version: 66.03
glider: 122
mission: 6
dive: 162
start: 3 20 108 12 45 51
data:
$ID,122
$MISSION,6
$DIVE,162
$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,-30285.062
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,123925,1245.598,12020.238,38,1.1,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.0
$GPS2,124520,1245.699,12020.211,15,1.1,32,-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,75.5,41743,-17.4,-9.016
$D_GRID,804
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,89,0.00,0.00,-66.93,0.000,2,0.000,0.000,253,2132,2551
$GC,92,-1.42,-146.0,3.6,-8.2,10,125,13.50,2.50,-13.32,0.000,4,0.170,0.054,2587,3552,3277
$GC,322,-1.15,-146.0,55.7,-19.8,50,329,0.35,2.30,0.00,0.000,6,0.117,0.028,2653,2159,3278
$GC,667,-1.05,-146.0,105.5,-13.1,111,675,0.12,2.40,0.00,0.000,4,0.112,0.041,2676,3558,3279
$GC,742,-1.05,-146.0,114.5,-11.3,124,749,0.00,2.30,0.00,0.000,6,0.000,0.028,2676,2169,3280
$GC,1086,-1.08,-146.0,151.6,-10.0,185,1093,0.00,2.38,0.00,0.000,4,0.000,0.043,2675,3557,3282
$GC,1139,-1.13,-146.0,156.9,-10.0,194,1146,0.00,2.22,0.00,0.000,6,0.000,0.028,2676,2208,3282
$GC,1484,-1.22,-146.0,185.0,-8.1,255,1491,0.15,2.33,0.00,0.000,4,0.050,0.043,2625,3562,3282
$GC,1531,-1.18,-146.0,189.5,-10.0,263,1539,0.12,2.17,0.00,0.000,6,0.096,0.029,2649,2248,3282
$GC,1877,-1.22,-146.0,219.1,-8.3,324,1884,0.00,2.62,0.00,0.000,4,0.000,0.048,2648,746,3282
$GC,1907,-1.29,-146.0,221.9,-9.4,329,1914,0.12,2.53,0.00,0.000,6,0.053,0.031,2608,2245,3282
$GC,2249,-1.25,-146.0,255.5,-9.9,385,2254,0.12,2.25,0.00,0.000,4,0.100,0.048,2631,3549,3282
$GC,2337,-1.25,-146.0,264.0,-8.9,392,2344,0.00,2.15,0.00,0.000,6,0.000,0.031,2631,2254,3281
$GC,2664,-1.25,-146.0,292.2,-8.4,423,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2252,3280
$GC,2981,-1.25,-146.0,320.3,-8.7,453,2985,0.00,2.25,0.00,0.000,4,0.000,0.049,2631,3550,3278
$GC,3025,-1.25,-146.0,324.3,-8.6,456,3032,0.00,2.12,0.00,0.000,6,0.000,0.031,2631,2277,3278
$GC,3351,-1.28,-146.0,350.6,-8.1,487,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2275,3275
$GC,3671,-1.32,-146.0,376.2,-8.1,517,3675,0.00,2.72,0.00,0.000,4,0.000,0.054,2631,746,3274
$GC,3710,-1.37,-146.0,379.7,-8.7,520,3715,0.12,2.67,0.00,0.000,6,0.056,0.034,2592,2307,3273
$GC,4035,-1.32,-146.0,411.3,-8.8,550,4040,0.12,2.78,0.00,0.000,4,0.108,0.052,2615,754,3270
$GC,4068,-1.32,-146.0,414.3,-8.5,552,4074,0.00,2.62,0.00,0.000,6,0.000,0.035,2615,2281,3270
$GC,4394,-1.32,-146.0,440.5,-8.4,583,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2282,3269
$GC,4711,-1.32,-146.0,469.7,-9.2,613,4715,0.00,2.72,0.00,0.000,4,0.000,0.054,2615,756,3267
$GC,4742,-1.32,-146.0,472.9,-9.2,615,4750,0.00,2.62,0.00,0.000,6,0.000,0.035,2615,2280,3267
$GC,5070,-1.32,-146.0,498.1,-7.2,646,5074,0.00,2.72,0.00,0.000,4,0.000,0.054,2615,756,3264
$GC,5118,-1.32,-146.0,502.0,-7.2,649,5123,0.00,2.55,0.00,0.000,6,0.000,0.035,2615,2246,3264
$GC,5442,-1.32,-146.0,526.1,-7.9,665,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2246,3262
$GC,5752,-1.32,-146.0,550.3,-8.0,680,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2246,3260
$GC,6058,-1.32,-146.0,574.4,-7.6,695,6063,0.00,2.67,0.00,0.000,4,0.000,0.056,2615,748,3259
