version: 66.03
glider: 122
mission: 6
dive: 250
start: 4 9 108 1 21 41
data:
$ID,122
$MISSION,6
$DIVE,250
$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,-32620.166
$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,25
$R_STBD_OVSHOOT,70
$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
$GPS1,011438,1246.589,12022.092,26,2.0,26,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.0
$GPS2,012108,1246.609,12022.068,40,0.9,40,-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,71.0,38109,-18.6,-9.016
$D_GRID,737
$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,22,-1.56,-146.0,0.0,0.0,0,84,0.00,0.00,-60.15,0.000,2,0.000,0.000,248,2202,2463
$GC,87,-1.56,-146.0,3.4,-8.0,10,124,13.43,0.00,-16.73,0.000,6,0.171,0.000,2560,2201,3345
$GC,462,-1.31,-146.0,84.3,-18.6,76,470,0.28,2.53,0.00,0.000,4,0.122,0.041,2614,740,3347
$GC,494,-1.18,-146.0,89.0,-15.4,81,502,0.15,2.30,0.00,0.000,6,0.104,0.027,2643,2128,3348
$GC,839,-1.18,-146.0,129.5,-10.3,142,846,0.00,2.42,0.00,0.000,4,0.000,0.044,2643,3545,3350
$GC,948,-1.18,-146.0,140.2,-9.4,161,955,0.00,2.20,0.00,0.000,6,0.000,0.027,2643,2203,3351
$GC,1293,-1.23,-146.0,171.3,-8.8,222,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2203,3352
$GC,1638,-1.30,-146.0,201.4,-9.2,283,1645,0.00,2.33,0.00,0.000,4,0.000,0.045,2643,3552,3352
$GC,1708,-1.37,-146.0,207.9,-8.8,295,1716,0.17,2.20,0.00,0.000,6,0.050,0.029,2593,2225,3352
$GC,2053,-1.37,-146.0,240.9,-9.4,356,2060,0.00,2.28,0.00,0.000,4,0.000,0.045,2593,3543,3351
$GC,2123,-1.34,-146.0,247.7,-9.2,368,2130,0.00,2.17,0.00,0.000,6,0.000,0.031,2593,2239,3350
$GC,2458,-1.34,-146.0,277.3,-9.0,401,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2238,3349
$GC,2775,-1.34,-146.0,306.5,-9.2,431,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2235,3347
$GC,3093,-1.34,-146.0,335.7,-8.9,461,3097,0.00,2.28,0.00,0.000,4,0.000,0.049,2593,3541,3345
$GC,3144,-1.34,-146.0,340.4,-9.2,465,3148,0.00,2.15,0.00,0.000,6,0.000,0.032,2593,2263,3345
$GC,3471,-1.34,-146.0,370.4,-9.4,495,3475,0.00,2.70,0.00,0.000,4,0.000,0.053,2593,743,3343
$GC,3499,-1.34,-146.0,373.2,-9.3,497,3503,0.00,2.62,0.00,0.000,6,0.000,0.034,2593,2276,3343
$GC,3825,-1.34,-146.0,402.2,-9.0,527,3829,0.00,2.22,0.00,0.000,4,0.000,0.051,2592,3551,3340
$GC,3877,-1.34,-146.0,407.1,-9.5,531,3881,0.00,2.15,0.00,0.000,6,0.000,0.033,2593,2275,3341
$GC,4205,-1.34,-146.0,435.7,-8.2,561,4209,0.00,2.72,0.00,0.000,4,0.000,0.053,2593,744,3338
$GC,4249,-1.34,-146.0,439.9,-8.3,564,4256,0.00,2.62,0.00,0.000,6,0.000,0.035,2593,2273,3338
$GC,4577,-1.34,-146.0,465.9,-8.5,595,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2273,3335
$GC,4902,-1.34,-146.0,496.5,-9.6,626,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2274,3333
$GC,5212,-1.34,-146.0,528.7,-10.2,643,5216,0.00,2.75,0.00,0.000,4,0.000,0.055,2593,741,3331
$GC,5238,-1.34,-146.0,531.5,-10.3,644,5242,0.00,2.60,0.00,0.000,6,0.000,0.036,2593,2245,3332
$GC,5561,-1.34,-146.0,561.3,-9.1,660,5565,0.00,2.28,0.00,0.000,4,0.000,0.055,2593,3545,3329
