version: 66.03
glider: 122
mission: 6
dive: 413
start: 5 16 108 1 14 7
data:
$ID,122
$MISSION,6
$DIVE,413
$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,0
$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,-35317.41
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,46
$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
$GPS1,010707,1235.610,12046.746,38,1.0,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-70.0
$GPS2,011333,1235.671,12046.738,14,1.0,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12046.000
$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,188.0,10587,-18.6,-9.016
$D_GRID,764
$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,23,-1.56,-146.0,0.0,0.0,0,105,0.00,0.00,-79.62,0.000,2,0.000,0.000,246,2242,2631
$GC,109,-1.56,-146.0,3.7,-8.3,16,142,13.30,2.35,-13.20,0.000,4,0.166,0.051,2561,3615,3344
$GC,166,-1.29,-146.0,17.2,-18.3,26,172,0.32,2.35,0.00,0.000,6,0.120,0.025,2619,2191,3345
$GC,511,-1.15,-146.0,64.4,-13.3,87,518,0.15,2.45,0.00,0.000,4,0.119,0.041,2650,3620,3345
$GC,615,-1.09,-146.0,78.1,-11.6,105,620,0.00,2.17,0.00,0.000,6,0.000,0.025,2650,2276,3345
$GC,959,-1.19,-146.0,115.0,-11.1,166,965,0.00,2.50,0.00,0.000,4,0.000,0.040,2650,819,3347
$GC,1016,-1.19,-146.0,121.5,-11.5,176,1022,0.00,2.65,0.00,0.000,6,0.000,0.028,2650,2404,3347
$GC,1360,-1.33,-146.0,152.9,-9.3,237,1367,0.15,2.08,0.00,0.000,4,0.049,0.045,2598,3618,3349
$GC,1420,-1.25,-146.0,158.3,-9.1,247,1426,0.17,2.00,0.00,0.000,6,0.089,0.025,2631,2377,3349
$GC,1766,-1.38,-146.0,187.2,-8.2,308,1772,0.12,2.67,0.00,0.000,4,0.053,0.040,2588,825,3350
$GC,1835,-1.33,-146.0,193.8,-9.6,320,1842,0.12,2.50,0.00,0.000,6,0.102,0.030,2612,2317,3350
$GC,2181,-1.44,-146.0,221.2,-8.0,381,2187,0.00,2.58,0.00,0.000,4,0.000,0.042,2612,826,3349
$GC,2228,-1.49,-146.0,225.5,-8.8,389,2235,0.15,2.40,0.00,0.000,6,0.049,0.031,2562,2260,3350
$GC,2575,-1.49,-146.0,256.7,-8.8,444,2579,0.00,2.47,0.00,0.000,4,0.000,0.044,2562,826,3349
$GC,2619,-1.40,-146.0,260.8,-9.2,447,2626,0.20,2.58,0.00,0.000,6,0.096,0.031,2600,2351,3348
$GC,2945,-1.51,-146.0,287.4,-8.2,478,2950,0.12,2.67,0.00,0.000,4,0.053,0.048,2560,822,3347
$GC,3001,-1.43,-146.0,292.6,-9.0,482,3007,0.17,2.53,0.00,0.000,6,0.098,0.032,2593,2315,3346
$GC,3326,-1.51,-146.0,317.4,-7.5,513,3331,0.00,2.60,0.00,0.000,4,0.000,0.047,2593,829,3345
$GC,3382,-1.51,-146.0,322.3,-8.5,517,3388,0.00,2.67,0.00,0.000,6,0.000,0.034,2593,2397,3344
$GC,3711,-1.58,-146.0,348.7,-8.0,548,3715,0.15,2.10,0.00,0.000,4,0.050,0.049,2546,3612,3342
