version: 66.03
glider: 122
mission: 6
dive: 248
start: 4 8 108 14 22 7
data:
$ID,122
$MISSION,6
$DIVE,248
$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,-32565.371
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,141525,1246.937,12018.513,39,1.1,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.3
$GPS2,142132,1247.097,12018.474,12,1.7,17,-0.8
$SPEED_LIMITS,0.156,0.206
$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,101.3,44343,-18.6,-9.016
$D_GRID,906
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-60.17,0.000,2,0.000,0.000,253,2172,2461
$GC,86,-1.56,-146.0,3.4,-7.2,9,124,13.43,2.50,-16.62,0.000,4,0.172,0.053,2561,741,3345
$GC,182,-1.31,-146.0,24.9,-20.1,25,189,0.30,2.35,0.00,0.000,6,0.115,0.027,2616,2151,3346
$GC,528,-1.17,-146.0,81.7,-15.5,86,535,0.15,2.40,0.00,0.000,4,0.117,0.044,2647,3548,3348
$GC,633,-1.11,-146.0,96.9,-13.7,104,640,0.00,2.30,0.00,0.000,6,0.000,0.027,2647,2155,3348
$GC,977,-1.11,-146.0,136.5,-9.5,165,984,0.00,2.40,0.00,0.000,4,0.000,0.043,2647,3552,3350
$GC,1030,-1.14,-146.0,141.8,-10.2,174,1037,0.00,2.28,0.00,0.000,6,0.000,0.027,2647,2172,3351
$GC,1376,-1.21,-146.0,173.4,-8.9,235,1383,0.00,2.38,0.00,0.000,4,0.000,0.044,2647,3555,3353
$GC,1436,-1.28,-146.0,178.6,-8.6,245,1443,0.00,2.30,0.00,0.000,6,0.000,0.028,2647,2169,3352
$GC,1782,-1.35,-146.0,204.1,-7.3,306,1790,0.15,2.35,0.00,0.000,4,0.050,0.043,2598,3544,3353
$GC,1819,-1.35,-146.0,207.6,-9.5,312,1826,0.00,2.22,0.00,0.000,6,0.000,0.030,2597,2206,3352
$GC,2164,-1.35,-146.0,241.9,-10.1,373,2171,0.00,2.33,0.00,0.000,4,0.000,0.045,2598,3551,3351
$GC,2217,-1.35,-146.0,247.4,-10.7,382,2224,0.00,2.20,0.00,0.000,6,0.000,0.031,2597,2237,3350
$GC,2546,-1.35,-146.0,280.6,-9.5,415,2550,0.00,2.60,0.00,0.000,4,0.000,0.051,2597,759,3349
$GC,2589,-1.35,-146.0,285.1,-9.4,418,2597,0.00,2.50,0.00,0.000,6,0.000,0.033,2597,2232,3348
$GC,2916,-1.35,-146.0,316.9,-10.1,449,2920,0.00,2.30,0.00,0.000,4,0.000,0.050,2597,3552,3347
$GC,2994,-1.35,-146.0,324.9,-9.3,455,3001,0.00,2.20,0.00,0.000,6,0.000,0.031,2597,2239,3346
$GC,3320,-1.35,-146.0,351.5,-7.7,486,3324,0.00,2.30,0.00,0.000,4,0.000,0.050,2597,3551,3344
$GC,3388,-1.35,-146.0,357.3,-8.2,491,3394,0.00,2.15,0.00,0.000,6,0.000,0.032,2597,2270,3344
$GC,3714,-1.35,-146.0,384.9,-8.9,522,3719,0.00,2.70,0.00,0.000,4,0.000,0.052,2597,752,3342
$GC,3754,-1.35,-146.0,388.9,-10.1,525,3759,0.00,2.58,0.00,0.000,6,0.000,0.033,2598,2258,3342
$GC,4081,-1.35,-146.0,419.0,-9.3,555,4085,0.00,2.25,0.00,0.000,4,0.000,0.050,2597,3547,3339
$GC,4135,-1.35,-146.0,424.6,-10.3,559,4142,0.00,2.17,0.00,0.000,6,0.000,0.033,2597,2261,3339
$GC,4465,-1.35,-146.0,454.0,-8.7,590,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2259,3337