$GC,5594,-1.34,-146.0,564.9,-9.7,661,5598,0.00,2.22,0.00,0.000,6,0.000,0.035,2593,2236,3329
$GC,5916,-1.34,-146.0,592.7,-8.3,677,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2235,3327
$GC,6225,-1.34,-146.0,617.3,-7.9,692,6229,0.00,2.33,0.00,0.000,4,0.000,0.054,2593,3545,3326
$GC,6275,-1.34,-146.0,621.4,-7.5,694,6279,0.00,2.22,0.00,0.000,6,0.000,0.036,2593,2241,3326
$GC,6597,-1.34,-146.0,647.0,-8.2,710,6601,0.00,2.30,0.00,0.000,4,0.000,0.054,2593,3539,3325
$GC,6641,-1.34,-146.0,651.3,-9.5,712,6645,0.00,2.20,0.00,0.000,6,0.000,0.036,2593,2266,3325
$GC,6969,-1.34,-146.0,679.4,-8.4,728,6973,0.00,2.75,0.00,0.000,4,0.000,0.060,2593,739,3323
$GC,7019,-1.37,-146.0,683.8,-8.8,730,7023,0.00,2.60,0.00,0.000,6,0.000,0.038,2593,2248,3322
$GC,7335,-1.37,-146.0,709.0,-8.0,745,7339,0.00,2.28,0.00,0.000,4,0.000,0.058,2593,3539,3321
$GC,7362,-1.37,-146.0,711.5,-8.3,746,7366,0.00,2.20,0.00,0.000,6,0.000,0.036,2593,2250,3321
$GC,7690,-1.40,-146.0,736.2,-7.5,762,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2249,3319
$STATE,7709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7709,begin apogee
$GC,7714,-0.35,0.0,737.9,7.6,763,7837,1.15,0.00,118.70,1.169,6,0.095,0.000,2825,2371,2748
$STATE,7838,end apogee,CONTROL_FINISHED_OK
$STATE,7838,begin climb
$GC,7840,1.56,146.0,742.1,0.0,769,7973,1.92,2.47,122.20,1.128,4,0.057,0.058,3247,3714,2151
$GC,8002,1.25,146.0,735.1,12.3,776,8007,0.38,2.35,0.00,0.000,6,0.135,0.039,3183,2373,2151
$GC,8324,1.13,146.0,704.3,10.1,792,8326,0.17,0.00,0.00,0.000,6,0.123,0.000,3152,2373,2149
$GC,8633,1.08,152.0,676.6,8.7,807,8642,0.00,2.58,4.25,1.148,4,0.000,0.060,3152,973,2128
$GC,8678,1.01,156.4,672.6,8.8,809,8687,0.15,2.42,4.20,1.153,6,0.117,0.039,3126,2353,2110
$GC,9011,1.09,208.9,647.8,6.7,825,9060,0.00,2.60,43.92,1.111,4,0.000,0.059,3125,964,1895
$GC,9151,1.11,221.1,636.5,8.5,831,9167,0.00,2.40,10.50,1.122,6,0.000,0.039,3125,2329,1845
$GC,9495,1.18,234.1,607.7,8.4,848,9508,0.17,0.00,10.62,1.127,6,0.064,0.000,3168,2329,1793
$GC,9804,1.16,240.1,578.8,8.7,863,9815,0.00,2.53,5.60,1.121,4,0.000,0.059,3168,964,1768
$GC,9854,1.12,240.1,574.1,9.9,865,9858,0.00,2.38,0.00,0.000,6,0.000,0.039,3168,2315,1767
$GC,10169,1.12,240.1,546.8,9.0,880,10174,0.00,2.45,0.00,0.000,4,0.000,0.058,3168,971,1767
$GC,10214,1.07,240.1,542.4,9.9,882,10218,0.15,2.30,0.00,0.000,6,0.110,0.038,3142,2287,1766
$GC,10535,1.07,240.1,513.3,9.2,898,10539,0.00,2.58,0.00,0.000,4,0.000,0.058,3142,3728,1766
$GC,10568,1.07,240.1,509.9,10.1,899,10575,0.00,2.47,0.00,0.000,6,0.000,0.038,3142,2295,1766
$GC,10892,1.11,243.9,481.3,8.8,925,10905,0.00,2.42,3.05,1.069,4,0.000,0.058,3142,976,1753
$GC,10977,1.11,243.9,472.9,9.4,932,10985,0.00,2.28,0.00,0.000,6,0.000,0.038,3142,2283,1752
$GC,11307,1.20,273.7,446.0,7.7,963,11343,0.12,2.47,25.38,1.006,4,0.067,0.056,3171,973,1632
$GC,11377,1.20,273.7,439.3,9.7,969,11381,0.00,2.25,0.00,0.000,6,0.000,0.037,3172,2258,1630
$GC,11704,1.20,277.6,410.2,8.8,999,11717,0.00,2.67,3.22,1.020,4,0.000,0.056,3172,3720,1616
