.17,-146.0,136.8,-9.5,166,990,0.00,2.30,0.00,0.000,4,0.000,0.046,2646,3552,3352
$GC,1070,-1.17,-146.0,146.0,-10.3,181,1077,0.00,2.15,0.00,0.000,6,0.000,0.026,2646,2235,3352
$GC,1414,-1.25,-146.0,173.5,-7.2,242,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2234,3353
$GC,1759,-1.34,-146.0,199.6,-7.1,303,1766,0.15,2.25,0.00,0.000,4,0.049,0.044,2595,3546,3353
$GC,1846,-1.34,-146.0,207.7,-9.6,318,1853,0.00,2.05,0.00,0.000,6,0.000,0.028,2595,2295,3353
$GC,2190,-1.34,-146.0,239.9,-9.8,379,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2294,3353
$GC,2525,-1.34,-146.0,272.5,-9.7,419,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2291,3352
$GC,2844,-1.34,-146.0,303.4,-9.2,449,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2292,3351
$GC,3163,-1.34,-146.0,332.7,-9.1,479,3167,0.00,2.70,0.00,0.000,4,0.000,0.051,2595,759,3350
$GC,3202,-1.34,-146.0,336.4,-9.8,482,3206,0.00,2.58,0.00,0.000,6,0.000,0.033,2594,2278,3349
$GC,3528,-1.34,-146.0,365.7,-9.2,512,3533,0.00,2.65,0.00,0.000,4,0.000,0.049,2594,762,3348
$GC,3568,-1.34,-146.0,369.6,-10.0,515,3572,0.00,2.50,0.00,0.000,6,0.000,0.031,2595,2240,3347
$GC,3894,-1.34,-146.0,397.8,-9.1,545,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2241,3346
$GC,4212,-1.34,-146.0,426.9,-9.2,575,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2241,3344
$GC,4530,-1.34,-146.0,456.2,-9.7,605,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2241,3342
$GC,4849,-1.34,-146.0,485.9,-9.4,635,4853,0.00,2.28,0.00,0.000,4,0.000,0.051,2595,3550,3340
$GC,4871,-1.34,-146.0,488.0,-9.4,637,4875,0.00,2.20,0.00,0.000,6,0.000,0.033,2595,2245,3340
$GC,5203,-1.34,-146.0,514.8,-7.8,659,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2244,3338
$GC,5511,-1.34,-146.0,538.2,-7.6,674,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2244,3336
$GC,5820,-1.34,-146.0,562.8,-8.1,689,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2244,3334
$GC,6130,-1.34,-146.0,587.5,-8.1,704,6134,0.00,2.30,0.00,0.000,4,0.000,0.053,2595,3549,3332
$GC,6151,-1.34,-146.0,589.3,-7.9,705,6155,0.00,2.22,0.00,0.000,6,0.000,0.035,2594,2237,3332
$GC,6479,-1.34,-146.0,616.5,-8.7,721,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2235,3331
$GC,6788,-1.34,-146.0,642.3,-8.5,736,6792,0.00,2.30,0.00,0.000,4,0.000,0.054,2595,3540,3329
$GC,6832,-1.34,-146.0,646.4,-8.8,738,6835,0.00,2.20,0.00,0.000,6,0.000,0.036,2595,2247,3328
$GC,7159,-1.34,-146.0,674.2,-8.5,754,7164,0.00,2.65,0.00,0.000,4,0.000,0.058,2594,768,3327
$GC,7200,-1.39,-146.0,677.9,-9.8,756,7204,0.00,2.47,0.00,0.000,6,0.000,0.036,2594,2207,3327
$GC,7529,-1.39,-146.0,706.1,-8.6,772,7533,0.00,2.35,0.00,0.000,4,0.000,0.057,2594,3544,3326
$GC,7594,-1.39,-146.0,712.3,-9.3,775,7598,0.00,2.20,0.00,0.000,6,0.000,0.036,2594,2246,3326
$STATE,7775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7775,begin apogee
$GC,7780,-0.35,0.0,727.2,8.2,784,7904,1.15,0.00,119.70,1.157,6,0.095,0.000,2827,2383,2748
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7907,1.56,146.0,731.5,0.0,790,8042,1.92,2.47,122.53,1.122,4,0.052,0.058,3250,3710,2152
$GC,8081,1.27,146.0,723.0,12.7,798,8089,0.38,2.30,0.00,0.000,6,0.127,0.038,3184,2389,2151
$GC,8397,1.16,146.0,693.2,9.3,814,8402,0.15,2.58,0.00,0.000,4,0.121,0.058,3154,969,2150
$GC,8430,1.09,146.0,690.1,9.5,815,8437,0.00,2.40,0.00,0.000,6,0.000,0.038,3154,2339,2150
$GC,8746,1.08,170.1,664.5,7.9,831,8768,0.00,0.00,19.85,1.131,6,0.000,0.000,3154,2338,2054
$GC,9075,1.11,186.7,636.6,8.3,847,9098,0.00,2.58,13.80,1.131,4,0.000,0.058,3154,976,1985
$GC,9182,1.07,186.7,626.9,9.1,851,9189,0.00,2.42,0.00,0.000,6,0.000,0.038,3154,2361,1985
$GC,9500,1.09,199.2,600.0,8.5,867,9516,0.00,2.58,10.77,1.125,4,0.000,0.057,3154,971,1934
$GC,9562,1.07,205.2,594.4,8.7,869,9572,0.00,2.42,5.15,1.118,6,0.000,0.038,3154,2350,1911
