version: 66.03
glider: 122
mission: 6
dive: 38
start: 2 23 108 8 8 26
data:
$ID,122
$MISSION,6
$DIVE,38
$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,-28119.682
$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,60
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,075937,1248.159,12030.279,39,1.9,44,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.9
$GPS2,080733,1248.151,12030.386,12,1.9,12,-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,260.9,27294,-22.8,-9.016
$D_GRID,827
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.67,-76.7,0.0,0.0,0,87,0.00,0.00,-66.78,0.000,2,0.000,0.000,252,2114,2643
$GC,89,-1.67,-76.7,3.7,-9.1,13,112,13.18,2.55,-3.90,0.000,4,0.170,0.052,2537,3564,2853
$GC,156,-1.31,-76.7,25.3,-29.0,25,163,0.43,2.33,0.00,0.000,6,0.112,0.029,2615,2174,2854
$GC,500,-1.25,-76.7,81.0,-12.6,86,506,0.00,2.50,0.00,0.000,4,0.000,0.047,2616,739,2856
$GC,658,-1.20,-76.7,104.6,-15.5,114,664,0.12,2.33,0.00,0.000,6,0.120,0.028,2638,2132,2858
$GC,1002,-1.25,-76.7,141.2,-10.0,175,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2132,2859
$GC,1346,-1.35,-79.5,175.1,-8.8,236,1351,0.12,0.00,0.00,0.000,6,0.056,0.000,2601,2132,2859
$GC,1689,-1.41,-96.3,203.5,-7.5,297,1695,0.00,2.45,0.00,0.000,4,0.000,0.047,2600,3558,2859
$GC,1801,-1.43,-106.8,212.9,-8.1,317,1807,0.00,2.38,0.00,0.000,6,0.000,0.029,2601,2129,2859
$GC,2145,-1.49,-114.5,240.4,-8.3,378,2151,0.00,2.45,0.00,0.000,4,0.000,0.044,2601,3553,2858
$GC,2179,-1.54,-121.7,243.3,-8.4,384,2185,0.15,2.35,0.00,0.000,6,0.056,0.030,2561,2142,2858
$GC,2513,-1.54,-121.7,273.0,-9.6,422,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2141,2857
$GC,2831,-1.55,-128.4,301.2,-8.4,452,2835,0.00,2.45,0.00,0.000,4,0.000,0.052,2561,754,2855
$GC,2859,-1.55,-128.4,303.7,-9.3,454,2863,0.00,2.38,0.00,0.000,6,0.000,0.031,2561,2161,2855
$GC,3183,-1.57,-139.1,330.4,-8.0,484,3187,0.00,2.40,0.00,0.000,4,0.000,0.049,2561,3548,2854
$GC,3272,-1.54,-145.5,338.0,-8.4,491,3279,0.00,2.30,0.00,0.000,6,0.000,0.031,2561,2175,2854
$GC,3597,-1.54,-146.0,362.5,-7.3,522,3601,0.00,2.53,0.00,0.000,4,0.000,0.054,2561,751,2852
$GC,3651,-1.54,-146.0,367.1,-8.6,526,3658,0.00,2.45,0.00,0.000,6,0.000,0.031,2561,2178,2852
$GC,3976,-1.54,-146.0,390.6,-7.1,557,3981,0.00,2.38,0.00,0.000,4,0.000,0.048,2561,3549,2850
$GC,4015,-1.54,-146.0,393.7,-7.8,560,4019,0.00,2.30,0.00,0.000,6,0.000,0.032,2561,2181,2850
$GC,4340,-1.54,-146.0,417.8,-8.4,590,4344,0.00,2.55,0.00,0.000,4,0.000,0.054,2561,744,2849
$GC,4394,-1.54,-146.0,422.6,-8.8,594,4401,0.00,2.47,0.00,0.000,6,0.000,0.032,2561,2183,2848
$GC,4719,-1.54,-146.0,446.4,-6.8,625,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2183,2846
$GC,5038,-1.54,-146.0,465.8,-6.0,655,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2184,2845
$GC,5357,-1.54,-146.0,484.3,-5.5,685,5361,0.00,2.40,0.00,0.000,4,0.000,0.052,2561,3556,2844
$GC,5433,-1.54,-146.0,489.2,-6.6,691,5440,0.00,2.33,0.00,0.000,6,0.000,0.033,2561,2197,2843
