version: 66.03
glider: 122
mission: 6
dive: 427
start: 5 19 108 6 1 47
data:
$ID,122
$MISSION,6
$DIVE,427
$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,-35584.375
$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,27
$R_STBD_OVSHOOT,56
$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
$GPS1,055408,1234.709,12044.446,37,1.2,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.4
$GPS2,060115,1234.595,12044.492,10,1.6,10,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_2
$TGT_LATLONG,1218.780,12058.500
$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,139.9,38734,-18.6,-9.016
$D_GRID,814
$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,25,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-64.43,0.000,2,0.000,0.000,247,2250,2484
$GC,96,-1.56,-146.0,3.8,-9.0,13,133,13.25,2.53,-16.95,0.000,4,0.164,0.050,2559,803,3346
$GC,197,-1.29,-146.0,22.0,-16.6,31,203,0.32,2.35,0.00,0.000,6,0.117,0.027,2618,2204,3347
$GC,542,-1.17,-146.0,65.0,-12.8,92,548,0.15,2.42,0.00,0.000,4,0.113,0.042,2649,3618,3348
$GC,612,-1.13,-146.0,73.3,-11.8,104,617,0.00,2.08,0.00,0.000,6,0.000,0.025,2649,2335,3348
$GC,956,-1.23,-146.0,110.1,-9.8,165,962,0.00,2.20,0.00,0.000,4,0.000,0.042,2649,3625,3350
$GC,987,-1.29,-146.0,113.2,-10.5,170,994,0.12,2.08,0.00,0.000,6,0.056,0.025,2611,2341,3350
$GC,1334,-1.35,-146.0,148.6,-9.7,231,1340,0.00,2.62,0.00,0.000,4,0.000,0.040,2611,805,3352
$GC,1359,-1.35,-146.0,151.1,-10.0,235,1365,0.00,2.70,0.00,0.000,6,0.000,0.028,2611,2411,3351
$GC,1703,-1.42,-146.0,181.7,-9.1,296,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2411,3352
$GC,2047,-1.53,-146.0,209.8,-8.4,357,2053,0.15,2.08,0.00,0.000,4,0.048,0.045,2556,3622,3352
$GC,2067,-1.58,-146.0,211.5,-8.5,360,2073,0.00,2.05,0.00,0.000,6,0.000,0.027,2556,2366,3352
$GC,2411,-1.58,-146.0,240.4,-8.3,421,2417,0.00,2.15,0.00,0.000,4,0.000,0.045,2556,3617,3352
$GC,2458,-1.46,-146.0,244.5,-8.5,429,2465,0.15,1.92,0.00,0.000,6,0.107,0.029,2583,2438,3352
$GC,2795,-1.52,-146.0,271.8,-8.7,466,2799,0.00,2.85,0.00,0.000,4,0.000,0.044,2583,807,3350
$GC,2881,-1.52,-146.0,279.2,-8.9,473,2885,0.00,2.88,0.00,0.000,6,0.000,0.032,2583,2491,3350
$GC,3209,-1.56,-146.0,306.2,-8.3,503,3213,0.00,1.95,0.00,0.000,4,0.000,0.050,2584,3623,3348
$GC,3272,-1.53,-146.0,312.0,-8.5,508,3277,0.00,2.12,0.00,0.000,6,0.000,0.030,2583,2336,3348
$GC,3600,-1.60,-146.0,337.6,-7.6,539,3604,0.12,2.22,0.00,0.000,4,0.055,0.048,2543,3624,3346
$GC,3718,-1.48,-146.0,348.3,-8.2,549,3724,0.20,1.98,0.00,0.000,6,0.107,0.031,2579,2427,3345
$GC,4047,-1.56,-146.0,372.9,-7.5,580,4051,0.00,2.88,0.00,0.000,4,0.000,0.048,2579,801,3343
