version: 66.03
glider: 122
mission: 6
dive: 82
start: 3 2 108 15 20 5
data:
$ID,122
$MISSION,6
$DIVE,82
$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,-28911.406
$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,55
$R_STBD_OVSHOOT,32
$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
$GPS1,151438,1246.838,12017.476,37,1.3,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.3
$GPS2,151933,1246.861,12017.454,14,2.0,14,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,105.7,46229,-17.4,-9.016
$D_GRID,906
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-62.35,0.000,2,0.000,0.000,250,2116,2602
$GC,86,-1.42,-146.0,3.8,-8.6,10,118,13.43,2.55,-11.90,0.000,4,0.168,0.052,2589,3565,3276
$GC,243,-1.11,-146.0,43.4,-22.8,37,251,0.38,2.33,0.00,0.000,6,0.099,0.028,2662,2166,3278
$GC,589,-0.99,-146.0,97.5,-15.6,98,596,0.15,2.45,0.00,0.000,4,0.110,0.042,2693,749,3279
$GC,647,-1.04,-146.0,104.9,-11.5,108,654,0.00,2.33,0.00,0.000,6,0.000,0.026,2693,2150,3280
$GC,992,-1.07,-146.0,144.0,-9.7,169,999,0.00,2.40,0.00,0.000,4,0.000,0.044,2692,3551,3282
$GC,1090,-1.16,-146.0,153.6,-9.9,186,1098,0.17,2.30,0.00,0.000,6,0.046,0.027,2639,2160,3282
$GC,1435,-1.16,-146.0,193.4,-9.8,247,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2158,3282
$GC,1778,-1.16,-146.0,229.7,-10.7,308,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2158,3283
$GC,2118,-1.16,-146.0,264.6,-9.7,356,2122,0.00,2.47,0.00,0.000,4,0.000,0.049,2640,747,3282
$GC,2169,-1.22,-146.0,269.7,-9.5,360,2173,0.00,2.42,0.00,0.000,6,0.000,0.031,2639,2184,3283
$GC,2495,-1.25,-146.0,297.9,-7.7,390,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2185,3281
$GC,2813,-1.29,-146.0,321.2,-7.5,420,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2185,3280
$GC,3132,-1.33,-146.0,347.9,-8.7,450,3133,0.12,0.00,0.00,0.000,6,0.057,0.000,2601,2185,3278
$GC,3449,-1.30,-146.0,379.0,-9.7,480,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2185,3276
$GC,3768,-1.27,-146.0,412.8,-11.2,510,3769,0.12,0.00,0.00,0.000,6,0.104,0.000,2625,2185,3274
$GC,4086,-1.30,-146.0,441.3,-8.0,540,4090,0.00,2.55,0.00,0.000,4,0.000,0.054,2625,753,3272
$GC,4115,-1.35,-146.0,443.8,-8.3,542,4119,0.00,2.42,0.00,0.000,6,0.000,0.035,2625,2171,3272
$GC,4446,-1.38,-146.0,473.4,-9.2,573,4450,0.00,2.42,0.00,0.000,4,0.000,0.053,2625,3552,3270
$GC,4490,-1.43,-146.0,477.6,-8.9,576,4499,0.15,2.33,0.00,0.000,6,0.054,0.034,2585,2182,3270
$GC,4814,-1.38,-146.0,511.5,-10.3,602,4818,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,744,3268
$GC,4853,-1.34,-146.0,515.9,-11.1,604,4858,0.15,2.45,0.00,0.000,6,0.110,0.035,2612,2167,3268
$GC,5180,-1.34,-146.0,543.8,-7.7,620,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2167,3266
$GC,5488,-1.34,-146.0,569.4,-8.3,635,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2170,3264
$GC,5797,-1.34,-146.0,596.3,-8.4,650,5802,0.00,2.45,0.00,0.000,4,0.000,0.054,2613,3555,3262
$GC,5837,-1.34,-146.0,599.8,-9.0,652,5841,0.00,2.38,0.00,0.000,6,0.000,0.035,2612,2162,3261
$GC,6164,-1.34,-146.0,625.5,-7.4,668,6169,0.00,2.45,0.00,0.000,4,0.000,0.054,2612,3551,3260
$GC,6197,-1.34,-146.0,628.3,-7.6,669,6205,0.00,2.38,0.00,0.000,6,0.000,0.035,2612,2179,3259
$GC,6513,-1.34,-146.0,649.1,-6.2,685,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2179,3258
