version: 66.03
glider: 122
mission: 6
dive: 124
start: 3 12 108 3 19 41
data:
$ID,122
$MISSION,6
$DIVE,124
$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,-29686.961
$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,37
$R_STBD_OVSHOOT,26
$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,9
$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
$GPS1,030255,1249.063,12033.747,26,1.0,43,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.7
$GPS2,031909,1248.846,12033.718,14,1.5,14,-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,272.5,33445,-17.4,-9.016
$D_GRID,1207
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-62.10,0.000,2,0.000,0.000,250,2135,2450
$GC,86,-1.42,-146.0,3.1,-8.0,12,124,13.55,2.45,-15.45,0.000,4,0.171,0.055,2587,758,3276
$GC,210,-1.09,-146.0,36.1,-25.2,33,218,0.40,2.35,0.00,0.000,6,0.119,0.027,2662,2163,3277
$GC,556,-0.97,-146.0,95.9,-15.3,94,563,0.15,2.40,0.00,0.000,4,0.106,0.044,2693,3559,3278
$GC,586,-0.92,-146.0,100.2,-14.1,99,594,0.00,2.33,0.00,0.000,6,0.000,0.027,2693,2145,3278
$GC,931,-0.97,-146.0,140.2,-10.1,160,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2143,3279
$GC,1275,-1.06,-146.0,169.7,-7.9,221,1281,0.00,2.42,0.00,0.000,4,0.000,0.043,2693,3557,3280
$GC,1389,-1.18,-146.0,179.1,-8.2,241,1396,0.20,2.30,0.00,0.000,6,0.042,0.028,2631,2164,3279
$GC,1734,-1.18,-146.0,211.1,-9.4,302,1740,0.00,2.38,0.00,0.000,4,0.000,0.043,2631,3551,3279
$GC,1769,-1.18,-146.0,214.6,-10.0,308,1775,0.00,2.30,0.00,0.000,6,0.000,0.028,2630,2165,3279
$GC,2112,-1.18,-146.0,246.3,-9.4,369,2119,0.00,2.38,0.00,0.000,4,0.000,0.044,2631,3549,3278
$GC,2162,-1.18,-146.0,251.2,-9.4,377,2170,0.00,2.33,0.00,0.000,6,0.000,0.029,2631,2169,3278
$GC,2489,-1.18,-146.0,280.3,-8.8,408,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2167,3277
$GC,2807,-1.18,-146.0,306.2,-7.3,438,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2167,3276
$GC,3125,-1.18,-146.0,332.0,-8.2,468,3130,0.00,2.40,0.00,0.000,4,0.000,0.048,2631,3551,3273
$GC,3180,-1.18,-146.0,336.7,-8.5,472,3187,0.00,2.30,0.00,0.000,6,0.000,0.031,2630,2184,3273
$GC,3507,-1.18,-146.0,363.5,-7.9,503,3511,0.00,2.53,0.00,0.000,4,0.000,0.051,2631,752,3271
$GC,3546,-1.23,-146.0,367.1,-9.1,506,3550,0.00,2.45,0.00,0.000,6,0.000,0.031,2631,2196,3271
$GC,3871,-1.23,-146.0,394.0,-8.5,536,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2196,3268
$GC,4190,-1.26,-146.0,419.9,-8.0,566,4194,0.00,2.35,0.00,0.000,4,0.000,0.049,2630,3546,3266
$GC,4223,-1.29,-146.0,422.7,-8.5,568,4229,0.00,2.30,0.00,0.000,6,0.000,0.032,2631,2188,3267
$GC,4548,-1.33,-146.0,449.8,-8.7,599,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2186,3264
$GC,4867,-1.37,-146.0,475.9,-8.1,629,4872,0.12,2.40,0.00,0.000,4,0.058,0.050,2594,3548,3261