$GC,4102,-1.56,-146.0,377.8,-8.2,584,4108,0.00,2.80,0.00,0.000,6,0.000,0.034,2579,2431,3343
$GC,4430,-1.62,-146.0,404.8,-8.5,615,4434,0.12,2.05,0.00,0.000,4,0.055,0.049,2542,3610,3340
$GC,4515,-1.51,-146.0,412.9,-9.6,622,4520,0.17,2.17,0.00,0.000,6,0.107,0.032,2573,2317,3340
$GC,4842,-1.54,-146.0,439.5,-8.1,652,4846,0.00,2.28,0.00,0.000,4,0.000,0.051,2573,3609,3337
$GC,4909,-1.54,-146.0,445.3,-8.0,657,4915,0.00,1.98,0.00,0.000,6,0.000,0.033,2573,2425,3336
$GC,5237,-1.61,-146.0,469.4,-7.2,688,5242,0.00,2.88,0.00,0.000,4,0.000,0.050,2573,806,3335
$GC,5266,-1.61,-146.0,471.7,-7.1,690,5271,0.00,2.92,0.00,0.000,6,0.000,0.036,2573,2490,3334
$GC,5594,-1.67,-146.0,496.1,-7.3,720,5599,0.15,1.95,0.00,0.000,4,0.052,0.053,2526,3609,3332
$GC,5663,-1.52,-146.0,502.5,-9.7,725,5667,0.25,2.10,0.00,0.000,6,0.109,0.033,2571,2366,3332
$GC,5992,-1.58,-146.0,528.3,-7.9,741,5996,0.00,2.78,0.00,0.000,4,0.000,0.052,2571,810,3329
$GC,6010,-1.62,-146.0,529.8,-8.0,742,6015,0.00,2.78,0.00,0.000,6,0.000,0.036,2571,2418,3329
$GC,6345,-1.69,-146.0,555.2,-7.6,758,6350,0.15,2.10,0.00,0.000,4,0.054,0.054,2525,3609,3327
$GC,6403,-1.55,-146.0,560.7,-9.5,760,6409,0.22,2.05,0.00,0.000,6,0.115,0.033,2566,2389,3327
$GC,6723,-1.61,-146.0,585.9,-7.9,776,6726,0.00,2.17,0.00,0.000,4,0.000,0.054,2565,3618,3326
$GC,6829,-1.61,-146.0,595.0,-8.3,780,6835,0.00,2.17,0.00,0.000,6,0.000,0.035,2566,2331,3325
$GC,7147,-1.67,-146.0,619.1,-7.7,796,7151,0.12,2.28,0.00,0.000,4,0.058,0.054,2531,3613,3324
$GC,7256,-1.55,-146.0,628.9,-8.7,801,7261,0.20,2.03,0.00,0.000,6,0.112,0.035,2566,2417,3323
$GC,7588,-1.60,-146.0,655.4,-8.0,817,7591,0.00,2.12,0.00,0.000,4,0.000,0.056,2566,3610,3321
$GC,7629,-1.57,-146.0,659.3,-8.1,818,7635,0.00,2.22,0.00,0.000,6,0.000,0.035,2566,2300,3321
$GC,7946,-1.62,-146.0,684.3,-7.9,834,7951,0.00,2.67,0.00,0.000,4,0.000,0.055,2566,808,3319
$GC,8047,-1.62,-146.0,692.8,-8.0,838,8053,0.00,2.80,0.00,0.000,6,0.000,0.038,2567,2417,3319
$GC,8364,-1.68,-146.0,717.3,-8.0,854,8369,0.12,2.12,0.00,0.000,4,0.059,0.057,2532,3615,3318
$GC,8478,-1.57,-146.0,728.3,-9.5,859,8483,0.17,2.20,0.00,0.000,6,0.114,0.036,2562,2325,3317
$GC,8802,-1.61,-146.0,754.2,-7.8,875,8807,0.00,2.72,0.00,0.000,4,0.000,0.057,2562,810,3316
$GC,8876,-1.61,-146.0,760.6,-8.6,878,8881,0.00,2.83,0.00,0.000,6,0.000,0.038,2563,2427,3316
$GC,9194,-1.66,-146.0,785.3,-8.1,893,9197,0.00,2.10,0.00,0.000,4,0.000,0.060,2562,3607,3315
$GC,9285,-1.62,-146.0,793.7,-9.1,897,9289,0.00,2.22,0.00,0.000,6,0.000,0.037,2563,2310,3314
$STATE,9548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9548,begin apogee
