version: 66.03
glider: 122
mission: 6
dive: 182
start: 3 24 108 21 49 24
data:
$ID,122
$MISSION,6
$DIVE,182
$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,475
$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,-30576.275
$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,62
$R_STBD_OVSHOOT,29
$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,8
$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
$GPS1,214338,1247.583,12023.987,34,0.9,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-73.1
$GPS2,214851,1247.587,12023.991,13,1.0,13,-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,258.3,15765,-17.4,-9.016
$D_GRID,840
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,82,0.00,0.00,-59.83,0.000,2,0.000,0.000,252,2107,2350
$GC,85,-1.42,-146.0,3.0,-7.2,10,123,13.57,2.58,-17.95,0.000,4,0.173,0.053,2587,3565,3277
$GC,260,-1.10,-146.0,42.1,-21.9,40,268,0.40,2.33,0.00,0.000,6,0.110,0.028,2664,2172,3279
$GC,608,-1.01,-146.0,97.1,-13.6,101,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2172,3280
$GC,951,-1.06,-146.0,134.8,-5.7,162,957,0.00,2.47,0.00,0.000,4,0.000,0.044,2663,740,3282
$GC,998,-1.13,-146.0,138.3,-8.2,170,1004,0.00,2.38,0.00,0.000,6,0.000,0.028,2664,2164,3282
$GC,1343,-1.20,-146.0,165.1,-6.5,231,1349,0.00,2.38,0.00,0.000,4,0.000,0.044,2664,3552,3283
$GC,1474,-1.27,-146.0,175.1,-7.0,254,1481,0.17,2.28,0.00,0.000,6,0.048,0.028,2612,2172,3283
$GC,1819,-1.24,-146.0,209.3,-9.5,315,1825,0.12,0.00,0.00,0.000,6,0.100,0.000,2636,2171,3283
$GC,2163,-1.27,-146.0,236.1,-8.1,376,2170,0.00,2.38,0.00,0.000,4,0.000,0.044,2636,3554,3283
$GC,2210,-1.30,-146.0,240.3,-9.6,384,2217,0.00,2.25,0.00,0.000,6,0.000,0.029,2636,2198,3283
$GC,2548,-1.34,-146.0,267.8,-8.1,425,2549,0.12,0.00,0.00,0.000,6,0.055,0.000,2597,2198,3281
$GC,2867,-1.29,-146.0,297.4,-9.7,455,2869,0.12,0.00,0.00,0.000,6,0.100,0.000,2621,2196,3280
$GC,3185,-1.29,-146.0,324.5,-8.4,485,3189,0.00,2.55,0.00,0.000,4,0.000,0.051,2621,751,3279
$GC,3206,-1.29,-146.0,326.5,-8.2,486,3213,0.00,2.47,0.00,0.000,6,0.000,0.032,2622,2211,3279
$GC,3532,-1.29,-146.0,352.0,-7.8,517,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2212,3277
$GC,3850,-1.29,-146.0,378.2,-8.9,547,3854,0.00,2.58,0.00,0.000,4,0.000,0.051,2621,756,3275
$GC,3877,-1.29,-146.0,381.0,-9.3,549,3882,0.00,2.42,0.00,0.000,6,0.000,0.031,2621,2183,3275
$GC,4203,-1.29,-146.0,411.0,-9.0,579,4207,0.00,2.38,0.00,0.000,4,0.000,0.049,2621,3549,3273
$GC,4258,-1.29,-146.0,416.2,-9.4,583,4265,0.00,2.28,0.00,0.000,6,0.000,0.032,2621,2200,3273
$GC,4585,-1.29,-146.0,442.2,-7.8,614,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2197,3271
$GC,4902,-1.29,-146.0,467.0,-7.5,644,4907,0.00,2.58,0.00,0.000,4,0.000,0.053,2621,749,3270
$GC,4931,-1.32,-146.0,469.1,-7.6,646,4936,0.00,2.53,0.00,0.000,6,0.000,0.034,2621,2222,3270
$GC,5257,-1.32,-146.0,492.6,-6.9,676,5261,0.00,2.33,0.00,0.000,4,0.000,0.052,2621,3549,3268
$GC,5290,-1.32,-146.0,495.3,-7.7,678,5297,0.00,2.25,0.00,0.000,6,0.000,0.033,2621,2219,3268
$GC,5619,-1.32,-146.0,516.9,-6.7,698,5623,0.00,2.33,0.00,0.000,4,0.000,0.051,2621,3548,3266
$GC,5652,-1.32,-146.0,519.6,-7.6,699,5656,0.00,2.25,0.00,0.000,6,0.000,0.033,2621,2221,3266