$GC,4933,-1.33,-146.0,482.6,-10.0,634,4941,0.10,2.25,0.00,0.000,6,0.109,0.033,2612,2219,3261
$GC,5266,-1.33,-146.0,513.1,-8.8,659,5271,0.00,2.62,0.00,0.000,4,0.000,0.054,2612,746,3259
$GC,5315,-1.33,-146.0,517.9,-8.8,661,5320,0.00,2.53,0.00,0.000,6,0.000,0.035,2612,2216,3258
$GC,5637,-1.33,-146.0,544.2,-8.2,677,5641,0.00,2.62,0.00,0.000,4,0.000,0.054,2613,743,3256
$GC,5680,-1.33,-146.0,548.2,-9.0,679,5685,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2183,3256
$GC,6001,-1.33,-146.0,574.2,-8.1,695,6005,0.00,2.42,0.00,0.000,4,0.000,0.055,2612,3558,3255
$GC,6033,-1.33,-146.0,577.0,-8.1,696,6040,0.00,2.33,0.00,0.000,6,0.000,0.035,2612,2192,3255
$GC,6350,-1.33,-146.0,601.6,-7.9,712,6354,0.00,2.58,0.00,0.000,4,0.000,0.056,2612,751,3253
$GC,6389,-1.33,-146.0,604.9,-8.8,714,6393,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2187,3252
$GC,6715,-1.33,-146.0,631.9,-8.3,730,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2188,3251
$GC,7024,-1.33,-146.0,656.1,-7.6,745,7028,0.00,2.42,0.00,0.000,4,0.000,0.056,2612,3558,3249
$GC,7056,-1.33,-146.0,658.6,-7.8,746,7063,0.00,2.33,0.00,0.000,6,0.000,0.035,2612,2193,3249
$GC,7372,-1.33,-146.0,684.2,-8.5,762,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2188,3248
$GC,7680,-1.33,-146.0,712.0,-9.1,777,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2188,3247
$GC,7992,-1.33,-146.0,737.9,-8.0,792,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2188,3245
$GC,8301,-1.33,-146.0,762.4,-7.7,807,8305,0.00,2.42,0.00,0.000,4,0.000,0.056,2612,3555,3244
$GC,8344,-1.33,-146.0,766.1,-8.2,809,8348,0.00,2.33,0.00,0.000,6,0.000,0.036,2612,2194,3244
$GC,8672,-1.33,-146.0,792.1,-8.0,825,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2193,3242
$GC,8982,-1.33,-146.0,816.9,-8.1,840,8986,0.00,2.42,0.00,0.000,4,0.000,0.058,2612,3553,3241
$GC,9023,-1.33,-146.0,820.4,-8.8,842,9027,0.00,2.30,0.00,0.000,6,0.000,0.037,2612,2210,3241
$GC,9350,-1.33,-146.0,845.8,-7.4,858,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2210,3240
$GC,9660,-1.33,-146.0,868.5,-7.5,873,9664,0.00,2.65,0.00,0.000,4,0.000,0.062,2612,741,3239
$GC,9698,-1.36,-146.0,871.7,-7.7,875,9703,0.00,2.55,0.00,0.000,6,0.000,0.038,2612,2207,3239
$GC,10025,-1.39,-146.0,895.3,-7.1,891,10029,0.00,2.40,0.00,0.000,4,0.000,0.060,2612,3558,3238
$GC,10069,-1.39,-146.0,898.8,-7.8,893,10072,0.00,2.33,0.00,0.000,6,0.000,0.038,2612,2205,3238
$GC,10397,-1.43,-146.0,922.3,-7.4,909,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2204,3237
$GC,10705,-1.46,-146.0,944.9,-7.3,924,10707,0.12,0.00,0.00,0.000,6,0.061,0.000,2578,2204,3236
$GC,11016,-1.41,-146.0,971.0,-8.8,939,11021,0.00,2.62,0.00,0.000,4,0.000,0.062,2578,750,3234
$GC,11079,-1.38,-146.0,977.0,-9.0,942,11084,0.15,2.53,0.00,0.000,6,0.117,0.039,2604,2203,3235