$GC,5755,-1.54,-146.0,507.5,-6.1,716,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2195,2841
$GC,6064,-1.54,-146.0,526.8,-6.4,731,6068,0.00,2.58,0.00,0.000,4,0.000,0.058,2560,753,2840
$GC,6135,-1.54,-146.0,531.8,-7.2,734,6139,0.00,2.50,0.00,0.000,6,0.000,0.035,2561,2193,2840
$GC,6456,-1.54,-146.0,553.8,-7.0,750,6460,0.00,2.40,0.00,0.000,4,0.000,0.054,2561,3558,2839
$GC,6600,-1.54,-146.0,564.8,-8.3,756,6607,0.00,2.28,0.00,0.000,6,0.000,0.035,2561,2219,2838
$GC,6915,-1.54,-146.0,583.9,-5.8,772,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2218,2836
$GC,7225,-1.54,-146.0,601.4,-5.6,787,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2218,2835
$GC,7536,-1.54,-146.0,621.3,-6.8,802,7541,0.00,2.35,0.00,0.000,4,0.000,0.053,2561,3552,2834
$GC,7585,-1.54,-146.0,624.9,-7.2,804,7590,0.00,2.28,0.00,0.000,6,0.000,0.035,2561,2223,2834
$GC,7908,-1.54,-146.0,645.0,-5.9,820,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2223,2833
$GC,8216,-1.54,-146.0,663.2,-6.0,835,8220,0.00,2.65,0.00,0.000,4,0.000,0.060,2560,749,2832
$GC,8360,-1.54,-146.0,672.6,-7.0,841,8366,0.00,2.55,0.00,0.000,6,0.000,0.036,2561,2238,2832
$GC,8676,-1.54,-146.0,692.1,-6.5,857,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2239,2830
$GC,8984,-1.54,-146.0,711.2,-5.7,872,8989,0.00,2.67,0.00,0.000,4,0.000,0.059,2560,749,2829
$GC,9033,-1.54,-146.0,714.3,-5.7,874,9038,0.00,2.55,0.00,0.000,6,0.000,0.036,2561,2218,2829
$GC,9356,-1.54,-146.0,730.6,-5.4,890,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2218,2829
$GC,9664,-1.58,-146.0,748.5,-5.9,905,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2218,2827
$GC,9974,-1.61,-146.0,766.8,-5.8,920,9978,0.00,2.62,0.00,0.000,4,0.000,0.061,2560,755,2827
$GC,10067,-1.61,-146.0,773.1,-6.7,924,10071,0.00,2.53,0.00,0.000,6,0.000,0.037,2560,2209,2827
$GC,10389,-1.64,-146.0,791.4,-5.4,940,10393,0.00,2.35,0.00,0.000,4,0.000,0.057,2561,3551,2826
$GC,10472,-1.64,-146.0,796.0,-5.2,944,10476,0.00,2.25,0.00,0.000,6,0.000,0.037,2560,2225,2826
$GC,10799,-1.68,-146.0,810.8,-4.4,960,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2224,2825
$GC,11107,-1.72,-146.0,826.2,-5.2,975,11112,0.15,2.65,0.00,0.000,4,0.061,0.061,2519,751,2824
$STATE,11121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11121,begin apogee
$GC,11128,-0.34,0.0,827.2,5.7,976,11192,1.60,0.00,60.00,1.293,6,0.123,0.000,2825,2375,2539
$STATE,11192,end apogee,CONTROL_FINISHED_OK
$STATE,11192,begin climb
$GC,11194,1.79,146.0,828.3,0.0,979,11325,2.20,0.00,125.03,1.249,6,0.061,0.000,3292,2375,1942
$GC,11633,1.62,146.0,761.5,16.5,1001,11635,0.20,0.00,0.00,0.000,6,0.137,0.000,3259,2375,1939
$GC,11942,1.52,146.0,714.0,15.7,1016,11944,0.12,0.00,0.00,0.000,6,0.146,0.000,3239,2375,1937
$GC,12251,1.46,146.0,667.7,14.8,1031,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2375,1937
$GC,12562,1.40,146.0,622.8,14.5,1046,12564,0.17,0.00,0.00,0.000,6,0.136,0.000,3210,2375,1936
$GC,12870,1.40,146.0,582.2,13.0,1061,12874,0.00,2.53,0.00,0.000,4,0.000,0.059,3209,980,1935
