version: 66.03
glider: 122
mission: 6
dive: 350
start: 5 2 108 15 5 49
data:
$ID,122
$MISSION,6
$DIVE,350
$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,-34251.809
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$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
$GPS1,145938,1250.895,12042.754,29,0.8,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.7
$GPS2,150515,1250.898,12042.739,14,1.1,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,248.7,50163,-18.6,-9.016
$D_GRID,1049
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-58.10,0.000,2,0.000,0.000,249,2194,2425
$GC,88,-1.56,-146.0,3.5,-9.2,11,126,13.30,2.47,-17.38,0.000,4,0.167,0.052,2561,3628,3345
$GC,242,-1.28,-146.0,35.0,-18.6,37,249,0.32,2.35,0.00,0.000,6,0.117,0.025,2621,2198,3346
$GC,588,-1.19,-146.0,85.8,-13.3,98,596,0.12,2.45,0.00,0.000,4,0.117,0.042,2644,3623,3348
$GC,665,-1.13,-146.0,95.3,-12.2,111,672,0.00,2.25,0.00,0.000,6,0.000,0.025,2644,2246,3348
$GC,1011,-1.18,-146.0,133.0,-9.6,172,1018,0.00,2.38,0.00,0.000,4,0.000,0.043,2644,3635,3350
$GC,1053,-1.22,-146.0,137.1,-10.2,179,1060,0.00,2.25,0.00,0.000,6,0.000,0.026,2644,2258,3351
$GC,1400,-1.38,-146.0,165.6,-8.9,240,1407,0.15,2.45,0.00,0.000,4,0.048,0.040,2588,828,3352
$GC,1471,-1.38,-146.0,172.8,-10.5,252,1478,0.00,2.62,0.00,0.000,6,0.000,0.029,2588,2395,3352
$GC,1816,-1.38,-146.0,203.1,-7.4,313,1824,0.00,2.72,0.00,0.000,4,0.000,0.042,2588,820,3352
$GC,1871,-1.38,-146.0,207.8,-8.2,322,1878,0.00,2.60,0.00,0.000,6,0.000,0.030,2588,2366,3352
$GC,2217,-1.38,-146.0,236.3,-8.2,383,2224,0.00,2.67,0.00,0.000,4,0.000,0.044,2588,828,3352
$GC,2259,-1.38,-146.0,240.2,-9.2,390,2266,0.00,2.50,0.00,0.000,6,0.000,0.031,2588,2310,3351
$GC,2598,-1.38,-146.0,269.0,-8.0,431,2602,0.00,2.25,0.00,0.000,4,0.000,0.050,2589,3624,3351
$GC,2648,-1.34,-146.0,273.5,-9.2,435,2656,0.12,2.17,0.00,0.000,6,0.100,0.029,2612,2301,3350
$GC,2974,-1.45,-146.0,300.3,-8.3,466,2979,0.12,2.28,0.00,0.000,4,0.054,0.045,2572,3629,3349
$GC,3103,-1.38,-146.0,312.2,-9.1,477,3111,0.15,2.00,0.00,0.000,6,0.100,0.030,2600,2412,3349
$GC,3430,-1.48,-146.0,337.7,-8.4,508,3434,0.00,2.10,0.00,0.000,4,0.000,0.048,2600,3633,3347
$GC,3532,-1.48,-146.0,346.8,-8.8,517,3536,0.00,2.15,0.00,0.000,6,0.000,0.031,2600,2339,3346
$GC,3861,-1.57,-146.0,373.0,-7.5,547,3866,0.15,2.25,0.00,0.000,4,0.052,0.048,2551,3635,3344
$GC,3994,-1.46,-146.0,385.5,-9.5,558,3999,0.17,1.98,0.00,0.000,6,0.107,0.031,2583,2445,3343
$GC,4320,-1.46,-146.0,411.5,-7.2,588,4324,0.00,2.85,0.00,0.000,4,0.000,0.051,2583,833,3342
$GC,4420,-1.46,-146.0,419.8,-8.2,596,4427,0.00,2.67,0.00,0.000,6,0.000,0.034,2583,2401,3342
$GC,4748,-1.51,-146.0,446.6,-7.7,627,4752,0.00,2.12,0.00,0.000,4,0.000,0.051,2583,3622,3340
$GC,4844,-1.51,-146.0,454.8,-8.2,635,4851,0.00,2.22,0.00,0.000,6,0.000,0.033,2583,2294,3338
$GC,5173,-1.83,-146.0,474.7,0.5,666,5179,0.32,2.62,0.00,0.000,4,0.038,0.053,2489,825,3336
$STATE,5362,end dive,NO_VERTICAL_VELOCITY
$STATE,5362,begin apogee
$GC,5371,-0.35,0.0,473.9,0.0,682,5491,1.55,0.00,115.72,0.923,6,0.064,0.000,2826,2337,2748
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5495,1.56,146.0,473.6,0.0,694,5621,1.95,2.55,116.50,0.895,4,0.066,0.054,3242,3719,2152