$GC,3796,-1.47,-146.0,357.1,-9.7,555,3800,0.20,2.17,0.00,0.000,6,0.101,0.031,2583,2298,3342
$GC,4126,-1.54,-146.0,384.0,-7.8,586,4131,0.00,2.60,0.00,0.000,4,0.000,0.049,2583,820,3339
$GC,4216,-1.54,-146.0,391.2,-7.8,593,4222,0.00,2.67,0.00,0.000,6,0.000,0.034,2583,2386,3338
$GC,4545,-1.60,-146.0,415.1,-7.9,624,4549,0.12,2.15,0.00,0.000,4,0.056,0.050,2546,3621,3336
$GC,4646,-1.48,-146.0,424.3,-8.5,632,4653,0.17,2.20,0.00,0.000,6,0.107,0.031,2577,2304,3335
$GC,4972,-1.54,-146.0,451.4,-8.8,663,4976,0.00,2.62,0.00,0.000,4,0.000,0.050,2577,820,3332
$GC,4994,-1.54,-146.0,453.3,-8.3,664,4999,0.00,2.50,0.00,0.000,6,0.000,0.033,2577,2277,3332
$GC,5322,-1.59,-146.0,479.3,-7.8,695,5326,0.00,2.58,0.00,0.000,4,0.000,0.051,2577,822,3331
$GC,5339,-1.59,-146.0,480.9,-7.6,696,5344,0.00,2.72,0.00,0.000,6,0.000,0.035,2577,2401,3330
$GC,5666,-1.65,-146.0,504.8,-7.2,723,5670,0.15,2.12,0.00,0.000,4,0.051,0.053,2530,3610,3328
$GC,5775,-1.51,-146.0,513.9,-8.0,728,5780,0.22,2.20,0.00,0.000,6,0.112,0.034,2570,2299,3327
$GC,6112,-1.56,-146.0,537.5,-7.2,744,6117,0.00,2.62,0.00,0.000,4,0.000,0.051,2570,822,3326
$GC,6163,-1.56,-146.0,542.0,-7.9,746,6167,0.00,2.75,0.00,0.000,6,0.000,0.036,2570,2410,3326
$GC,6480,-1.61,-146.0,566.2,-7.9,761,6483,0.00,2.12,0.00,0.000,4,0.000,0.055,2570,3619,3323
$GC,6564,-1.61,-146.0,573.5,-8.7,764,6570,0.00,2.22,0.00,0.000,6,0.000,0.035,2570,2303,3323
$GC,6882,-1.67,-146.0,598.9,-8.0,780,6887,0.15,2.62,0.00,0.000,4,0.056,0.052,2524,830,3321
$GC,6990,-1.56,-146.0,609.1,-9.0,785,6995,0.20,2.72,0.00,0.000,6,0.114,0.037,2560,2404,3320
$GC,7321,-1.59,-146.0,635.1,-7.8,801,7325,0.00,2.12,0.00,0.000,4,0.000,0.057,2560,3618,3319
$GC,7400,-1.54,-146.0,642.2,-8.5,804,7404,0.00,2.25,0.00,0.000,6,0.000,0.035,2560,2291,3318
$GC,7719,-1.57,-146.0,665.8,-7.5,819,7723,0.00,2.35,0.00,0.000,4,0.000,0.054,2560,3614,3317
$GC,7741,-1.57,-146.0,667.9,-8.0,820,7744,0.00,2.03,0.00,0.000,6,0.000,0.035,2560,2411,3317
$GC,8069,-1.57,-146.0,693.7,-8.1,836,8074,0.00,2.83,0.00,0.000,4,0.000,0.054,2560,829,3316
$GC,8160,-1.53,-146.0,701.6,-9.0,840,8164,0.00,2.47,0.00,0.000,6,0.000,0.036,2560,2274,3315
$GC,8481,-1.58,-146.0,728.7,-8.5,856,8486,0.00,2.60,0.00,0.000,4,0.000,0.054,2560,823,3314
$GC,8532,-1.54,-146.0,733.5,-8.8,858,8536,0.00,2.42,0.00,0.000,6,0.000,0.037,2560,2230,3313
$GC,8849,-1.57,-146.0,758.9,-7.4,873,8853,0.00,2.53,0.00,0.000,4,0.000,0.056,2561,826,3312
$GC,8890,-1.53,-146.0,762.2,-7.8,875,8894,0.00,2.67,0.00,0.000,6,0.000,0.038,2560,2363,3312
$STATE,8924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8925,begin apogee
