version: 66.03
glider: 122
mission: 6
dive: 73
start: 2 29 108 11 32 47
data:
$ID,122
$MISSION,6
$DIVE,73
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,440
$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,-28774.643
$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,53
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,5
$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
$GPS1,111701,1251.193,12039.347,36,1.6,41,-0.8
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.8
$GPS2,113215,1251.131,12039.305,12,2.0,12,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,263.4,44192,-17.4,-9.016
$D_GRID,1318
$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,-1.42,-146.0,0.0,0.0,0,78,0.00,0.00,-57.22,0.000,2,0.000,0.000,252,2125,2461
$GC,80,-1.42,-146.0,3.1,-7.3,9,118,13.40,2.50,-15.52,0.000,4,0.167,0.054,2590,3551,3277
$GC,147,-1.06,-146.0,20.9,-25.3,20,155,0.43,2.30,0.00,0.000,6,0.104,0.028,2672,2171,3278
$GC,493,-0.95,-146.0,83.1,-14.6,81,500,0.12,2.47,0.00,0.000,4,0.117,0.044,2695,748,3279
$GC,574,-1.01,-146.0,93.4,-11.7,95,581,0.00,2.38,0.00,0.000,6,0.000,0.027,2695,2169,3278
$GC,919,-1.08,-146.0,131.1,-8.9,156,927,0.12,2.38,0.00,0.000,4,0.053,0.046,2654,3543,3280
$GC,1000,-1.08,-146.0,140.5,-12.0,170,1008,0.00,2.28,0.00,0.000,6,0.000,0.028,2655,2171,3279
$GC,1345,-1.14,-146.0,173.3,-8.3,231,1353,0.00,2.38,0.00,0.000,4,0.000,0.043,2654,3555,3281
$GC,1461,-1.21,-146.0,183.0,-8.0,251,1467,0.00,2.20,0.00,0.000,6,0.000,0.028,2654,2222,3281
$GC,1807,-1.27,-146.0,212.4,-8.3,312,1815,0.12,2.58,0.00,0.000,4,0.054,0.046,2614,744,3281
$GC,1843,-1.27,-146.0,216.4,-10.5,318,1850,0.00,2.50,0.00,0.000,6,0.000,0.030,2614,2229,3281
$GC,2193,-1.27,-146.0,251.5,-10.3,379,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2230,3280
$GC,2511,-1.27,-146.0,284.6,-10.7,409,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2229,3279
$GC,2830,-1.27,-146.0,315.7,-9.5,439,2834,0.00,2.58,0.00,0.000,4,0.000,0.050,2614,755,3277
$GC,2869,-1.27,-146.0,319.9,-10.9,442,2873,0.00,2.47,0.00,0.000,6,0.000,0.033,2614,2211,3277
$GC,3193,-1.27,-146.0,351.7,-9.7,472,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2211,3275
$GC,3511,-1.27,-146.0,380.6,-9.1,502,3516,0.00,2.58,0.00,0.000,4,0.000,0.051,2614,754,3273
$GC,3584,-1.27,-146.0,387.5,-9.7,508,3588,0.00,2.47,0.00,0.000,6,0.000,0.031,2614,2210,3273
$GC,3909,-1.27,-146.0,416.9,-9.3,538,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2211,3270
$GC,4228,-1.27,-146.0,447.3,-8.9,568,4232,0.00,2.58,0.00,0.000,4,0.000,0.051,2614,748,3269
$GC,4313,-1.32,-146.0,455.1,-8.9,575,4317,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2196,3269
$GC,4638,-1.32,-146.0,482.8,-8.5,605,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,3266