$GC,11733,1.20,277.6,407.3,10.1,1001,11740,0.00,2.53,0.00,0.000,6,0.000,0.038,3172,2264,1616
$GC,12061,1.20,277.6,378.6,9.0,1032,12065,0.00,2.33,0.00,0.000,4,0.000,0.056,3172,964,1616
$GC,12101,1.20,277.6,374.2,10.9,1035,12105,0.00,2.28,0.00,0.000,6,0.000,0.036,3171,2277,1615
$GC,12427,1.20,277.6,343.9,9.3,1065,12431,0.00,2.58,0.00,0.000,4,0.000,0.054,3171,3729,1615
$GC,12455,1.20,277.6,340.9,10.5,1067,12460,0.00,2.53,0.00,0.000,6,0.000,0.037,3172,2263,1615
$GC,12780,1.20,277.6,308.9,9.7,1097,12784,0.00,2.30,0.00,0.000,4,0.000,0.056,3172,963,1615
$GC,12829,1.20,277.6,303.9,9.2,1101,12836,0.00,2.28,0.00,0.000,6,0.000,0.035,3172,2287,1615
$GC,13156,1.21,280.5,275.0,8.9,1132,13165,0.00,0.00,2.85,0.932,6,0.000,0.000,3171,2287,1603
$GC,13485,1.22,289.7,246.8,8.6,1166,13498,0.00,2.45,7.68,0.893,4,0.000,0.054,3172,969,1567
$GC,13522,1.22,289.7,243.4,9.1,1172,13528,0.00,2.25,0.00,0.000,6,0.000,0.035,3171,2267,1567
$GC,13867,1.29,303.4,213.0,8.4,1233,13887,0.00,2.65,11.38,0.844,4,0.000,0.053,3172,3735,1512
$GC,13932,1.29,303.4,206.9,9.1,1244,13939,0.00,2.55,0.00,0.000,6,0.000,0.035,3171,2255,1511
$GC,14278,1.36,318.8,177.4,8.3,1305,14300,0.15,2.33,12.82,0.802,4,0.061,0.053,3213,970,1447
$GC,14329,1.36,318.8,172.4,10.2,1313,14336,0.00,2.25,0.00,0.000,6,0.000,0.034,3213,2271,1446
$GC,14673,1.37,322.9,140.2,8.8,1374,14681,0.00,2.62,3.20,0.811,4,0.000,0.049,3212,3726,1431
$GC,14705,1.37,322.9,137.2,9.2,1379,14712,0.00,2.55,0.00,0.000,6,0.000,0.034,3212,2239,1431
$GC,15051,1.46,353.4,109.8,7.7,1440,15084,0.00,2.67,25.08,0.709,4,0.000,0.046,3212,3729,1306
$GC,15119,1.53,359.8,104.5,8.7,1451,15133,0.12,2.47,5.12,0.743,6,0.062,0.033,3246,2287,1281
$GC,15474,1.65,405.2,78.9,7.0,1513,15520,0.00,2.42,36.47,0.651,4,0.000,0.049,3246,964,1095
$GC,15624,1.77,427.5,67.0,8.0,1538,15652,0.20,2.22,18.12,0.647,6,0.045,0.031,3302,2275,1004
$GC,15992,1.82,439.4,35.5,8.5,1602,16007,0.00,2.38,8.98,0.625,4,0.000,0.045,3303,969,955
$GC,16131,1.82,439.4,23.7,9.1,1626,16138,0.00,2.10,0.00,0.000,6,0.000,0.028,3302,2221,954
$STATE,16378,end climb,SURFACE_DEPTH_REACHED
$STATE,16378,begin surface coast
$FINISH,-0.2,1.020627
$STATE,16402,end surface coast,CONTROL_FINISHED_OK
$STATE,16402,begin surface
$SM_CCo,16425,17.75,0.563,0,0,811,475.15
$SM_GC,0.66,0.00,0.00,17.75,0.000,0.000,0.563,253,2120,811,-12.20,-0.82,475.15
$IRIDIUM_FIX,1238.83,12018.41,030797,202022
$TT8_MAMPS,0.023777
$HUMID,1937
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.00
$XPDR_PINGS,401
$24V_AH,23.3,46.142
$10V_AH,10.1,23.506
$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,32.125,159.300,483.350,17.750,0.000,25.375,56.043,156.492,106.250,0.000,0.000,40.831,3437.475,9411.602,683.591,2742.854,562.263,0.000,2069.612,0.000,2667.773,0.000,44.452
$DEVICE_MAMPS,171.041,59.826,1168.908,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53494,1674
$CAP_FILE_SIZE,167319,0
$CFSIZE,260165632,236916736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,166.7,1
$GPS,090408,055702,1246.411,12023.679,41,1.1,41,-0.8