version: 66.03
glider: 122
mission: 6
dive: 33
start: 2 22 108 1 3 49
data:
$ID,122
$MISSION,6
$DIVE,33
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,425
$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,-28047.287
$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,14.76
$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,50
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,005338,1251.409,12040.546,32,1.0,32,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.8
$GPS2,010257,1251.548,12040.441,11,1.5,11,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,2000.000
$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,257.1,46370,-22.8,-9.016
$D_GRID,1169
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.57,0.000,2,0.000,0.000,250,2128,2587
$GC,88,-1.70,-92.2,3.1,-7.6,13,115,13.07,2.40,-6.57,0.000,4,0.169,0.057,2529,757,2918
$GC,121,-0.74,-92.2,12.8,-29.0,19,127,1.10,2.35,0.00,0.000,6,0.120,0.028,2738,2164,2918
$GC,464,-0.89,-92.2,55.3,-11.3,80,471,0.12,2.45,0.00,0.000,4,0.056,0.045,2700,756,2919
$GC,723,-1.04,-92.2,84.1,-10.6,126,729,0.00,2.33,0.00,0.000,6,0.000,0.027,2700,2154,2920
$GC,1066,-1.28,-108.6,114.6,-7.5,187,1073,0.30,2.42,0.00,0.000,4,0.038,0.045,2610,757,2923
$GC,1157,-1.28,-108.6,124.9,-11.7,203,1163,0.00,2.33,0.00,0.000,6,0.000,0.026,2610,2165,2923
$GC,1500,-1.35,-118.7,160.0,-8.1,264,1506,0.00,2.35,0.00,0.000,4,0.000,0.045,2611,3542,2924
$GC,1540,-1.40,-118.7,163.8,-9.8,271,1546,0.00,2.28,0.00,0.000,6,0.000,0.028,2610,2159,2924
$GC,1883,-1.49,-124.7,194.1,-8.5,332,1890,0.15,2.38,0.00,0.000,4,0.050,0.044,2559,3544,2924
$GC,1929,-1.45,-124.7,198.8,-10.6,340,1936,0.15,2.30,0.00,0.000,6,0.108,0.030,2586,2152,2924
$GC,2273,-1.48,-124.7,227.7,-9.5,401,2279,0.00,2.38,0.00,0.000,4,0.000,0.045,2586,3548,2923
$GC,2340,-1.48,-124.7,234.2,-9.4,413,2346,0.00,2.33,0.00,0.000,6,0.000,0.031,2586,2147,2923
$GC,2681,-1.54,-131.6,263.2,-8.4,461,2685,0.00,2.42,0.00,0.000,4,0.000,0.046,2586,3552,2921
$GC,2786,-1.58,-131.6,272.5,-9.0,470,2791,0.12,2.35,0.00,0.000,6,0.063,0.031,2553,2143,2921
$GC,3110,-1.58,-131.6,303.6,-9.3,500,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2142,2919
$GC,3428,-1.58,-131.6,332.8,-9.1,530,3432,0.00,2.47,0.00,0.000,4,0.000,0.054,2553,747,2918
$GC,3512,-1.58,-131.6,340.7,-9.0,537,3516,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2154,2918
$GC,3837,-1.60,-143.1,365.5,-8.0,567,3841,0.00,2.42,0.00,0.000,4,0.000,0.048,2553,3557,2916
$GC,3869,-1.57,-146.0,368.4,-8.7,569,3875,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2144,2916
$GC,4194,-1.57,-146.0,396.7,-8.9,600,4198,0.00,2.47,0.00,0.000,4,0.000,0.054,2552,750,2914
$GC,4304,-1.57,-146.0,407.1,-9.7,609,4311,0.00,2.40,0.00,0.000,6,0.000,0.032,2553,2144,2914