$GC,4953,-1.32,-146.0,509.1,-8.3,630,4957,0.00,2.55,0.00,0.000,4,0.000,0.053,2614,755,3264
$GC,4993,-1.35,-146.0,512.5,-8.7,632,4997,0.00,2.45,0.00,0.000,6,0.000,0.035,2614,2184,3264
$GC,5319,-1.35,-146.0,540.1,-8.3,648,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3261
$GC,5628,-1.35,-146.0,564.0,-7.2,663,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3259
$GC,5937,-1.35,-146.0,587.2,-7.8,678,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3258
$GC,6246,-1.35,-146.0,612.3,-8.2,693,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3256
$GC,6555,-1.35,-146.0,636.7,-7.4,708,6560,0.00,2.42,0.00,0.000,4,0.000,0.056,2613,3561,3254
$GC,6599,-1.35,-146.0,640.2,-7.9,710,6603,0.00,2.38,0.00,0.000,6,0.000,0.035,2614,2182,3254
$GC,6927,-1.35,-146.0,664.6,-7.6,726,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2182,3253
$GC,7236,-1.35,-146.0,689.0,-7.7,741,7240,0.00,2.42,0.00,0.000,4,0.000,0.054,2614,3555,3251
$GC,7278,-1.35,-146.0,692.3,-7.4,743,7283,0.00,2.35,0.00,0.000,6,0.000,0.035,2614,2194,3250
$GC,7606,-1.35,-146.0,715.8,-7.4,759,7611,0.00,2.60,0.00,0.000,4,0.000,0.059,2614,743,3249
$GC,7633,-1.39,-146.0,718.0,-8.1,760,7637,0.00,2.50,0.00,0.000,6,0.000,0.037,2614,2195,3249
$GC,7955,-1.42,-146.0,741.0,-7.2,776,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,3248
$GC,8264,-1.46,-146.0,762.3,-6.7,791,8269,0.12,2.40,0.00,0.000,4,0.059,0.055,2578,3555,3246
$GC,8307,-1.41,-146.0,766.1,-9.0,793,8311,0.00,2.35,0.00,0.000,6,0.000,0.036,2579,2191,3246
$GC,8635,-1.37,-146.0,793.1,-8.6,809,8637,0.15,0.00,0.00,0.000,6,0.114,0.000,2606,2190,3245
$GC,8944,-1.37,-146.0,816.1,-7.2,824,8948,0.00,2.42,0.00,0.000,4,0.000,0.056,2606,3558,3244
$GC,8976,-1.37,-146.0,818.7,-7.5,825,8983,0.00,2.35,0.00,0.000,6,0.000,0.037,2606,2201,3244
$GC,9293,-1.37,-146.0,841.3,-7.4,841,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2200,3243
$GC,9601,-1.37,-146.0,864.3,-7.4,856,9605,0.00,2.42,0.00,0.000,4,0.000,0.057,2606,3563,3242
$GC,9632,-1.37,-146.0,866.8,-7.6,857,9640,0.00,2.35,0.00,0.000,6,0.000,0.037,2606,2204,3242
$GC,9949,-1.37,-146.0,887.8,-6.5,873,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2204,3241
$GC,10258,-1.40,-146.0,909.1,-7.0,888,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2204,3240
$GC,10567,-1.40,-146.0,931.9,-7.2,903,10571,0.00,2.40,0.00,0.000,4,0.000,0.058,2606,3552,3240
$GC,10606,-1.40,-146.0,934.8,-8.0,905,10610,0.00,2.30,0.00,0.000,6,0.000,0.038,2606,2210,3240
$GC,10934,-1.43,-146.0,957.9,-7.1,921,10938,0.00,2.40,0.00,0.000,4,0.000,0.058,2606,3555,3238
$GC,10961,-1.43,-146.0,960.3,-7.5,922,10965,0.00,2.30,0.00,0.000,6,0.000,0.037,2606,2226,3238
$GC,11283,-1.47,-146.0,982.2,-6.9,938,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2226,3237
