version: 66.03
glider: 122
mission: 6
dive: 74
start: 2 29 108 17 58 24
data:
$ID,122
$MISSION,6
$DIVE,74
$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,440
$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,-28791.049
$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,53
$R_STBD_OVSHOOT,25
$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,5
$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
$GPS1,174926,1250.101,12036.354,42,1.2,42,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.0
$GPS2,175751,1250.066,12036.338,15,1.2,15,-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,271.1,38529,-17.4,-9.016
$D_GRID,1707
$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,-1.42,-146.0,0.0,0.0,0,78,0.00,0.00,-57.97,0.000,2,0.000,0.000,252,2124,2452
$GC,80,-1.42,-146.0,3.1,-7.2,9,118,13.45,2.50,-15.85,0.000,4,0.169,0.054,2588,3567,3277
$GC,243,-1.11,-146.0,45.8,-23.9,37,251,0.38,2.33,0.00,0.000,6,0.102,0.028,2661,2171,3278
$GC,588,-1.00,-146.0,101.6,-15.7,98,596,0.12,2.47,0.00,0.000,4,0.113,0.044,2684,747,3279
$GC,647,-1.04,-146.0,109.9,-13.1,108,655,0.00,2.33,0.00,0.000,6,0.000,0.028,2684,2136,3280
$GC,994,-1.04,-146.0,148.7,-10.2,169,1000,0.00,2.45,0.00,0.000,4,0.000,0.048,2684,3557,3282
$GC,1052,-1.10,-146.0,154.6,-9.6,179,1059,0.00,2.40,0.00,0.000,6,0.000,0.028,2684,2112,3282
$GC,1397,-1.23,-146.0,183.7,-7.3,240,1404,0.17,2.47,0.00,0.000,4,0.044,0.042,2624,3549,3282
$GC,1533,-1.23,-146.0,197.2,-10.5,264,1539,0.00,2.30,0.00,0.000,6,0.000,0.028,2624,2165,3282
$GC,1877,-1.23,-146.0,230.8,-9.9,325,1883,0.00,2.40,0.00,0.000,4,0.000,0.045,2624,3557,3282
$GC,1956,-1.23,-146.0,239.0,-9.8,339,1963,0.00,2.28,0.00,0.000,6,0.000,0.029,2624,2188,3282
$GC,2289,-1.23,-146.0,270.8,-8.5,380,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2188,3281
$GC,2608,-1.23,-146.0,300.5,-9.6,410,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2186,3280
$GC,2926,-1.23,-146.0,330.2,-9.0,440,2931,0.00,2.53,0.00,0.000,4,0.000,0.051,2624,753,3279
$GC,2958,-1.23,-146.0,333.7,-9.7,442,2966,0.00,2.45,0.00,0.000,6,0.000,0.030,2624,2184,3279
$GC,3285,-1.23,-146.0,363.1,-8.9,473,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2186,3277
$GC,3603,-1.23,-146.0,391.0,-9.2,503,3608,0.00,2.53,0.00,0.000,4,0.000,0.051,2624,755,3275
$GC,3647,-1.27,-146.0,395.5,-9.9,506,3654,0.00,2.42,0.00,0.000,6,0.000,0.031,2624,2183,3275
$GC,3973,-1.27,-146.0,424.0,-9.0,537,3977,0.00,2.55,0.00,0.000,4,0.000,0.051,2624,746,3273
$GC,4027,-1.33,-146.0,429.3,-9.3,541,4034,0.00,2.42,0.00,0.000,6,0.000,0.032,2624,2165,3273
$GC,4353,-1.33,-146.0,456.0,-7.9,572,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2167,3271
$GC,4672,-1.36,-146.0,482.8,-7.8,602,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2167,3269
$GC,4998,-1.40,-146.0,508.8,-8.5,628,4999,0.10,0.00,0.00,0.000,6,0.064,0.000,2594,2167,3267
$GC,5306,-1.37,-146.0,539.3,-9.9,643,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2167,3266
$GC,5615,-1.37,-146.0,569.0,-9.1,658,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2168,3264
$GC,5926,-1.37,-146.0,597.1,-9.4,673,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2168,3262
$GC,6233,-1.37,-146.0,626.3,-9.4,688,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2168,3259
$GC,6543,-1.37,-146.0,654.2,-8.8,703,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2167,3258
$GC,6853,-1.37,-146.0,683.3,-9.7,718,6858,0.00,2.45,0.00,0.000,4,0.000,0.057,2593,3551,3257
$GC,6894,-1.37,-146.0,687.5,-10.0,720,6898,0.00,2.38,0.00,0.000,6,0.000,0.036,2594,2162,3257