$GC,8932,-0.35,0.0,765.2,8.2,877,9055,1.33,0.00,119.78,1.183,6,0.101,0.000,2824,2364,2748
$STATE,9056,end apogee,CONTROL_FINISHED_OK
$STATE,9056,begin climb
$GC,9059,1.56,146.0,770.8,0.0,883,9194,1.92,2.70,124.90,1.147,4,0.054,0.058,3246,953,2151
$GC,9219,1.28,146.0,766.6,10.0,890,9226,0.35,2.45,0.00,0.000,6,0.117,0.039,3184,2334,2151
$GC,9538,1.21,179.3,742.7,7.5,906,9572,0.00,2.62,27.90,1.152,4,0.000,0.058,3183,956,2017
$GC,9652,1.13,196.9,733.2,8.2,911,9672,0.17,2.35,15.20,1.158,6,0.116,0.039,3153,2292,1945
$GC,9997,1.16,214.9,706.1,8.2,928,10019,0.00,2.65,15.48,1.157,4,0.000,0.058,3153,3726,1871
$GC,10043,1.12,214.9,701.9,9.7,930,10047,0.00,2.47,0.00,0.000,6,0.000,0.038,3152,2317,1871
$GC,10370,1.19,257.1,676.2,7.1,946,10412,0.00,2.60,36.28,1.127,4,0.000,0.057,3153,3725,1699
$GC,10440,1.19,257.1,670.6,9.2,949,10444,0.00,2.75,0.00,0.000,6,0.000,0.040,3153,2170,1699
$GC,10762,1.33,292.7,646.2,7.4,965,10799,0.17,2.33,31.15,1.114,4,0.063,0.062,3197,931,1553
$GC,10880,1.26,292.7,635.3,9.3,969,10884,0.00,2.42,0.00,0.000,6,0.000,0.038,3197,2310,1550
$GC,11196,1.20,292.7,605.9,9.3,984,11201,0.17,2.53,0.00,0.000,4,0.110,0.058,3163,929,1549
$GC,11269,1.20,297.2,599.4,8.8,987,11280,0.00,2.28,3.20,1.114,6,0.000,0.037,3163,2236,1536
$GC,11590,1.33,297.2,569.9,9.5,1003,11594,0.15,2.38,0.00,0.000,4,0.062,0.058,3205,932,1534
$GC,11625,1.28,297.2,566.3,10.5,1004,11631,0.12,2.50,0.00,0.000,6,0.120,0.038,3185,2358,1534
$GC,11941,1.28,297.2,535.6,9.4,1020,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2358,1534
$GC,12252,1.32,301.5,508.2,8.8,1035,12261,0.00,2.62,3.80,1.085,4,0.000,0.055,3184,927,1518
$GC,12347,1.33,307.2,499.2,8.8,1039,12357,0.00,2.15,5.25,1.088,6,0.000,0.036,3184,2168,1495
$GC,12678,1.43,310.2,470.4,8.9,1070,12690,0.15,2.85,2.83,1.051,4,0.063,0.055,3231,3723,1483
$GC,12740,1.30,310.2,463.8,11.4,1075,12747,0.22,2.45,0.00,0.000,6,0.127,0.038,3192,2307,1483
$GC,13066,1.36,325.1,435.4,8.3,1106,13088,0.00,2.58,13.18,1.019,4,0.000,0.056,3192,934,1421
$GC,13168,1.36,325.6,426.4,9.0,1115,13171,0.00,2.12,0.00,0.000,6,0.000,0.035,3192,2155,1420
$GC,13496,1.45,325.6,398.4,9.3,1145,13501,0.12,2.80,0.00,0.000,4,0.067,0.052,3225,3727,1420
$GC,13547,1.37,325.6,393.0,10.6,1149,13552,0.12,2.50,0.00,0.000,6,0.133,0.037,3205,2281,1420
$GC,13873,1.41,329.0,363.5,8.9,1179,13884,0.00,2.47,3.47,0.991,4,0.000,0.054,3205,933,1405
$GC,13952,1.42,332.8,356.0,8.8,1186,13964,0.00,2.08,3.62,0.992,6,0.000,0.035,3206,2133,1390