$GC,5967,-1.32,-146.0,542.2,-7.0,714,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2220,3265
$GC,6276,-1.32,-146.0,565.3,-8.1,729,6281,0.00,2.62,0.00,0.000,4,0.000,0.055,2621,749,3263
$GC,6303,-1.35,-146.0,567.7,-9.2,730,6307,0.00,2.55,0.00,0.000,6,0.000,0.035,2621,2229,3262
$GC,6619,-1.35,-146.0,593.8,-8.1,745,6623,0.00,2.62,0.00,0.000,4,0.000,0.054,2621,755,3261
$GC,6659,-1.40,-146.0,597.1,-7.9,747,6663,0.00,2.50,0.00,0.000,6,0.000,0.035,2621,2212,3260
$GC,6987,-1.43,-146.0,621.3,-7.8,763,6992,0.12,2.35,0.00,0.000,4,0.060,0.054,2586,3546,3259
$GC,7049,-1.37,-146.0,627.4,-9.2,766,7053,0.00,2.25,0.00,0.000,6,0.000,0.035,2586,2216,3259
$GC,7383,-1.32,-146.0,657.1,-8.4,782,7388,0.15,2.62,0.00,0.000,4,0.107,0.056,2617,749,3257
$GC,7428,-1.37,-146.0,660.6,-7.4,784,7432,0.00,2.50,0.00,0.000,6,0.000,0.036,2617,2203,3257
$GC,7748,-1.37,-146.0,682.1,-7.2,800,7752,0.00,2.38,0.00,0.000,4,0.000,0.057,2617,3546,3256
$GC,7788,-1.37,-146.0,685.2,-8.3,802,7792,0.00,2.28,0.00,0.000,6,0.000,0.035,2617,2210,3256
$GC,8114,-1.37,-146.0,709.8,-7.5,818,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2209,3255
$GC,8424,-1.37,-146.0,730.5,-6.0,833,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2209,3254
$GC,8735,-1.40,-146.0,749.9,-6.4,848,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,3253
$GC,9044,-1.43,-146.0,773.0,-7.9,863,9045,0.12,0.00,0.00,0.000,6,0.061,0.000,2584,2205,3252
$GC,9354,-1.40,-146.0,800.9,-8.6,878,9358,0.00,2.40,0.00,0.000,4,0.000,0.057,2584,3556,3251
$GC,9387,-1.35,-146.0,804.3,-8.9,879,9395,0.12,2.28,0.00,0.000,6,0.109,0.036,2606,2222,3251
$GC,9703,-1.35,-146.0,828.1,-7.7,895,9707,0.00,2.62,0.00,0.000,4,0.000,0.061,2607,756,3249
$GC,9736,-1.35,-146.0,830.9,-8.4,896,9742,0.00,2.55,0.00,0.000,6,0.000,0.038,2607,2228,3249
$STATE,9864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9864,begin apogee
$GC,9870,-0.34,0.0,840.9,7.7,903,9994,1.10,0.00,120.38,1.266,6,0.097,0.000,2829,2376,2678
$STATE,9994,end apogee,CONTROL_FINISHED_OK
$STATE,9994,begin climb
$GC,9996,1.42,146.0,845.0,0.0,909,10129,1.80,2.50,124.00,1.221,4,0.054,0.062,3221,3719,2081
$GC,10180,1.16,146.0,831.2,13.6,917,10185,0.35,2.35,0.00,0.000,6,0.130,0.039,3160,2379,2080
$GC,10502,1.06,146.0,792.4,12.1,933,10507,0.12,2.58,0.00,0.000,4,0.125,0.058,3139,962,2078
$GC,10564,0.99,146.0,785.0,12.2,936,10568,0.00,2.45,0.00,0.000,6,0.000,0.040,3138,2356,2078
$GC,10896,0.93,146.0,748.8,10.6,952,10901,0.15,2.47,0.00,0.000,4,0.118,0.061,3108,3726,2077
$GC,10962,0.93,146.0,742.1,10.1,955,10966,0.00,2.38,0.00,0.000,6,0.000,0.038,3108,2359,2077
$GC,11289,0.94,149.6,714.0,8.8,971,11293,0.00,2.53,0.00,0.000,4,0.000,0.059,3108,960,2076
$GC,11332,0.94,149.6,709.9,9.1,973,11336,0.00,2.47,0.00,0.000,6,0.000,0.039,3108,2373,2076
$GC,11660,0.99,180.0,683.5,7.5,989,11690,0.00,0.00,28.02,1.190,6,0.000,0.000,3108,2374,1944
$GC,11989,1.09,218.5,660.3,7.1,1005,12032,0.15,2.70,32.42,1.160,4,0.069,0.058,3147,963,1786
$GC,12060,1.09,218.5,653.8,10.3,1008,12064,0.00,2.50,0.00,0.000,6,0.000,0.039,3147,2369,1786
$GC,12387,1.09,218.5,622.5,9.1,1024,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2369,1784
