version: 66.03
glider: 122
mission: 6
dive: 105
start: 3 8 108 1 48 55
data:
$ID,122
$MISSION,6
$DIVE,105
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,554.62329
$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,-29342.664
$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,14.76
$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,33
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,1
$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
$GPS1,013125,1244.887,12015.816,38,1.6,38,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-68.3
$GPS2,014809,1244.671,12015.683,15,1.6,15,-0.8
$SPEED_LIMITS,0.156,0.209
$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,341.7,1788,-23.9,-9.016
$D_GRID,872
$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,18,-1.75,-80.7,0.0,0.0,0,98,0.00,0.00,-77.95,0.000,2,0.000,0.000,254,2141,2532
$GC,100,-1.79,-106.2,3.3,-6.9,11,132,12.90,2.42,-10.98,0.000,4,0.166,0.051,2509,3553,3112
$GC,195,-1.49,-106.2,30.1,-25.6,27,203,0.38,2.35,0.00,0.000,6,0.137,0.028,2575,2142,3114
$GC,541,-1.35,-106.2,99.2,-19.4,88,548,0.15,2.42,0.00,0.000,4,0.138,0.041,2604,3555,3114
$GC,633,-1.31,-106.2,115.0,-16.1,104,640,0.00,2.30,0.00,0.000,6,0.000,0.028,2604,2168,3114
$GC,978,-1.39,-106.2,165.3,-11.3,165,985,0.00,2.45,0.00,0.000,4,0.000,0.043,2604,749,3114
$GC,1014,-1.50,-106.2,169.6,-11.7,171,1021,0.12,2.35,0.00,0.000,6,0.054,0.028,2564,2164,3114
$GC,1358,-1.50,-106.2,210.0,-11.4,232,1365,0.00,2.35,0.00,0.000,4,0.000,0.045,2564,3547,3115
$GC,1410,-1.50,-106.2,216.2,-11.2,241,1417,0.00,2.25,0.00,0.000,6,0.000,0.028,2564,2183,3114
$GC,1758,-1.54,-106.2,254.5,-12.3,300,1763,0.00,2.50,0.00,0.000,4,0.000,0.047,2564,744,3114
$GC,1855,-1.57,-106.2,265.8,-10.8,308,1859,0.00,2.40,0.00,0.000,6,0.000,0.030,2564,2173,3114
$GC,2180,-1.61,-106.2,299.1,-10.8,338,2184,0.00,2.35,0.00,0.000,4,0.000,0.048,2564,3546,3112
$GC,2332,-1.66,-106.2,315.5,-11.1,351,2337,0.00,2.30,0.00,0.000,6,0.000,0.030,2564,2166,3112
$GC,2658,-1.71,-106.2,349.7,-11.0,381,2662,0.15,2.47,0.00,0.000,4,0.054,0.048,2517,751,3110
$GC,2769,-1.67,-106.2,365.9,-15.4,390,2777,0.12,2.35,0.00,0.000,6,0.120,0.031,2538,2142,3110
$GC,3093,-1.67,-106.2,406.3,-11.9,421,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2142,3107
$GC,3412,-1.67,-106.2,442.1,-10.7,451,3416,0.00,2.45,0.00,0.000,4,0.000,0.050,2538,750,3105
$GC,3462,-1.67,-106.2,447.6,-10.6,455,3466,0.00,2.35,0.00,0.000,6,0.000,0.031,2538,2140,3105
$GC,3787,-1.67,-106.2,479.8,-10.0,485,3791,0.00,2.45,0.00,0.000,4,0.000,0.050,2538,750,3102
$GC,3848,-1.67,-106.2,486.6,-11.3,490,3852,0.00,2.33,0.00,0.000,6,0.000,0.031,2538,2119,3102
$GC,4178,-1.67,-106.2,522.6,-10.8,511,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2120,3099
$GC,4486,-1.67,-106.2,555.7,-10.2,526,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2120,3097
$GC,4795,-1.67,-106.2,589.7,-10.8,541,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2121,3094
$GC,5105,-1.67,-106.2,622.1,-10.0,556,5109,0.00,2.42,0.00,0.000,4,0.000,0.053,2538,755,3092
$GC,5203,-1.67,-106.2,632.4,-10.6,560,5212,0.00,2.38,0.00,0.000,6,0.000,0.034,2538,2122,3092
$GC,5520,-1.67,-106.2,664.5,-10.7,576,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2123,3090
$GC,5829,-1.70,-106.2,698.1,-9.6,591,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2123,3088
$STATE,6116,end dive,NO_VERTICAL_VELOCITY
$STATE,6116,begin apogee
$GC,6121,-0.34,0.0,705.9,0.0,605,6208,1.35,0.00,83.25,1.144,6,0.062,0.000,2833,2392,2678
$STATE,6208,end apogee,CONTROL_FINISHED_OK
$STATE,6209,begin climb
$GC,6210,1.79,106.2,705.6,0.0,609,6307,2.05,2.47,87.88,1.103,4,0.044,0.058,3302,3718,2244
$GC,6364,1.56,106.2,692.3,16.9,616,6369,0.30,2.30,0.00,0.000,6,0.130,0.036,3249,2383,2243
