version: 66.03
glider: 122
mission: 6
dive: 205
start: 3 29 108 15 7 25
data:
$ID,122
$MISSION,6
$DIVE,205
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31008.371
$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,14.2
$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,56
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,150032,1251.192,12038.487,41,1.1,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-74.1
$GPS2,150650,1251.212,12038.468,14,1.7,14,-0.8
$SPEED_LIMITS,0.156,0.206
$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,229.7,42759,-18.6,-9.016
$D_GRID,1454
$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,-1.56,-146.0,0.0,0.0,0,80,0.00,0.00,-57.42,0.000,2,0.000,0.000,250,2110,2388
$GC,82,-1.56,-146.0,3.3,-7.7,9,121,13.52,2.58,-18.12,0.000,4,0.176,0.052,2559,3564,3347
$GC,236,-1.22,-146.0,40.7,-23.4,35,244,0.43,2.33,0.00,0.000,6,0.120,0.028,2638,2164,3348
$GC,581,-1.13,-146.0,95.6,-13.8,96,588,0.00,2.42,0.00,0.000,4,0.000,0.042,2638,3573,3350
$GC,685,-1.07,-146.0,109.6,-12.6,114,692,0.17,2.33,0.00,0.000,6,0.101,0.027,2671,2169,3350
$GC,1030,-1.16,-146.0,143.5,-8.6,175,1037,0.00,2.45,0.00,0.000,4,0.000,0.044,2671,752,3352
$GC,1073,-1.29,-146.0,147.5,-9.3,182,1081,0.22,2.38,0.00,0.000,6,0.041,0.028,2603,2176,3352
$GC,1418,-1.29,-146.0,184.3,-8.8,243,1425,0.10,0.00,0.00,0.000,6,0.105,0.000,2622,2178,3353
$GC,1763,-1.33,-146.0,215.3,-9.6,304,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2178,3353
$GC,2107,-1.37,-146.0,243.9,-8.0,365,2114,0.00,2.38,0.00,0.000,4,0.000,0.048,2621,3552,3353
$GC,2161,-1.42,-146.0,248.3,-8.4,374,2168,0.12,2.38,0.00,0.000,6,0.058,0.030,2585,2129,3353
$GC,2488,-1.38,-146.0,279.6,-10.6,406,2493,0.00,2.45,0.00,0.000,4,0.000,0.044,2585,3549,3352
$GC,2544,-1.34,-146.0,286.0,-10.6,410,2552,0.15,2.33,0.00,0.000,6,0.100,0.030,2614,2156,3352
$GC,2869,-1.37,-146.0,314.2,-7.8,441,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2155,3350
$GC,3189,-1.41,-146.0,339.6,-8.1,471,3194,0.00,2.42,0.00,0.000,4,0.000,0.047,2614,3552,3349
$GC,3223,-1.44,-146.0,342.7,-8.6,473,3230,0.12,2.35,0.00,0.000,6,0.060,0.031,2580,2156,3349
$GC,3548,-1.41,-146.0,373.2,-9.7,504,3552,0.00,2.42,0.00,0.000,4,0.000,0.047,2580,3546,3347
$GC,3621,-1.37,-146.0,380.4,-9.5,510,3626,0.15,2.30,0.00,0.000,6,0.103,0.032,2608,2186,3346
$GC,3946,-1.37,-146.0,406.9,-8.1,540,3950,0.00,2.38,0.00,0.000,4,0.000,0.048,2608,3542,3345
$GC,3979,-1.37,-146.0,409.9,-8.7,542,3986,0.00,2.28,0.00,0.000,6,0.000,0.032,2608,2196,3344
$GC,4306,-1.40,-146.0,437.9,-9.1,573,4310,0.00,2.38,0.00,0.000,4,0.000,0.049,2608,3550,3343
$GC,4369,-1.43,-146.0,444.0,-9.7,578,4373,0.00,2.25,0.00,0.000,6,0.000,0.033,2608,2223,3342
$GC,4696,-1.47,-146.0,473.5,-9.2,608,4700,0.00,2.33,0.00,0.000,4,0.000,0.050,2608,3544,3340
