version: 66.04
glider: 124
mission: 6
dive: 21
start: 2 12 109 0 5 51
data:
$ID,124
$MISSION,6
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,-4
$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,51611
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-05
$HEADING,0
$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,618.89191
$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,-286498.28
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,1995
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2033
$C_ROLL_CLIMB,2033
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,2767
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,420
$PITCH_VBD_SHIFT,0.00134
$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,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.425274
$PRESSURE_SLOPE,0.0001163584
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043265149
$SEABIRD_T_H,0.00064168178
$SEABIRD_T_I,2.4457093e-05
$SEABIRD_T_J,2.5322809e-06
$SEABIRD_C_G,-10.215697
$SEABIRD_C_H,1.1758331
$SEABIRD_C_I,-0.0032783125
$SEABIRD_C_J,0.00027735153
$GPS1,233425,1120.106,12142.244,253,2.5,272,-0.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-61.1
$GPS2,233425,1120.106,12142.244,253,2.5,272,-0.6
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,1130.906,12142.244
$TGT_RADIUS,1852.000
$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,0.6,20000,-18.8,-10.000
$D_GRID,97
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.49,-146.0,0.0,0.0,0,160,0.00,0.00,-139.50,0.000,6,0.000,0.000,35,2055,3363
$GC,164,-1.49,-146.0,0.9,0.6,27,176,4.43,2.17,0.00,0.000,4,0.080,0.055,1681,618,3364
$GC,290,-2.12,-146.0,0.9,0.2,49,297,0.43,2.10,0.00,0.000,6,0.052,0.043,1505,2044,3364
$GC,634,-2.59,-146.0,0.9,-0.1,110,641,0.20,2.12,0.00,0.000,4,0.061,0.055,1410,3436,3364
$GC,727,-3.08,-146.0,0.8,-0.1,126,734,0.22,2.12,0.00,0.000,6,0.054,0.042,1304,2009,3364
$GC,1072,-3.50,-146.0,0.8,-0.0,187,1079,0.22,2.10,0.00,0.000,4,0.063,0.054,1203,630,3363
$GC,1159,-3.97,-146.0,0.9,-0.2,202,1166,0.22,2.10,0.00,0.000,6,0.064,0.044,1111,2051,3362
$GC,1504,-3.97,-146.0,0.9,-0.0,263,1510,0.00,2.10,0.00,0.000,4,0.000,0.054,1111,3444,3362
$GC,1551,-3.97,-146.0,0.9,0.4,271,1557,0.00,2.08,0.00,0.000,6,0.000,0.043,1111,2036,3362
$GC,1897,-3.97,-146.0,1.1,-2.4,332,1903,0.00,2.15,0.00,0.000,4,0.000,0.056,1111,617,3362
$GC,2158,-3.97,-146.0,0.9,0.1,378,2164,0.00,2.08,0.00,0.000,6,0.000,0.043,1111,2034,3362
$GC,2503,-3.97,-146.0,1.0,-0.0,439,2509,0.00,2.12,0.00,0.000,4,0.000,0.057,1111,624,3360
$GC,2552,-3.97,-146.0,1.0,-0.0,447,2558,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2033,3361
$GC,2896,-3.97,-146.0,0.9,0.5,508,2903,0.00,2.15,0.00,0.000,4,0.000,0.058,1111,608,3361
$GC,3157,-3.97,-146.0,1.0,-0.1,554,3163,0.00,2.12,0.00,0.000,6,0.000,0.043,1111,2044,3362
$GC,3501,-3.97,-146.0,1.0,-0.6,615,3507,0.00,2.15,0.00,0.000,4,0.000,0.056,1110,615,3360
$GC,3761,-3.97,-146.0,1.0,-0.2,661,3767,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2024,3360
$GC,4107,-3.97,-146.0,1.0,0.3,722,4113,0.00,2.12,0.00,0.000,4,0.000,0.057,1111,620,3359
$GC,4367,-3.97,-146.0,1.0,0.1,768,4373,0.00,2.10,0.00,0.000,6,0.000,0.044,1110,2054,3359
$GC,4712,-3.97,-146.0,1.1,-0.0,829,4717,0.00,2.15,0.00,0.000,4,0.000,0.056,1111,625,3359
$GC,4972,-3.97,-146.0,1.0,0.2,875,4978,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2044,3359