$STATE,11404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11404,begin apogee
$GC,11408,-0.34,0.0,991.0,7.2,944,11533,1.10,0.00,120.47,1.400,6,0.096,0.000,2828,2384,2678
$STATE,11533,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11535,1.42,146.0,994.9,0.0,950,11670,1.77,2.50,126.32,1.346,4,0.058,0.061,3214,3706,2082
$GC,11738,1.16,146.0,978.1,13.6,959,11743,0.30,2.33,0.00,0.000,6,0.123,0.039,3162,2380,2080
$GC,12066,1.06,146.0,941.4,11.0,975,12068,0.15,0.00,0.00,0.000,6,0.123,0.000,3135,2380,2079
$GC,12374,1.00,146.0,910.3,9.7,990,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2379,2079
$GC,12683,0.94,146.0,880.9,9.1,1005,12685,0.12,0.00,0.00,0.000,6,0.120,0.000,3114,2379,2078
$GC,12993,0.97,159.4,855.0,8.3,1020,13006,0.00,0.00,11.07,1.347,6,0.000,0.000,3114,2378,2028
$GC,13302,0.98,168.7,828.8,8.5,1035,13312,0.00,0.00,8.38,1.332,6,0.000,0.000,3113,2378,1991
$GC,13611,0.98,169.5,801.5,9.0,1050,13616,0.00,2.58,0.00,0.000,4,0.000,0.062,3113,968,1990
$GC,13639,0.98,169.5,798.9,9.8,1051,13643,0.00,2.47,0.00,0.000,6,0.000,0.040,3114,2376,1989
$GC,13954,0.98,169.5,770.1,9.2,1066,13958,0.00,2.42,0.00,0.000,4,0.000,0.061,3114,3725,1989
$GC,13997,0.95,169.5,765.7,10.0,1068,14001,0.00,2.33,0.00,0.000,6,0.000,0.039,3113,2384,1989
$GC,14324,0.96,172.5,736.2,8.9,1084,14330,0.00,0.00,3.50,1.266,6,0.000,0.000,3114,2383,1974
$GC,14633,0.96,174.6,708.5,8.9,1099,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2382,1974
$GC,14943,0.98,186.5,682.5,8.4,1114,14957,0.00,0.00,12.55,1.241,6,0.000,0.000,3113,2382,1917
$GC,15252,1.00,195.7,655.5,8.5,1129,15262,0.00,0.00,8.00,1.223,6,0.000,0.000,3113,2382,1880
$GC,15562,1.04,195.7,627.3,9.3,1144,15566,0.00,2.42,0.00,0.000,4,0.000,0.060,3113,3729,1879
$GC,15601,1.04,195.7,623.3,9.8,1146,15605,0.00,2.33,0.00,0.000,6,0.000,0.038,3114,2388,1879
$GC,15927,1.07,195.7,593.0,9.4,1162,15929,0.12,0.00,0.00,0.000,6,0.071,0.000,3143,2386,1880
$GC,16236,1.07,195.7,562.2,9.8,1177,16237,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2385,1879
$GC,16545,1.07,195.7,531.8,9.9,1192,16546,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2385,1879
$GC,16854,1.07,195.7,500.7,9.7,1207,16858,0.00,2.40,0.00,0.000,4,0.000,0.058,3143,3726,1879
$GC,16908,1.02,195.7,495.2,10.6,1211,16916,0.00,2.28,0.00,0.000,6,0.000,0.038,3143,2401,1879
$GC,17234,1.02,195.9,465.2,9.0,1242,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2401,1879
$GC,17553,1.02,196.9,436.2,9.0,1272,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2400,1879
$GC,17871,1.03,201.0,407.1,8.8,1302,17884,0.00,2.60,4.97,1.052,4,0.000,0.057,3143,967,1858
$GC,17911,1.03,201.0,403.3,10.3,1305,17919,0.00,2.55,0.00,0.000,6,0.000,0.038,3143,2406,1858