$GC,6822,-1.34,-146.0,668.3,-6.3,700,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2179,3257
$GC,7132,-1.38,-146.0,687.9,-6.6,715,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2179,3255
$GC,7441,-1.38,-146.0,709.2,-6.9,730,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2179,3254
$GC,7751,-1.41,-146.0,729.1,-6.3,745,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2179,3253
$GC,8060,-1.44,-146.0,747.7,-6.0,760,8064,0.00,2.45,0.00,0.000,4,0.000,0.056,2612,3557,3252
$GC,8115,-1.48,-146.0,751.8,-6.6,762,8123,0.15,2.38,0.00,0.000,6,0.060,0.037,2574,2173,3251
$GC,8431,-1.43,-146.0,778.5,-9.2,778,8435,0.00,2.58,0.00,0.000,4,0.000,0.060,2574,743,3251
$GC,8485,-1.38,-146.0,783.9,-10.0,780,8493,0.15,2.47,0.00,0.000,6,0.120,0.036,2600,2174,3250
$GC,8801,-1.38,-146.0,809.4,-8.1,796,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2175,3249
$GC,9110,-1.38,-146.0,833.9,-7.8,811,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2175,3248
$GC,9419,-1.38,-146.0,857.0,-8.3,826,9424,0.00,2.45,0.00,0.000,4,0.000,0.059,2600,3557,3248
$GC,9482,-1.38,-146.0,862.2,-8.4,829,9486,0.00,2.38,0.00,0.000,6,0.000,0.038,2600,2171,3248
$GC,9807,-1.38,-146.0,888.3,-7.6,845,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2170,3246
$STATE,10053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10053,begin apogee
$GC,10058,-0.34,0.0,907.1,7.7,857,10182,1.12,0.00,120.75,1.329,6,0.097,0.000,2827,2384,2678
$STATE,10183,end apogee,CONTROL_FINISHED_OK
$STATE,10183,begin climb
$GC,10185,1.42,146.0,910.3,0.0,863,10318,1.83,0.00,125.38,1.279,6,0.060,0.000,3220,2384,2081
$GC,10625,1.20,146.0,862.7,12.7,885,10630,0.25,2.42,0.00,0.000,4,0.120,0.061,3171,3721,2079
$GC,10719,1.03,146.0,851.0,12.7,889,10724,0.22,2.35,0.00,0.000,6,0.123,0.040,3132,2376,2079
$GC,11041,0.98,146.0,819.3,9.5,905,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2375,2078
$GC,11350,0.93,151.9,792.3,8.7,920,11360,0.15,2.47,4.43,1.267,4,0.129,0.061,3106,3720,2058
$GC,11398,0.90,151.9,788.0,9.6,922,11402,0.00,2.38,0.00,0.000,6,0.000,0.039,3106,2362,2058
$GC,11719,0.90,154.3,760.9,8.9,938,11728,0.00,2.62,2.35,1.210,4,0.000,0.063,3106,956,2049
$GC,11757,0.90,154.3,757.2,10.1,939,11765,0.00,2.50,0.00,0.000,6,0.000,0.038,3106,2358,2049
$GC,12072,0.90,154.3,728.1,9.3,955,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2358,2049
$GC,12382,0.91,157.8,700.3,8.8,970,12391,0.00,2.53,3.47,1.235,4,0.000,0.062,3106,3723,2034
$GC,12436,0.87,157.8,695.3,10.2,972,12440,0.00,2.33,0.00,0.000,6,0.000,0.038,3106,2381,2034
$GC,12757,0.89,166.7,667.3,8.6,988,12771,0.00,2.65,7.78,1.232,4,0.000,0.061,3106,969,1997
$GC,12823,0.89,166.7,661.4,9.3,991,12827,0.00,2.50,0.00,0.000,6,0.000,0.038,3106,2390,1997
$GC,13149,0.90,173.1,633.1,8.7,1007,13156,0.00,0.00,5.82,1.215,6,0.000,0.000,3106,2390,1972
$GC,13457,0.90,173.1,605.2,9.0,1022,13462,0.00,2.58,0.00,0.000,4,0.000,0.058,3106,971,1971
$GC,13506,0.91,177.8,600.7,8.8,1024,13520,0.00,2.42,4.57,1.184,6,0.000,0.038,3106,2363,1953
$GC,13827,0.92,186.4,572.6,8.6,1040,13841,0.00,2.53,7.47,1.164,4,0.000,0.060,3106,3726,1918
$GC,13885,0.93,192.8,567.3,8.7,1042,13898,0.00,2.40,6.12,1.137,6,0.000,0.038,3106,2362,1891
$GC,14227,0.98,200.0,538.6,8.7,1059,14235,0.00,0.00,6.30,1.139,6,0.000,0.000,3106,2362,1862
$GC,14535,1.02,201.8,511.8,8.9,1074,14539,0.00,2.50,0.00,0.000,4,0.000,0.058,3106,970,1861