$STATE,11262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11262,begin apogee
$GC,11266,-0.34,0.0,991.8,8.0,951,11390,1.12,0.00,120.03,1.404,6,0.100,0.000,2831,2378,2678
$STATE,11391,end apogee,CONTROL_FINISHED_OK
$STATE,11391,begin climb
$GC,11393,1.42,146.0,995.8,0.0,957,11533,1.80,2.58,126.50,1.352,4,0.057,0.064,3219,3722,2082
$GC,11602,1.16,146.0,978.1,13.5,967,11607,0.32,2.38,0.00,0.000,6,0.120,0.041,3162,2375,2081
$GC,11931,1.05,146.0,942.3,10.6,983,11932,0.15,0.00,0.00,0.000,6,0.118,0.000,3135,2373,2079
$GC,12238,1.00,146.7,913.2,9.0,998,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2373,2078
$GC,12547,0.95,146.7,885.1,9.2,1013,12549,0.12,0.00,0.00,0.000,6,0.120,0.000,3114,2372,2078
$GC,12857,0.99,171.2,860.6,7.8,1028,12880,0.00,0.00,21.25,1.343,6,0.000,0.000,3114,2372,1980
$GC,13186,1.00,176.7,832.2,8.7,1044,13193,0.00,0.00,5.25,1.333,6,0.000,0.000,3114,2372,1957
$GC,13495,1.01,179.7,804.3,8.9,1059,13500,0.00,0.00,2.85,1.276,6,0.000,0.000,3114,2372,1945
$GC,13804,1.02,189.9,778.3,8.5,1074,13815,0.00,0.00,9.43,1.311,6,0.000,0.000,3114,2371,1903
$GC,14114,1.07,196.2,751.5,8.7,1089,14122,0.10,0.00,5.82,1.299,6,0.078,0.000,3136,2371,1878
$GC,14423,1.07,196.2,722.0,9.4,1104,14427,0.00,2.45,0.00,0.000,4,0.000,0.063,3136,3720,1877
$GC,14466,1.04,196.2,717.6,9.7,1106,14470,0.00,2.35,0.00,0.000,6,0.000,0.039,3136,2369,1878
$GC,14793,1.04,196.2,685.8,10.0,1122,14797,0.00,2.55,0.00,0.000,4,0.000,0.061,3136,964,1877
$GC,14836,1.04,196.2,681.1,11.2,1124,14841,0.00,2.50,0.00,0.000,6,0.000,0.041,3136,2364,1877
$GC,15163,1.04,196.2,650.2,9.2,1140,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2364,1877
$GC,15473,1.04,196.2,621.2,9.6,1155,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2365,1877
$GC,15783,1.04,201.1,593.0,8.8,1170,15789,0.00,0.00,4.20,1.193,6,0.000,0.000,3136,2365,1858
$GC,16091,1.08,222.6,567.1,7.9,1185,16116,0.00,2.65,18.73,1.146,4,0.000,0.059,3136,969,1769
$GC,16143,1.08,222.6,562.2,9.6,1187,16148,0.00,2.50,0.00,0.000,6,0.000,0.040,3136,2379,1768
$GC,16465,1.08,224.6,534.0,8.9,1203,16469,0.00,2.58,0.00,0.000,4,0.000,0.058,3136,962,1768
$GC,16504,1.08,224.6,530.4,9.9,1205,16508,0.00,2.47,0.00,0.000,6,0.000,0.039,3136,2371,1768
$GC,16830,1.08,224.6,500.6,9.1,1221,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2372,1768
$GC,17149,1.12,228.7,472.3,8.8,1250,17162,0.00,2.58,5.88,1.105,4,0.000,0.057,3137,967,1743
$GC,17241,1.12,228.7,463.4,9.1,1258,17246,0.00,2.42,0.00,0.000,6,0.000,0.038,3136,2347,1743
$GC,17567,1.17,238.3,434.8,8.5,1288,17581,0.10,2.58,8.23,1.065,4,0.074,0.060,3161,3723,1706
$GC,17619,1.17,238.3,429.3,9.7,1292,17627,0.00,2.40,0.00,0.000,6,0.000,0.037,3161,2344,1706
$GC,17945,1.17,238.3,396.2,9.8,1323,17946,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2343,1705
