version: 66.03
glider: 122
mission: 6
dive: 244
start: 4 7 108 15 51 20
data:
$ID,122
$MISSION,6
$DIVE,244
$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,-32506.191
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,154438,1246.599,12018.657,40,0.9,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.0
$GPS2,155045,1246.685,12018.624,14,1.4,14,-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,256.5,5978,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-57.40,0.000,2,0.000,0.000,250,2138,2381
$GC,83,-1.56,-146.0,3.2,-7.3,9,122,13.43,2.47,-18.85,0.000,4,0.171,0.053,2561,747,3347
$GC,163,-1.30,-146.0,20.7,-20.2,22,171,0.30,2.38,0.00,0.000,6,0.110,0.028,2618,2164,3348
$GC,509,-1.17,-146.0,80.6,-15.0,83,516,0.15,2.38,0.00,0.000,4,0.109,0.042,2649,3552,3350
$GC,618,-1.12,-146.0,95.5,-12.5,102,626,0.00,2.28,0.00,0.000,6,0.000,0.026,2649,2168,3351
$GC,963,-1.12,-146.0,130.4,-9.3,163,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2169,3352
$GC,1307,-1.18,-146.0,163.9,-9.3,224,1314,0.00,2.45,0.00,0.000,4,0.000,0.044,2649,752,3354
$GC,1407,-1.26,-146.0,173.1,-9.2,241,1413,0.00,2.47,0.00,0.000,6,0.000,0.029,2649,2230,3354
$GC,1752,-1.42,-146.0,199.7,-8.6,302,1760,0.22,2.28,0.00,0.000,4,0.041,0.044,2578,3556,3354
$GC,1829,-1.35,-146.0,207.8,-11.4,315,1836,0.17,2.17,0.00,0.000,6,0.094,0.028,2612,2244,3354
$GC,2174,-1.35,-146.0,239.5,-8.4,376,2181,0.00,2.60,0.00,0.000,4,0.000,0.048,2612,756,3353
$GC,2211,-1.35,-146.0,242.7,-8.8,382,2218,0.00,2.53,0.00,0.000,6,0.000,0.031,2612,2248,3353
$GC,2542,-1.35,-146.0,268.9,-8.2,421,2546,0.00,2.25,0.00,0.000,4,0.000,0.048,2612,3549,3351
$GC,2616,-1.35,-146.0,275.2,-8.6,427,2620,0.00,2.17,0.00,0.000,6,0.000,0.031,2612,2247,3351
$GC,2943,-1.35,-146.0,302.1,-8.4,457,2947,0.00,2.28,0.00,0.000,4,0.000,0.048,2612,3552,3349
$GC,2998,-1.35,-146.0,307.6,-9.6,461,3005,0.00,2.15,0.00,0.000,6,0.000,0.031,2612,2266,3349
$GC,3325,-1.35,-146.0,336.4,-8.5,492,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2265,3347
$GC,3642,-1.35,-146.0,363.4,-8.1,522,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2265,3345
$GC,3960,-1.35,-146.0,385.5,-7.2,552,3964,0.00,2.25,0.00,0.000,4,0.000,0.049,2612,3551,3343
$GC,3982,-1.35,-146.0,387.1,-6.7,553,3989,0.00,2.15,0.00,0.000,6,0.000,0.032,2612,2274,3343
$GC,4310,-1.39,-146.0,412.1,-7.9,584,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2271,3341
$GC,4628,-1.42,-146.0,436.3,-7.6,614,4632,0.00,2.70,0.00,0.000,4,0.000,0.053,2612,755,3339
$GC,4673,-1.47,-146.0,440.4,-8.8,617,4681,0.15,2.58,0.00,0.000,6,0.054,0.034,2571,2257,3338
$GC,4998,-1.42,-146.0,472.1,-9.5,648,5003,0.12,2.28,0.00,0.000,4,0.110,0.051,2593,3553,3336
$GC,5038,-1.42,-146.0,475.6,-8.6,651,5042,0.00,2.20,0.00,0.000,6,0.000,0.034,2593,2255,3336
$GC,5373,-1.42,-146.0,502.5,-8.2,681,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2253,3334
$GC,5683,-1.42,-146.0,525.7,-7.4,696,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2253,3332
$GC,5991,-1.42,-146.0,549.8,-8.1,711,5996,0.00,2.28,0.00,0.000,4,0.000,0.053,2593,3545,3331
$GC,6037,-1.42,-146.0,553.7,-8.9,713,6041,0.00,2.17,0.00,0.000,6,0.000,0.035,2593,2266,3330
$GC,6366,-1.42,-146.0,583.4,-9.0,729,6370,0.00,2.70,0.00,0.000,4,0.000,0.056,2593,755,3329
$GC,6398,-1.42,-146.0,586.9,-9.7,730,6406,0.00,2.60,0.00,0.000,6,0.000,0.035,2593,2260,3329