$GC,4736,-1.50,-146.0,477.5,-9.8,611,4741,0.15,2.22,0.00,0.000,6,0.058,0.033,2568,2232,3340
$GC,5071,-1.44,-146.0,510.2,-9.6,637,5076,0.12,2.33,0.00,0.000,4,0.114,0.050,2590,3551,3338
$GC,5110,-1.44,-146.0,514.1,-9.2,639,5114,0.00,2.20,0.00,0.000,6,0.000,0.033,2590,2254,3338
$GC,5440,-1.44,-146.0,541.5,-8.3,655,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2252,3336
$GC,5746,-1.44,-146.0,568.4,-8.9,670,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2253,3334
$GC,6056,-1.44,-146.0,595.9,-8.9,685,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2253,3332
$GC,6366,-1.44,-146.0,621.7,-8.4,700,6370,0.00,2.28,0.00,0.000,4,0.000,0.054,2590,3541,3331
$GC,6405,-1.44,-146.0,625.2,-9.2,702,6409,0.00,2.20,0.00,0.000,6,0.000,0.035,2590,2248,3330
$GC,6732,-1.44,-146.0,655.3,-9.6,718,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2248,3329
$GC,7042,-1.44,-146.0,683.3,-8.5,733,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2247,3328
$GC,7351,-1.44,-146.0,709.7,-8.2,748,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2247,3326
$GC,7660,-1.44,-146.0,736.0,-8.9,763,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2247,3325
$GC,7969,-1.44,-146.0,763.5,-9.1,778,7973,0.00,2.28,0.00,0.000,4,0.000,0.054,2590,3541,3324
$GC,8024,-1.44,-146.0,768.8,-9.7,780,8028,0.00,2.20,0.00,0.000,6,0.000,0.036,2590,2255,3323
$GC,8345,-1.44,-146.0,797.3,-8.6,796,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2252,3322
$GC,8655,-1.44,-146.0,824.5,-8.7,811,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2253,3322
$GC,8965,-1.44,-146.0,851.3,-8.9,826,8969,0.00,2.30,0.00,0.000,4,0.000,0.056,2590,3548,3321
$GC,9009,-1.44,-146.0,855.7,-10.1,828,9013,0.00,2.20,0.00,0.000,6,0.000,0.037,2590,2261,3320
$GC,9336,-1.44,-146.0,884.3,-8.7,844,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2260,3319
$GC,9645,-1.44,-146.0,909.8,-8.1,859,9653,0.00,2.30,0.00,0.000,4,0.000,0.057,2590,3548,3318
$GC,9681,-1.44,-146.0,913.0,-8.5,860,9685,0.00,2.20,0.00,0.000,6,0.000,0.037,2590,2261,3318
$GC,9996,-1.44,-146.0,939.5,-8.8,875,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2260,3317
$GC,10306,-1.44,-146.0,965.5,-8.5,890,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2259,3316
$STATE,10593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10593,begin apogee
$GC,10598,-0.35,0.0,990.0,8.6,904,10725,1.17,0.00,122.88,1.391,6,0.100,0.000,2826,2378,2748
$STATE,10725,end apogee,CONTROL_FINISHED_OK
$STATE,10725,begin climb
$GC,10728,1.56,146.0,994.9,0.0,910,10864,1.92,2.50,127.53,1.345,4,0.056,0.061,3246,3717,2152
$GC,10954,1.27,146.0,979.7,13.2,920,10960,0.35,2.35,0.00,0.000,6,0.136,0.041,3186,2378,2151