$GC,6098,-1.32,-146.0,577.4,-8.1,697,6103,0.00,2.60,0.00,0.000,6,0.000,0.037,2615,2252,3258
$GC,6427,-1.32,-146.0,601.0,-7.4,713,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2254,3257
$GC,6735,-1.32,-146.0,623.5,-7.6,728,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2254,3256
$GC,7043,-1.32,-146.0,646.9,-7.3,743,7048,0.00,2.70,0.00,0.000,4,0.000,0.058,2615,752,3255
$GC,7100,-1.36,-146.0,651.1,-7.5,745,7107,0.00,2.60,0.00,0.000,6,0.000,0.037,2615,2257,3254
$GC,7416,-1.36,-146.0,674.5,-8.0,761,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2257,3253
$GC,7727,-1.36,-146.0,700.5,-7.4,776,7732,0.00,2.70,0.00,0.000,4,0.000,0.058,2615,758,3251
$GC,7790,-1.41,-146.0,705.2,-7.1,779,7795,0.00,2.55,0.00,0.000,6,0.000,0.037,2614,2231,3251
$GC,8117,-1.41,-146.0,725.5,-7.9,795,8121,0.00,2.33,0.00,0.000,4,0.000,0.058,2615,3545,3250
$GC,8166,-1.44,-146.0,729.9,-8.5,797,8174,0.12,2.22,0.00,0.000,6,0.064,0.037,2582,2238,3250
$GC,8493,-1.40,-146.0,757.5,-9.5,813,8497,0.00,2.33,0.00,0.000,4,0.000,0.056,2582,3551,3249
$GC,8542,-1.36,-146.0,763.5,-11.1,815,8547,0.15,2.25,0.00,0.000,6,0.109,0.037,2609,2237,3248
$GC,8865,-1.36,-146.0,791.8,-8.3,831,8869,0.00,2.65,0.00,0.000,4,0.000,0.061,2609,759,3247
$GC,8920,-1.40,-146.0,796.5,-7.9,833,8928,0.00,2.53,0.00,0.000,6,0.000,0.038,2609,2217,3247
$STATE,9027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9027,begin apogee
$GC,9033,-0.34,0.0,805.1,7.7,839,9156,1.08,0.00,119.50,1.239,6,0.094,0.000,2827,2382,2678
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9157,begin climb
$GC,9159,1.42,146.0,809.2,0.0,845,9290,1.83,2.53,123.15,1.194,4,0.061,0.062,3220,3717,2082
$GC,9342,1.15,146.0,795.7,14.2,854,9347,0.35,2.33,0.00,0.000,6,0.132,0.039,3159,2386,2081
$GC,9669,1.05,146.0,761.0,9.9,870,9674,0.15,2.58,0.00,0.000,4,0.124,0.058,3134,963,2080
$GC,9735,1.00,154.3,755.2,8.6,873,9752,0.00,2.47,6.82,1.215,6,0.000,0.039,3134,2370,2048
$GC,10060,0.95,154.3,725.4,9.7,889,10065,0.12,2.45,0.00,0.000,4,0.124,0.060,3113,3730,2048
$GC,10109,0.95,154.3,720.4,10.3,891,10114,0.00,2.38,0.00,0.000,6,0.000,0.038,3114,2378,2048
$GC,10432,0.96,160.8,691.7,8.7,907,10442,0.00,2.60,5.82,1.214,4,0.000,0.058,3112,963,2021
$GC,10481,0.96,160.8,686.9,9.8,909,10485,0.00,2.47,0.00,0.000,6,0.000,0.038,3113,2365,2020
$GC,10803,0.97,171.2,658.7,8.5,925,10817,0.00,2.60,8.82,1.199,4,0.000,0.058,3113,972,1980
$GC,10885,0.98,172.0,651.6,9.0,928,10892,0.00,2.40,0.00,0.000,6,0.000,0.039,3113,2341,1979
$GC,11202,1.01,194.2,625.5,7.9,944,11228,0.00,2.60,19.40,1.156,4,0.000,0.058,3113,970,1885
$GC,11262,1.02,196.7,620.4,8.9,946,11270,0.00,2.42,2.72,1.118,6,0.000,0.038,3113,2343,1875
$GC,11578,1.05,218.0,596.1,7.9,962,11599,0.00,0.00,18.10,1.136,6,0.000,0.000,3113,2342,1789
$GC,11907,1.09,219.6,567.7,8.9,978,11909,0.15,0.00,0.00,0.000,6,0.067,0.000,3149,2343,1787
$GC,12216,1.09,219.6,536.3,10.0,993,12220,0.00,2.50,0.00,0.000,4,0.000,0.058,3149,965,1786
$GC,12279,1.06,219.6,530.1,9.3,996,12283,0.00,2.40,0.00,0.000,6,0.000,0.038,3149,2340,1786
$GC,12600,1.06,219.6,497.4,10.5,1012,12604,0.00,2.47,0.00,0.000,4,0.000,0.058,3149,3727,1786
$GC,12640,1.01,219.6,493.0,11.1,1015,12645,0.12,2.40,0.00,0.000,6,0.127,0.038,3129,2336,1786
