version: 66.03
glider: 122
mission: 6
dive: 161
start: 3 20 108 7 14 41
data:
$ID,122
$MISSION,6
$DIVE,161
$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,-30252.385
$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,68
$R_STBD_OVSHOOT,33
$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
$GPS1,070838,1246.079,12017.973,34,1.4,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.3
$GPS2,071409,1246.122,12017.982,12,2.0,12,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,99.7,45522,-17.4,-9.016
$D_GRID,854
$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,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-63.30,0.000,2,0.000,0.000,254,2099,2453
$GC,88,-1.42,-146.0,3.1,-7.1,10,126,13.62,2.30,-15.90,0.000,4,0.173,0.054,2589,783,3277
$GC,284,-1.15,-146.0,45.8,-20.6,44,292,0.32,2.30,0.00,0.000,6,0.108,0.027,2652,2168,3277
$GC,630,-1.02,-146.0,96.3,-14.6,105,637,0.15,2.35,0.00,0.000,4,0.098,0.042,2685,3548,3280
$GC,729,-1.02,-146.0,108.5,-11.5,122,736,0.00,2.25,0.00,0.000,6,0.000,0.026,2685,2178,3280
$GC,1073,-1.02,-146.0,143.8,-9.1,183,1080,0.00,2.45,0.00,0.000,4,0.000,0.044,2684,759,3282
$GC,1126,-1.09,-146.0,148.8,-9.4,192,1133,0.00,2.33,0.00,0.000,6,0.000,0.028,2685,2157,3283
$GC,1467,-1.17,-146.0,178.4,-8.4,253,1474,0.15,2.38,0.00,0.000,4,0.049,0.043,2633,3546,3282
$GC,1526,-1.17,-146.0,184.5,-10.9,263,1532,0.00,2.28,0.00,0.000,6,0.000,0.028,2633,2171,3283
$GC,1870,-1.17,-146.0,217.0,-8.8,324,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2171,3283
$GC,2213,-1.17,-146.0,245.8,-8.0,385,2220,0.00,2.38,0.00,0.000,4,0.000,0.045,2633,3549,3282
$GC,2243,-1.17,-146.0,248.4,-8.9,390,2250,0.00,2.28,0.00,0.000,6,0.000,0.030,2633,2183,3282
$GC,2571,-1.17,-146.0,277.2,-8.5,422,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2183,3280
$GC,2889,-1.17,-146.0,304.2,-8.4,452,2893,0.00,2.38,0.00,0.000,4,0.000,0.048,2633,3549,3279
$GC,2952,-1.17,-146.0,309.8,-9.1,457,2956,0.00,2.33,0.00,0.000,6,0.000,0.032,2633,2172,3279
$GC,3278,-1.17,-146.0,336.9,-8.2,487,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2172,3276
$GC,3596,-1.21,-146.0,361.9,-7.7,517,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2172,3274
$GC,3914,-1.21,-146.0,385.3,-7.3,547,3918,0.00,2.40,0.00,0.000,4,0.000,0.050,2633,3540,3271
$GC,3964,-1.21,-146.0,389.2,-7.3,551,3968,0.00,2.28,0.00,0.000,6,0.000,0.034,2633,2199,3271
$GC,4291,-1.24,-146.0,413.9,-7.7,581,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2197,3269
$GC,4609,-1.29,-146.0,439.7,-8.0,611,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2197,3268
$GC,4928,-1.33,-146.0,464.4,-7.1,641,4932,0.00,2.38,0.00,0.000,4,0.000,0.052,2633,3544,3266
$GC,4956,-1.38,-146.0,466.6,-7.6,643,4961,0.12,2.28,0.00,0.000,6,0.062,0.035,2598,2207,3266
$GC,5282,-1.34,-146.0,493.8,-8.4,673,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2204,3263
$GC,5605,-1.31,-146.0,521.3,-8.7,692,5607,0.12,0.00,0.00,0.000,6,0.112,0.000,2620,2203,3262
$GC,5912,-1.31,-146.0,545.6,-7.7,707,5916,0.00,2.60,0.00,0.000,4,0.000,0.057,2620,752,3260
$GC,5939,-1.34,-146.0,547.8,-8.6,708,5943,0.00,2.50,0.00,0.000,6,0.000,0.035,2620,2207,3260
