version: 66.03
glider: 122
mission: 6
dive: 17
start: 2 19 108 6 16 49
data:
$ID,122
$MISSION,6
$DIVE,17
$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,-27779.705
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.83
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,33
$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
$GPS1,060308,1245.491,12015.531,30,0.8,30,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.0
$GPS2,061557,1245.625,12015.310,14,1.1,14,-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,80.0,50435,-23.3,-10.000
$D_GRID,823
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.72,-86.6,0.0,0.0,0,86,0.00,0.00,-66.45,0.000,2,0.000,0.000,253,2171,2663
$GC,88,-1.80,-134.3,3.0,-5.9,13,116,13.05,2.35,-8.00,0.000,4,0.171,0.053,2512,813,3087
$GC,228,-1.80,-134.3,47.1,-30.1,38,234,0.00,2.33,0.00,0.000,6,0.000,0.028,2513,2208,3089
$GC,572,-1.80,-134.3,116.6,-17.9,99,578,0.00,2.38,0.00,0.000,4,0.000,0.046,2513,3608,3090
$GC,622,-1.80,-134.3,125.3,-16.7,108,628,0.00,2.30,0.00,0.000,6,0.000,0.028,2513,2217,3091
$GC,964,-1.80,-134.3,182.4,-15.3,169,971,0.00,2.47,0.00,0.000,4,0.000,0.048,2513,796,3092
$GC,1223,-1.80,-134.3,219.4,-14.3,215,1229,0.00,2.35,0.00,0.000,6,0.000,0.030,2513,2204,3092
$GC,1564,-1.80,-134.3,265.2,-13.3,266,1568,0.00,2.45,0.00,0.000,4,0.000,0.051,2513,800,3091
$GC,1686,-1.80,-134.3,281.6,-13.6,276,1693,0.00,2.38,0.00,0.000,6,0.000,0.031,2513,2194,3091
$GC,2013,-1.80,-134.3,323.2,-13.0,307,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2195,3089
$GC,2330,-1.80,-134.3,362.9,-12.1,337,2334,0.00,2.47,0.00,0.000,4,0.000,0.053,2513,795,3087
$GC,2586,-1.80,-134.3,395.0,-12.2,359,2593,0.00,2.40,0.00,0.000,6,0.000,0.032,2513,2198,3085
$GC,2911,-1.80,-134.3,431.7,-11.4,390,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2198,3083
$GC,3229,-1.80,-134.3,467.6,-10.8,420,3233,0.00,2.47,0.00,0.000,4,0.000,0.053,2513,801,3082
$GC,3313,-1.80,-134.3,477.7,-12.0,427,3317,0.00,2.40,0.00,0.000,6,0.000,0.035,2513,2209,3081
$GC,3633,-1.80,-134.3,511.1,-10.2,452,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2209,3079
$GC,3944,-1.80,-134.3,545.1,-10.9,467,3948,0.00,2.45,0.00,0.000,4,0.000,0.054,2513,3609,3076
$GC,4005,-1.80,-134.3,552.6,-11.4,470,4009,0.00,2.38,0.00,0.000,6,0.000,0.034,2513,2199,3076
$GC,4337,-1.81,-139.9,588.8,-9.5,486,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2196,3074
$GC,4646,-1.82,-144.5,619.0,-9.6,501,4650,0.00,2.47,0.00,0.000,4,0.000,0.055,2513,3606,3072
$GC,4694,-1.82,-144.5,624.5,-10.7,503,4699,0.00,2.40,0.00,0.000,6,0.000,0.035,2513,2201,3072
$GC,5015,-1.82,-144.5,657.5,-10.3,519,5019,0.00,2.50,0.00,0.000,4,0.000,0.058,2512,792,3071
$GC,5109,-1.82,-144.5,667.6,-10.5,523,5114,0.00,2.42,0.00,0.000,6,0.000,0.035,2513,2194,3070
$GC,5430,-1.82,-146.0,699.5,-9.7,539,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2195,3068
$GC,5739,-1.82,-146.0,727.7,-9.5,554,5744,0.00,2.47,0.00,0.000,4,0.000,0.057,2513,3606,3066
$GC,5800,-1.82,-146.0,734.2,-10.7,557,5805,0.00,2.38,0.00,0.000,6,0.000,0.036,2512,2193,3066
$GC,6132,-1.82,-146.0,767.5,-9.4,573,6136,0.00,2.50,0.00,0.000,4,0.000,0.060,2513,789,3065
$GC,6180,-1.82,-146.0,772.1,-9.4,575,6185,0.00,2.45,0.00,0.000,6,0.000,0.036,2513,2201,3065
$GC,6501,-1.82,-146.0,800.3,-9.1,591,6506,0.00,2.50,0.00,0.000,4,0.000,0.058,2513,800,3063
