version: 66.03
glider: 122
mission: 6
dive: 285
start: 4 17 108 3 52 43
data:
$ID,122
$MISSION,6
$DIVE,285
$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,-33172.062
$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,24
$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
$GPS1,034607,1247.205,12023.517,36,0.8,36,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.8
$GPS2,035209,1247.245,12023.577,11,1.2,11,-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,75.9,35210,-18.6,-9.016
$D_GRID,726
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,88,0.00,0.00,-62.88,0.000,2,0.000,0.000,248,2151,2502
$GC,91,-1.56,-146.0,3.3,-7.2,10,129,13.45,2.45,-16.12,0.000,4,0.172,0.053,2562,3572,3345
$GC,222,-1.27,-146.0,30.3,-18.6,32,230,0.35,2.38,0.00,0.000,6,0.115,0.027,2627,2135,3346
$GC,568,-1.14,-146.0,82.7,-13.2,93,576,0.15,2.40,0.00,0.000,4,0.114,0.041,2658,744,3348
$GC,644,-1.14,-146.0,92.3,-12.0,106,651,0.00,2.58,0.00,0.000,6,0.000,0.028,2658,2276,3348
$GC,991,-1.19,-146.0,128.5,-10.5,167,998,0.00,2.20,0.00,0.000,4,0.000,0.044,2659,3563,3350
$GC,1094,-1.19,-146.0,139.3,-9.9,185,1102,0.00,2.10,0.00,0.000,6,0.000,0.026,2658,2272,3351
$GC,1440,-1.34,-146.0,167.8,-8.3,246,1449,0.17,2.65,0.00,0.000,4,0.045,0.042,2601,743,3352
$GC,1540,-1.34,-146.0,177.7,-10.2,263,1547,0.00,2.50,0.00,0.000,6,0.000,0.030,2601,2233,3352
$GC,1886,-1.34,-146.0,208.1,-8.5,324,1893,0.00,2.30,0.00,0.000,4,0.000,0.047,2601,3571,3352
$GC,1940,-1.30,-146.0,213.0,-9.2,333,1947,0.00,2.22,0.00,0.000,6,0.000,0.028,2602,2225,3352
$GC,2284,-1.30,-146.0,243.7,-9.0,394,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2224,3351
$GC,2620,-1.30,-146.0,273.9,-8.9,431,2625,0.00,2.33,0.00,0.000,4,0.000,0.047,2601,3567,3349
$GC,2649,-1.30,-146.0,276.7,-9.6,433,2653,0.00,2.22,0.00,0.000,6,0.000,0.031,2601,2236,3349
$GC,2976,-1.30,-146.0,304.2,-8.8,463,2980,0.00,2.30,0.00,0.000,4,0.000,0.048,2601,3559,3347
$GC,3015,-1.30,-146.0,308.1,-9.9,466,3022,0.00,2.15,0.00,0.000,6,0.000,0.031,2601,2274,3347
$GC,3343,-1.30,-146.0,335.6,-8.7,497,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2269,3345
$GC,3658,-1.30,-146.0,363.1,-8.7,527,3662,0.00,2.25,0.00,0.000,4,0.000,0.050,2601,3558,3343
$GC,3710,-1.30,-146.0,367.9,-9.2,531,3714,0.00,2.10,0.00,0.000,6,0.000,0.032,2601,2306,3342
$GC,4043,-1.30,-146.0,396.2,-7.7,562,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2304,3340
$GC,4360,-1.30,-146.0,420.6,-7.5,592,4364,0.00,2.20,0.00,0.000,4,0.000,0.051,2601,3558,3337
$GC,4388,-1.30,-146.0,422.8,-7.9,594,4392,0.00,2.10,0.00,0.000,6,0.000,0.032,2601,2314,3337
$GC,4716,-1.30,-146.0,447.6,-7.6,624,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2312,3335
$GC,5032,-1.30,-146.0,472.6,-7.8,654,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2312,3333
$GC,5351,-1.30,-146.0,498.8,-8.2,684,5355,0.00,2.20,0.00,0.000,4,0.000,0.053,2601,3556,3332
$GC,5391,-1.30,-146.0,502.4,-8.9,686,5395,0.00,2.10,0.00,0.000,6,0.000,0.033,2601,2316,3331
