version: 66.03
glider: 122
mission: 6
dive: 272
start: 4 14 108 2 39 51
data:
$ID,122
$MISSION,6
$DIVE,272
$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,-32993.473
$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,25
$R_STBD_OVSHOOT,58
$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
$GPS1,023307,1247.922,12025.640,40,1.4,45,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.5
$GPS2,023915,1247.893,12025.619,16,1.5,16,-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,271.5,18757,-18.6,-9.016
$D_GRID,787
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-61.30,0.000,2,0.000,0.000,248,2186,2479
$GC,87,-1.56,-146.0,3.5,-7.6,9,127,13.25,2.35,-16.42,0.000,4,0.166,0.053,2555,3533,3346
$GC,245,-1.27,-146.0,38.0,-20.9,36,253,0.38,2.33,0.00,0.000,6,0.115,0.027,2625,2127,3347
$GC,591,-1.16,-146.0,88.8,-13.9,97,598,0.12,2.40,0.00,0.000,4,0.115,0.040,2648,3529,3349
$GC,667,-1.09,-146.0,98.8,-12.6,110,674,0.00,2.17,0.00,0.000,6,0.000,0.026,2648,2203,3350
$GC,1012,-1.14,-146.0,135.9,-9.0,171,1019,0.00,2.50,0.00,0.000,4,0.000,0.043,2648,754,3352
$GC,1067,-1.21,-146.0,141.1,-10.2,180,1074,0.00,2.45,0.00,0.000,6,0.000,0.028,2648,2219,3352
$GC,1413,-1.26,-146.0,170.3,-8.2,241,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2219,3353
$GC,1758,-1.34,-146.0,198.2,-8.0,302,1765,0.15,2.25,0.00,0.000,4,0.051,0.046,2598,3535,3353
$GC,1830,-1.31,-146.0,205.3,-10.6,314,1837,0.10,2.20,0.00,0.000,6,0.103,0.029,2616,2209,3353
$GC,2176,-1.31,-146.0,236.5,-8.6,375,2182,0.00,2.28,0.00,0.000,4,0.000,0.045,2616,3527,3352
$GC,2234,-1.31,-146.0,242.0,-9.3,385,2241,0.00,2.12,0.00,0.000,6,0.000,0.030,2616,2249,3351
$GC,2566,-1.34,-146.0,271.4,-9.0,424,2570,0.00,2.22,0.00,0.000,4,0.000,0.047,2616,3534,3350
$GC,2600,-1.34,-146.0,274.5,-9.6,426,2607,0.00,2.10,0.00,0.000,6,0.000,0.031,2616,2268,3350
$GC,2927,-1.38,-146.0,302.7,-8.3,457,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2266,3348
$GC,3245,-1.41,-146.0,329.1,-7.8,487,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2266,3346
$GC,3563,-1.45,-146.0,354.5,-7.9,517,3565,0.12,0.00,0.00,0.000,6,0.060,0.000,2581,2266,3344
$GC,3882,-1.41,-146.0,382.3,-8.5,547,3886,0.00,2.20,0.00,0.000,4,0.000,0.049,2581,3531,3342
$GC,3916,-1.37,-146.0,385.7,-9.6,550,3921,0.12,2.10,0.00,0.000,6,0.105,0.033,2604,2285,3342
$GC,4241,-1.37,-146.0,413.7,-8.5,580,4246,0.00,2.72,0.00,0.000,4,0.000,0.053,2604,756,3340
$GC,4282,-1.41,-146.0,417.1,-8.6,583,4286,0.00,2.58,0.00,0.000,6,0.000,0.034,2604,2252,3340
$GC,4610,-1.41,-146.0,444.8,-8.2,613,4614,0.00,2.22,0.00,0.000,4,0.000,0.051,2605,3527,3337
$GC,4661,-1.41,-146.0,449.5,-8.3,617,4665,0.00,2.10,0.00,0.000,6,0.000,0.033,2604,2284,3337
$GC,4995,-1.41,-146.0,475.7,-7.8,648,5000,0.00,2.72,0.00,0.000,4,0.000,0.054,2604,757,3334
$GC,5030,-1.45,-146.0,478.7,-7.6,650,5037,0.00,2.58,0.00,0.000,6,0.000,0.035,2604,2252,3334
$GC,5368,-1.45,-146.0,502.9,-6.9,680,5372,0.00,2.22,0.00,0.000,4,0.000,0.053,2605,3524,3333
$GC,5413,-1.45,-146.0,506.6,-7.6,682,5417,0.00,2.10,0.00,0.000,6,0.000,0.034,2605,2281,3332
$GC,5737,-1.48,-146.0,531.1,-7.8,698,5741,0.00,2.20,0.00,0.000,4,0.000,0.053,2605,3527,3331