$GC,7219,-1.37,-146.0,715.8,-8.1,736,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2162,3255
$GC,7529,-1.37,-146.0,741.0,-8.5,751,7533,0.00,2.47,0.00,0.000,4,0.000,0.056,2594,3554,3254
$GC,7582,-1.37,-146.0,745.9,-9.1,753,7590,0.00,2.40,0.00,0.000,6,0.000,0.037,2594,2166,3253
$GC,7900,-1.37,-146.0,770.7,-7.3,769,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2166,3252
$GC,8208,-1.37,-146.0,793.1,-7.3,784,8212,0.00,2.47,0.00,0.000,4,0.000,0.057,2594,3556,3251
$GC,8247,-1.37,-146.0,796.3,-8.5,786,8252,0.00,2.38,0.00,0.000,6,0.000,0.037,2593,2169,3251
$GC,8575,-1.37,-146.0,820.6,-7.3,802,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2169,3250
$GC,8883,-1.37,-146.0,844.0,-7.5,817,8887,0.00,2.47,0.00,0.000,4,0.000,0.058,2594,3557,3249
$GC,8926,-1.37,-146.0,847.5,-8.3,819,8930,0.00,2.42,0.00,0.000,6,0.000,0.038,2594,2162,3248
$GC,9253,-1.37,-146.0,872.5,-7.6,835,9257,0.00,2.47,0.00,0.000,4,0.000,0.058,2593,3548,3246
$GC,9292,-1.37,-146.0,875.9,-9.3,837,9296,0.00,2.38,0.00,0.000,6,0.000,0.038,2594,2165,3247
$GC,9618,-1.37,-146.0,901.4,-8.2,853,9622,0.00,2.55,0.00,0.000,4,0.000,0.062,2594,749,3246
$GC,9650,-1.37,-146.0,904.3,-9.0,854,9657,0.00,2.47,0.00,0.000,6,0.000,0.037,2594,2165,3246
$GC,9967,-1.37,-146.0,929.5,-8.0,870,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2166,3244
$GC,10275,-1.37,-146.0,953.4,-7.3,885,10279,0.00,2.47,0.00,0.000,4,0.000,0.060,2594,3557,3244
$GC,10306,-1.37,-146.0,955.9,-8.2,886,10314,0.00,2.40,0.00,0.000,6,0.000,0.038,2594,2170,3244
$GC,10623,-1.37,-146.0,977.9,-7.0,902,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2170,3243
$STATE,10785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10785,begin apogee
$GC,10790,-0.34,0.0,990.1,7.4,910,10915,1.15,0.00,121.43,1.395,6,0.099,0.000,2825,2385,2678
$STATE,10916,end apogee,CONTROL_FINISHED_OK
$STATE,10916,begin climb
$GC,10917,1.42,146.0,993.4,0.0,916,11051,1.80,2.50,125.97,1.342,4,0.059,0.061,3217,3722,2081
$GC,11107,1.15,146.0,977.5,14.5,924,11116,0.28,2.40,0.00,0.000,6,0.114,0.038,3158,2370,2081
$GC,11424,1.04,146.0,941.5,11.0,940,11429,0.15,2.58,0.00,0.000,4,0.120,0.061,3128,964,2079
$GC,11456,0.97,146.0,937.9,11.7,941,11463,0.00,2.47,0.00,0.000,6,0.000,0.041,3128,2363,2079
$GC,11772,0.93,146.0,906.6,9.8,957,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2363,2079
$GC,12081,0.88,146.0,877.0,9.3,972,12086,0.15,2.55,0.00,0.000,4,0.122,0.060,3098,970,2078
$GC,12152,0.89,153.2,870.5,8.6,975,12167,0.00,2.47,5.65,1.333,6,0.000,0.041,3098,2360,2053
$GC,12474,0.91,165.6,843.6,8.4,991,12487,0.00,0.00,11.10,1.331,6,0.000,0.000,3098,2360,2002
$GC,12783,0.96,173.4,816.8,8.6,1006,12792,0.00,0.00,7.20,1.317,6,0.000,0.000,3098,2360,1971
$GC,13092,1.02,186.8,790.2,8.3,1021,13115,0.12,2.65,12.02,1.295,4,0.071,0.060,3127,973,1916
$GC,13160,0.98,186.8,783.9,9.4,1024,13165,0.00,2.45,0.00,0.000,6,0.000,0.041,3127,2354,1915
$GC,13486,0.98,186.8,753.5,9.8,1040,13491,0.00,2.50,0.00,0.000,4,0.000,0.064,3127,3733,1915
$GC,13536,0.94,186.8,748.2,10.5,1042,13540,0.00,2.38,0.00,0.000,6,0.000,0.038,3127,2363,1915
$GC,13856,0.94,186.8,717.7,9.0,1058,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2362,1914
$GC,14166,0.94,186.8,688.8,9.6,1073,14170,0.00,2.47,0.00,0.000,4,0.000,0.061,3127,3733,1914
$GC,14214,0.91,186.8,683.7,10.3,1075,14219,0.12,2.35,0.00,0.000,6,0.129,0.038,3107,2372,1914
$GC,14535,0.97,203.7,656.6,8.2,1091,14556,0.00,0.00,14.62,1.215,6,0.000,0.000,3107,2371,1846
$GC,14865,1.05,216.4,629.0,8.4,1107,14881,0.12,2.50,10.75,1.190,4,0.068,0.060,3140,3725,1795
$GC,14914,1.01,216.4,624.0,10.6,1108,14918,0.00,2.35,0.00,0.000,6,0.000,0.038,3140,2396,1795
