version: 66.03
glider: 122
mission: 6
dive: 83
start: 3 2 108 21 1 21
data:
$ID,122
$MISSION,6
$DIVE,83
$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,-28931.254
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,205525,1247.028,12019.425,24,0.8,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.8
$GPS2,210050,1247.042,12019.391,14,1.1,19,-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,101.9,42723,-17.4,-9.016
$D_GRID,868
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-59.42,0.000,2,0.000,0.000,253,2154,2488
$GC,83,-1.42,-146.0,3.2,-7.1,10,121,13.35,2.50,-14.88,0.000,4,0.166,0.054,2589,741,3276
$GC,172,-1.16,-146.0,24.8,-20.4,25,180,0.32,2.38,0.00,0.000,6,0.107,0.028,2651,2158,3276
$GC,518,-1.03,-146.0,85.2,-15.3,86,525,0.15,2.45,0.00,0.000,4,0.100,0.041,2679,744,3278
$GC,549,-0.99,-146.0,89.2,-13.1,91,555,0.00,2.30,0.00,0.000,6,0.000,0.027,2679,2124,3278
$GC,892,-0.99,-146.0,130.4,-10.8,152,899,0.00,2.45,0.00,0.000,4,0.000,0.044,2679,3554,3280
$GC,1017,-1.03,-146.0,145.2,-11.3,174,1024,0.00,2.35,0.00,0.000,6,0.000,0.028,2679,2136,3281
$GC,1363,-1.08,-146.0,179.1,-9.5,235,1370,0.00,2.42,0.00,0.000,4,0.000,0.043,2679,3549,3281
$GC,1422,-1.15,-146.0,184.8,-9.8,245,1430,0.12,2.28,0.00,0.000,6,0.055,0.028,2638,2176,3282
$GC,1767,-1.15,-146.0,219.8,-9.9,306,1774,0.00,2.47,0.00,0.000,4,0.000,0.046,2639,752,3282
$GC,1826,-1.20,-146.0,225.4,-9.3,316,1834,0.00,2.38,0.00,0.000,6,0.000,0.029,2639,2167,3282
$GC,2166,-1.20,-146.0,256.8,-9.0,370,2171,0.00,2.38,0.00,0.000,4,0.000,0.047,2638,3548,3281
$GC,2197,-1.23,-146.0,259.3,-8.6,372,2201,0.00,2.30,0.00,0.000,6,0.000,0.030,2638,2169,3281
$GC,2522,-1.23,-146.0,287.2,-8.6,402,2526,0.00,2.47,0.00,0.000,4,0.000,0.049,2638,753,3280
$GC,2563,-1.28,-146.0,290.7,-9.0,405,2567,0.00,2.40,0.00,0.000,6,0.000,0.031,2638,2171,3280
$GC,2888,-1.32,-146.0,318.1,-8.1,435,2893,0.00,2.40,0.00,0.000,4,0.000,0.048,2639,3554,3279
$GC,2962,-1.37,-146.0,324.2,-8.1,441,2967,0.15,2.33,0.00,0.000,6,0.052,0.031,2593,2174,3279
$GC,3286,-1.32,-146.0,356.5,-10.1,471,3291,0.12,2.53,0.00,0.000,4,0.110,0.051,2616,746,3277
$GC,3326,-1.32,-146.0,360.1,-8.9,474,3330,0.00,2.45,0.00,0.000,6,0.000,0.033,2616,2181,3277
$GC,3651,-1.32,-146.0,387.5,-8.6,504,3655,0.00,2.40,0.00,0.000,4,0.000,0.050,2616,3560,3275
$GC,3695,-1.32,-146.0,391.7,-8.4,507,3702,0.00,2.33,0.00,0.000,6,0.000,0.032,2616,2184,3274
$GC,4021,-1.32,-146.0,419.4,-8.6,538,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2183,3272
$GC,4338,-1.32,-146.0,446.2,-9.0,568,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2182,3270
$GC,4657,-1.32,-146.0,474.2,-8.8,598,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2179,3269
$GC,4985,-1.32,-146.0,503.8,-9.2,627,4989,0.00,2.55,0.00,0.000,4,0.000,0.055,2616,749,3267
$GC,5016,-1.32,-146.0,507.1,-9.5,628,5025,0.00,2.50,0.00,0.000,6,0.000,0.035,2616,2188,3267
$GC,5332,-1.32,-146.0,536.0,-9.1,644,5336,0.00,2.40,0.00,0.000,4,0.000,0.054,2616,3552,3265
$GC,5376,-1.35,-146.0,540.1,-8.7,646,5380,0.00,2.28,0.00,0.000,6,0.000,0.035,2616,2208,3265
$GC,5697,-1.35,-146.0,566.4,-8.4,662,5702,0.00,2.60,0.00,0.000,4,0.000,0.055,2616,747,3263