$GC,14283,1.50,332.8,326.1,9.3,1217,14288,0.12,2.83,0.00,0.000,4,0.064,0.052,3239,3732,1390
$GC,14334,1.40,332.8,320.7,11.2,1221,14339,0.15,2.53,0.00,0.000,6,0.128,0.036,3214,2267,1390
$GC,14660,1.45,339.1,290.2,8.7,1251,14672,0.00,2.42,5.75,0.934,4,0.000,0.052,3214,925,1364
$GC,14740,1.45,339.1,282.7,9.1,1258,14744,0.00,2.05,0.00,0.000,6,0.000,0.035,3214,2114,1364
$GC,15074,1.53,339.1,252.3,9.1,1289,15079,0.10,2.85,0.00,0.000,4,0.071,0.050,3242,3726,1364
$GC,15142,1.46,339.1,245.3,9.8,1298,15148,0.00,2.55,0.00,0.000,6,0.000,0.035,3242,2243,1364
$GC,15487,1.46,340.9,213.0,8.9,1359,15492,0.00,2.35,0.00,0.000,4,0.000,0.053,3242,922,1364
$GC,15568,1.43,353.1,205.7,8.5,1373,15585,0.15,2.00,12.05,0.834,6,0.115,0.034,3216,2092,1308
$GC,15926,1.57,369.3,176.5,8.3,1436,15948,0.15,2.95,13.85,0.792,4,0.061,0.049,3259,3726,1241
$GC,16030,1.52,369.3,166.0,9.9,1454,16037,0.12,2.62,0.00,0.000,6,0.114,0.035,3237,2203,1240
$GC,16376,1.64,377.1,139.2,8.7,1515,16388,0.12,2.35,6.35,0.776,4,0.063,0.051,3270,926,1209
$GC,16463,1.66,386.3,131.7,8.6,1530,16479,0.00,1.98,7.75,0.758,6,0.000,0.032,3270,2082,1173
$GC,16820,1.84,434.9,104.3,6.8,1593,16866,0.15,0.00,41.00,0.672,6,0.055,0.000,3314,2083,974
$GC,17207,1.93,460.2,72.6,7.9,1662,17234,0.00,2.95,20.40,0.643,4,0.000,0.047,3314,3733,869
$GC,17264,1.99,465.4,67.2,8.8,1672,17276,0.10,2.67,4.15,0.673,6,0.066,0.030,3341,2161,849
$GC,17617,2.09,498.4,40.4,7.5,1734,17649,0.00,2.25,26.62,0.591,4,0.000,0.046,3341,930,715
$GC,17730,2.11,508.3,30.8,8.6,1754,17742,0.10,1.88,7.75,0.609,6,0.064,0.028,3374,2060,675
$STATE,18043,end climb,SURFACE_DEPTH_REACHED
$STATE,18043,begin surface coast
$FINISH,-0.1,1.020463
$STATE,18070,end surface coast,CONTROL_FINISHED_OK
$STATE,18070,begin surface
$SM_CCo,18155,0.00,0.000,0,0,668,510.22
$SM_GC,0.72,13.82,0.00,0.00,0.041,0.000,0.000,247,2250,668,-12.18,0.96,510.22
$IRIDIUM_FIX,1227.78,12051.01,090897,202008
$TT8_MAMPS,0.02301
$HUMID,2048
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.20
$XPDR_PINGS,402
$ALTIM_BOTTOM_PING,661.3,146.4
$24V_AH,23.0,77.166
$10V_AH,10.1,39.429
$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,36.500,211.375,551.700,0.000,0.000,23.188,38.664,174.063,105.000,0.000,0.000,14.745,2920.291,11068.186,700.668,3144.062,705.438,0.000,2315.981,0.000,3066.642,0.000,36.716
$DEVICE_MAMPS,165.672,62.127,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56674,1814
$CAP_FILE_SIZE,202720,0
$CFSIZE,260165632,222339072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,061802,1236.440,12046.254,43,1.1,43,-0.8