$GC,4630,-1.57,-146.0,433.0,-7.8,640,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2145,2912
$GC,4948,-1.57,-146.0,458.4,-8.1,670,4952,0.00,2.45,0.00,0.000,4,0.000,0.050,2553,3552,2910
$GC,4986,-1.57,-146.0,461.8,-8.8,673,4990,0.00,2.38,0.00,0.000,6,0.000,0.033,2553,2147,2910
$GC,5311,-1.57,-146.0,487.4,-8.1,703,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2145,2908
$GC,5627,-1.57,-146.0,510.3,-7.2,726,5631,0.00,2.47,0.00,0.000,4,0.000,0.051,2553,3555,2907
$GC,5698,-1.57,-146.0,516.0,-7.9,729,5702,0.00,2.40,0.00,0.000,6,0.000,0.034,2552,2154,2907
$GC,6020,-1.57,-146.0,540.1,-7.7,745,6024,0.00,2.50,0.00,0.000,4,0.000,0.058,2552,750,2905
$GC,6092,-1.57,-146.0,546.1,-8.0,748,6096,0.00,2.40,0.00,0.000,6,0.000,0.035,2553,2152,2905
$GC,6415,-1.57,-146.0,570.4,-7.9,764,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2152,2904
$GC,6722,-1.57,-146.0,593.0,-7.4,779,6726,0.00,2.45,0.00,0.000,4,0.000,0.054,2553,3551,2902
$GC,6776,-1.57,-146.0,597.3,-7.9,781,6783,0.00,2.40,0.00,0.000,6,0.000,0.035,2553,2152,2902
$GC,7093,-1.57,-146.0,621.5,-7.3,797,7097,0.00,2.50,0.00,0.000,4,0.000,0.059,2552,750,2900
$GC,7176,-1.57,-146.0,628.2,-8.1,801,7180,0.00,2.40,0.00,0.000,6,0.000,0.036,2553,2152,2900
$GC,7503,-1.57,-146.0,650.1,-6.7,817,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2152,2898
$GC,7814,-1.57,-146.0,670.9,-6.5,832,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2152,2897
$GC,8120,-1.57,-146.0,692.9,-7.4,847,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2152,2897
$GC,8430,-1.57,-146.0,716.4,-7.7,862,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2152,2896
$GC,8739,-1.57,-146.0,736.5,-5.8,877,8743,0.00,2.47,0.00,0.000,4,0.000,0.057,2553,3558,2894
$GC,8802,-1.57,-146.0,740.3,-6.4,880,8806,0.00,2.40,0.00,0.000,6,0.000,0.037,2552,2150,2894
$GC,9128,-1.57,-146.0,763.3,-7.2,896,9132,0.00,2.53,0.00,0.000,4,0.000,0.063,2552,746,2893
$GC,9167,-1.57,-146.0,766.3,-7.9,898,9171,0.00,2.42,0.00,0.000,6,0.000,0.038,2552,2156,2893
$GC,9494,-1.60,-146.0,786.5,-6.3,914,9498,0.00,2.45,0.00,0.000,4,0.000,0.058,2553,3550,2892
$GC,9534,-1.60,-146.0,789.6,-7.8,916,9539,0.00,2.40,0.00,0.000,6,0.000,0.037,2552,2143,2892
$GC,9866,-1.60,-146.0,813.3,-7.7,932,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2143,2891
$GC,10176,-1.64,-146.0,835.7,-7.2,947,10181,0.00,2.50,0.00,0.000,4,0.000,0.064,2552,752,2891
$GC,10209,-1.64,-146.0,838.4,-7.8,948,10215,0.00,2.42,0.00,0.000,6,0.000,0.037,2552,2149,2890
$GC,10526,-1.64,-146.0,861.7,-7.0,964,10530,0.00,2.53,0.00,0.000,4,0.000,0.061,2552,747,2890
$GC,10631,-1.64,-146.0,869.6,-7.0,969,10635,0.00,2.42,0.00,0.000,6,0.000,0.038,2553,2152,2889
$GC,10959,-1.64,-146.0,890.6,-6.4,985,10963,0.00,2.47,0.00,0.000,4,0.000,0.059,2553,3555,2889
