version: 66.03
glider: 122
mission: 6
dive: 261
start: 4 11 108 11 47 0
data:
$ID,122
$MISSION,6
$DIVE,261
$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,-32792.34
$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,59
$R_STBD_OVSHOOT,33
$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
$GPS1,114108,1251.287,12041.933,34,1.0,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.6
$GPS2,114626,1251.258,12041.931,11,1.4,11,-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,141.8,1794,-18.6,-9.016
$D_GRID,838
$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,-60.00,0.000,2,0.000,0.000,252,2118,2470
$GC,87,-1.56,-146.0,3.6,-7.8,10,125,13.40,2.35,-16.33,0.000,4,0.171,0.054,2561,773,3347
$GC,218,-1.29,-146.0,32.2,-19.3,32,226,0.32,2.33,0.00,0.000,6,0.117,0.026,2620,2163,3348
$GC,564,-1.18,-146.0,88.7,-14.4,93,572,0.15,2.38,0.00,0.000,4,0.114,0.042,2651,3549,3350
$GC,696,-1.18,-146.0,105.3,-11.8,116,703,0.00,2.22,0.00,0.000,6,0.000,0.025,2651,2195,3351
$GC,1042,-1.23,-146.0,142.4,-8.9,177,1049,0.00,2.30,0.00,0.000,4,0.000,0.042,2651,3549,3352
$GC,1089,-1.23,-146.0,146.5,-7.6,185,1096,0.00,2.22,0.00,0.000,6,0.000,0.026,2652,2193,3352
$GC,1435,-1.30,-146.0,173.9,-8.1,246,1442,0.15,2.33,0.00,0.000,4,0.050,0.041,2602,3552,3353
$GC,1529,-1.26,-146.0,183.2,-9.4,262,1536,0.15,2.17,0.00,0.000,6,0.091,0.027,2631,2230,3353
$GC,1875,-1.31,-146.0,211.7,-7.6,323,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2228,3353
$GC,2220,-1.36,-146.0,239.5,-8.2,384,2227,0.10,2.28,0.00,0.000,4,0.061,0.044,2598,3552,3353
$GC,2301,-1.36,-146.0,247.3,-9.7,398,2307,0.00,2.17,0.00,0.000,6,0.000,0.029,2598,2240,3353
$GC,2635,-1.36,-146.0,277.7,-9.3,432,2639,0.00,2.25,0.00,0.000,4,0.000,0.045,2598,3547,3352
$GC,2702,-1.36,-146.0,284.2,-9.1,437,2709,0.00,2.10,0.00,0.000,6,0.000,0.029,2598,2275,3351
$GC,3029,-1.36,-146.0,311.3,-8.5,468,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2272,3350
$GC,3346,-1.36,-146.0,336.6,-8.3,498,3350,0.00,2.20,0.00,0.000,4,0.000,0.047,2598,3546,3348
$GC,3391,-1.36,-146.0,340.5,-8.8,502,3395,0.00,2.10,0.00,0.000,6,0.000,0.031,2598,2280,3348
$GC,3724,-1.36,-146.0,371.5,-9.7,533,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2278,3346
$GC,4042,-1.36,-146.0,398.8,-7.7,563,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2278,3345
$GC,4359,-1.36,-146.0,423.6,-8.3,593,4363,0.00,2.22,0.00,0.000,4,0.000,0.049,2598,3554,3343
$GC,4392,-1.36,-146.0,426.7,-8.9,595,4399,0.00,2.10,0.00,0.000,6,0.000,0.031,2598,2304,3343
$GC,4718,-1.36,-146.0,454.4,-9.2,626,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,3340
$GC,5036,-1.36,-146.0,482.6,-8.3,656,5041,0.00,2.75,0.00,0.000,4,0.000,0.052,2598,758,3339
$GC,5064,-1.36,-146.0,485.1,-8.7,658,5069,0.00,2.65,0.00,0.000,6,0.000,0.034,2598,2301,3338
$GC,5399,-1.36,-146.0,512.1,-8.0,682,5404,0.00,2.72,0.00,0.000,4,0.000,0.051,2598,765,3336
$GC,5426,-1.36,-146.0,514.7,-8.0,683,5431,0.00,2.62,0.00,0.000,6,0.000,0.035,2598,2291,3335
$GC,5743,-1.36,-146.0,539.2,-7.5,698,5747,0.00,2.20,0.00,0.000,4,0.000,0.053,2598,3547,3334
$GC,5771,-1.39,-146.0,541.3,-6.9,699,5775,0.00,2.12,0.00,0.000,6,0.000,0.033,2598,2290,3333
$GC,6087,-1.39,-146.0,565.4,-7.8,714,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2288,3332
$GC,6396,-1.72,-146.0,577.7,0.5,729,6401,0.28,2.22,0.00,0.000,4,0.039,0.051,2517,3550,3330
$STATE,6434,end dive,NO_VERTICAL_VELOCITY
$STATE,6434,begin apogee
$GC,6441,-0.35,0.0,577.6,0.0,731,6563,1.48,0.00,117.45,1.020,6,0.074,0.000,2828,2373,2748
$STATE,6563,end apogee,CONTROL_FINISHED_OK
$STATE,6564,begin climb
$GC,6566,1.56,146.0,577.3,0.0,737,6696,1.95,2.58,118.20,0.982,4,0.069,0.054,3241,979,2152