$GC,15235,1.01,216.4,592.1,10.1,1124,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2394,1794
$GC,15545,1.01,216.4,561.0,10.2,1139,15549,0.00,2.60,0.00,0.000,4,0.000,0.061,3140,962,1794
$GC,15593,1.01,216.4,555.9,10.3,1141,15597,0.00,2.53,0.00,0.000,6,0.000,0.039,3140,2388,1794
$GC,15914,1.01,216.4,524.1,9.9,1157,15915,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2388,1794
$GC,16225,1.01,216.4,494.7,9.2,1174,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2388,1794
$GC,16543,1.01,216.4,466.1,9.2,1204,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2388,1794
$GC,16863,1.03,230.1,439.2,8.3,1234,16885,0.00,2.62,12.05,1.052,4,0.000,0.056,3140,961,1738
$GC,16930,1.04,232.9,433.1,8.9,1240,16942,0.00,2.53,2.83,1.042,6,0.000,0.038,3140,2400,1727
$GC,17258,1.04,232.9,402.5,9.1,1271,17260,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2400,1727
$GC,17577,1.04,232.9,372.5,9.9,1301,17581,0.00,2.58,0.00,0.000,4,0.000,0.055,3140,966,1727
$GC,17631,1.04,232.9,367.1,9.7,1305,17638,0.00,2.50,0.00,0.000,6,0.000,0.038,3140,2388,1727
$GC,17957,1.04,234.1,338.5,9.0,1336,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2389,1727
$GC,18278,1.08,237.4,309.3,8.8,1366,18287,0.00,2.62,4.07,0.965,4,0.000,0.054,3140,968,1709
$GC,18310,1.13,237.4,306.1,9.5,1369,18314,0.00,2.50,0.00,0.000,6,0.000,0.037,3140,2402,1709
$GC,18635,1.19,247.6,277.7,8.5,1399,18650,0.12,2.65,8.77,0.917,4,0.063,0.052,3173,969,1667
$GC,18679,1.19,247.6,273.1,9.7,1403,18683,0.00,2.47,0.00,0.000,6,0.000,0.036,3173,2386,1667
$GC,19008,1.19,247.6,239.9,9.4,1442,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2386,1666
$GC,19351,1.19,248.1,207.3,9.0,1503,19357,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2387,1667
$GC,19694,1.21,256.9,176.5,8.6,1564,19706,0.00,0.00,7.95,0.825,6,0.000,0.000,3173,2387,1630
$GC,20044,1.33,291.4,151.1,7.3,1626,20080,0.10,2.42,27.55,0.747,4,0.067,0.052,3200,3729,1489
$GC,20148,1.35,298.2,142.5,8.7,1644,20161,0.00,2.33,5.45,0.778,6,0.000,0.032,3201,2366,1462
$GC,20500,1.50,345.7,115.5,6.6,1706,20548,0.15,2.47,37.90,0.690,4,0.055,0.048,3245,3720,1267
$GC,20565,1.50,345.7,109.3,10.6,1717,20571,0.00,2.30,0.00,0.000,6,0.000,0.031,3245,2376,1266
$GC,20909,1.52,353.8,74.2,8.6,1778,20922,0.00,2.50,6.18,0.695,4,0.000,0.051,3245,976,1233
$GC,21017,1.52,353.8,63.0,10.0,1797,21024,0.00,2.47,0.00,0.000,6,0.000,0.031,3246,2418,1231
$GC,21362,1.60,370.2,29.7,8.2,1858,21381,0.00,2.60,12.60,0.627,4,0.000,0.047,3245,968,1166
$GC,21489,1.70,387.1,19.7,8.2,1880,21509,0.12,2.50,13.45,0.609,6,0.058,0.030,3280,2434,1098
$STATE,21670,end climb,SURFACE_DEPTH_REACHED
$STATE,21670,begin surface coast
$FINISH,-0.1,0.998049
$STATE,21694,end surface coast,CONTROL_FINISHED_OK
$STATE,21694,begin surface
$SM_CCo,21715,25.83,0.565,0,0,883,440.07
$SM_GC,1.15,0.00,0.00,25.83,0.000,0.000,0.565,251,2114,883,-12.20,-1.02,440.07
$IRIDIUM_FIX,1245.46,12037.35,250597,181855
$TT8_MAMPS,0.023777
$HUMID,1887
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.20
$XPDR_PINGS,443
$ALTIM_BOTTOM_PING,570.8,8.0
$24V_AH,23.2,15.436
$10V_AH,10.1,7.035
$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,32.150,153.725,447.550,25.825,0.000,60.124,32.775,235.587,113.000,0.000,0.000,15.778,3706.617,14259.856,678.751,3056.668,547.479,0.000,2215.071,0.000,3016.892,0.000,18.078
$DEVICE_MAMPS,168.740,64.428,1395.173,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59766,1916
$CAP_FILE_SIZE,191614,0
$CFSIZE,260165632,251686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,182.2,1
$GPS,010308,000201,1249.755,12033.198,37,1.2,42,-0.8