$GC,11046,-1.64,-146.0,896.8,-6.8,989,11051,0.00,2.42,0.00,0.000,6,0.000,0.038,2552,2151,2889
$GC,11374,-1.67,-146.0,916.4,-5.8,1005,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2151,2888
$GC,11683,-1.72,-146.0,934.7,-6.0,1020,11687,0.00,2.50,0.00,0.000,4,0.000,0.058,2552,3560,2887
$GC,11731,-1.72,-146.0,937.8,-5.5,1022,11736,0.00,2.42,0.00,0.000,6,0.000,0.038,2552,2155,2887
$GC,12053,-1.76,-146.0,956.1,-5.3,1038,12055,0.15,0.00,0.00,0.000,6,0.059,0.000,2514,2155,2886
$GC,12362,-1.71,-146.0,975.8,-6.2,1053,12366,0.00,2.53,0.00,0.000,4,0.000,0.064,2514,751,2886
$GC,12450,-1.66,-146.0,981.8,-7.1,1057,12455,0.15,2.40,0.00,0.000,6,0.134,0.038,2539,2149,2886
$STATE,12608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12608,begin apogee
$GC,12612,-0.34,0.0,991.1,6.2,1065,12691,1.48,0.00,74.57,1.424,6,0.112,0.000,2829,2384,2539
$STATE,12691,end apogee,CONTROL_FINISHED_OK
$STATE,12691,begin climb
$GC,12693,1.79,146.0,993.0,0.0,1069,12827,2.17,0.00,128.12,1.372,6,0.060,0.000,3295,2385,1942
$GC,13136,1.60,146.0,921.0,19.4,1091,13141,0.20,2.60,0.00,0.000,4,0.136,0.061,3258,967,1939
$GC,13162,1.45,146.0,915.9,17.9,1092,13167,0.17,2.50,0.00,0.000,6,0.125,0.041,3224,2364,1938
$GC,13483,1.39,146.0,867.0,14.9,1108,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2364,1938
$GC,13792,1.32,146.0,823.6,14.0,1123,13797,0.17,2.47,0.00,0.000,4,0.133,0.064,3194,3731,1937
$GC,13824,1.29,146.0,819.1,13.4,1124,13830,0.00,2.38,0.00,0.000,6,0.000,0.040,3194,2377,1937
$GC,14140,1.29,146.0,779.1,13.1,1140,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2376,1937
$GC,14448,1.29,146.0,737.5,13.5,1155,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2375,1936
$GC,14757,1.29,146.0,695.7,13.5,1170,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2374,1936
$GC,15068,1.29,146.0,657.1,12.0,1185,15072,0.00,2.42,0.00,0.000,4,0.000,0.060,3194,3729,1936
$GC,15116,1.29,146.0,650.6,13.3,1187,15121,0.00,2.35,0.00,0.000,6,0.000,0.039,3194,2382,1936
$GC,15437,1.29,146.0,610.9,12.1,1203,15441,0.00,2.55,0.00,0.000,4,0.000,0.063,3194,973,1936
$GC,15491,1.29,146.0,604.1,13.3,1205,15498,0.00,2.47,0.00,0.000,6,0.000,0.039,3194,2379,1935
$GC,15806,1.29,146.0,566.0,12.1,1221,15810,0.00,2.40,0.00,0.000,4,0.000,0.059,3194,3725,1935
$GC,15838,1.29,146.0,561.8,12.8,1222,15845,0.00,2.35,0.00,0.000,6,0.000,0.038,3194,2370,1935
$GC,16154,1.29,146.0,522.6,12.0,1238,16158,0.00,2.42,0.00,0.000,4,0.000,0.058,3194,3728,1935
$GC,16192,1.29,146.0,517.8,12.5,1240,16196,0.00,2.33,0.00,0.000,6,0.000,0.037,3194,2369,1935
$GC,16518,1.29,146.0,481.3,10.9,1263,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2369,1935
$GC,16836,1.29,146.0,444.8,11.5,1293,16840,0.00,2.42,0.00,0.000,4,0.000,0.057,3194,3732,1936