$GC,4789,-1.35,-146.0,484.2,-9.2,621,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2259,3335
$GC,5115,-1.35,-146.0,511.8,-8.0,645,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2258,3333
$GC,5424,-1.35,-146.0,536.2,-8.0,660,5428,0.00,2.28,0.00,0.000,4,0.000,0.053,2597,3548,3331
$GC,5464,-1.35,-146.0,539.5,-8.1,662,5468,0.00,2.17,0.00,0.000,6,0.000,0.035,2597,2271,3331
$GC,5793,-1.35,-146.0,564.0,-7.7,678,5797,0.00,2.70,0.00,0.000,4,0.000,0.056,2597,762,3329
$GC,5833,-1.38,-146.0,567.2,-8.1,680,5837,0.00,2.58,0.00,0.000,6,0.000,0.036,2597,2257,3328
$GC,6162,-1.38,-146.0,590.6,-7.1,696,6166,0.00,2.28,0.00,0.000,4,0.000,0.056,2597,3544,3327
$GC,6195,-1.38,-146.0,593.5,-7.4,697,6202,0.00,2.17,0.00,0.000,6,0.000,0.035,2597,2268,3327
$GC,6511,-1.38,-146.0,617.9,-7.9,713,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2265,3325
$GC,6821,-1.38,-146.0,642.1,-7.6,728,6825,0.00,2.25,0.00,0.000,4,0.000,0.054,2597,3543,3324
$GC,6859,-1.38,-146.0,645.2,-7.6,729,6866,0.00,2.15,0.00,0.000,6,0.000,0.037,2597,2282,3324
$GC,7176,-1.41,-146.0,666.9,-7.2,745,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2281,3322
$GC,7485,-1.45,-146.0,692.3,-8.4,760,7489,0.00,2.75,0.00,0.000,4,0.000,0.060,2597,759,3321
$GC,7512,-1.49,-146.0,694.6,-8.7,761,7516,0.00,2.60,0.00,0.000,6,0.000,0.038,2598,2263,3320
$GC,7829,-1.52,-146.0,719.7,-8.2,776,7833,0.00,2.28,0.00,0.000,4,0.000,0.058,2597,3542,3319
$GC,7867,-1.56,-146.0,723.1,-8.8,777,7875,0.15,2.15,0.00,0.000,6,0.061,0.037,2560,2281,3319
$GC,8186,-1.51,-146.0,751.0,-9.2,793,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2280,3318
$GC,8493,-1.46,-146.0,781.2,-9.8,808,8499,0.15,2.75,0.00,0.000,4,0.116,0.060,2590,757,3317
$GC,8534,-1.50,-146.0,785.1,-9.3,810,8538,0.00,2.60,0.00,0.000,6,0.000,0.038,2590,2257,3317
$GC,8861,-1.50,-146.0,816.3,-9.5,826,8865,0.00,2.30,0.00,0.000,4,0.000,0.057,2590,3554,3316
$GC,8923,-1.50,-146.0,822.0,-9.2,829,8927,0.00,2.17,0.00,0.000,6,0.000,0.038,2590,2280,3315
$GC,9255,-1.50,-146.0,849.5,-7.8,845,9260,0.00,2.75,0.00,0.000,4,0.000,0.060,2590,755,3314
$GC,9283,-1.53,-146.0,851.8,-8.4,846,9287,0.00,2.62,0.00,0.000,6,0.000,0.038,2590,2266,3314
$GC,9598,-1.53,-146.0,876.1,-8.0,861,9603,0.00,2.72,0.00,0.000,4,0.000,0.059,2590,762,3313
$GC,9632,-1.57,-146.0,878.9,-8.8,862,9640,0.12,2.58,0.00,0.000,6,0.063,0.039,2558,2243,3313
$STATE,9945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9947,begin apogee
$GC,9953,-0.35,0.0,907.7,8.9,878,10077,1.35,0.00,120.88,1.315,6,0.107,0.000,2824,2378,2748
$STATE,10078,end apogee,CONTROL_FINISHED_OK
$STATE,10078,begin climb
$GC,10081,1.56,146.0,911.7,0.0,884,10216,1.92,2.53,126.03,1.269,4,0.054,0.064,3247,3723,2152
