version: 66.03
glider: 122
mission: 6
dive: 215
start: 3 31 108 23 48 39
data:
$ID,122
$MISSION,6
$DIVE,215
$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,-31169.514
$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,14.2
$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,61
$R_STBD_OVSHOOT,28
$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
$GPS1,233902,1246.611,12018.585,41,1.1,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.9
$GPS2,234803,1246.571,12018.525,14,1.8,14,-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,257.0,5741,-18.6,-9.016
$D_GRID,863
$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,21,-1.56,-146.0,0.0,0.0,0,81,0.00,0.00,-58.22,0.000,2,0.000,0.000,251,2102,2421
$GC,84,-1.56,-146.0,3.3,-7.9,10,123,13.50,2.53,-17.20,0.000,4,0.174,0.051,2559,3569,3345
$GC,180,-1.21,-146.0,28.3,-24.8,26,188,0.43,2.33,0.00,0.000,6,0.122,0.027,2637,2169,3346
$GC,526,-1.12,-146.0,83.6,-10.3,87,533,0.12,2.40,0.00,0.000,4,0.111,0.040,2659,3567,3347
$GC,652,-1.12,-146.0,99.8,-13.0,109,659,0.00,2.22,0.00,0.000,6,0.000,0.026,2659,2218,3348
$GC,998,-1.17,-146.0,138.5,-10.1,170,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2218,3349
$GC,1343,-1.27,-146.0,168.3,-8.1,231,1351,0.15,2.55,0.00,0.000,4,0.051,0.042,2611,744,3351
$GC,1385,-1.27,-146.0,172.0,-8.9,238,1392,0.00,2.55,0.00,0.000,6,0.000,0.028,2611,2270,3351
$GC,1730,-1.27,-146.0,203.5,-9.5,299,1737,0.00,2.65,0.00,0.000,4,0.000,0.044,2610,746,3351
$GC,1772,-1.31,-146.0,207.4,-9.3,306,1780,0.00,2.50,0.00,0.000,6,0.000,0.029,2610,2247,3351
$GC,2117,-1.31,-146.0,239.4,-9.4,367,2124,0.00,2.25,0.00,0.000,4,0.000,0.046,2610,3558,3351
$GC,2147,-1.31,-146.0,242.2,-9.4,372,2154,0.00,2.20,0.00,0.000,6,0.000,0.028,2611,2229,3350
$GC,2484,-1.31,-146.0,272.6,-9.3,411,2489,0.00,2.58,0.00,0.000,4,0.000,0.048,2611,752,3349
$GC,2525,-1.36,-146.0,276.4,-9.8,414,2529,0.00,2.55,0.00,0.000,6,0.000,0.032,2610,2256,3349
$GC,2851,-1.36,-146.0,305.0,-9.1,444,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2256,3347
$GC,3167,-1.36,-146.0,332.4,-8.3,474,3171,0.00,2.25,0.00,0.000,4,0.000,0.048,2610,3559,3346
$GC,3219,-1.36,-146.0,336.9,-8.8,478,3223,0.00,2.25,0.00,0.000,6,0.000,0.031,2610,2216,3345
$GC,3545,-1.36,-146.0,363.5,-8.6,508,3549,0.00,2.33,0.00,0.000,4,0.000,0.048,2611,3559,3343
$GC,3583,-1.36,-146.0,367.3,-9.1,511,3591,0.00,2.25,0.00,0.000,6,0.000,0.031,2611,2237,3343
$GC,3911,-1.36,-146.0,394.9,-8.6,542,3915,0.00,2.30,0.00,0.000,4,0.000,0.048,2610,3555,3341
$GC,3939,-1.36,-146.0,397.5,-8.4,544,3943,0.00,2.22,0.00,0.000,6,0.000,0.032,2611,2237,3341
$GC,4266,-1.40,-146.0,423.5,-8.1,574,4270,0.00,2.33,0.00,0.000,4,0.000,0.049,2610,3564,3339
$GC,4296,-1.43,-146.0,426.1,-8.7,576,4300,0.00,2.22,0.00,0.000,6,0.000,0.032,2610,2245,3338
$GC,4624,-1.47,-146.0,453.5,-9.0,606,4629,0.12,2.65,0.00,0.000,4,0.058,0.051,2574,753,3336
$GC,4652,-1.47,-146.0,456.6,-9.7,608,4657,0.00,2.58,0.00,0.000,6,0.000,0.033,2574,2261,3336
$GC,4979,-1.42,-146.0,488.7,-9.7,638,4983,0.00,2.70,0.00,0.000,4,0.000,0.052,2574,746,3334
$GC,5007,-1.42,-146.0,491.6,-9.4,640,5011,0.00,2.58,0.00,0.000,6,0.000,0.035,2574,2244,3334
$GC,5327,-1.38,-146.0,521.2,-9.5,659,5329,0.15,0.00,0.00,0.000,6,0.108,0.000,2601,2245,3332