$GC,9555,-0.35,0.0,814.9,7.9,910,9681,1.30,0.00,122.05,1.230,6,0.097,0.000,2823,2307,2748
$STATE,9682,end apogee,CONTROL_FINISHED_OK
$STATE,9682,begin climb
$GC,9685,1.56,146.0,821.2,0.0,916,9821,1.92,2.60,126.97,1.190,4,0.054,0.061,3243,932,2152
$GC,9936,1.30,149.2,808.8,8.9,927,9946,0.30,2.47,2.75,1.176,6,0.120,0.040,3190,2327,2139
$GC,10277,1.25,201.6,786.1,6.7,944,10328,0.00,2.65,45.28,1.186,4,0.000,0.060,3190,929,1925
$GC,10480,1.14,202.1,768.1,9.0,953,10485,0.20,2.62,0.00,0.000,6,0.115,0.041,3155,2408,1923
$GC,10796,1.16,237.3,744.2,7.4,968,10832,0.00,2.47,30.70,1.181,4,0.000,0.063,3155,3732,1780
$GC,10902,1.17,242.1,735.1,8.8,972,10911,0.00,2.55,4.50,1.185,6,0.000,0.040,3155,2284,1761
$GC,11228,1.23,254.6,706.8,8.5,988,11249,0.00,2.75,11.45,1.190,4,0.000,0.058,3155,3734,1709
$GC,11273,1.23,254.6,702.9,10.1,990,11277,0.00,2.80,0.00,0.000,6,0.000,0.041,3155,2156,1709
$GC,11600,1.35,278.0,676.3,8.0,1006,11626,0.17,2.30,20.75,1.161,4,0.065,0.064,3197,932,1614
$GC,11655,1.27,278.0,671.3,10.3,1008,11661,0.00,2.47,0.00,0.000,6,0.000,0.039,3198,2327,1611
$GC,11972,1.22,281.0,642.6,8.9,1024,11981,0.15,2.62,2.28,1.111,4,0.114,0.060,3168,929,1602
$GC,12072,1.22,281.0,633.3,9.4,1028,12076,0.00,2.30,0.00,0.000,6,0.000,0.038,3168,2243,1601
$GC,12390,1.34,299.0,606.6,8.2,1043,12412,0.12,2.75,16.48,1.137,4,0.067,0.058,3198,3729,1529
$GC,12440,1.29,299.0,601.8,9.3,1045,12446,0.00,2.40,0.00,0.000,6,0.000,0.038,3198,2360,1528
$GC,12758,1.30,307.5,574.0,8.6,1061,12772,0.00,2.70,7.47,1.137,4,0.000,0.060,3198,930,1493
$GC,12859,1.24,307.6,564.7,9.0,1065,12863,0.12,2.20,0.00,0.000,6,0.121,0.036,3178,2193,1492
$GC,13176,1.39,324.8,538.5,8.2,1080,13197,0.15,2.85,15.43,1.095,4,0.065,0.056,3214,3721,1424
$GC,13232,1.33,324.8,533.1,10.4,1082,13238,0.00,2.45,0.00,0.000,6,0.000,0.038,3213,2316,1422
$GC,13548,1.33,324.8,503.1,9.4,1098,13552,0.00,2.53,0.00,0.000,4,0.000,0.058,3214,928,1420
$GC,13656,1.27,325.8,492.6,9.0,1106,13660,0.17,2.12,0.00,0.000,6,0.117,0.036,3184,2149,1420
$GC,13981,1.43,342.8,464.0,8.3,1136,14004,0.15,2.90,15.88,1.039,4,0.064,0.054,3224,3728,1350
$GC,14063,1.38,342.8,456.3,9.9,1143,14067,0.00,2.55,0.00,0.000,6,0.000,0.038,3224,2271,1348
$GC,14391,1.38,342.8,426.1,9.0,1173,14395,0.00,2.42,0.00,0.000,4,0.000,0.057,3224,928,1347
$GC,14487,1.33,342.8,416.7,9.3,1181,14491,0.17,2.05,0.00,0.000,6,0.119,0.036,3194,2111,1346
$GC,14812,1.46,342.8,387.2,9.2,1211,14817,0.12,2.88,0.00,0.000,4,0.067,0.053,3224,3725,1346
$GC,14868,1.46,342.8,381.4,11.0,1215,14874,0.00,2.58,0.00,0.000,6,0.000,0.038,3224,2236,1346