$GC,16867,1.29,146.0,440.7,13.6,1295,16874,0.00,2.35,0.00,0.000,6,0.000,0.035,3194,2369,1936
$GC,17193,1.32,146.0,402.9,11.1,1326,17194,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2369,1936
$GC,17512,1.36,146.0,366.7,11.5,1356,17516,0.00,2.50,0.00,0.000,4,0.000,0.056,3194,963,1936
$GC,17543,1.36,146.0,362.8,12.9,1358,17550,0.00,2.47,0.00,0.000,6,0.000,0.036,3194,2385,1936
$GC,17869,1.39,146.0,328.3,10.2,1389,17873,0.00,2.35,0.00,0.000,4,0.000,0.055,3193,3723,1936
$GC,17941,1.39,146.0,320.4,10.1,1395,17945,0.00,2.30,0.00,0.000,6,0.000,0.035,3194,2364,1936
$GC,18264,1.42,146.0,288.6,9.4,1425,18268,0.00,2.47,0.00,0.000,4,0.000,0.054,3194,963,1937
$GC,18375,1.42,146.0,276.8,13.0,1434,18382,0.00,2.45,0.00,0.000,6,0.000,0.035,3194,2377,1937
$GC,18703,1.46,146.0,243.6,10.6,1470,18708,0.15,0.00,0.00,0.000,6,0.071,0.000,3232,2377,1938
$GC,19045,1.46,146.0,205.1,10.8,1531,19051,0.00,2.35,0.00,0.000,4,0.000,0.052,3232,3722,1938
$GC,19203,1.42,146.0,186.3,12.0,1559,19209,0.00,2.28,0.00,0.000,6,0.000,0.032,3232,2362,1939
$GC,19546,1.42,146.0,152.0,9.7,1620,19552,0.00,2.38,0.00,0.000,4,0.000,0.050,3232,3723,1940
$GC,19749,1.42,164.8,133.1,7.3,1656,19770,0.00,2.25,14.30,0.762,6,0.000,0.031,3232,2371,1866
$GC,20108,1.49,179.0,105.2,7.7,1720,20125,0.00,2.40,11.05,0.748,4,0.000,0.047,3232,3726,1808
$GC,20164,1.50,180.4,100.6,8.9,1730,20170,0.00,2.28,0.00,0.000,6,0.000,0.030,3232,2376,1808
$GC,20508,1.63,216.7,76.8,5.7,1791,20545,0.12,2.53,29.58,0.680,4,0.068,0.051,3263,980,1654
$GC,20798,1.72,241.8,54.1,6.7,1843,20825,0.00,2.38,19.45,0.657,6,0.000,0.029,3263,2391,1551
$GC,21163,1.83,251.6,25.6,8.1,1908,21180,0.15,2.58,7.25,0.642,4,0.061,0.047,3305,969,1512
$GC,21325,1.83,251.6,8.8,10.4,1937,21331,0.00,2.38,0.00,0.000,6,0.000,0.029,3305,2386,1512
$STATE,21397,end climb,SURFACE_DEPTH_REACHED
$STATE,21397,begin surface coast
$FINISH,-0.1,1.021763
$STATE,21421,end surface coast,CONTROL_FINISHED_OK
$STATE,21421,begin surface
$SM_CCo,21442,81.53,0.554,0,0,806,425.10
$SM_GC,0.66,0.00,0.00,81.53,0.000,0.000,0.554,250,2124,806,-12.21,-0.74,425.10
$IRIDIUM_FIX,1245.46,12042.28,180597,010110
$TT8_MAMPS,0.023777
$HUMID,1791
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,510
$24V_AH,23.1,9.674
$10V_AH,10.1,3.690
$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,33.425,184.375,284.325,81.525,0.000,73.301,68.556,202.952,140.500,0.000,0.000,11.753,3158.880,14557.228,597.512,3229.070,572.403,0.000,2179.125,0.000,3158.449,0.000,97.429
$DEVICE_MAMPS,168.740,63.661,1423.552,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1313.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59800,1954
$CAP_FILE_SIZE,203797,0
$CFSIZE,260165632,254709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,070337,1251.146,12038.555,31,0.9,31,-0.8