$GC,9888,1.07,208.5,565.8,8.9,885,9897,0.00,2.58,2.97,1.102,4,0.000,0.058,3154,966,1897
$GC,9977,1.07,208.5,557.5,9.1,889,9981,0.00,2.38,0.00,0.000,6,0.000,0.038,3154,2323,1896
$GC,10304,1.09,220.6,529.7,8.5,905,10319,0.00,2.50,10.32,1.093,4,0.000,0.057,3154,971,1847
$GC,10353,1.09,220.6,525.2,10.0,906,10356,0.00,2.33,0.00,0.000,6,0.000,0.037,3154,2302,1846
$GC,10674,1.09,220.6,496.7,9.2,923,10679,0.00,2.40,0.00,0.000,4,0.000,0.057,3153,972,1846
$GC,10714,1.09,220.6,492.8,10.7,926,10718,0.00,2.28,0.00,0.000,6,0.000,0.037,3154,2282,1845
$GC,11041,1.10,227.9,462.9,8.7,956,11053,0.00,2.40,5.85,1.068,4,0.000,0.056,3154,969,1818
$GC,11077,1.10,227.9,459.4,10.0,959,11081,0.00,2.25,0.00,0.000,6,0.000,0.037,3154,2260,1818
$GC,11404,1.11,228.5,430.8,9.0,989,11408,0.00,2.33,0.00,0.000,4,0.000,0.056,3154,967,1818
$GC,11447,1.11,228.5,426.3,9.5,992,11455,0.00,2.20,0.00,0.000,6,0.000,0.036,3154,2232,1817
$GC,11774,1.20,263.1,399.0,7.5,1023,11809,0.00,2.78,29.23,0.971,4,0.000,0.055,3154,3723,1675
$GC,11837,1.26,276.6,393.6,8.4,1028,11858,0.12,2.60,11.85,0.973,6,0.064,0.038,3185,2233,1619
$GC,12174,1.26,276.6,360.8,9.2,1060,12178,0.00,2.28,0.00,0.000,4,0.000,0.058,3185,967,1617
$GC,12213,1.26,276.6,357.0,9.2,1063,12217,0.00,2.20,0.00,0.000,6,0.000,0.036,3185,2238,1616
$GC,12540,1.26,276.6,328.0,9.2,1093,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2238,1616
$GC,12856,1.26,276.6,298.9,9.5,1123,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2238,1616
$GC,13176,1.27,278.5,270.4,8.9,1153,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2238,1616
$GC,13498,1.30,300.0,243.0,8.1,1190,13524,0.00,2.70,18.80,0.861,4,0.000,0.054,3185,3724,1525
$GC,13570,1.33,300.0,236.4,9.2,1202,13577,0.00,2.62,0.00,0.000,6,0.000,0.037,3185,2212,1524
$GC,13915,1.40,316.1,205.7,8.3,1263,13936,0.12,2.75,13.23,0.837,4,0.062,0.051,3217,3733,1458
$GC,13966,1.40,316.1,200.6,10.8,1271,13973,0.00,2.65,0.00,0.000,6,0.000,0.037,3217,2208,1457
$GC,14311,1.41,319.4,167.3,8.9,1332,14319,0.00,2.28,2.55,0.843,4,0.000,0.054,3217,968,1445
$GC,14353,1.41,319.4,162.9,10.2,1339,14360,0.00,2.12,0.00,0.000,6,0.000,0.035,3217,2206,1445
$GC,14699,1.52,347.1,136.1,7.8,1400,14732,0.00,2.78,22.95,0.752,4,0.000,0.050,3217,3727,1332
$GC,14773,1.66,379.4,130.2,7.6,1412,14807,0.22,2.62,26.52,0.729,6,0.050,0.035,3273,2203,1200
$GC,15146,1.66,379.4,95.8,9.1,1477,15153,0.00,2.20,0.00,0.000,4,0.000,0.052,3273,958,1195
$GC,15194,1.66,380.5,91.4,9.0,1485,15201,0.00,2.17,0.00,0.000,6,0.000,0.033,3273,2233,1194
$GC,15540,1.76,415.1,64.7,7.5,1546,15574,0.00,2.72,28.40,0.653,4,0.000,0.048,3273,3729,1054
$GC,15598,1.85,416.8,59.9,8.9,1555,15606,0.15,2.62,0.00,0.000,6,0.054,0.032,3313,2197,1053
$GC,15943,1.85,418.1,28.5,9.0,1616,15951,0.00,2.22,1.90,0.667,4,0.000,0.048,3314,964,1042
$GC,16100,1.85,418.1,13.7,9.5,1643,16106,0.00,2.05,0.00,0.000,6,0.000,0.030,3314,2183,1042
$STATE,16228,end climb,SURFACE_DEPTH_REACHED
$STATE,16229,begin surface coast
$FINISH,-0.2,1.013129
$STATE,16255,end surface coast,CONTROL_FINISHED_OK
$STATE,16255,begin surface
$SM_CCo,16278,28.40,0.575,0,0,811,475.15
$SM_GC,1.25,0.00,0.00,28.40,0.000,0.000,0.575,253,2118,811,-12.20,-0.90,475.15
$IRIDIUM_FIX,1238.83,12021.43,270697,020220
$TT8_MAMPS,0.023777
$HUMID,1997
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,422
$ALTIM_BOTTOM_PING,710.3,168.9
$24V_AH,23.3,40.761
$10V_AH,10.1,20.671
$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,31.775,139.975,466.375,28.400,0.000,22.432,38.301,161.978,111.250,0.000,0.000,14.359,3407.378,9398.832,684.796,2662.249,507.297,0.000,2014.941,0.000,2614.731,0.000,43.902
$DEVICE_MAMPS,173.342,110.448,1156.636,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53514,1670
$CAP_FILE_SIZE,159642,0
$CFSIZE,260165632,239456256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,120.1,1
$GPS,020408,114901,1246.721,12025.522,38,1.0,43,-0.8