$GC,5764,-1.48,-146.0,533.8,-8.5,699,5768,0.00,2.08,0.00,0.000,6,0.000,0.034,2604,2296,3330
$GC,6086,-1.52,-146.0,558.9,-8.1,715,6092,0.15,2.75,0.00,0.000,4,0.058,0.054,2560,758,3328
$GC,6113,-1.48,-146.0,561.6,-9.9,716,6118,0.10,2.58,0.00,0.000,6,0.117,0.036,2577,2250,3328
$GC,6430,-1.48,-146.0,589.3,-8.6,731,6434,0.00,2.25,0.00,0.000,4,0.000,0.055,2577,3526,3327
$GC,6492,-1.48,-146.0,595.1,-9.1,734,6495,0.00,2.10,0.00,0.000,6,0.000,0.035,2577,2289,3327
$GC,6824,-1.48,-146.0,625.4,-9.6,750,6828,0.00,2.20,0.00,0.000,4,0.000,0.054,2577,3533,3326
$GC,6869,-1.48,-146.0,630.2,-10.9,752,6873,0.00,2.08,0.00,0.000,6,0.000,0.035,2577,2308,3325
$GC,7197,-1.48,-146.0,658.9,-8.3,768,7201,0.00,2.78,0.00,0.000,4,0.000,0.058,2577,756,3323
$GC,7229,-1.48,-146.0,661.9,-8.6,769,7237,0.00,2.62,0.00,0.000,6,0.000,0.037,2577,2272,3323
$GC,7545,-1.48,-146.0,688.0,-8.8,785,7549,0.00,2.22,0.00,0.000,4,0.000,0.057,2577,3530,3322
$GC,7573,-1.48,-146.0,690.7,-9.4,786,7577,0.00,2.08,0.00,0.000,6,0.000,0.035,2577,2305,3322
$GC,7894,-1.48,-146.0,717.7,-8.3,802,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2303,3321
$GC,8204,-1.48,-146.0,742.4,-7.5,817,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2304,3319
$GC,8513,-1.48,-146.0,767.1,-8.3,832,8517,0.00,2.17,0.00,0.000,4,0.000,0.057,2577,3529,3318
$GC,8541,-1.48,-146.0,769.5,-8.3,833,8545,0.00,2.08,0.00,0.000,6,0.000,0.037,2577,2309,3318
$STATE,8757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8757,begin apogee
$GC,8763,-0.35,0.0,787.6,8.7,844,8887,1.25,0.00,119.72,1.213,6,0.102,0.000,2826,2354,2748
$STATE,8887,end apogee,CONTROL_FINISHED_OK
$STATE,8888,begin climb
$GC,8890,1.56,146.0,792.8,0.0,850,9021,1.95,0.00,124.55,1.174,6,0.054,0.000,3251,2353,2152
$GC,9331,1.31,146.0,758.3,10.3,872,9336,0.30,2.53,0.00,0.000,4,0.120,0.058,3194,978,2150
$GC,9420,1.13,146.0,749.6,9.7,876,9426,0.22,2.42,0.00,0.000,6,0.120,0.040,3155,2352,2149
$GC,9744,1.07,151.0,722.0,8.8,892,9753,0.00,2.55,3.78,1.180,4,0.000,0.058,3154,989,2132
$GC,9805,0.98,151.3,716.2,9.0,894,9812,0.17,2.40,0.00,0.000,6,0.119,0.039,3123,2347,2132
$GC,10121,1.04,188.5,692.2,7.4,910,10158,0.00,2.55,31.77,1.163,4,0.000,0.059,3122,983,1979
$GC,10192,1.06,198.8,686.6,8.6,912,10208,0.00,2.40,8.95,1.163,6,0.000,0.039,3123,2332,1937
$GC,10535,1.11,227.3,658.8,7.7,929,10567,0.10,2.60,24.12,1.149,4,0.080,0.059,3145,979,1821
$GC,10648,1.11,227.3,649.1,9.1,934,10652,0.00,2.33,0.00,0.000,6,0.000,0.039,3145,2294,1820
$GC,10975,1.12,234.6,621.4,8.7,950,10985,0.00,2.42,6.07,1.161,4,0.000,0.058,3145,986,1790
$GC,11069,1.12,234.6,612.2,9.5,954,11073,0.00,2.20,0.00,0.000,6,0.000,0.038,3145,2236,1790
$GC,11391,1.13,239.0,583.2,8.8,970,11397,0.00,0.00,4.07,1.142,6,0.000,0.000,3145,2237,1773
$GC,11700,1.15,255.5,557.1,8.3,985,11723,0.00,2.35,14.57,1.114,4,0.000,0.059,3145,986,1705
$GC,11779,1.17,263.2,549.7,8.7,988,11792,0.00,2.15,6.62,1.110,6,0.000,0.038,3145,2221,1675
$GC,12100,1.21,265.1,521.0,8.9,1004,12105,0.10,2.25,0.00,0.000,4,0.074,0.058,3171,986,1674
$GC,12144,1.18,265.1,516.4,10.6,1006,12148,0.00,2.12,0.00,0.000,6,0.000,0.037,3171,2205,1674
$GC,12467,1.18,265.1,484.2,10.1,1028,12471,0.00,2.72,0.00,0.000,4,0.000,0.057,3171,3729,1674