$GC,6715,-1.42,-146.0,615.0,-8.9,746,6719,0.00,2.28,0.00,0.000,4,0.000,0.056,2593,3545,3327
$GC,6770,-1.42,-146.0,620.6,-9.9,748,6774,0.00,2.20,0.00,0.000,6,0.000,0.035,2593,2254,3327
$GC,7092,-1.42,-146.0,647.0,-8.0,764,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2251,3326
$GC,7401,-1.42,-146.0,673.7,-8.7,779,7405,0.00,2.30,0.00,0.000,4,0.000,0.055,2593,3548,3325
$GC,7463,-1.42,-146.0,679.5,-9.0,782,7471,0.00,2.12,0.00,0.000,6,0.000,0.035,2593,2298,3324
$GC,7799,-1.42,-146.0,706.4,-7.6,798,7803,0.00,2.78,0.00,0.000,4,0.000,0.058,2593,756,3323
$GC,7839,-1.46,-146.0,709.6,-8.3,800,7843,0.00,2.62,0.00,0.000,6,0.000,0.037,2593,2269,3322
$GC,8165,-1.46,-146.0,731.5,-6.2,816,8169,0.00,2.28,0.00,0.000,4,0.000,0.058,2593,3552,3321
$GC,8187,-1.46,-146.0,733.2,-7.3,817,8191,0.00,2.15,0.00,0.000,6,0.000,0.035,2593,2288,3321
$GC,8514,-1.46,-146.0,754.8,-7.2,833,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2285,3319
$GC,8824,-1.46,-146.0,777.7,-7.5,848,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2285,3318
$GC,9134,-1.49,-146.0,801.5,-8.0,863,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2285,3318
$GC,9443,-1.52,-146.0,828.9,-9.0,878,9448,0.00,2.75,0.00,0.000,4,0.000,0.060,2593,763,3317
$GC,9483,-1.57,-146.0,832.5,-8.9,880,9488,0.15,2.62,0.00,0.000,6,0.058,0.038,2555,2269,3317
$STATE,9766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9766,begin apogee
$GC,9773,-0.35,0.0,863.4,11.1,894,9898,1.38,0.00,120.95,1.280,6,0.107,0.000,2826,2381,2748
$STATE,9899,end apogee,CONTROL_FINISHED_OK
$STATE,9899,begin climb
$GC,9901,1.56,146.0,870.6,0.0,900,10032,1.92,0.00,125.82,1.241,6,0.057,0.000,3246,2381,2153
$GC,10337,1.31,146.0,839.5,11.0,921,10339,0.30,0.00,0.00,0.000,6,0.121,0.000,3194,2381,2150
$GC,10646,1.17,146.0,809.5,9.1,936,10648,0.17,0.00,0.00,0.000,6,0.126,0.000,3163,2381,2149
$GC,10955,1.11,152.8,784.0,8.7,951,10965,0.00,2.58,5.30,1.254,4,0.000,0.059,3163,990,2125
$GC,11028,1.02,152.8,777.1,9.4,954,11033,0.20,2.45,0.00,0.000,6,0.117,0.041,3127,2376,2124
$GC,11344,1.06,178.1,751.8,7.9,969,11368,0.00,0.00,22.02,1.232,6,0.000,0.000,3127,2376,2021
$GC,11673,1.13,218.5,725.8,7.2,985,11719,0.10,2.65,34.62,1.203,4,0.081,0.059,3149,989,1856
$GC,11775,1.13,218.5,717.0,9.5,989,11779,0.00,2.47,0.00,0.000,6,0.000,0.041,3149,2390,1855
$GC,12096,1.14,228.5,689.4,8.6,1005,12110,0.00,2.65,8.35,1.215,4,0.000,0.058,3150,991,1816
$GC,12167,1.14,228.5,683.0,9.2,1008,12171,0.00,2.38,0.00,0.000,6,0.000,0.039,3149,2337,1815
$GC,12494,1.19,255.5,656.6,7.8,1024,12524,0.00,2.58,23.50,1.170,4,0.000,0.058,3149,991,1705
$GC,12553,1.19,255.5,651.5,9.4,1026,12560,0.00,2.35,0.00,0.000,6,0.000,0.039,3149,2318,1704
$GC,12869,1.25,292.9,626.6,7.3,1042,12908,0.12,2.50,32.85,1.135,4,0.073,0.059,3180,989,1552
$GC,12931,1.25,292.9,621.1,10.1,1044,12936,0.00,2.35,0.00,0.000,6,0.000,0.040,3180,2308,1551
$GC,13259,1.25,292.9,591.3,10.0,1060,13263,0.00,2.40,0.00,0.000,4,0.000,0.058,3180,989,1548
$GC,13313,1.25,292.9,585.6,10.2,1062,13321,0.00,2.28,0.00,0.000,6,0.000,0.039,3180,2286,1548
$GC,13630,1.25,292.9,553.1,10.1,1078,13634,0.00,2.35,0.00,0.000,4,0.000,0.058,3180,991,1548
$GC,13662,1.25,292.9,549.3,11.9,1079,13670,0.00,2.28,0.00,0.000,6,0.000,0.039,3180,2289,1547
$GC,13978,1.25,292.9,517.8,10.4,1095,13982,0.00,2.35,0.00,0.000,4,0.000,0.058,3180,988,1547
$GC,14011,1.25,292.9,514.3,11.2,1096,14015,0.00,2.22,0.00,0.000,6,0.000,0.038,3180,2262,1546