$GC,6691,1.47,106.2,652.2,11.9,632,6693,0.12,0.00,0.00,0.000,6,0.134,0.000,3229,2381,2241
$GC,7000,1.42,106.2,615.6,12.7,647,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2381,2239
$GC,7309,1.38,106.2,579.3,11.7,662,7314,0.12,2.55,0.00,0.000,4,0.138,0.055,3208,963,2238
$GC,7363,1.38,106.2,573.2,10.7,664,7371,0.00,2.45,0.00,0.000,6,0.000,0.037,3208,2354,2238
$GC,7679,1.38,108.3,543.8,8.9,680,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2354,2238
$GC,7989,1.40,122.2,518.5,7.9,695,8011,0.00,2.50,11.77,1.083,4,0.000,0.058,3208,3731,2179
$GC,8195,1.40,122.2,497.7,10.3,704,8203,0.00,2.38,0.00,0.000,6,0.000,0.037,3208,2362,2178
$GC,8522,1.41,127.8,469.8,8.6,735,8531,0.00,0.00,4.43,1.068,6,0.000,0.000,3208,2360,2156
$GC,8850,1.43,136.0,441.2,8.4,766,8863,0.00,2.60,6.82,1.046,4,0.000,0.056,3208,963,2123
$GC,8977,1.43,139.0,430.2,8.8,777,8990,0.00,2.45,2.72,1.029,6,0.000,0.038,3208,2368,2111
$GC,9306,1.47,139.0,396.8,10.6,808,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,2110
$GC,9627,1.51,139.0,363.1,10.6,838,9631,0.12,2.50,0.00,0.000,4,0.075,0.053,3236,970,2110
$GC,9669,1.51,139.0,357.8,11.7,841,9677,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2354,2110
$GC,9997,1.51,139.0,323.8,9.5,872,10001,0.00,2.42,0.00,0.000,4,0.000,0.056,3235,3725,2110
$GC,10097,1.46,139.0,312.8,11.2,880,10105,0.00,2.35,0.00,0.000,6,0.000,0.036,3235,2349,2109
$GC,10423,1.48,150.5,283.1,8.1,911,10435,0.00,0.00,9.25,0.923,6,0.000,0.000,3236,2347,2064
$GC,10751,1.48,150.5,256.8,9.3,942,10756,0.00,2.45,0.00,0.000,4,0.000,0.054,3236,3730,2064
$GC,10817,1.48,150.5,250.2,9.5,947,10825,0.00,2.38,0.00,0.000,6,0.000,0.035,3236,2353,2064
$GC,11163,1.48,150.5,220.0,9.5,1008,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2352,2064
$GC,11507,1.55,166.7,193.0,7.7,1069,11527,0.00,2.50,12.90,0.828,4,0.000,0.051,3236,966,1996
$GC,11624,1.58,168.2,183.5,8.9,1089,11631,0.00,2.38,0.00,0.000,6,0.000,0.035,3235,2341,1996
$GC,11970,1.73,215.6,159.6,5.2,1150,12017,0.17,2.50,38.15,0.752,4,0.066,0.053,3280,3722,1797
$GC,12063,1.73,215.6,151.9,9.3,1165,12070,0.00,2.35,0.00,0.000,6,0.000,0.034,3280,2352,1797
$GC,12407,1.84,249.0,127.2,6.3,1226,12440,0.12,0.00,26.12,0.717,6,0.070,0.000,3310,2349,1661
$GC,12778,1.84,249.0,95.3,10.2,1291,12785,0.00,2.42,0.00,0.000,4,0.000,0.048,3310,972,1659
$GC,13009,1.86,258.0,74.2,8.3,1332,13024,0.00,2.38,6.93,0.695,6,0.000,0.031,3310,2366,1626
$GC,13361,1.92,258.0,46.8,9.4,1394,13368,0.00,2.45,0.00,0.000,4,0.000,0.044,3310,966,1626
$GC,13476,1.98,258.0,36.0,9.1,1414,13483,0.12,2.25,0.00,0.000,6,0.067,0.031,3342,2295,1626
$GC,13821,2.08,320.1,12.9,4.0,1475,13875,0.00,2.60,48.17,0.568,4,0.000,0.047,3342,3729,1371
$STATE,13942,end climb,SURFACE_DEPTH_REACHED
$STATE,13942,begin surface coast
$FINISH,-0.1,1.021770
$STATE,13959,end surface coast,CONTROL_FINISHED_OK
$STATE,13960,begin surface
$SM_CCo,13983,109.57,0.522,0,0,417,554.62
$SM_GC,0.70,0.00,0.00,109.57,0.000,0.000,0.522,253,2137,417,-12.20,-0.37,554.62
$IRIDIUM_FIX,1238.83,12016.50,020697,010156
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.70
$XPDR_PINGS,415
$ALTIM_BOTTOM_PING,690.1,4.2
$24V_AH,23.4,20.942
$10V_AH,10.2,9.998
$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,32.050,106.875,338.400,109.575,0.000,129.089,123.468,385.817,109.000,0.000,0.000,16.151,3069.831,8121.333,635.762,2427.371,863.360,0.000,1838.786,0.000,2396.269,0.000,39.835
$DEVICE_MAMPS,166.439,58.292,1143.597,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47176,1498
$CAP_FILE_SIZE,147328,0
$CFSIZE,260165632,249122816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,110.0,1
$GPS,080308,054502,1245.746,12015.513,39,1.5,39,-0.8