$GC,12964,1.01,219.6,462.5,9.6,1045,12968,0.00,2.45,0.00,0.000,4,0.000,0.057,3129,969,1786
$GC,13060,1.01,219.6,452.8,9.6,1053,13064,0.00,2.38,0.00,0.000,6,0.000,0.037,3128,2337,1786
$GC,13385,1.02,225.6,422.2,8.7,1083,13399,0.00,2.50,6.30,1.058,4,0.000,0.055,3129,3725,1757
$GC,13415,1.02,225.6,419.4,9.1,1085,13422,0.00,2.40,0.00,0.000,6,0.000,0.036,3129,2339,1758
$GC,13743,1.07,234.5,392.3,8.6,1116,13758,0.00,2.55,7.95,1.025,4,0.000,0.056,3128,970,1720
$GC,13804,1.11,234.5,386.5,9.5,1121,13808,0.00,2.42,0.00,0.000,6,0.000,0.036,3129,2357,1720
$GC,14131,1.19,262.7,359.5,7.6,1151,14160,0.15,2.58,23.55,0.953,4,0.060,0.054,3174,963,1607
$GC,14199,1.16,262.7,352.4,11.6,1156,14206,0.00,2.40,0.00,0.000,6,0.000,0.036,3174,2333,1604
$GC,14525,1.12,262.7,316.7,11.1,1187,14527,0.15,0.00,0.00,0.000,6,0.107,0.000,3147,2333,1604
$GC,14843,1.12,262.7,286.3,9.5,1217,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2333,1604
$GC,15161,1.16,262.7,257.0,9.2,1247,15165,0.00,2.42,0.00,0.000,4,0.000,0.053,3147,971,1604
$GC,15212,1.19,262.7,252.1,9.1,1251,15219,0.00,2.30,0.00,0.000,6,0.000,0.035,3147,2308,1603
$GC,15554,1.24,272.7,220.8,8.5,1310,15568,0.12,0.00,8.25,0.878,6,0.068,0.000,3179,2307,1566
$GC,15905,1.24,272.7,184.9,9.4,1372,15912,0.00,2.40,0.00,0.000,4,0.000,0.052,3179,960,1565
$GC,15963,1.24,272.7,179.2,9.7,1382,15970,0.00,2.33,0.00,0.000,6,0.000,0.034,3179,2312,1565
$GC,16310,1.27,285.8,148.2,8.3,1443,16324,0.00,0.00,10.73,0.798,6,0.000,0.000,3179,2312,1511
$GC,16661,1.40,319.9,122.6,7.3,1505,16697,0.12,2.47,27.20,0.727,4,0.054,0.050,3219,976,1372
$GC,16766,1.40,322.5,113.5,8.9,1523,16773,0.00,2.28,0.00,0.000,6,0.000,0.033,3219,2299,1370
$GC,17111,1.48,348.4,84.7,7.7,1584,17141,0.00,2.55,22.67,0.680,4,0.000,0.048,3219,3732,1256
$GC,17198,1.55,348.4,76.9,9.4,1599,17205,0.10,2.47,0.00,0.000,6,0.065,0.031,3247,2270,1255
$GC,17544,1.65,384.6,49.7,7.2,1660,17580,0.00,2.60,28.40,0.625,4,0.000,0.044,3247,3732,1110
$GC,17615,1.70,384.6,43.1,10.4,1672,17622,0.12,2.45,0.00,0.000,6,0.059,0.030,3282,2284,1108
$GC,17959,1.70,384.6,9.5,9.1,1733,17966,0.00,2.50,0.00,0.000,4,0.000,0.043,3282,3733,1107
$GC,18022,1.70,384.6,2.7,10.7,1744,18029,0.00,2.42,0.00,0.000,6,0.000,0.029,3282,2283,1107
$STATE,18033,end climb,SURFACE_DEPTH_REACHED
$STATE,18033,begin surface coast
$FINISH,-0.1,1.021684
$STATE,18051,end surface coast,CONTROL_FINISHED_OK
$STATE,18051,begin surface
$SM_CCo,18073,43.45,0.551,0,0,741,475.15
$SM_GC,0.71,0.00,0.00,43.45,0.000,0.000,0.551,252,2121,741,-12.20,-0.82,475.15
$IRIDIUM_FIX,1243.25,12055.17,140697,070710
$TT8_MAMPS,0.023777
$HUMID,1881
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,433
$24V_AH,23.3,30.632
$10V_AH,10.1,15.239
$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,32.975,173.050,439.400,43.450,0.000,23.162,35.429,159.482,116.000,0.000,0.000,32.049,3537.516,10843.522,686.268,2888.347,519.430,0.000,2141.556,0.000,2825.255,0.000,57.127
$DEVICE_MAMPS,170.274,62.127,1239.472,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53546,1749
$CAP_FILE_SIZE,181916,0
$CFSIZE,260165632,244383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,307.8,1
$GPS,200308,174901,1246.441,12021.975,37,1.4,37,-0.8