$GC,10296,1.27,146.0,897.3,14.0,893,10304,0.35,2.35,0.00,0.000,6,0.130,0.041,3186,2384,2151
$GC,10614,1.13,146.0,866.1,9.9,909,10619,0.15,2.60,0.00,0.000,4,0.127,0.061,3156,963,2150
$GC,10698,1.03,146.0,858.0,9.7,913,10704,0.15,2.45,0.00,0.000,6,0.126,0.041,3130,2354,2149
$GC,11026,1.12,198.6,833.7,6.7,929,11076,0.00,2.60,44.92,1.263,4,0.000,0.060,3130,972,1937
$GC,11105,1.12,199.7,827.6,9.0,933,11109,0.00,2.47,0.00,0.000,6,0.000,0.041,3130,2354,1936
$GC,11432,1.14,211.2,800.5,8.5,949,11448,0.10,2.60,10.82,1.270,4,0.081,0.060,3153,966,1886
$GC,11482,1.10,211.2,795.4,10.5,950,11486,0.00,2.42,0.00,0.000,6,0.000,0.041,3153,2335,1886
$GC,11798,1.12,225.5,766.4,8.4,965,11820,0.00,2.60,12.48,1.257,4,0.000,0.060,3152,968,1827
$GC,11871,1.12,225.5,759.5,9.5,968,11875,0.00,2.40,0.00,0.000,6,0.000,0.041,3153,2320,1827
$GC,12192,1.12,225.5,729.9,9.9,984,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2320,1826
$GC,12502,1.13,226.6,700.9,9.0,999,12506,0.00,2.45,0.00,0.000,4,0.000,0.061,3153,970,1825
$GC,12553,1.15,240.3,696.1,8.4,1001,12571,0.00,2.33,12.82,1.228,6,0.000,0.040,3153,2306,1768
$GC,12878,1.15,240.3,665.0,9.7,1017,12883,0.00,2.42,0.00,0.000,4,0.000,0.059,3153,972,1767
$GC,12911,1.15,240.3,661.6,9.4,1018,12918,0.00,2.30,0.00,0.000,6,0.000,0.040,3153,2289,1766
$GC,13227,1.16,248.3,634.2,8.7,1034,13241,0.00,2.70,7.03,1.205,4,0.000,0.062,3152,3729,1735
$GC,13264,1.16,248.3,630.5,11.1,1035,13272,0.00,2.50,0.00,0.000,6,0.000,0.040,3153,2298,1735
$GC,13581,1.16,248.3,602.5,9.0,1051,13585,0.00,2.40,0.00,0.000,4,0.000,0.061,3153,970,1734
$GC,13635,1.16,248.3,597.2,9.6,1053,13643,0.00,2.30,0.00,0.000,6,0.000,0.039,3153,2292,1734
$GC,13952,1.20,270.9,570.6,8.0,1069,13978,0.00,2.50,19.88,1.131,4,0.000,0.059,3153,974,1642
$GC,14012,1.20,270.9,565.2,10.0,1071,14019,0.00,2.30,0.00,0.000,6,0.000,0.038,3153,2280,1641
$GC,14328,1.23,270.9,535.9,9.4,1087,14332,0.00,2.38,0.00,0.000,4,0.000,0.058,3153,969,1640
$GC,14394,1.23,270.9,528.9,9.9,1090,14398,0.00,2.22,0.00,0.000,6,0.000,0.038,3153,2251,1640
$GC,14722,1.27,274.8,499.8,8.8,1106,14735,0.12,2.70,3.45,1.098,4,0.067,0.058,3185,3723,1627
$GC,14763,1.22,274.8,495.4,11.2,1109,14770,0.00,2.58,0.00,0.000,6,0.000,0.039,3185,2239,1627
$GC,15090,1.19,274.8,462.4,9.7,1140,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2239,1627
$GC,15406,1.19,274.8,431.0,10.4,1170,15410,0.00,2.28,0.00,0.000,4,0.000,0.058,3185,966,1627
$GC,15436,1.16,274.8,428.0,11.5,1172,15441,0.15,2.25,0.00,0.000,6,0.113,0.038,3159,2267,1626
$GC,15761,1.16,274.8,395.8,9.6,1202,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2267,1626