$GC,6255,-1.34,-146.0,570.8,-6.9,723,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,3258
$GC,6564,-1.34,-146.0,594.0,-7.6,738,6568,0.00,2.35,0.00,0.000,4,0.000,0.057,2620,3542,3256
$GC,6638,-1.38,-146.0,600.1,-8.1,741,6642,0.00,2.25,0.00,0.000,6,0.000,0.036,2620,2218,3256
$GC,6955,-1.41,-146.0,625.0,-7.8,756,6960,0.00,2.62,0.00,0.000,4,0.000,0.060,2620,753,3255
$GC,6995,-1.45,-146.0,628.4,-8.7,758,7000,0.15,2.47,0.00,0.000,6,0.057,0.036,2580,2194,3255
$GC,7323,-1.39,-146.0,658.4,-8.9,774,7325,0.12,0.00,0.00,0.000,6,0.111,0.000,2602,2195,3254
$GC,7631,-1.39,-146.0,682.0,-7.8,789,7635,0.00,2.40,0.00,0.000,4,0.000,0.058,2602,3554,3253
$GC,7681,-1.39,-146.0,686.3,-8.1,791,7685,0.00,2.28,0.00,0.000,6,0.000,0.037,2602,2221,3252
$GC,8004,-1.39,-146.0,711.4,-7.9,807,8008,0.00,2.62,0.00,0.000,4,0.000,0.061,2602,755,3251
$GC,8047,-1.39,-146.0,715.1,-8.2,809,8051,0.00,2.53,0.00,0.000,6,0.000,0.038,2602,2220,3251
$GC,8375,-1.39,-146.0,740.0,-8.0,825,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2221,3250
$GC,8684,-1.39,-146.0,765.8,-8.3,840,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2221,3248
$GC,8995,-1.39,-146.0,790.2,-7.6,855,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2221,3248
$GC,9302,-1.39,-146.0,812.3,-6.8,870,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2221,3247
$GC,9611,-1.39,-146.0,833.8,-6.7,885,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2221,3246
$STATE,9918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9918,begin apogee
$GC,9924,-0.34,0.0,854.7,7.5,900,10047,1.12,0.00,120.07,1.283,6,0.097,0.000,2829,2384,2678
$STATE,10048,end apogee,CONTROL_FINISHED_OK
$STATE,10048,begin climb
$GC,10050,1.42,146.0,857.0,0.0,906,10183,1.77,2.53,124.30,1.235,4,0.059,0.065,3216,3717,2082
$GC,10302,1.16,146.0,832.5,12.8,917,10307,0.32,2.33,0.00,0.000,6,0.135,0.041,3160,2382,2080
$GC,10617,1.05,146.0,796.7,11.0,932,10619,0.15,0.00,0.00,0.000,6,0.128,0.000,3134,2381,2078
$GC,10927,0.98,146.0,766.8,9.2,947,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2380,2078
$GC,11236,0.93,146.0,737.5,9.7,962,11238,0.15,0.00,0.00,0.000,6,0.117,0.000,3108,2379,2077
$GC,11545,0.94,152.1,710.5,8.7,977,11551,0.00,0.00,4.32,1.231,6,0.000,0.000,3108,2379,2058
$GC,11855,0.98,176.2,685.6,7.8,992,11878,0.00,0.00,20.85,1.204,6,0.000,0.000,3108,2379,1959
$GC,12185,1.03,204.3,659.7,7.6,1008,12216,0.00,2.62,23.85,1.177,4,0.000,0.061,3108,970,1844
$GC,12238,1.04,214.1,655.2,8.5,1010,12253,0.12,2.47,8.38,1.168,6,0.070,0.039,3136,2372,1805
$GC,12560,1.04,214.1,623.9,10.1,1026,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2372,1803
$GC,12868,1.04,214.1,592.0,10.1,1041,12873,0.00,2.55,0.00,0.000,4,0.000,0.059,3136,967,1803
$GC,12931,1.04,214.1,585.5,11.0,1044,12935,0.00,2.42,0.00,0.000,6,0.000,0.039,3136,2359,1802
$GC,13263,1.04,214.1,553.1,9.8,1060,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2359,1802
$GC,13572,1.04,214.1,522.7,9.5,1075,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2359,1803
$GC,13884,1.06,222.7,494.3,8.6,1093,13897,0.00,2.62,7.18,1.112,4,0.000,0.058,3136,959,1770
$GC,13946,1.06,222.7,488.1,9.7,1098,13954,0.00,2.47,0.00,0.000,6,0.000,0.037,3136,2361,1770