$GC,6545,-1.82,-146.0,804.6,-9.9,593,6549,0.00,2.42,0.00,0.000,6,0.000,0.037,2513,2199,3063
$STATE,6767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6767,begin apogee
$GC,6771,-0.34,0.0,824.2,9.0,604,6883,1.62,0.00,108.32,1.256,6,0.114,0.000,2831,2408,2539
$STATE,6884,end apogee,CONTROL_FINISHED_OK
$STATE,6884,begin climb
$GC,6885,1.82,146.0,825.9,0.0,609,7013,2.17,0.00,122.55,1.213,6,0.058,0.000,3308,2408,1943
$GC,7315,1.82,146.0,753.3,19.2,630,7319,0.00,2.55,0.00,0.000,4,0.000,0.058,3308,999,1940
$GC,7392,1.82,146.0,737.8,20.1,633,7399,0.00,2.45,0.00,0.000,6,0.000,0.039,3308,2389,1939
$GC,7707,1.82,146.0,677.6,19.0,649,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2390,1938
$GC,8017,1.82,146.0,619.7,19.1,664,8021,0.00,2.50,0.00,0.000,4,0.000,0.057,3308,999,1937
$GC,8116,1.82,146.0,600.9,18.6,668,8123,0.00,2.45,0.00,0.000,6,0.000,0.038,3308,2397,1937
$GC,8433,1.82,146.0,544.4,18.1,684,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2397,1936
$GC,8742,1.82,146.0,488.4,18.1,702,8746,0.00,2.35,0.00,0.000,4,0.000,0.059,3309,3723,1936
$GC,8825,1.82,146.0,472.5,19.7,709,8832,0.00,2.28,0.00,0.000,6,0.000,0.035,3308,2403,1936
$GC,9150,1.82,146.0,417.6,16.1,740,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2400,1935
$GC,9468,1.82,146.0,364.4,16.2,770,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2400,1934
$GC,9787,1.82,146.0,313.7,15.7,800,9791,0.00,2.50,0.00,0.000,4,0.000,0.054,3308,993,1934
$GC,9915,1.82,146.0,293.2,16.4,811,9920,0.00,2.42,0.00,0.000,6,0.000,0.036,3308,2410,1934
$GC,10241,1.82,146.0,244.6,14.7,844,10247,0.00,2.50,0.00,0.000,4,0.000,0.051,3308,995,1934
$GC,10325,1.82,146.0,232.4,14.5,859,10331,0.00,2.40,0.00,0.000,6,0.000,0.035,3308,2402,1934
$GC,10668,1.82,146.0,184.1,14.5,920,10674,0.00,2.47,0.00,0.000,4,0.000,0.050,3308,995,1934
$GC,10746,1.82,146.0,174.0,12.6,934,10752,0.00,2.40,0.00,0.000,6,0.000,0.035,3308,2404,1934
$GC,11089,1.82,146.0,134.4,10.9,995,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2405,1935
$GC,11431,1.85,164.8,100.0,8.4,1056,11453,0.00,2.58,13.02,0.745,4,0.000,0.049,3308,989,1867
$GC,11705,1.85,164.8,73.0,10.7,1105,11712,0.00,2.40,0.00,0.000,6,0.000,0.031,3308,2409,1867
$GC,12049,1.97,237.6,48.2,3.7,1166,12111,0.15,2.38,56.67,0.643,4,0.069,0.047,3343,3725,1570
$GC,12348,1.97,237.6,17.8,13.1,1220,12354,0.00,2.22,0.00,0.000,6,0.000,0.028,3343,2381,1568
$STATE,12510,end climb,SURFACE_DEPTH_REACHED
$STATE,12511,begin surface coast
$FINISH,-0.2,1.021819
$STATE,12528,end surface coast,CONTROL_FINISHED_OK
$STATE,12528,begin surface
$SM_CCo,12548,83.18,0.565,0,0,867,410.14
$SM_GC,0.71,0.00,0.00,83.18,0.000,0.000,0.565,250,2179,867,-12.24,-0.62,410.14
$IRIDIUM_FIX,1238.83,12015.39,150597,060621
$TT8_MAMPS,0.023777
$HUMID,1856
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,361
$ALTIM_BOTTOM_PING,110.5,13.1
$24V_AH,23.3,7.653
$10V_AH,10.2,2.478
$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,30.725,97.600,300.575,83.175,0.000,104.708,168.744,219.396,91.750,0.000,0.000,14.174,1979.342,8228.942,518.731,2085.486,622.722,0.000,1554.126,0.000,2052.991,0.000,11.541
$DEVICE_MAMPS,171.041,59.826,1256.346,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40920,1252
$CAP_FILE_SIZE,117714,0
$CFSIZE,260165632,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,094809,1245.676,12016.947,15,2.0,15,-0.8