$GC,5634,-1.38,-146.0,547.2,-8.5,674,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2245,3329
$GC,5943,-1.38,-146.0,573.5,-8.5,689,5947,0.00,2.30,0.00,0.000,4,0.000,0.053,2601,3555,3328
$GC,5969,-1.38,-146.0,576.3,-9.9,690,5973,0.00,2.30,0.00,0.000,6,0.000,0.034,2601,2221,3328
$GC,6292,-1.38,-146.0,602.2,-8.0,706,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2220,3326
$GC,6601,-1.42,-146.0,627.3,-8.1,721,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2220,3324
$GC,6912,-1.45,-146.0,650.7,-7.2,736,6916,0.00,2.35,0.00,0.000,4,0.000,0.053,2601,3553,3324
$GC,6939,-1.45,-146.0,653.1,-8.1,737,6943,0.00,2.25,0.00,0.000,6,0.000,0.035,2602,2232,3323
$GC,7255,-1.49,-146.0,677.1,-7.6,752,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2231,3323
$GC,7567,-1.52,-146.0,700.8,-8.2,767,7569,0.15,0.00,0.00,0.000,6,0.056,0.000,2562,2228,3320
$GC,7876,-1.47,-146.0,730.3,-9.7,782,7878,0.12,0.00,0.00,0.000,6,0.116,0.000,2584,2228,3319
$GC,8183,-1.47,-146.0,758.1,-8.9,797,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2228,3318
$GC,8492,-1.47,-146.0,785.7,-8.8,812,8496,0.00,2.35,0.00,0.000,4,0.000,0.056,2584,3559,3317
$GC,8543,-1.47,-146.0,790.4,-9.8,814,8547,0.00,2.25,0.00,0.000,6,0.000,0.038,2584,2243,3316
$GC,8865,-1.47,-146.0,819.0,-8.9,830,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3315
$GC,9174,-1.47,-146.0,846.5,-8.7,845,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3314
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9384,-0.35,0.0,864.3,8.7,855,9507,1.20,0.00,119.53,1.278,6,0.101,0.000,2824,2391,2748
$STATE,9508,end apogee,CONTROL_FINISHED_OK
$STATE,9508,begin climb
$GC,9510,1.56,146.0,868.6,0.0,861,9645,1.98,2.45,125.25,1.239,4,0.057,0.058,3251,3716,2152
$GC,9716,1.26,146.0,856.0,12.8,871,9721,0.40,2.33,0.00,0.000,6,0.131,0.039,3181,2387,2150
$GC,10042,1.15,146.0,823.5,9.9,887,10044,0.15,0.00,0.00,0.000,6,0.124,0.000,3156,2386,2149
$GC,10352,1.10,150.3,796.0,8.8,902,10361,0.00,2.65,3.22,1.216,4,0.000,0.060,3155,966,2135
$GC,10469,1.03,155.5,785.1,8.8,907,10479,0.15,2.40,4.68,1.248,6,0.120,0.039,3129,2332,2114
$GC,10797,1.05,171.7,757.8,8.3,923,10820,0.00,2.58,14.18,1.239,4,0.000,0.061,3129,3723,2048
$GC,10882,1.05,171.7,749.7,9.8,926,10889,0.00,2.38,0.00,0.000,6,0.000,0.040,3129,2361,2047
$GC,11198,1.06,178.7,722.9,8.7,942,11209,0.00,2.58,6.12,1.236,4,0.000,0.060,3128,965,2018
$GC,11310,1.08,185.7,713.0,8.7,947,11321,0.00,2.42,6.07,1.226,6,0.000,0.039,3129,2342,1991
$GC,11631,1.12,213.5,687.4,7.8,962,11657,0.00,0.00,24.20,1.189,6,0.000,0.000,3129,2341,1877
$GC,11961,1.19,222.1,659.2,8.6,978,11975,0.15,2.60,7.43,1.192,4,0.064,0.059,3168,970,1841
$GC,12037,1.15,222.1,651.2,10.0,981,12041,0.00,2.40,0.00,0.000,6,0.000,0.039,3168,2332,1840
$GC,12353,1.15,222.1,620.1,9.7,996,12357,0.00,2.50,0.00,0.000,4,0.000,0.059,3168,961,1841
$GC,12415,1.11,222.1,614.0,9.3,999,12420,0.12,2.38,0.00,0.000,6,0.120,0.039,3147,2313,1840
$GC,12741,1.14,240.9,585.5,8.2,1015,12764,0.00,2.53,16.00,1.139,4,0.000,0.059,3147,965,1765
$GC,12804,1.17,240.9,579.8,9.6,1017,12811,0.00,2.35,0.00,0.000,6,0.000,0.038,3146,2299,1764
$GC,13120,1.22,248.2,552.3,8.7,1033,13129,0.12,0.00,6.45,1.147,6,0.071,0.000,3175,2299,1736
$GC,13429,1.22,248.2,521.9,10.0,1048,13433,0.00,2.55,0.00,0.000,4,0.000,0.058,3175,3724,1735