$GC,14273,1.06,222.7,458.1,9.0,1129,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2361,1769
$GC,14590,1.06,222.7,429.2,9.0,1159,14594,0.00,2.50,0.00,0.000,4,0.000,0.056,3136,967,1769
$GC,14622,1.06,222.7,426.1,9.4,1161,14630,0.00,2.45,0.00,0.000,6,0.000,0.038,3136,2359,1769
$GC,14948,1.06,222.7,396.8,9.2,1192,14953,0.00,2.50,0.00,0.000,4,0.000,0.055,3137,964,1769
$GC,14992,1.06,222.7,392.5,9.6,1195,15000,0.00,2.40,0.00,0.000,6,0.000,0.037,3136,2335,1769
$GC,15319,1.08,233.5,363.9,8.5,1226,15331,0.00,0.00,9.73,1.002,6,0.000,0.000,3136,2335,1726
$GC,15646,1.08,237.3,335.5,8.8,1257,15659,0.00,2.50,3.50,0.992,4,0.000,0.054,3136,970,1710
$GC,15694,1.11,237.3,331.1,10.1,1261,15698,0.00,2.35,0.00,0.000,6,0.000,0.037,3136,2323,1709
$GC,16021,1.18,257.9,302.7,8.0,1291,16044,0.12,2.55,17.38,0.927,4,0.061,0.054,3169,966,1625
$GC,16061,1.14,257.9,298.6,10.4,1294,16068,0.00,2.35,0.00,0.000,6,0.000,0.036,3169,2310,1624
$GC,16388,1.14,257.9,266.1,10.8,1325,16392,0.00,2.50,0.00,0.000,4,0.000,0.055,3169,3723,1624
$GC,16450,1.14,257.9,259.0,11.9,1330,16454,0.00,2.40,0.00,0.000,6,0.000,0.036,3169,2324,1624
$GC,16788,1.14,257.9,224.1,10.3,1382,16794,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2323,1624
$GC,17130,1.14,257.9,189.9,9.3,1443,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2322,1624
$GC,17475,1.21,277.8,161.3,8.0,1504,17497,0.00,2.58,16.08,0.801,4,0.000,0.049,3169,3726,1544
$GC,17550,1.29,296.9,155.2,8.0,1516,17573,0.00,2.38,15.35,0.781,6,0.000,0.034,3169,2336,1467
$GC,17906,1.48,347.7,129.3,6.4,1579,17953,0.22,0.00,41.30,0.720,6,0.051,0.000,3229,2335,1258
$GC,18292,1.51,347.7,94.2,9.5,1647,18298,0.00,2.40,0.00,0.000,4,0.000,0.048,3229,969,1254
$GC,18400,1.51,347.7,83.8,9.6,1666,18407,0.00,2.40,0.00,0.000,6,0.000,0.031,3229,2379,1253
$GC,18744,1.61,366.5,55.8,8.1,1727,18764,0.12,2.42,14.10,0.653,4,0.059,0.047,3265,3724,1182
$GC,18849,1.61,366.5,45.0,10.1,1745,18855,0.00,2.33,0.00,0.000,6,0.000,0.031,3265,2341,1182
$GC,19192,1.61,366.5,13.0,9.7,1806,19199,0.00,2.40,0.00,0.000,4,0.000,0.044,3265,3730,1181
$GC,19227,1.61,366.5,9.5,9.9,1812,19234,0.00,2.38,0.00,0.000,6,0.000,0.029,3265,2308,1182
$STATE,19311,end climb,SURFACE_DEPTH_REACHED
$STATE,19311,begin surface coast
$FINISH,0.1,1.021689
$STATE,19335,end surface coast,CONTROL_FINISHED_OK
$STATE,19335,begin surface
$SM_CCo,19357,52.40,0.551,0,0,740,475.15
$SM_GC,0.58,0.00,0.00,52.40,0.000,0.000,0.551,252,2132,740,-12.20,-0.48,475.15
$IRIDIUM_FIX,1238.83,12018.41,140697,020239
$TT8_MAMPS,0.023777
$HUMID,1861
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,439
$24V_AH,23.3,30.465
$10V_AH,10.1,15.147
$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,32.175,126.250,426.375,52.400,0.000,23.115,47.009,150.441,118.750,0.000,0.000,12.188,3664.592,12026.085,646.698,2907.169,501.565,0.000,2092.074,0.000,2857.921,0.000,66.186
$DEVICE_MAMPS,173.342,65.195,1283.191,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56576,1831
$CAP_FILE_SIZE,176365,0
$CFSIZE,260165632,244473856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010,199.6,1
$GPS,200308,123925,1245.598,12020.238,38,1.1,38,-0.8