$GC,11271,1.14,146.0,947.4,10.6,935,11273,0.17,0.00,0.00,0.000,6,0.123,0.000,3156,2377,2149
$GC,11580,1.07,146.0,918.0,9.1,950,11584,0.00,2.58,0.00,0.000,4,0.000,0.061,3156,968,2148
$GC,11635,0.97,146.0,912.4,10.4,952,11643,0.20,2.45,0.00,0.000,6,0.119,0.040,3120,2359,2148
$GC,11950,0.99,154.8,886.2,8.6,968,11960,0.00,0.00,7.43,1.358,6,0.000,0.000,3120,2359,2116
$GC,12260,1.01,168.2,859.0,8.4,983,12282,0.00,2.60,11.77,1.345,4,0.000,0.062,3120,3731,2062
$GC,12310,1.01,168.2,854.1,11.0,985,12314,0.00,2.40,0.00,0.000,6,0.000,0.039,3120,2365,2062
$GC,12637,1.02,171.9,824.6,8.8,1001,12646,0.00,2.60,3.60,1.302,4,0.000,0.061,3120,976,2047
$GC,12696,1.02,171.9,819.1,9.8,1003,12704,0.00,2.47,0.00,0.000,6,0.000,0.041,3120,2370,2046
$GC,13013,1.14,224.0,796.3,6.7,1019,13061,0.15,0.00,45.30,1.273,6,0.071,0.000,3153,2370,1834
$GC,13362,1.14,224.0,763.0,10.2,1036,13366,0.00,2.58,0.00,0.000,4,0.000,0.061,3153,967,1831
$GC,13433,1.14,224.0,755.1,9.9,1039,13437,0.00,2.45,0.00,0.000,6,0.000,0.040,3153,2354,1831
$GC,13749,1.14,224.0,724.4,9.6,1054,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2354,1830
$GC,14058,1.14,224.0,693.6,10.1,1069,14062,0.00,2.53,0.00,0.000,4,0.000,0.060,3153,972,1830
$GC,14112,1.14,224.0,687.9,10.3,1071,14120,0.00,2.42,0.00,0.000,6,0.000,0.040,3153,2349,1830
$GC,14428,1.14,224.0,657.3,9.5,1087,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2349,1830
$GC,14738,1.14,227.0,628.8,8.9,1102,14742,0.00,2.53,0.00,0.000,4,0.000,0.060,3153,966,1830
$GC,14787,1.15,229.9,624.2,8.9,1104,14800,0.00,2.42,4.65,1.208,6,0.000,0.039,3153,2345,1810
$GC,15108,1.15,234.7,595.6,8.8,1120,15117,0.00,2.55,4.43,1.183,4,0.000,0.059,3153,970,1791
$GC,15145,1.15,234.7,591.8,10.2,1121,15152,0.00,2.40,0.00,0.000,6,0.000,0.039,3153,2329,1791
$GC,15462,1.17,244.0,563.6,8.6,1137,15472,0.00,0.00,8.80,1.157,6,0.000,0.000,3153,2329,1753
$GC,15771,1.20,244.0,535.5,9.3,1152,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2328,1752
$GC,16080,1.23,244.0,506.9,9.1,1167,16084,0.00,2.47,0.00,0.000,4,0.000,0.058,3153,967,1752
$GC,16129,1.23,244.0,502.1,9.5,1169,16134,0.00,2.40,0.00,0.000,6,0.000,0.038,3153,2321,1752
$GC,16462,1.27,248.7,472.9,8.8,1199,16475,0.12,2.55,4.35,1.095,4,0.067,0.059,3185,3726,1734
$GC,16491,1.24,248.7,469.5,11.5,1201,16499,0.00,2.47,0.00,0.000,6,0.000,0.038,3185,2301,1734
$GC,16819,1.24,248.7,436.9,9.8,1232,16823,0.00,2.40,0.00,0.000,4,0.000,0.058,3185,967,1734
$GC,16852,1.20,248.7,433.5,9.9,1234,16859,0.00,2.35,0.00,0.000,6,0.000,0.038,3185,2320,1733
$GC,17178,1.21,253.2,404.8,8.8,1265,17190,0.00,2.47,4.47,1.049,4,0.000,0.057,3185,969,1715
$GC,17218,1.17,253.2,401.0,10.2,1268,17226,0.12,2.38,0.00,0.000,6,0.119,0.038,3164,2321,1715
$GC,17543,1.22,261.3,374.5,8.7,1299,17554,0.00,0.00,7.20,1.020,6,0.000,0.000,3164,2320,1682