$GC,5730,-1.38,-146.0,569.4,-8.8,663,5738,0.00,2.50,0.00,0.000,6,0.000,0.036,2616,2201,3262
$GC,6047,-1.38,-146.0,596.7,-8.5,679,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2203,3260
$GC,6355,-1.38,-146.0,623.0,-8.5,694,6359,0.00,2.60,0.00,0.000,4,0.000,0.056,2616,744,3259
$GC,6387,-1.42,-146.0,625.9,-8.8,695,6395,0.00,2.50,0.00,0.000,6,0.000,0.037,2616,2195,3259
$GC,6704,-1.45,-146.0,651.0,-7.8,711,6705,0.12,0.00,0.00,0.000,6,0.060,0.000,2581,2197,3257
$GC,7012,-1.41,-146.0,677.8,-8.8,726,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,3256
$GC,7323,-1.36,-146.0,704.1,-8.2,741,7325,0.12,0.00,0.00,0.000,6,0.112,0.000,2603,2197,3255
$GC,7630,-1.36,-146.0,728.3,-8.3,756,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2197,3253
$GC,7941,-1.36,-146.0,753.4,-8.2,771,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2197,3252
$GC,8249,-1.36,-146.0,778.5,-8.3,786,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2197,3251
$GC,8560,-1.36,-146.0,804.0,-8.3,801,8564,0.00,2.60,0.00,0.000,4,0.000,0.058,2604,747,3250
$GC,8600,-1.36,-146.0,807.6,-9.5,803,8604,0.00,2.50,0.00,0.000,6,0.000,0.040,2604,2191,3249
$GC,8927,-1.36,-146.0,836.2,-8.8,819,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2191,3248
$GC,9236,-1.39,-146.0,861.0,-7.3,834,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2191,3247
$STATE,9336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9336,begin apogee
$GC,9341,-0.34,0.0,868.7,7.6,839,9464,1.10,0.00,119.93,1.292,6,0.094,0.000,2827,2383,2678
$STATE,9465,end apogee,CONTROL_FINISHED_OK
$STATE,9465,begin climb
$GC,9467,1.42,146.0,872.2,0.0,845,9600,1.77,2.53,123.65,1.244,4,0.057,0.064,3215,3720,2082
$GC,9667,1.17,146.0,854.8,16.0,854,9672,0.25,2.35,0.00,0.000,6,0.114,0.039,3160,2386,2081
$GC,9994,1.05,146.0,818.1,10.9,870,9996,0.12,0.00,0.00,0.000,6,0.122,0.000,3138,2385,2079
$GC,10303,0.98,146.0,787.3,10.0,885,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2384,2078
$GC,10612,0.92,146.0,756.4,10.1,900,10617,0.17,2.58,0.00,0.000,4,0.114,0.060,3104,965,2077
$GC,10644,0.92,146.0,753.1,10.0,901,10652,0.00,2.47,0.00,0.000,6,0.000,0.039,3104,2361,2077
$GC,10961,0.93,153.6,725.5,8.6,917,10968,0.00,0.00,5.97,1.252,6,0.000,0.000,3104,2361,2050
$GC,11270,0.95,163.3,699.4,8.5,932,11284,0.00,2.55,8.30,1.240,4,0.000,0.063,3104,3726,2012
$GC,11373,0.95,163.3,689.2,10.4,936,11381,0.00,2.40,0.00,0.000,6,0.000,0.038,3104,2359,2011
$GC,11690,0.95,166.1,661.1,8.9,952,11694,0.00,0.00,2.60,1.180,6,0.000,0.000,3104,2358,2001
$GC,11999,0.95,166.1,632.4,9.0,967,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2358,2001
$GC,12308,0.98,182.0,606.5,8.2,982,12330,0.00,2.55,13.65,1.167,4,0.000,0.059,3104,3721,1936
$GC,12375,0.98,182.0,600.7,9.3,985,12379,0.00,2.35,0.00,0.000,6,0.000,0.038,3104,2369,1936
$GC,12701,1.00,197.6,574.2,8.2,1001,12720,0.00,0.00,13.45,1.143,6,0.000,0.000,3104,2368,1872
$GC,13029,1.05,197.6,545.7,9.1,1017,13031,0.15,0.00,0.00,0.000,6,0.067,0.000,3139,2366,1871
$GC,13338,1.05,197.6,513.4,10.3,1032,13343,0.00,2.45,0.00,0.000,4,0.000,0.059,3138,3733,1871
$GC,13371,1.01,197.6,509.8,11.2,1033,13378,0.00,2.33,0.00,0.000,6,0.000,0.037,3139,2391,1871