$GC,5652,1.32,152.3,467.4,8.7,708,5665,0.28,2.38,4.75,0.923,6,0.133,0.035,3196,2347,2127
$GC,5983,1.29,200.4,444.2,6.9,739,6029,0.00,2.62,38.22,0.897,4,0.000,0.055,3195,928,1930
$GC,6150,1.19,203.6,430.0,8.9,753,6159,0.17,2.38,2.40,0.925,6,0.116,0.036,3165,2294,1918
$GC,6476,1.23,228.5,404.5,7.9,784,6501,0.00,2.58,20.00,0.897,4,0.000,0.055,3165,931,1815
$GC,6536,1.23,228.5,399.3,9.3,789,6540,0.00,2.30,0.00,0.000,6,0.000,0.036,3165,2249,1814
$GC,6863,1.27,248.6,373.7,8.1,819,6887,0.00,2.70,15.73,0.895,4,0.000,0.054,3165,3731,1735
$GC,6950,1.27,250.2,365.8,8.9,826,6957,0.00,2.55,0.00,0.000,6,0.000,0.036,3165,2252,1734
$GC,7277,1.39,276.3,339.5,7.8,857,7306,0.17,2.67,22.60,0.871,4,0.060,0.052,3211,3720,1621
$GC,7398,1.33,276.3,327.8,10.3,867,7405,0.00,2.72,0.00,0.000,6,0.000,0.038,3211,2154,1619
$GC,7725,1.29,276.3,297.2,9.5,898,7731,0.15,2.80,0.00,0.000,4,0.118,0.050,3182,3729,1617
$GC,7755,1.29,276.3,294.4,9.2,900,7759,0.00,2.70,0.00,0.000,6,0.000,0.037,3182,2168,1618
$GC,8082,1.38,329.2,269.7,6.6,930,8130,0.00,2.90,42.60,0.815,4,0.000,0.051,3182,3730,1405
$GC,8193,1.44,334.0,260.5,8.8,939,8204,0.17,2.65,3.62,0.860,6,0.059,0.037,3224,2201,1385
$GC,8537,1.44,334.0,226.2,9.0,991,8544,0.00,2.70,0.00,0.000,4,0.000,0.050,3224,3721,1382
$GC,8579,1.44,334.0,222.2,10.1,998,8587,0.00,2.58,0.00,0.000,6,0.000,0.036,3224,2230,1382
$GC,8925,1.44,334.0,190.4,9.7,1059,8932,0.00,2.33,0.00,0.000,4,0.000,0.057,3224,933,1381
$GC,8956,1.44,334.0,187.3,9.9,1064,8962,0.00,2.30,0.00,0.000,6,0.000,0.035,3224,2265,1380
$GC,9302,1.52,353.3,157.0,8.2,1125,9322,0.00,2.47,15.25,0.760,4,0.000,0.052,3224,935,1306
$GC,9425,1.60,373.3,146.5,8.1,1146,9447,0.12,2.20,16.35,0.744,6,0.061,0.035,3258,2214,1226
$GC,9788,1.70,401.4,116.9,7.8,1209,9816,0.00,2.40,22.88,0.702,4,0.000,0.052,3259,931,1111
$GC,9956,1.87,443.9,104.7,7.1,1237,9997,0.25,2.22,35.17,0.675,6,0.044,0.033,3322,2231,937
$GC,10337,1.88,445.6,71.6,8.9,1303,10345,0.00,2.62,0.00,0.000,4,0.000,0.048,3322,3733,932
$GC,10402,1.88,445.6,65.4,9.3,1314,10409,0.00,2.67,0.00,0.000,6,0.000,0.032,3322,2162,931
$GC,10749,2.01,467.3,36.9,8.0,1375,10776,0.00,2.78,18.12,0.609,4,0.000,0.044,3322,3723,842
$GC,10835,2.11,493.5,30.3,7.8,1389,10863,0.20,2.53,21.05,0.592,6,0.050,0.029,3374,2229,736
$STATE,11120,end climb,SURFACE_DEPTH_REACHED
$STATE,11120,begin surface coast
$FINISH,-0.1,1.020953
$STATE,11139,end surface coast,CONTROL_FINISHED_OK
$STATE,11139,begin surface
$SM_CCo,11223,0.00,0.000,0,0,728,495.51
$SM_GC,0.69,13.70,0.00,0.00,0.038,0.000,0.000,251,2222,728,-12.17,0.17,495.51
$IRIDIUM_FIX,1245.46,12045.31,270797,111137
$TT8_MAMPS,0.023777
$HUMID,2056
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.00
$XPDR_PINGS,525
$24V_AH,23.4,65.103
$10V_AH,10.2,33.482
$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,33.675,128.375,510.975,0.000,0.000,25.237,32.067,148.676,131.250,0.000,0.000,14.460,2920.394,5154.229,638.459,2325.229,529.296,0.000,1827.681,0.000,2303.833,0.000,0.932
$DEVICE_MAMPS,167.206,56.758,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44138,1442
$CAP_FILE_SIZE,132324,0
$CFSIZE,260165632,227950592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,345.9,1
$GPS,020508,181407,1251.461,12042.028,40,0.9,40,-0.8