$GC,5722,-1.30,-146.0,530.6,-8.5,702,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2315,3329
$GC,6029,-1.41,-146.0,556.4,-8.2,717,6033,0.00,2.80,0.00,0.000,4,0.000,0.054,2601,753,3328
$GC,6069,-1.44,-146.0,559.8,-8.7,719,6074,0.00,2.75,0.00,0.000,6,0.000,0.036,2601,2347,3328
$GC,6402,-1.44,-146.0,585.1,-7.4,735,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2347,3326
$GC,6711,-1.48,-146.0,607.9,-7.3,750,6716,0.00,2.85,0.00,0.000,4,0.000,0.054,2601,753,3325
$GC,6751,-1.53,-146.0,611.0,-7.7,752,6756,0.15,2.75,0.00,0.000,6,0.056,0.038,2561,2339,3325
$GC,7081,-1.47,-146.0,638.5,-8.6,768,7085,0.12,2.15,0.00,0.000,4,0.115,0.056,2582,3557,3323
$GC,7113,-1.47,-146.0,641.7,-8.9,769,7120,0.00,2.08,0.00,0.000,6,0.000,0.035,2582,2331,3323
$GC,7430,-1.47,-146.0,666.8,-8.1,785,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2329,3321
$GC,7738,-1.47,-146.0,693.9,-9.0,800,7742,0.00,2.17,0.00,0.000,4,0.000,0.055,2582,3558,3320
$GC,7765,-1.47,-146.0,696.7,-9.9,801,7769,0.00,2.08,0.00,0.000,6,0.000,0.035,2582,2334,3319
$GC,8088,-1.47,-146.0,725.1,-8.4,817,8093,0.00,2.83,0.00,0.000,4,0.000,0.057,2582,759,3318
$STATE,8096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8096,begin apogee
$GC,8104,-0.35,0.0,726.1,8.3,817,8231,1.20,0.00,118.50,1.155,6,0.104,0.000,2823,2385,2748
$STATE,8231,end apogee,CONTROL_FINISHED_OK
$STATE,8232,begin climb
$GC,8234,1.56,146.0,731.4,0.0,824,8367,1.90,2.53,122.40,1.118,4,0.053,0.059,3246,3724,2152
$GC,8400,1.26,146.0,725.3,10.9,831,8405,0.38,2.33,0.00,0.000,6,0.133,0.038,3181,2388,2151
$GC,8717,1.19,172.1,701.1,7.8,846,8744,0.00,2.65,21.55,1.131,4,0.000,0.058,3181,964,2046
$GC,8852,1.07,174.7,689.9,8.9,852,8862,0.22,2.45,2.17,1.107,6,0.117,0.039,3140,2364,2035
$GC,9179,1.10,191.6,663.3,8.3,868,9202,0.00,2.60,14.35,1.135,4,0.000,0.058,3140,973,1966
$GC,9248,1.11,194.4,657.4,8.9,871,9257,0.00,2.42,2.72,1.111,6,0.000,0.038,3140,2350,1954
$GC,9579,1.14,212.7,629.3,8.2,887,9602,0.00,2.58,15.30,1.122,4,0.000,0.058,3140,970,1880
$GC,9681,1.15,219.1,620.5,8.7,891,9694,0.00,2.35,5.88,1.124,6,0.000,0.038,3140,2312,1854
$GC,10002,1.17,235.3,593.8,8.3,907,10025,0.00,2.53,13.30,1.111,4,0.000,0.058,3139,978,1787
$GC,10126,1.17,235.3,582.5,9.2,912,10130,0.00,2.25,0.00,0.000,6,0.000,0.038,3140,2266,1786
$GC,10442,1.22,260.7,556.8,7.9,927,10469,0.12,2.42,21.65,1.077,4,0.069,0.058,3170,971,1685
$GC,10520,1.18,260.7,549.6,9.2,930,10524,0.00,2.20,0.00,0.000,6,0.000,0.038,3170,2228,1684
$GC,10835,1.19,267.9,521.8,8.7,945,10847,0.00,2.33,6.38,1.091,4,0.000,0.058,3170,966,1654
$GC,10876,1.19,267.9,518.2,9.3,947,10880,0.00,2.15,0.00,0.000,6,0.000,0.037,3170,2197,1654
$GC,11196,1.19,267.9,488.2,9.8,968,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2197,1653
$GC,11514,1.19,267.9,456.6,9.7,998,11518,0.00,2.22,0.00,0.000,4,0.000,0.057,3170,964,1653
$GC,11547,1.19,267.9,453.2,9.8,1000,11554,0.00,2.12,0.00,0.000,6,0.000,0.036,3170,2191,1652
$GC,11874,1.19,270.0,423.6,8.9,1031,11878,0.00,2.75,0.00,0.000,4,0.000,0.056,3170,3734,1653
