version: 66.03
glider: 122
mission: 6
dive: 155
start: 3 18 108 22 41 43
data:
$ID,122
$MISSION,6
$DIVE,155
$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,475
$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,-30168.514
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,223355,1248.634,12025.896,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.8
$GPS2,224109,1248.627,12025.895,13,1.4,13,-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,239.3,19584,-17.4,-9.016
$D_GRID,852
$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,19,-1.42,-146.0,0.0,0.0,0,82,0.00,0.00,-60.97,0.000,2,0.000,0.000,249,2115,2402
$GC,84,-1.42,-146.0,3.2,-7.5,10,123,13.57,2.47,-16.62,0.000,4,0.171,0.051,2588,3552,3276
$GC,129,-0.63,-146.0,14.7,-23.7,17,137,0.93,2.30,0.00,0.000,6,0.118,0.026,2763,2166,3276
$GC,475,-0.73,-146.0,54.3,-10.1,78,481,0.00,2.45,0.00,0.000,4,0.000,0.044,2763,750,3278
$GC,544,-0.86,-146.0,61.1,-10.1,90,551,0.22,2.40,0.00,0.000,6,0.039,0.027,2697,2190,3278
$GC,889,-0.86,-146.0,101.7,-10.9,151,896,0.00,2.33,0.00,0.000,4,0.000,0.044,2697,3552,3279
$GC,952,-0.86,-146.0,108.4,-10.4,162,959,0.00,2.28,0.00,0.000,6,0.000,0.027,2697,2174,3280
$GC,1299,-0.92,-146.0,144.0,-9.4,223,1305,0.00,2.35,0.00,0.000,4,0.000,0.042,2697,3546,3281
$GC,1324,-0.98,-146.0,146.3,-8.8,227,1332,0.00,2.25,0.00,0.000,6,0.000,0.028,2697,2185,3281
$GC,1667,-1.08,-146.0,175.4,-8.1,288,1674,0.12,2.50,0.00,0.000,4,0.053,0.045,2655,749,3281
$GC,1748,-1.12,-146.0,183.3,-9.9,302,1755,0.00,2.38,0.00,0.000,6,0.000,0.028,2655,2172,3282
$GC,2093,-1.16,-146.0,212.3,-8.4,363,2100,0.00,2.35,0.00,0.000,4,0.000,0.045,2655,3545,3281
$GC,2123,-1.21,-146.0,214.8,-8.4,368,2130,0.00,2.25,0.00,0.000,6,0.000,0.029,2655,2191,3281
$GC,2467,-1.26,-146.0,241.8,-7.9,429,2474,0.12,0.00,0.00,0.000,6,0.054,0.000,2614,2189,3281
$GC,2797,-1.23,-146.0,274.6,-9.4,467,2799,0.12,0.00,0.00,0.000,6,0.100,0.000,2638,2189,3279
$GC,3117,-1.23,-146.0,302.3,-8.7,497,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2187,3278
$GC,3436,-1.26,-146.0,328.8,-8.5,527,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2187,3275
$GC,3755,-1.29,-146.0,355.3,-7.9,557,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2187,3274
$GC,4073,-1.33,-146.0,381.1,-8.0,587,4074,0.12,0.00,0.00,0.000,6,0.058,0.000,2600,2187,3271
$GC,4392,-1.29,-146.0,411.0,-8.8,617,4393,0.12,0.00,0.00,0.000,6,0.104,0.000,2624,2187,3268
$GC,4709,-1.29,-146.0,436.3,-8.3,647,4713,0.00,2.40,0.00,0.000,4,0.000,0.052,2623,3550,3267
$GC,4752,-1.29,-146.0,440.2,-8.1,650,4759,0.00,2.28,0.00,0.000,6,0.000,0.034,2624,2215,3267
$GC,5078,-1.29,-146.0,464.9,-7.3,681,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2211,3265
$GC,5396,-1.29,-146.0,489.7,-8.1,711,5400,0.00,2.62,0.00,0.000,4,0.000,0.058,2624,751,3262
$GC,5424,-1.29,-146.0,492.1,-8.4,713,5428,0.00,2.53,0.00,0.000,6,0.000,0.036,2624,2213,3262
$GC,5753,-1.29,-146.0,517.7,-7.6,733,5757,0.00,2.33,0.00,0.000,4,0.000,0.055,2624,3542,3260
$GC,5791,-1.29,-146.0,521.1,-8.4,734,5798,0.00,2.22,0.00,0.000,6,0.000,0.035,2624,2231,3260
$GC,6108,-1.29,-146.0,546.1,-7.6,750,6112,0.00,2.65,0.00,0.000,4,0.000,0.058,2624,753,3257