$GC,14338,1.25,292.9,482.3,9.7,1120,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2263,1547
$GC,14656,1.25,292.9,453.3,9.3,1150,14657,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2263,1547
$GC,14977,1.26,297.1,424.1,8.8,1180,14989,0.00,2.38,2.55,1.032,4,0.000,0.057,3180,989,1536
$GC,15024,1.26,297.1,419.3,10.7,1184,15028,0.00,2.20,0.00,0.000,6,0.000,0.038,3180,2249,1536
$GC,15348,1.26,297.1,386.7,11.0,1214,15352,0.00,2.28,0.00,0.000,4,0.000,0.057,3180,989,1535
$GC,15415,1.26,297.1,379.1,10.5,1219,15422,0.00,2.15,0.00,0.000,6,0.000,0.037,3180,2231,1536
$GC,15742,1.26,297.1,348.5,9.7,1250,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2231,1536
$GC,16058,1.26,297.1,319.8,9.2,1280,16062,0.00,2.25,0.00,0.000,4,0.000,0.056,3180,979,1536
$GC,16135,1.26,297.1,312.1,10.2,1286,16142,0.00,2.17,0.00,0.000,6,0.000,0.036,3180,2244,1536
$GC,16463,1.26,297.1,281.6,9.4,1317,16467,0.00,2.62,0.00,0.000,4,0.000,0.054,3180,3726,1536
$GC,16495,1.26,297.1,278.2,9.4,1319,16503,0.00,2.53,0.00,0.000,6,0.000,0.037,3180,2257,1536
$GC,16821,1.26,297.1,247.7,9.4,1352,16828,0.00,2.28,0.00,0.000,4,0.000,0.055,3180,979,1536
$GC,16880,1.26,299.0,242.3,8.9,1362,16887,0.00,2.17,0.00,0.000,6,0.000,0.035,3180,2244,1536
$GC,17224,1.26,302.0,213.5,8.9,1423,17239,0.00,2.70,4.82,0.878,4,0.000,0.054,3180,3732,1516
$GC,17273,1.26,302.0,208.6,11.3,1431,17280,0.00,2.55,0.00,0.000,6,0.000,0.036,3180,2251,1515
$GC,17619,1.34,321.6,175.8,8.1,1492,17640,0.00,2.35,16.12,0.808,4,0.000,0.054,3180,989,1437
$GC,17761,1.41,345.4,163.8,7.9,1516,17789,0.15,2.15,19.92,0.783,6,0.055,0.034,3218,2240,1339
$GC,18130,1.47,360.2,131.1,8.4,1580,18150,0.00,2.30,11.82,0.765,4,0.000,0.051,3218,992,1279
$GC,18174,1.52,360.2,126.6,9.5,1587,18180,0.00,2.22,0.00,0.000,6,0.000,0.034,3218,2275,1278
$GC,18519,1.68,394.9,99.5,7.5,1648,18555,0.20,2.40,28.35,0.700,4,0.053,0.050,3274,989,1138
$GC,18642,1.72,417.1,88.8,8.0,1668,18668,0.00,2.28,18.45,0.686,6,0.000,0.033,3273,2309,1047
$GC,19009,1.83,440.8,57.0,8.0,1732,19037,0.12,2.38,18.90,0.646,4,0.058,0.047,3311,987,950
$GC,19088,1.83,440.8,48.5,11.6,1745,19095,0.00,2.22,0.00,0.000,6,0.000,0.030,3311,2291,948
$GC,19434,1.87,440.8,18.1,9.2,1806,19441,0.00,2.28,0.00,0.000,4,0.000,0.044,3312,982,947
$GC,19476,1.87,440.8,14.3,9.5,1813,19483,0.00,2.20,0.00,0.000,6,0.000,0.029,3311,2285,947
$STATE,19616,end climb,SURFACE_DEPTH_REACHED
$STATE,19616,begin surface coast
$FINISH,-0.1,1.009674
$STATE,19639,end surface coast,CONTROL_FINISHED_OK
$STATE,19639,begin surface
$SM_CCo,19662,17.15,0.578,0,0,811,475.15
$SM_GC,0.67,0.00,0.00,17.15,0.000,0.000,0.578,248,2122,811,-12.22,-0.79,475.15
$IRIDIUM_FIX,1245.46,12019.52,020797,101001
$TT8_MAMPS,0.023777
$HUMID,1972
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,437
$24V_AH,23.2,45.045
$10V_AH,10.1,22.935
$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,32.775,171.125,494.375,17.150,0.000,24.896,45.028,166.084,118.500,0.000,0.000,14.327,3844.102,11886.198,728.702,2981.365,608.747,0.000,2239.781,0.000,2938.430,0.000,69.727
$DEVICE_MAMPS,171.041,61.360,1280.123,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1237.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56650,1842
$CAP_FILE_SIZE,188483,0
$CFSIZE,260165632,237416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,337.5,1
$GPS,070408,212038,1247.306,12016.520,41,0.9,41,-0.8