$GC,12517,1.18,265.1,478.3,12.0,1032,12521,0.00,2.62,0.00,0.000,6,0.000,0.039,3171,2218,1673
$GC,12843,1.18,265.1,446.4,9.4,1062,12847,0.00,2.22,0.00,0.000,4,0.000,0.058,3171,979,1673
$GC,12887,1.14,265.1,442.1,9.4,1065,12894,0.00,2.15,0.00,0.000,6,0.000,0.036,3170,2221,1673
$GC,13214,1.17,280.3,413.3,8.3,1096,13232,0.00,0.00,14.52,1.019,6,0.000,0.000,3170,2222,1605
$GC,13552,1.18,285.5,383.7,8.8,1128,13565,0.00,2.28,4.75,1.015,4,0.000,0.056,3171,980,1583
$GC,13638,1.18,285.5,375.7,9.4,1135,13645,0.00,2.08,0.00,0.000,6,0.000,0.035,3171,2182,1583
$GC,13965,1.18,285.5,346.4,9.1,1166,13970,0.00,2.75,0.00,0.000,4,0.000,0.054,3171,3729,1583
$GC,14027,1.18,285.5,340.0,9.9,1171,14032,0.00,2.67,0.00,0.000,6,0.000,0.038,3170,2184,1583
$GC,14352,1.18,286.8,310.6,9.0,1201,14356,0.00,2.15,0.00,0.000,4,0.000,0.055,3171,977,1583
$GC,14402,1.18,286.8,305.9,9.3,1205,14409,0.00,2.10,0.00,0.000,6,0.000,0.035,3171,2196,1583
$GC,14731,1.19,294.3,277.4,8.7,1236,14744,0.00,2.28,7.60,0.924,4,0.000,0.054,3171,979,1548
$GC,14779,1.19,294.3,272.8,9.3,1240,14782,0.00,2.08,0.00,0.000,6,0.000,0.035,3171,2175,1547
$GC,15107,1.21,303.0,245.1,8.6,1275,15120,0.00,0.00,7.55,0.897,6,0.000,0.000,3171,2175,1512
$GC,15458,1.27,310.7,213.5,8.7,1337,15471,0.00,0.00,6.50,0.871,6,0.000,0.000,3171,2176,1480
$GC,15810,1.37,342.1,184.5,7.6,1399,15844,0.15,2.20,26.00,0.787,4,0.059,0.053,3212,979,1352
$GC,15885,1.33,342.1,177.2,10.6,1411,15892,0.00,2.05,0.00,0.000,6,0.000,0.034,3212,2163,1350
$GC,16230,1.33,342.1,143.8,9.8,1472,16237,0.00,2.78,0.00,0.000,4,0.000,0.050,3212,3739,1350
$GC,16288,1.33,342.1,137.9,9.7,1482,16296,0.00,2.67,0.00,0.000,6,0.000,0.035,3212,2180,1350
$GC,16635,1.49,401.7,111.8,6.3,1543,16690,0.00,2.22,48.55,0.697,4,0.000,0.051,3212,982,1109
$GC,16720,1.69,441.4,106.1,7.2,1556,16760,0.28,2.08,33.10,0.678,6,0.043,0.032,3287,2190,947
$GC,17100,1.73,448.3,70.5,8.7,1622,17114,0.00,2.20,4.32,0.701,4,0.000,0.048,3287,981,919
$GC,17193,1.73,448.3,61.7,9.3,1638,17200,0.00,2.05,0.00,0.000,6,0.000,0.030,3287,2197,918
$GC,17538,1.84,466.4,33.2,8.2,1699,17559,0.00,2.22,14.68,0.616,4,0.000,0.045,3287,982,846
$GC,17634,1.95,487.7,25.4,8.1,1715,17656,0.20,1.88,17.05,0.598,6,0.041,0.028,3347,2108,760
$STATE,17862,end climb,SURFACE_DEPTH_REACHED
$STATE,17862,begin surface coast
$FINISH,-0.1,1.021149
$STATE,17881,end surface coast,CONTROL_FINISHED_OK
$STATE,17881,begin surface
$SM_CCo,17965,0.00,0.000,0,0,753,489.37
$SM_GC,0.67,13.68,0.00,0.00,0.041,0.000,0.000,248,2196,753,-12.18,1.30,489.37
$IRIDIUM_FIX,1241.04,12021.43,080797,212110
$TT8_MAMPS,0.023777
$HUMID,1952
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,410
$24V_AH,23.2,50.176
$10V_AH,10.1,25.638
$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,32.900,166.950,528.875,0.000,0.000,28.162,38.099,167.371,109.750,0.000,0.000,16.664,3683.425,10455.898,727.628,2882.154,587.179,0.000,2181.152,0.000,2830.107,0.000,53.511
$DEVICE_MAMPS,166.439,114.283,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56676,1758
$CAP_FILE_SIZE,181807,0
$CFSIZE,260165632,234971136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,158.1,1
$GPS,140408,074032,1247.542,12024.199,41,1.7,41,-0.8