$GC,6158,-1.33,-146.0,550.2,-8.0,752,6162,0.00,2.50,0.00,0.000,6,0.000,0.036,2624,2204,3258
$GC,6474,-1.33,-146.0,573.0,-7.2,767,6478,0.00,2.35,0.00,0.000,4,0.000,0.056,2624,3541,3256
$GC,6514,-1.36,-146.0,575.8,-7.5,769,6518,0.00,2.25,0.00,0.000,6,0.000,0.035,2624,2220,3256
$GC,6840,-1.36,-146.0,598.3,-6.5,785,6845,0.00,2.62,0.00,0.000,4,0.000,0.059,2624,760,3255
$GC,6873,-1.41,-146.0,600.6,-6.8,786,6881,0.12,2.50,0.00,0.000,6,0.059,0.036,2586,2206,3255
$GC,7190,-1.35,-146.0,628.1,-8.9,802,7192,0.12,0.00,0.00,0.000,6,0.112,0.000,2608,2207,3253
$GC,7498,-1.35,-146.0,653.1,-8.1,817,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2208,3252
$GC,7808,-1.35,-146.0,678.0,-7.9,832,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2208,3250
$GC,8118,-1.35,-146.0,702.4,-7.7,847,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2208,3249
$GC,8426,-1.35,-146.0,726.9,-8.4,862,8430,0.00,2.60,0.00,0.000,4,0.000,0.060,2608,762,3247
$GC,8458,-1.35,-146.0,729.8,-8.1,863,8466,0.00,2.50,0.00,0.000,6,0.000,0.039,2608,2204,3248
$GC,8774,-1.35,-146.0,754.8,-8.0,879,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2204,3247
$GC,9083,-1.35,-146.0,780.0,-8.3,894,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3246
$GC,9392,-1.35,-146.0,804.7,-7.5,909,9397,0.00,2.60,0.00,0.000,4,0.000,0.061,2608,764,3245
$GC,9436,-1.35,-146.0,808.5,-8.6,911,9440,0.00,2.50,0.00,0.000,6,0.000,0.039,2608,2203,3244
$GC,9764,-1.35,-146.0,833.4,-7.3,927,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3243
$STATE,10008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10009,begin apogee
$GC,10014,-0.34,0.0,852.7,7.3,939,10136,1.10,0.00,119.20,1.282,6,0.098,0.000,2829,2362,2678
$STATE,10137,end apogee,CONTROL_FINISHED_OK
$STATE,10137,begin climb
$GC,10139,1.42,146.0,856.5,0.0,945,10273,1.80,0.00,124.97,1.234,6,0.058,0.000,3217,2362,2082
$GC,10582,1.21,146.0,811.2,12.2,967,10584,0.28,0.00,0.00,0.000,6,0.118,0.000,3168,2362,2080
$GC,10891,1.09,146.0,779.8,10.1,982,10896,0.15,2.53,0.00,0.000,4,0.125,0.060,3139,980,2079
$GC,10941,1.01,146.0,775.1,9.4,984,10945,0.00,2.45,0.00,0.000,6,0.000,0.041,3139,2372,2078
$GC,11256,0.96,146.0,747.1,9.1,999,11258,0.15,0.00,0.00,0.000,6,0.127,0.000,3114,2372,2078
$GC,11566,0.99,163.1,722.4,8.1,1014,11589,0.00,2.62,13.68,1.237,4,0.000,0.060,3114,989,2013
$GC,11645,0.99,164.7,715.4,8.9,1017,11649,0.00,2.50,0.00,0.000,6,0.000,0.041,3114,2381,2013
$GC,11966,1.02,180.7,688.2,8.2,1033,11989,0.00,0.00,15.12,1.212,6,0.000,0.000,3113,2382,1940
$GC,12297,1.02,180.7,659.1,9.3,1049,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2382,1940
$GC,12606,1.04,197.6,632.5,8.2,1064,12630,0.00,2.62,14.32,1.181,4,0.000,0.060,3114,982,1871
$GC,12686,1.05,202.4,625.9,8.8,1067,12699,0.00,2.53,4.53,1.183,6,0.000,0.041,3114,2393,1851
$GC,13007,1.13,227.2,600.4,7.8,1083,13031,0.17,0.00,21.42,1.140,6,0.063,0.000,3154,2393,1751
$GC,13336,1.09,227.2,565.8,10.6,1099,13340,0.00,2.55,0.00,0.000,4,0.000,0.058,3154,988,1748
$GC,13398,1.06,227.2,559.2,11.2,1102,13403,0.00,2.45,0.00,0.000,6,0.000,0.039,3154,2383,1748
$GC,13724,1.06,227.2,525.4,9.8,1118,13728,0.00,2.53,0.00,0.000,4,0.000,0.058,3154,988,1748