$GC,18264,1.17,238.3,364.5,9.5,1353,18268,0.00,2.47,0.00,0.000,4,0.000,0.058,3161,966,1706
$GC,18336,1.17,238.3,357.1,9.3,1359,18340,0.00,2.38,0.00,0.000,6,0.000,0.037,3161,2334,1705
$GC,18660,1.17,238.3,325.0,9.5,1389,18664,0.00,2.45,0.00,0.000,4,0.000,0.055,3161,970,1705
$GC,18689,1.17,240.4,322.5,8.9,1391,18693,0.00,2.38,0.00,0.000,6,0.000,0.037,3161,2337,1705
$GC,19013,1.17,240.4,292.7,9.6,1421,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2337,1706
$GC,19333,1.20,256.6,264.2,8.2,1451,19357,0.00,2.55,15.57,0.902,4,0.000,0.054,3161,973,1630
$GC,19385,1.22,268.2,259.5,8.4,1455,19404,0.00,2.40,9.80,0.890,6,0.000,0.036,3161,2339,1584
$GC,19734,1.26,268.2,228.6,9.2,1508,19741,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2339,1582
$GC,20078,1.34,281.7,198.1,8.3,1569,20095,0.15,2.58,10.90,0.847,4,0.059,0.053,3205,960,1529
$GC,20135,1.34,281.7,191.9,11.4,1578,20142,0.00,2.40,0.00,0.000,6,0.000,0.035,3204,2334,1527
$GC,20481,1.35,288.1,160.2,8.7,1639,20489,0.00,0.00,5.10,0.834,6,0.000,0.000,3204,2333,1503
$GC,20823,1.48,325.9,131.6,7.1,1700,20862,0.00,2.55,30.65,0.738,4,0.000,0.053,3204,3722,1348
$GC,20931,1.57,334.0,123.1,8.6,1718,20945,0.20,2.42,6.57,0.771,6,0.049,0.033,3258,2308,1315
$GC,21283,1.57,334.0,89.7,9.3,1780,21289,0.00,2.38,0.00,0.000,4,0.000,0.051,3258,969,1312
$GC,21413,1.57,334.0,76.1,10.0,1803,21420,0.00,2.28,0.00,0.000,6,0.000,0.032,3257,2299,1312
$GC,21757,1.64,377.8,49.3,6.8,1864,21800,0.00,2.55,34.58,0.630,4,0.000,0.048,3257,3726,1136
$GC,21812,1.72,387.1,44.7,8.5,1873,21825,0.00,2.42,7.22,0.637,6,0.000,0.031,3258,2307,1099
$GC,22165,1.87,418.0,16.9,7.4,1935,22195,0.20,0.00,24.45,0.591,6,0.045,0.000,3323,2306,972
$STATE,22306,end climb,SURFACE_DEPTH_REACHED
$STATE,22307,begin surface coast
$FINISH,-0.2,1.021220
$STATE,22323,end surface coast,CONTROL_FINISHED_OK
$STATE,22323,begin surface
$SM_CCo,22345,65.90,0.541,0,0,416,554.62
$SM_GC,0.64,0.00,0.00,65.90,0.000,0.000,0.541,252,2119,416,-12.20,-0.88,554.62
$IRIDIUM_FIX,1243.25,12034.32,060697,030352
$TT8_MAMPS,0.023777
$HUMID,1925
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.20
$XPDR_PINGS,442
$24V_AH,23.2,24.264
$10V_AH,10.1,11.765
$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,32.700,161.700,473.000,65.900,0.000,127.480,76.300,386.138,123.000,0.000,0.000,14.577,3989.335,14572.626,737.160,3168.150,919.735,0.000,2318.567,0.000,3104.513,0.000,91.594
$DEVICE_MAMPS,171.041,64.428,1403.610,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1320.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59751,1963
$CAP_FILE_SIZE,209767,0
$CFSIZE,260165632,247484416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,197.6,1
$GPS,120308,093431,1248.911,12030.758,43,1.3,43,-0.8