$GC,12901,1.40,146.0,577.6,13.7,1062,12908,0.00,2.47,0.00,0.000,6,0.000,0.038,3209,2385,1936
$GC,13216,1.40,146.0,536.4,12.5,1078,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2386,1935
$GC,13526,1.40,146.0,497.5,12.7,1093,13530,0.00,2.53,0.00,0.000,4,0.000,0.056,3209,979,1935
$GC,13591,1.40,146.0,488.6,13.6,1098,13598,0.00,2.47,0.00,0.000,6,0.000,0.037,3209,2391,1935
$GC,13916,1.40,146.0,446.2,12.7,1129,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2392,1935
$GC,14234,1.40,146.0,408.5,10.9,1159,14238,0.00,2.55,0.00,0.000,4,0.000,0.054,3209,972,1936
$GC,14277,1.40,146.0,403.5,12.0,1162,14284,0.00,2.47,0.00,0.000,6,0.000,0.037,3209,2387,1935
$GC,14603,1.40,146.0,367.0,11.6,1193,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2387,1936
$GC,14921,1.40,146.0,329.6,12.1,1223,14925,0.00,2.53,0.00,0.000,4,0.000,0.054,3209,970,1935
$GC,15016,1.40,146.0,318.1,11.8,1231,15020,0.00,2.42,0.00,0.000,6,0.000,0.036,3209,2382,1935
$GC,15339,1.40,146.0,283.0,11.1,1261,15340,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2382,1936
$GC,15658,1.40,146.0,249.5,9.3,1291,15664,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2382,1935
$GC,16000,1.40,146.0,216.0,10.0,1352,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2382,1936
$GC,16342,1.41,155.9,183.7,8.1,1413,16354,0.00,2.42,6.95,0.826,4,0.000,0.051,3209,3723,1902
$GC,16607,1.46,161.8,159.9,8.5,1460,16619,0.00,2.33,4.82,0.828,6,0.000,0.031,3209,2339,1879
$GC,16957,1.57,183.2,131.8,7.1,1522,16979,0.15,2.53,16.58,0.759,4,0.064,0.048,3249,3724,1791
$GC,17081,1.57,183.2,118.6,12.0,1544,17087,0.00,2.30,0.00,0.000,6,0.000,0.031,3249,2354,1792
$GC,17424,1.61,189.0,90.7,8.5,1605,17435,0.00,2.42,4.82,0.741,4,0.000,0.047,3249,3733,1768
$GC,17491,1.62,191.0,84.6,8.8,1617,17497,0.00,2.30,0.00,0.000,6,0.000,0.030,3249,2354,1768
$GC,17835,1.72,212.6,61.8,7.1,1678,17862,0.12,2.50,18.60,0.663,4,0.067,0.049,3281,978,1671
$GC,18115,1.79,259.4,39.4,4.8,1728,18157,0.00,2.28,36.20,0.618,6,0.000,0.029,3281,2335,1480
$GC,18495,1.90,264.3,9.7,8.6,1796,18507,0.15,2.42,3.28,0.615,4,0.059,0.046,3325,977,1460
$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18573,begin surface coast
$FINISH,-0.1,1.008400
$STATE,18591,end surface coast,CONTROL_FINISHED_OK
$STATE,18591,begin surface
$SM_CCo,18614,78.03,0.551,0,0,805,425.10
$SM_GC,0.75,0.00,0.00,78.03,0.000,0.000,0.551,249,2163,805,-12.22,0.37,425.10
$IRIDIUM_FIX,1245.46,12032.42,190597,080855
$TT8_MAMPS,0.023777
$HUMID,1780
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,543
$24V_AH,23.2,10.377
$10V_AH,10.1,4.162
$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,32.475,131.775,276.275,78.025,0.000,46.774,33.675,231.787,144.000,0.000,0.000,12.908,2877.848,12352.489,547.860,2918.895,495.769,0.000,1955.060,0.000,2855.484,0.000,60.757
$DEVICE_MAMPS,169.507,61.360,1293.162,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56602,1813
$CAP_FILE_SIZE,174993,0
$CFSIZE,260165632,254300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,132108,1247.464,12028.557,37,1.8,37,-0.8