$GC,6842,1.32,146.0,558.4,10.8,749,6847,0.28,2.42,0.00,0.000,6,0.122,0.036,3192,2367,2151
$GC,7159,1.26,182.2,532.5,7.4,764,7195,0.00,2.62,28.83,0.989,4,0.000,0.054,3192,979,2004
$GC,7274,1.15,182.2,522.2,9.6,769,7279,0.20,2.40,0.00,0.000,6,0.113,0.036,3156,2354,2003
$GC,7596,1.23,231.9,499.2,6.8,785,7643,0.00,2.55,40.12,0.974,4,0.000,0.055,3156,977,1800
$GC,7689,1.23,233.2,491.3,9.0,793,7693,0.00,2.35,0.00,0.000,6,0.000,0.036,3156,2321,1799
$GC,8016,1.23,233.2,462.6,9.6,823,8020,0.00,2.42,0.00,0.000,4,0.000,0.055,3156,978,1798
$GC,8082,1.23,233.2,455.5,10.0,828,8089,0.00,2.30,0.00,0.000,6,0.000,0.037,3156,2298,1797
$GC,8409,1.24,237.7,426.5,8.8,859,8422,0.00,2.42,3.97,0.996,4,0.000,0.054,3156,987,1778
$GC,8502,1.24,240.0,418.4,8.9,867,8514,0.00,2.22,2.50,0.984,6,0.000,0.037,3156,2267,1769
$GC,8832,1.30,253.7,389.6,8.4,898,8850,0.15,2.35,11.60,0.962,4,0.061,0.055,3197,979,1712
$GC,8877,1.23,253.7,385.0,10.8,901,8885,0.12,2.22,0.00,0.000,6,0.114,0.037,3176,2249,1712
$GC,9202,1.23,253.7,354.3,9.2,932,9206,0.00,2.28,0.00,0.000,4,0.000,0.055,3176,983,1711
$GC,9242,1.23,253.7,350.6,9.8,935,9246,0.00,2.12,0.00,0.000,6,0.000,0.036,3176,2215,1710
$GC,9568,1.27,277.3,324.5,8.0,965,9589,0.00,0.00,19.10,0.906,6,0.000,0.000,3176,2215,1617
$GC,9908,1.29,290.2,294.1,8.4,997,9923,0.00,2.75,10.48,0.900,4,0.000,0.054,3176,3732,1565
$GC,9951,1.34,299.7,290.2,8.6,1000,9970,0.00,2.60,8.07,0.886,6,0.000,0.036,3175,2230,1526
$GC,10288,1.40,300.2,258.4,9.0,1032,10292,0.15,2.25,0.00,0.000,4,0.064,0.054,3215,974,1524
$GC,10389,1.35,300.2,248.0,10.1,1042,10396,0.00,2.12,0.00,0.000,6,0.000,0.035,3215,2206,1523
$GC,10734,1.35,300.2,213.2,10.1,1103,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2206,1523
$GC,11078,1.39,324.3,183.0,7.9,1164,11104,0.00,2.30,19.77,0.792,4,0.000,0.053,3215,980,1424
$GC,11201,1.40,328.4,172.4,8.8,1185,11209,0.00,2.10,3.10,0.828,6,0.000,0.035,3215,2200,1409
$GC,11548,1.50,363.1,144.5,7.5,1246,11582,0.00,2.28,28.65,0.737,4,0.000,0.051,3215,982,1266
$GC,11612,1.58,364.3,139.2,9.0,1256,11619,0.15,1.98,0.00,0.000,6,0.063,0.033,3251,2131,1265
$GC,11958,1.68,394.3,109.5,7.7,1317,11991,0.00,2.88,25.02,0.703,4,0.000,0.050,3251,3724,1139
$GC,12077,1.76,413.5,99.7,8.2,1337,12099,0.17,2.67,15.73,0.700,6,0.057,0.034,3295,2168,1061
$GC,12438,1.77,416.7,67.8,8.9,1400,12445,0.00,0.00,1.90,0.713,6,0.000,0.000,3295,2167,1049
$GC,12783,1.90,455.0,43.9,7.3,1461,12822,0.10,0.00,31.42,0.612,6,0.067,0.000,3325,2166,892
$GC,13163,1.96,461.2,11.4,8.7,1527,13177,0.00,2.15,4.43,0.614,4,0.000,0.047,3325,976,866
$GC,13256,1.98,473.4,2.9,8.5,1543,13270,0.00,2.08,8.30,0.586,6,0.000,0.028,3325,2219,818
$STATE,13275,end climb,SURFACE_DEPTH_REACHED
$STATE,13275,begin surface coast
$FINISH,-0.0,1.008731
$STATE,13298,end surface coast,CONTROL_FINISHED_OK
$STATE,13299,begin surface
$SM_CCo,13322,-0.08,0.000,0,0,812,475.15
$SM_GC,1.52,0.00,0.00,-0.08,0.000,0.000,0.000,251,2123,812,-12.21,-0.76,475.15
$IRIDIUM_FIX,1245.46,12042.28,060797,080820
$TT8_MAMPS,0.023777
$HUMID,2014
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,23.90
$XPDR_PINGS,438
$24V_AH,23.5,48.087
$10V_AH,10.2,24.536
$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,32.700,116.575,498.650,0.000,0.000,23.525,36.857,141.271,111.500,0.000,0.000,11.946,3157.011,6895.177,641.336,2468.854,489.193,0.000,1897.023,0.000,2448.185,0.000,15.447
$DEVICE_MAMPS,171.041,62.894,1020.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47212,1550
$CAP_FILE_SIZE,144829,0
$CFSIZE,260165632,236003328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,341.6,1
$GPS,110408,153008,1251.002,12042.157,29,1.0,29,-0.8