$GC,15196,1.48,355.2,351.9,8.5,1246,15212,0.00,2.40,10.88,0.969,4,0.000,0.055,3224,931,1298
$GC,15285,1.48,355.2,343.2,9.5,1253,15291,0.00,2.00,0.00,0.000,6,0.000,0.035,3224,2091,1296
$GC,15613,1.55,355.2,313.2,9.6,1284,15618,0.00,2.92,0.00,0.000,4,0.000,0.052,3224,3734,1296
$GC,15698,1.56,365.2,304.9,8.6,1291,15712,0.00,2.60,8.77,0.934,6,0.000,0.036,3224,2232,1258
$GC,16039,1.64,366.5,273.7,9.0,1323,16044,0.15,2.33,0.00,0.000,4,0.060,0.054,3265,926,1257
$GC,16140,1.53,366.5,263.4,10.3,1331,16146,0.15,2.00,0.00,0.000,6,0.115,0.034,3239,2097,1256
$GC,16476,1.60,368.6,232.7,8.9,1379,16488,0.00,2.95,2.72,0.883,4,0.000,0.051,3239,3730,1245
$GC,16551,1.60,371.7,225.5,8.9,1392,16562,0.00,2.60,3.40,0.882,6,0.000,0.035,3238,2225,1231
$GC,16904,1.64,375.8,193.4,8.8,1454,16916,0.12,2.35,3.38,0.845,4,0.067,0.051,3270,933,1215
$GC,17021,1.58,375.8,182.4,9.5,1474,17027,0.00,1.98,0.00,0.000,6,0.000,0.033,3270,2087,1215
$GC,17366,1.62,378.1,151.3,8.9,1535,17377,0.00,2.97,2.12,0.802,4,0.000,0.049,3270,3732,1207
$GC,17435,1.66,404.5,145.7,7.8,1547,17466,0.00,2.65,22.85,0.741,6,0.000,0.034,3270,2189,1099
$GC,17808,1.86,459.1,117.9,6.6,1613,17861,0.15,2.85,46.33,0.683,4,0.055,0.048,3313,3730,876
$GC,18003,1.92,473.3,101.3,8.4,1648,18020,0.00,2.90,11.35,0.693,6,0.000,0.033,3314,2053,818
$GC,18362,2.04,497.7,69.8,7.9,1711,18389,0.15,2.03,20.25,0.634,4,0.053,0.050,3361,928,717
$GC,18453,2.01,497.7,61.1,9.6,1727,18458,0.00,1.83,0.00,0.000,6,0.000,0.028,3360,2013,714
$GC,18798,2.10,501.2,30.1,8.9,1788,18804,0.00,3.00,0.00,0.000,4,0.000,0.044,3360,3739,713
$GC,18923,2.13,517.0,19.1,8.3,1810,18944,0.00,2.67,14.90,0.581,6,0.000,0.029,3360,2152,639
$STATE,19111,end climb,SURFACE_DEPTH_REACHED
$STATE,19111,begin surface coast
$FINISH,-0.1,1.007997
$STATE,19136,end surface coast,CONTROL_FINISHED_OK
$STATE,19136,begin surface
$SM_CCo,19221,0.00,0.000,0,0,635,518.32
$SM_GC,0.77,13.65,0.00,0.00,0.038,0.000,0.000,251,2256,635,-12.16,1.13,518.32
$IRIDIUM_FIX,1229.99,12046.08,130897,000041
$TT8_MAMPS,0.02301
$HUMID,2068
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,384
$ALTIM_BOTTOM_PING,790.1,41.9
$24V_AH,22.9,79.944
$10V_AH,10.1,40.814
$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,35.625,218.700,568.925,0.000,0.000,25.364,44.487,206.812,104.750,0.000,0.000,10.816,3003.899,11836.860,723.727,3296.849,779.740,0.000,2405.485,0.000,3210.977,0.000,69.780
$DEVICE_MAMPS,164.138,64.428,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59737,1848
$CAP_FILE_SIZE,211290,0
$CFSIZE,260165632,221011968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,112326,1234.922,12044.457,41,1.8,41,-0.8