$GC,13772,1.06,227.2,520.2,10.1,1120,13777,0.00,2.40,0.00,0.000,6,0.000,0.038,3154,2341,1748
$GC,14098,1.06,227.2,486.5,10.3,1142,14102,0.00,2.47,0.00,0.000,4,0.000,0.060,3154,3725,1748
$GC,14130,1.02,227.2,482.8,11.2,1144,14138,0.15,2.35,0.00,0.000,6,0.124,0.038,3128,2357,1748
$GC,14455,1.06,227.2,453.1,9.4,1175,14459,0.00,2.47,0.00,0.000,4,0.000,0.058,3129,973,1748
$GC,14512,1.06,227.2,447.6,9.9,1180,14516,0.00,2.40,0.00,0.000,6,0.000,0.038,3129,2352,1748
$GC,14837,1.08,238.8,419.8,8.4,1210,14848,0.00,0.00,9.52,1.048,6,0.000,0.000,3129,2352,1704
$GC,15165,1.13,248.4,390.8,8.5,1241,15180,0.10,2.60,8.38,1.022,4,0.075,0.055,3154,966,1665
$GC,15226,1.13,248.4,384.7,10.8,1246,15230,0.00,2.40,0.00,0.000,6,0.000,0.038,3154,2335,1664
$GC,15550,1.13,248.4,353.9,9.4,1276,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2335,1663
$GC,15869,1.13,248.4,323.0,9.8,1306,15874,0.00,2.45,0.00,0.000,4,0.000,0.054,3154,967,1664
$GC,15898,1.13,248.4,320.0,10.9,1308,15902,0.00,2.35,0.00,0.000,6,0.000,0.037,3154,2323,1664
$GC,16223,1.13,248.4,289.9,9.6,1338,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2322,1664
$GC,16541,1.13,248.4,261.5,9.3,1368,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2323,1664
$GC,16870,1.15,259.0,231.6,8.5,1416,16884,0.00,0.00,9.00,0.890,6,0.000,0.000,3154,2323,1622
$GC,17222,1.18,259.0,200.5,9.2,1478,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2323,1621
$GC,17565,1.30,294.2,171.7,7.2,1539,17601,0.15,2.47,28.60,0.783,4,0.056,0.051,3199,967,1477
$GC,17658,1.30,294.2,162.6,9.2,1554,17665,0.00,2.33,0.00,0.000,6,0.000,0.034,3199,2312,1475
$GC,18002,1.34,319.0,131.7,7.8,1615,18030,0.00,2.45,19.88,0.749,4,0.000,0.051,3199,966,1375
$GC,18066,1.41,336.7,126.8,8.1,1625,18086,0.00,2.35,14.25,0.738,6,0.000,0.033,3199,2332,1304
$GC,18421,1.53,353.3,98.2,8.2,1688,18440,0.15,2.53,13.20,0.709,4,0.055,0.048,3242,3724,1237
$GC,18486,1.53,353.3,91.6,10.4,1699,18492,0.00,2.38,0.00,0.000,6,0.000,0.031,3242,2323,1235
$GC,18830,1.58,353.3,59.8,9.6,1760,18837,0.00,2.38,0.00,0.000,4,0.000,0.048,3243,969,1234
$GC,19029,1.66,373.6,43.1,8.0,1795,19054,0.12,2.25,16.23,0.638,6,0.059,0.030,3278,2304,1153
$GC,19393,1.67,378.8,9.0,8.8,1859,19400,0.00,0.00,3.75,0.625,6,0.000,0.000,3278,2304,1133
$STATE,19477,end climb,SURFACE_DEPTH_REACHED
$STATE,19477,begin surface coast
$FINISH,0.1,1.021127
$STATE,19500,end surface coast,CONTROL_FINISHED_OK
$STATE,19500,begin surface
$SM_CCo,19522,46.97,0.548,0,0,740,475.15
$SM_GC,0.93,0.00,0.00,46.97,0.000,0.000,0.548,254,2109,740,-12.19,-1.13,475.15
$IRIDIUM_FIX,1241.04,12029.39,120697,161608
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.70
$XPDR_PINGS,449
$24V_AH,23.3,29.444
$10V_AH,10.1,14.589
$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,33.275,132.100,436.050,46.975,0.000,22.919,38.099,258.416,121.250,0.000,0.000,13.911,3805.647,11969.998,697.955,2946.335,587.370,0.000,2145.613,0.000,2891.730,0.000,66.535
$DEVICE_MAMPS,171.041,61.360,1281.657,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59829,1878
$CAP_FILE_SIZE,184197,0
$CFSIZE,260165632,244969472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,112.0,1
$GPS,190308,040907,1247.403,12024.003,39,1.5,39,-0.8