$GC,11894,1.19,270.0,421.4,9.3,1032,11902,0.00,2.70,0.00,0.000,6,0.000,0.037,3171,2171,1652
$GC,12224,1.21,281.0,393.6,8.5,1063,12236,0.00,0.00,10.73,1.001,6,0.000,0.000,3171,2171,1602
$GC,12554,1.24,296.3,365.5,8.3,1094,12574,0.00,0.00,13.27,0.966,6,0.000,0.000,3170,2171,1539
$GC,12894,1.25,302.9,337.0,8.7,1126,12906,0.00,2.17,5.50,0.969,4,0.000,0.055,3171,969,1512
$GC,12922,1.25,302.9,334.1,9.1,1128,12930,0.00,2.10,0.00,0.000,6,0.000,0.035,3171,2185,1512
$GC,13252,1.30,312.2,305.8,8.6,1159,13265,0.00,2.83,7.75,0.937,4,0.000,0.052,3170,3726,1475
$GC,13282,1.30,312.2,302.8,9.0,1161,13289,0.00,2.70,0.00,0.000,6,0.000,0.036,3170,2174,1475
$GC,13611,1.35,316.8,275.2,8.8,1192,13624,0.12,2.20,4.05,0.923,4,0.064,0.056,3204,972,1455
$GC,13693,1.31,316.8,266.6,9.8,1199,13697,0.00,2.10,0.00,0.000,6,0.000,0.035,3203,2188,1455
$GC,14027,1.31,316.8,232.9,9.9,1244,14034,0.00,2.20,0.00,0.000,4,0.000,0.054,3204,960,1455
$GC,14080,1.27,316.8,227.4,10.7,1253,14088,0.12,2.05,0.00,0.000,6,0.112,0.035,3182,2158,1454
$GC,14427,1.33,333.8,196.9,8.3,1314,14448,0.00,2.17,14.27,0.821,4,0.000,0.053,3182,962,1386
$GC,14500,1.39,346.6,190.7,8.4,1326,14521,0.12,1.98,11.38,0.813,6,0.065,0.034,3215,2113,1333
$GC,14860,1.39,346.6,156.3,10.0,1389,14867,0.00,2.85,0.00,0.000,4,0.000,0.050,3215,3729,1331
$GC,14890,1.39,346.6,153.2,9.9,1394,14897,0.00,2.80,0.00,0.000,6,0.000,0.035,3215,2103,1330
$GC,15236,1.47,367.3,122.2,8.1,1455,15256,0.00,0.00,16.50,0.742,6,0.000,0.000,3215,2102,1250
$GC,15595,1.69,432.9,96.5,6.1,1518,15657,0.22,3.00,53.90,0.670,4,0.049,0.046,3277,3736,982
$GC,15709,1.69,433.5,87.0,9.0,1536,15716,0.00,2.80,0.00,0.000,6,0.000,0.033,3278,2113,979
$GC,16055,1.77,456.6,58.0,8.0,1597,16081,0.00,2.05,18.50,0.635,4,0.000,0.049,3278,970,885
$GC,16117,1.81,456.6,52.6,10.5,1607,16123,0.00,2.05,0.00,0.000,6,0.000,0.029,3278,2182,883
$GC,16462,2.00,484.4,25.4,7.8,1668,16495,0.25,2.20,22.17,0.583,4,0.043,0.045,3351,973,772
$GC,16530,1.96,484.4,18.4,10.5,1679,16537,0.00,2.20,0.00,0.000,6,0.000,0.029,3351,2269,771
$STATE,16681,end climb,SURFACE_DEPTH_REACHED
$STATE,16681,begin surface coast
$FINISH,0.1,1.020965
$STATE,16700,end surface coast,CONTROL_FINISHED_OK
$STATE,16700,begin surface
$SM_CCo,16784,0.00,0.000,0,0,765,486.43
$SM_GC,0.67,13.65,0.00,0.00,0.039,0.000,0.000,251,2111,765,-12.18,-1.10,486.43
$IRIDIUM_FIX,1241.04,12021.43,110797,222227
$TT8_MAMPS,0.023777
$HUMID,1957
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.70
$XPDR_PINGS,399
$24V_AH,23.3,52.612
$10V_AH,10.1,26.921
$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,32.725,157.300,522.225,0.000,0.000,25.256,39.832,166.616,105.500,0.000,0.000,11.575,3516.956,9566.078,709.689,2780.549,572.684,0.000,2129.610,0.000,2736.678,0.000,42.642
$DEVICE_MAMPS,171.808,59.059,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53394,1709
$CAP_FILE_SIZE,170178,0
$CFSIZE,260165632,233820160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,112.8,1
$GPS,170408,083338,1247.253,12025.312,37,1.0,37,-0.8