$GC,16082,1.23,302.2,369.0,7.8,1232,16110,0.00,0.00,23.48,0.967,6,0.000,0.000,3159,2267,1515
$GC,16428,1.29,304.1,338.2,8.9,1265,16433,0.12,2.35,0.00,0.000,4,0.069,0.055,3188,961,1512
$GC,16461,1.29,304.1,334.9,10.8,1267,16468,0.00,2.22,0.00,0.000,6,0.000,0.037,3188,2251,1512
$GC,16787,1.29,304.1,301.9,11.4,1298,16791,0.00,2.62,0.00,0.000,4,0.000,0.056,3189,3730,1511
$GC,16807,1.29,304.1,299.3,12.7,1299,16815,0.00,2.58,0.00,0.000,6,0.000,0.037,3188,2231,1511
$GC,17135,1.29,305.2,267.7,9.0,1330,17147,0.00,2.33,2.15,0.920,4,0.000,0.055,3188,962,1502
$GC,17181,1.29,305.2,263.2,9.2,1334,17185,0.00,2.20,0.00,0.000,6,0.000,0.036,3188,2240,1503
$GC,17515,1.30,313.1,233.3,8.7,1380,17529,0.00,2.30,7.22,0.887,4,0.000,0.054,3188,969,1469
$GC,17564,1.30,313.1,228.4,10.5,1388,17571,0.00,2.12,0.00,0.000,6,0.000,0.035,3188,2201,1469
$GC,17909,1.30,313.1,195.6,9.4,1449,17916,0.00,2.70,0.00,0.000,4,0.000,0.053,3188,3730,1469
$GC,17973,1.30,313.1,189.1,9.8,1460,17980,0.00,2.60,0.00,0.000,6,0.000,0.037,3188,2211,1469
$GC,18319,1.36,322.1,157.8,8.6,1521,18332,0.00,2.30,7.45,0.818,4,0.000,0.053,3188,961,1434
$GC,18373,1.40,322.1,152.7,9.1,1530,18380,0.00,2.10,0.00,0.000,6,0.000,0.033,3189,2186,1434
$GC,18720,1.59,393.2,124.2,5.8,1591,18787,0.25,2.85,58.67,0.710,4,0.050,0.050,3254,3737,1142
$GC,18834,1.59,393.2,113.7,10.1,1609,18841,0.00,2.72,0.00,0.000,6,0.000,0.035,3254,2156,1139
$GC,19179,1.72,445.3,85.2,6.7,1670,19226,0.12,2.20,41.67,0.660,4,0.062,0.050,3287,969,931
$GC,19308,1.72,445.3,73.5,9.7,1691,19315,0.00,2.00,0.00,0.000,6,0.000,0.030,3287,2149,928
$GC,19654,1.84,473.5,41.9,7.8,1752,19686,0.00,2.83,22.40,0.611,4,0.000,0.045,3287,3724,816
$GC,19744,1.94,473.5,33.0,10.7,1767,19752,0.17,2.75,0.00,0.000,6,0.051,0.031,3335,2109,814
$STATE,20014,end climb,SURFACE_DEPTH_REACHED
$STATE,20014,begin surface coast
$FINISH,0.0,1.021164
$STATE,20033,end surface coast,CONTROL_FINISHED_OK
$STATE,20033,begin surface
$SM_CCo,20116,0.00,0.000,0,0,808,475.88
$SM_GC,0.63,13.55,0.00,0.00,0.038,0.000,0.000,253,2185,808,-12.16,1.02,475.88
$IRIDIUM_FIX,1245.46,12016.50,030797,080816
$TT8_MAMPS,0.023777
$HUMID,1936
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,437
$24V_AH,23.2,45.797
$10V_AH,10.1,23.325
$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,32.975,208.300,521.350,0.000,0.000,24.685,38.096,172.361,119.500,0.000,0.000,17.344,3787.828,12305.532,762.159,3035.016,592.450,0.000,2316.495,0.000,2965.968,0.000,75.264
$DEVICE_MAMPS,171.808,73.632,1315.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56580,1818
$CAP_FILE_SIZE,195930,0
$CFSIZE,260165632,237064192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,335.6,1
$GPS,080408,195838,1246.959,12020.189,41,1.0,41,-0.8