$GC,17873,1.25,261.3,343.9,9.6,1330,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2319,1681
$GC,18191,1.32,272.5,316.0,8.5,1360,18203,0.12,0.00,9.70,0.965,6,0.070,0.000,3195,2320,1637
$GC,18517,1.32,272.5,284.8,9.0,1391,18521,0.00,2.45,0.00,0.000,4,0.000,0.055,3195,963,1637
$GC,18579,1.32,272.5,278.6,9.9,1396,18583,0.00,2.33,0.00,0.000,6,0.000,0.036,3195,2299,1636
$GC,18904,1.32,272.5,248.3,9.3,1427,18911,0.00,2.40,0.00,0.000,4,0.000,0.054,3195,962,1636
$GC,18956,1.32,272.5,243.3,9.0,1436,18963,0.00,2.28,0.00,0.000,6,0.000,0.036,3195,2276,1636
$GC,19301,1.35,289.9,213.5,8.2,1497,19321,0.00,2.45,14.68,0.852,4,0.000,0.053,3195,970,1565
$GC,19372,1.35,289.9,207.0,9.1,1509,19379,0.00,2.25,0.00,0.000,6,0.000,0.035,3195,2265,1564
$GC,19717,1.39,289.9,176.4,9.8,1570,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2264,1564
$GC,20061,1.52,330.0,148.1,7.2,1631,20102,0.15,2.38,32.28,0.755,4,0.061,0.052,3239,970,1401
$GC,20171,1.53,332.7,139.0,8.9,1649,20178,0.00,2.20,0.00,0.000,6,0.000,0.034,3239,2242,1399
$GC,20516,1.62,353.6,112.7,8.1,1710,20542,0.00,2.33,18.98,0.724,4,0.000,0.050,3239,965,1305
$GC,20599,1.67,353.6,105.5,9.1,1724,20607,0.12,2.10,0.00,0.000,6,0.060,0.032,3274,2188,1302
$GC,20945,1.75,398.8,79.2,7.0,1785,20991,0.00,2.80,36.20,0.662,4,0.000,0.048,3274,3724,1121
$GC,21049,1.82,402.3,70.8,8.9,1802,21058,0.12,2.58,2.75,0.716,6,0.063,0.031,3306,2219,1107
$GC,21396,1.85,402.3,42.0,9.0,1863,21403,0.00,2.20,0.00,0.000,4,0.000,0.048,3306,967,1105
$GC,21471,1.86,407.3,35.0,8.8,1876,21480,0.00,2.17,3.65,0.654,6,0.000,0.029,3306,2257,1087
$GC,21819,1.94,428.9,6.6,8.0,1937,21845,0.00,2.62,17.55,0.581,4,0.000,0.046,3306,3738,998
$STATE,21872,end climb,SURFACE_DEPTH_REACHED
$STATE,21872,begin surface coast
$FINISH,0.0,1.021472
$STATE,21895,end surface coast,CONTROL_FINISHED_OK
$STATE,21895,begin surface
$SM_CCo,21920,22.67,0.561,0,0,810,475.15
$SM_GC,0.94,0.00,0.00,22.67,0.000,0.000,0.561,251,2143,810,-12.20,-0.20,475.15
$IRIDIUM_FIX,1247.67,12040.38,230697,090912
$TT8_MAMPS,0.023777
$HUMID,1965
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,424
$24V_AH,23.1,37.881
$10V_AH,10.1,19.146
$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,33.575,167.600,488.175,22.675,0.000,27.839,36.205,170.558,118.500,0.000,0.000,14.062,4069.221,13782.791,733.286,3160.680,578.881,0.000,2310.642,0.000,3092.026,0.000,91.591
$DEVICE_MAMPS,175.643,62.127,1391.338,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1311.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59741,1950
$CAP_FILE_SIZE,202002,0
$CFSIZE,260165632,240803840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,315.2,1
$GPS,290308,211425,1250.462,12036.007,41,0.9,41,-0.8