$GC,18237,1.04,205.0,374.7,8.8,1336,18250,0.00,2.62,3.85,1.029,4,0.000,0.055,3143,963,1842
$GC,18311,1.04,205.0,367.9,10.2,1342,18319,0.00,2.47,0.00,0.000,6,0.000,0.037,3143,2365,1842
$GC,18637,1.06,218.0,339.8,8.4,1373,18650,0.00,0.00,10.77,0.973,6,0.000,0.000,3143,2366,1788
$GC,18964,1.06,218.0,310.5,9.6,1404,18968,0.00,2.53,0.00,0.000,4,0.000,0.055,3142,962,1788
$GC,19014,1.06,218.0,305.4,9.9,1408,19018,0.00,2.42,0.00,0.000,6,0.000,0.037,3143,2357,1788
$GC,19339,1.11,228.1,276.9,8.5,1438,19350,0.00,0.00,8.98,0.922,6,0.000,0.000,3143,2358,1747
$GC,19668,1.16,232.3,247.7,8.8,1471,19676,0.00,0.00,3.83,0.913,6,0.000,0.000,3144,2358,1730
$GC,20013,1.24,243.2,217.7,8.5,1532,20029,0.15,0.00,8.98,0.861,6,0.063,0.000,3185,2358,1685
$GC,20366,1.24,243.2,183.6,10.1,1594,20373,0.00,2.42,0.00,0.000,4,0.000,0.054,3184,3731,1685
$GC,20485,1.24,243.2,171.7,10.1,1615,20493,0.00,2.38,0.00,0.000,6,0.000,0.034,3184,2332,1685
$GC,20830,1.39,303.8,147.4,5.9,1676,20887,0.10,2.53,48.70,0.732,4,0.071,0.049,3211,3727,1437
$GC,21039,1.39,303.8,128.1,9.9,1711,21047,0.00,2.42,0.00,0.000,6,0.000,0.033,3211,2310,1435
$GC,21383,1.51,340.6,101.5,7.1,1772,21418,0.00,2.60,28.77,0.686,4,0.000,0.048,3211,3725,1288
$GC,21474,1.60,352.1,94.2,8.4,1786,21491,0.20,2.40,9.07,0.703,6,0.051,0.032,3262,2316,1242
$GC,21829,1.62,363.8,58.7,8.4,1848,21844,0.00,2.47,8.82,0.669,4,0.000,0.051,3262,969,1193
$GC,21951,1.62,363.8,45.8,11.3,1869,21958,0.00,2.22,0.00,0.000,6,0.000,0.031,3262,2276,1191
$GC,22295,1.69,381.2,16.5,8.1,1930,22317,0.00,2.35,13.55,0.607,4,0.000,0.048,3262,967,1122
$GC,22414,1.76,382.9,5.8,8.9,1950,22422,0.12,2.17,0.00,0.000,6,0.059,0.028,3301,2259,1121
$STATE,22454,end climb,SURFACE_DEPTH_REACHED
$STATE,22454,begin surface coast
$FINISH,0.0,1.021755
$STATE,22472,end surface coast,CONTROL_FINISHED_OK
$STATE,22472,begin surface
$SM_CCo,22493,29.15,0.563,0,0,883,440.07
$SM_GC,1.28,0.00,0.00,29.15,0.000,0.000,0.563,252,2123,883,-12.20,-0.74,440.07
$IRIDIUM_FIX,1249.88,12037.35,250597,111152
$TT8_MAMPS,0.024544
$HUMID,1882
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.20
$XPDR_PINGS,446
$ALTIM_BOTTOM_PING,510.1,8.7
$24V_AH,23.2,15.253
$10V_AH,10.1,6.936
$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,32.150,146.150,440.600,29.150,0.000,110.464,63.792,434.097,112.250,0.000,0.000,12.665,4203.560,14633.203,670.845,3083.849,848.890,0.000,2210.925,0.000,3055.249,0.000,7.196
$DEVICE_MAMPS,167.206,62.127,1399.775,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1319.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62862,1960
$CAP_FILE_SIZE,199850,0
$CFSIZE,260165632,251764736
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,217.1,1
$GPS,290208,174926,1250.101,12036.354,42,1.2,42,-0.8