$GC,5316,-3.97,-146.0,1.1,-0.1,936,5322,0.00,2.15,0.00,0.000,4,0.000,0.058,1111,628,3358
$GC,5578,-3.97,-146.0,1.0,-0.1,982,5584,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2048,3358
$GC,5924,-3.97,-146.0,1.0,-0.3,1043,5930,0.00,2.15,0.00,0.000,4,0.000,0.056,1110,615,3358
$GC,6184,-3.97,-146.0,1.0,-1.3,1089,6191,0.00,2.08,0.00,0.000,6,0.000,0.042,1111,2039,3358
$GC,6530,-3.97,-146.0,1.0,-0.1,1150,6537,0.00,2.12,0.00,0.000,4,0.000,0.058,1111,628,3358
$GC,6790,-3.97,-146.0,1.1,-0.3,1196,6797,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2052,3358
$GC,7137,-3.97,-146.0,1.0,0.1,1257,7143,0.00,2.15,0.00,0.000,4,0.000,0.056,1111,616,3358
$GC,7398,-3.97,-146.0,1.1,-0.4,1303,7404,0.00,2.08,0.00,0.000,6,0.000,0.044,1110,2035,3358
$GC,7742,-3.97,-146.0,1.0,0.0,1364,7749,0.00,2.12,0.00,0.000,4,0.000,0.056,1111,613,3358
$GC,8003,-3.97,-146.0,1.0,-0.1,1410,8009,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2036,3358
$GC,8348,-3.97,-146.0,1.0,-0.1,1471,8355,0.00,2.12,0.00,0.000,4,0.000,0.058,1110,626,3358
$GC,8609,-3.97,-146.0,1.0,-0.0,1517,8615,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2051,3358
$GC,8954,-3.97,-146.0,1.1,-0.0,1578,8960,0.00,2.17,0.00,0.000,4,0.000,0.059,1110,616,3358
$GC,9214,-3.97,-146.0,1.0,-0.2,1624,9221,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2038,3359
$GC,9559,-3.97,-146.0,1.0,-0.0,1685,9565,0.00,2.12,0.00,0.000,4,0.000,0.057,1111,626,3359
$GC,9819,-3.97,-146.0,1.0,-0.0,1731,9825,0.00,2.08,0.00,0.000,6,0.000,0.044,1111,2051,3359
$GC,10163,-3.97,-146.0,1.0,-0.0,1792,10169,0.00,2.15,0.00,0.000,4,0.000,0.060,1111,628,3359
$GC,10422,-3.97,-146.0,0.9,0.1,1838,10429,0.00,2.08,0.00,0.000,6,0.000,0.044,1110,2052,3359
$GC,10767,-3.97,-146.0,0.9,-0.0,1899,10772,0.00,2.15,0.00,0.000,4,0.000,0.058,1110,626,3360
$GC,11027,-3.97,-146.0,0.9,-0.2,1945,11033,0.00,2.05,0.00,0.000,6,0.000,0.043,1111,2037,3360
$GC,11372,-3.97,-146.0,0.9,-0.2,2006,11378,0.00,2.12,0.00,0.000,4,0.000,0.058,1110,623,3360
$GC,11631,-3.97,-146.0,0.9,-0.1,2052,11638,0.00,2.05,0.00,0.000,6,0.000,0.044,1111,2031,3360
$STATE,11888,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11888,begin apogee
$GC,11894,-0.34,0.0,0.9,0.1,2098,11902,2.17,0.00,3.65,0.264,2,0.074,0.000,1931,2031,3319
$STATE,11903,end apogee,SURFACE_DEPTH_REACHED
$STATE,11903,begin surface coast
$FINISH,0.9,0.996163
$STATE,11986,end surface coast,NO_VERTICAL_VELOCITY
$STATE,11986,begin surface
$SM_CCo,12001,304.42,0.426,0,0,243,618.89
$SM_GC,0.97,0.00,0.00,304.42,0.000,0.000,0.426,27,2031,243,-9.05,-0.06,618.89
$IRIDIUM_FIX,1117.26,12141.21,080598,232345
$TT8_MAMPS,0.026078
$HUMID,1626
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,26.0,6.235
$10V_AH,10.9,3.288
$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,Compass2
$DEVICE_SECS,12.700,88.600,3.650,304.425,0.000,145.391,326.642,153.446,0.750,0.000,0.000,904.018,2996.974,5270.954,544.044,4434.182,946.056,0.000,1988.789,0.000,3546.307,0.000,0.554,0.000
$DEVICE_MAMPS,79.768,59.826,263.848,426.452,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1496.763,1815.934,1083.422,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126353,2114
$CAP_FILE_SIZE,147645,0
$CFSIZE,260165632,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,233425,1120.106,12142.244,253,2.5,272,-0.6