$GC,14601,1.06,201.8,505.4,10.5,1077,14605,0.15,2.42,0.00,0.000,6,0.064,0.037,3143,2359,1861
$GC,14924,1.06,201.8,472.2,10.1,1105,14928,0.00,2.45,0.00,0.000,4,0.000,0.059,3143,3730,1861
$GC,14978,1.03,201.8,466.2,10.5,1109,14985,0.00,2.38,0.00,0.000,6,0.000,0.037,3143,2347,1861
$GC,15304,1.03,201.8,433.9,9.7,1140,15308,0.00,2.47,0.00,0.000,4,0.000,0.057,3143,3733,1861
$GC,15343,0.98,201.8,429.9,10.5,1143,15348,0.15,2.35,0.00,0.000,6,0.127,0.036,3118,2362,1861
$GC,15667,1.01,221.8,402.5,8.0,1173,15690,0.00,2.62,17.85,1.009,4,0.000,0.056,3118,966,1773
$GC,15729,1.07,224.1,397.0,8.9,1178,15736,0.00,2.45,0.00,0.000,6,0.000,0.035,3118,2371,1773
$GC,16055,1.11,224.1,367.4,9.5,1209,16057,0.12,0.00,0.00,0.000,6,0.068,0.000,3150,2372,1773
$GC,16372,1.11,224.1,333.5,10.6,1239,16384,0.00,2.47,2.17,0.974,4,0.000,0.054,3150,3730,1764
$GC,16407,1.11,224.1,329.6,13.0,1242,16411,0.00,2.35,0.00,0.000,6,0.000,0.035,3150,2360,1764
$GC,16731,1.11,224.1,296.0,9.9,1272,16732,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2359,1764
$GC,17049,1.11,224.1,263.6,10.0,1302,17053,0.00,2.42,0.00,0.000,4,0.000,0.052,3150,3727,1764
$GC,17099,1.11,224.1,258.3,10.0,1306,17103,0.00,2.33,0.00,0.000,6,0.000,0.035,3150,2361,1764
$GC,17436,1.12,230.2,226.8,8.7,1358,17449,0.00,2.50,5.90,0.897,4,0.000,0.051,3150,967,1738
$GC,17511,1.12,230.2,219.7,9.9,1371,17517,0.00,2.40,0.00,0.000,6,0.000,0.034,3150,2355,1738
$GC,17855,1.18,267.1,192.1,7.1,1432,17890,0.00,0.00,29.80,0.798,6,0.000,0.000,3150,2355,1589
$GC,18227,1.27,280.3,159.9,8.3,1498,18246,0.15,2.50,10.45,0.792,4,0.055,0.049,3194,974,1533
$GC,18264,1.27,280.3,156.4,10.1,1504,18270,0.00,2.38,0.00,0.000,6,0.000,0.032,3194,2347,1532
$GC,18608,1.31,305.9,125.9,7.7,1565,18638,0.00,2.50,20.38,0.730,4,0.000,0.048,3194,3727,1429
$GC,18672,1.37,321.6,120.7,8.2,1576,18691,0.00,2.42,12.32,0.726,6,0.000,0.030,3194,2302,1367
$GC,19030,1.46,334.8,90.9,8.3,1639,19049,0.12,2.53,10.50,0.700,4,0.058,0.046,3229,3722,1312
$GC,19122,1.46,334.8,81.1,11.6,1655,19129,0.00,2.38,0.00,0.000,6,0.000,0.030,3229,2315,1311
$GC,19466,1.46,334.8,45.6,10.3,1716,19473,0.00,2.35,0.00,0.000,4,0.000,0.046,3229,970,1310
$GC,19569,1.51,334.8,35.4,9.5,1734,19575,0.00,2.30,0.00,0.000,6,0.000,0.029,3230,2332,1310
$GC,19914,1.62,359.7,6.0,7.7,1795,19939,0.12,2.47,19.48,0.589,4,0.056,0.043,3268,971,1210
$STATE,19960,end climb,SURFACE_DEPTH_REACHED
$STATE,19960,begin surface coast
$FINISH,-0.2,1.006367
$STATE,19984,end surface coast,CONTROL_FINISHED_OK
$STATE,19984,begin surface
$SM_CCo,20006,38.38,0.555,0,0,884,440.07
$SM_GC,0.67,0.00,0.00,38.38,0.000,0.000,0.555,253,2154,884,-12.20,0.11,440.07
$IRIDIUM_FIX,1241.04,12013.48,270597,101032
$TT8_MAMPS,0.023777
$HUMID,1817
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,471
$ALTIM_BOTTOM_PING,560.8,8.1
$24V_AH,23.2,16.770
$10V_AH,10.1,7.780
$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,32.750,151.350,423.300,38.375,0.000,22.701,20.560,149.217,119.750,0.000,0.000,14.503,3664.465,12707.151,676.352,2880.845,417.353,0.000,2119.735,0.000,2853.954,0.000,16.265
$DEVICE_MAMPS,167.973,62.894,1329.211,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56621,1807
$CAP_FILE_SIZE,181291,0
$CFSIZE,260165632,251023360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,339.1,1
$GPS,020308,205525,1247.028,12019.425,24,0.8,41,-0.8