$GC,13455,1.22,248.2,518.9,10.6,1049,13459,0.00,2.47,0.00,0.000,6,0.000,0.039,3175,2300,1735
$GC,13780,1.22,248.2,485.0,10.4,1071,13785,0.00,2.40,0.00,0.000,4,0.000,0.059,3175,969,1735
$GC,13847,1.22,248.2,477.7,10.4,1076,13855,0.00,2.30,0.00,0.000,6,0.000,0.038,3175,2291,1734
$GC,14173,1.22,248.2,446.3,9.3,1107,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2291,1734
$GC,14492,1.23,252.7,418.2,8.8,1137,14505,0.00,2.42,4.28,1.052,4,0.000,0.057,3175,969,1716
$GC,14566,1.23,252.7,411.2,9.3,1143,14573,0.00,2.28,0.00,0.000,6,0.000,0.038,3175,2275,1716
$GC,14893,1.24,256.2,382.4,8.9,1174,14905,0.00,2.65,3.22,1.021,4,0.000,0.055,3175,3729,1703
$GC,14929,1.24,256.2,379.0,9.6,1177,14933,0.00,2.53,0.00,0.000,6,0.000,0.038,3175,2277,1703
$GC,15254,1.25,262.2,350.6,8.7,1207,15264,0.00,0.00,5.47,1.002,6,0.000,0.000,3175,2276,1679
$GC,15583,1.26,269.8,321.0,8.7,1238,15596,0.00,2.67,6.53,0.971,4,0.000,0.054,3176,3726,1648
$GC,15665,1.26,271.0,313.4,9.0,1245,15669,0.00,2.50,0.00,0.000,6,0.000,0.038,3175,2287,1648
$GC,15991,1.33,290.4,285.3,8.1,1275,16016,0.00,2.38,17.60,0.903,4,0.000,0.057,3174,969,1562
$GC,16078,1.38,298.5,277.2,8.7,1282,16090,0.12,2.28,6.68,0.919,6,0.063,0.036,3206,2273,1531
$GC,16412,1.38,298.5,244.0,9.9,1318,16419,0.00,2.58,0.00,0.000,4,0.000,0.054,3206,3726,1530
$GC,16437,1.38,298.5,241.6,10.8,1322,16444,0.00,2.58,0.00,0.000,6,0.000,0.037,3206,2238,1529
$GC,16782,1.38,298.5,207.0,10.1,1383,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2238,1529
$GC,17126,1.41,314.9,175.8,8.3,1444,17145,0.00,0.00,13.57,0.818,6,0.000,0.000,3206,2238,1463
$GC,17483,1.49,337.6,145.1,8.0,1507,17510,0.10,2.33,18.67,0.770,4,0.071,0.054,3235,967,1370
$GC,17597,1.52,357.3,135.0,8.1,1526,17618,0.00,2.20,16.10,0.755,6,0.000,0.034,3234,2241,1291
$GC,17958,1.68,401.7,107.4,7.0,1589,18004,0.15,2.72,36.33,0.702,4,0.054,0.051,3282,3727,1110
$GC,18123,1.73,434.5,92.6,7.5,1617,18156,0.00,2.50,26.88,0.685,6,0.000,0.034,3282,2271,975
$GC,18496,1.87,471.5,61.5,7.4,1682,18535,0.12,2.65,29.65,0.640,4,0.054,0.047,3321,3726,824
$GC,18564,1.87,471.5,55.5,9.2,1693,18572,0.00,2.50,0.00,0.000,6,0.000,0.032,3321,2270,822
$GC,18910,1.92,471.5,17.5,12.2,1754,18917,0.00,2.30,0.00,0.000,4,0.000,0.050,3321,967,820
$GC,18974,1.97,471.5,10.2,11.0,1765,18981,0.00,2.28,0.00,0.000,6,0.000,0.030,3321,2311,820
$STATE,19058,end climb,SURFACE_DEPTH_REACHED
$STATE,19059,begin surface coast
$FINISH,-0.1,1.020856
$STATE,19082,end surface coast,CONTROL_FINISHED_OK
$STATE,19083,begin surface
$SM_CCo,19106,0.43,0.937,0,0,811,475.15
$SM_GC,1.62,0.00,0.00,0.43,0.000,0.000,0.937,249,2112,811,-12.22,-1.07,475.15
$IRIDIUM_FIX,1241.04,12018.41,250697,232341
$TT8_MAMPS,0.023777
$HUMID,2028
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.30
$XPDR_PINGS,397
$24V_AH,23.2,39.722
$10V_AH,10.1,20.117
$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,33.150,160.875,518.100,0.425,0.000,47.556,74.122,227.729,108.500,0.000,0.000,14.224,3725.875,11629.949,718.793,2901.158,677.028,0.000,2182.015,0.000,2847.576,0.000,68.016
$DEVICE_MAMPS,174.109,60.593,1277.822,936.507,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56656,1784
$CAP_FILE_SIZE,186592,0
$CFSIZE,260165632,239939584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,223.5,1
$GPS,010408,050808,1246.103,12016.473,26,1.7,26,-0.8