$GC,13693,1.01,197.6,478.1,9.8,1059,13697,0.00,2.55,0.00,0.000,4,0.000,0.057,3139,967,1871
$GC,13735,1.01,197.6,473.7,9.6,1062,13743,0.00,2.47,0.00,0.000,6,0.000,0.038,3139,2374,1870
$GC,14061,1.01,199.5,444.0,8.9,1093,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2374,1871
$GC,14379,1.01,199.5,413.3,10.0,1123,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2374,1870
$GC,14697,1.01,199.5,382.9,9.3,1153,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2374,1870
$GC,15017,1.02,203.3,353.9,8.8,1183,15027,0.00,0.00,4.93,1.011,6,0.000,0.000,3139,2374,1849
$GC,15345,1.02,203.3,322.5,9.7,1214,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2374,1848
$GC,15664,1.03,207.0,292.5,8.8,1244,15674,0.00,0.00,3.30,0.963,6,0.000,0.000,3139,2374,1834
$GC,15993,1.06,225.7,264.3,8.1,1275,16013,0.00,0.00,15.40,0.893,6,0.000,0.000,3139,2374,1758
$GC,16340,1.06,225.7,232.6,9.4,1323,16346,0.00,2.50,0.00,0.000,4,0.000,0.051,3139,964,1757
$GC,16386,1.09,225.7,227.9,10.2,1331,16393,0.00,2.42,0.00,0.000,6,0.000,0.034,3139,2376,1757
$GC,16731,1.20,261.0,199.3,7.2,1392,16768,0.12,2.55,28.80,0.803,4,0.064,0.049,3172,970,1612
$GC,16824,1.20,261.0,190.7,9.6,1408,16831,0.00,2.38,0.00,0.000,6,0.000,0.033,3172,2343,1611
$GC,17168,1.26,300.8,160.4,7.0,1469,17204,0.00,2.53,31.35,0.753,4,0.000,0.050,3173,3722,1451
$GC,17222,1.33,312.0,156.1,8.4,1478,17240,0.00,2.40,9.18,0.756,6,0.000,0.031,3172,2320,1405
$GC,17579,1.44,323.4,124.5,8.4,1541,17598,0.17,2.47,8.90,0.744,4,0.048,0.049,3225,966,1357
$GC,17626,1.44,323.4,119.5,10.7,1549,17633,0.00,2.38,0.00,0.000,6,0.000,0.032,3225,2345,1356
$GC,17970,1.44,323.4,83.7,10.8,1610,17977,0.00,2.40,0.00,0.000,4,0.000,0.048,3226,3726,1356
$GC,18033,1.44,323.4,76.6,11.2,1621,18040,0.00,2.30,0.00,0.000,6,0.000,0.030,3226,2353,1356
$GC,18377,1.44,325.6,43.3,8.9,1682,18384,0.00,2.40,0.00,0.000,4,0.000,0.046,3226,974,1357
$GC,18412,1.47,325.6,40.0,9.8,1688,18419,0.00,2.45,0.00,0.000,6,0.000,0.030,3225,2421,1357
$GC,18756,1.62,364.9,13.0,7.0,1749,18798,0.15,2.60,32.67,0.582,4,0.048,0.043,3277,980,1188
$STATE,18870,end climb,SURFACE_DEPTH_REACHED
$STATE,18871,begin surface coast
$FINISH,-0.2,0.999524
$STATE,18889,end surface coast,CONTROL_FINISHED_OK
$STATE,18889,begin surface
$SM_CCo,18911,35.95,0.554,0,0,883,440.07
$SM_GC,0.69,0.00,0.00,35.95,0.000,0.000,0.554,253,2164,883,-12.19,0.40,440.07
$IRIDIUM_FIX,1243.25,12019.52,270597,151559
$TT8_MAMPS,0.024544
$HUMID,1822
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,457
$ALTIM_BOTTOM_PING,530.3,8.0
$24V_AH,23.3,16.932
$10V_AH,10.1,7.870
$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,31.875,136.675,422.075,35.950,0.000,22.997,28.914,158.862,115.500,0.000,0.000,19.218,3509.385,11897.757,660.179,2774.095,433.602,0.000,2058.977,0.000,2748.138,0.000,10.822
$DEVICE_MAMPS,165.672,63.661,1291.628,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1189.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56662,1772
$CAP_FILE_SIZE,170438,0
$CFSIZE,260165632,250949632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,323.1,1
$GPS,030308,021825,1246.813,12021.517,25,0.9,42,-0.8