$GC,12696,1.09,218.5,593.6,9.8,1039,12700,0.00,2.55,0.00,0.000,4,0.000,0.058,3147,967,1784
$GC,12745,1.09,218.5,588.3,11.7,1041,12749,0.00,2.45,0.00,0.000,6,0.000,0.038,3147,2367,1783
$GC,13066,1.09,218.5,556.4,10.0,1057,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2367,1783
$GC,13375,1.09,218.5,527.6,9.3,1072,13379,0.00,2.53,0.00,0.000,4,0.000,0.058,3147,969,1783
$GC,13437,1.09,218.5,522.0,9.5,1075,13441,0.00,2.42,0.00,0.000,6,0.000,0.039,3147,2359,1784
$GC,13762,1.09,218.5,492.5,9.4,1094,13766,0.00,2.45,0.00,0.000,4,0.000,0.061,3147,3727,1783
$GC,13812,1.09,218.5,487.1,10.3,1098,13817,0.00,2.35,0.00,0.000,6,0.000,0.038,3147,2363,1783
$GC,14137,1.12,233.7,459.8,8.2,1128,14159,0.00,2.62,12.48,1.068,4,0.000,0.057,3147,969,1725
$GC,14221,1.12,233.7,452.4,9.0,1135,14227,0.00,2.45,0.00,0.000,6,0.000,0.038,3147,2365,1724
$GC,14546,1.12,233.7,421.2,9.8,1166,14550,0.00,2.53,0.00,0.000,4,0.000,0.056,3147,966,1724
$GC,14607,1.12,233.7,415.0,10.5,1171,14612,0.00,2.42,0.00,0.000,6,0.000,0.038,3147,2356,1724
$GC,14932,1.12,233.7,382.9,9.3,1201,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2357,1724
$GC,15252,1.16,257.5,356.9,7.8,1231,15274,0.00,0.00,20.17,0.963,6,0.000,0.000,3147,2357,1628
$GC,15589,1.20,257.5,327.1,9.4,1263,15593,0.00,2.50,0.00,0.000,4,0.000,0.054,3147,967,1627
$GC,15628,1.20,257.5,323.6,9.4,1266,15632,0.00,2.38,0.00,0.000,6,0.000,0.037,3147,2330,1625
$GC,15953,1.29,282.7,296.0,7.7,1296,15979,0.15,2.53,20.67,0.905,4,0.064,0.054,3188,967,1525
$GC,16030,1.29,282.7,288.8,9.3,1303,16034,0.00,2.38,0.00,0.000,6,0.000,0.037,3188,2325,1524
$GC,16361,1.29,282.7,257.6,10.0,1334,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2326,1524
$GC,16692,1.29,282.7,225.0,10.1,1386,16698,0.00,2.42,0.00,0.000,4,0.000,0.054,3188,972,1524
$GC,16738,1.29,282.7,220.4,10.5,1394,16744,0.00,2.33,0.00,0.000,6,0.000,0.036,3188,2315,1523
$GC,17081,1.29,282.7,188.4,9.3,1455,17087,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2314,1523
$GC,17425,1.37,309.3,160.4,7.7,1516,17455,0.00,2.50,21.65,0.783,4,0.000,0.052,3188,972,1416
$GC,17473,1.42,309.3,156.4,9.2,1524,17480,0.12,2.30,0.00,0.000,6,0.064,0.034,3219,2295,1415
$GC,17818,1.52,346.4,126.5,7.1,1585,17854,0.00,2.47,30.33,0.728,4,0.000,0.051,3219,972,1264
$GC,17958,1.58,350.8,115.4,8.8,1609,17966,0.12,2.33,3.12,0.782,6,0.062,0.034,3252,2317,1247
$GC,18306,1.66,375.3,85.9,7.8,1670,18332,0.00,2.42,19.88,0.686,4,0.000,0.049,3252,970,1147
$GC,18417,1.79,420.9,76.9,6.7,1689,18460,0.20,2.22,37.45,0.653,6,0.051,0.031,3305,2282,961
$GC,18799,1.79,420.9,43.3,10.1,1756,18806,0.00,2.33,0.00,0.000,4,0.000,0.048,3306,964,956
$GC,18868,1.79,420.9,36.5,10.2,1768,18875,0.00,2.22,0.00,0.000,6,0.000,0.031,3306,2277,956
$GC,19213,1.83,420.9,3.5,9.2,1829,19219,0.00,2.30,0.00,0.000,4,0.000,0.046,3306,965,956
$STATE,19229,end climb,SURFACE_DEPTH_REACHED
$STATE,19229,begin surface coast
$FINISH,-0.0,0.999311
$STATE,19252,end surface coast,CONTROL_FINISHED_OK
$STATE,19253,begin surface
$SM_CCo,19276,26.55,0.568,0,0,741,475.15
$SM_GC,1.19,0.00,0.00,26.55,0.000,0.000,0.568,250,2168,741,-12.21,0.51,475.15
$IRIDIUM_FIX,1243.25,12026.36,180697,171739
$TT8_MAMPS,0.024544
$HUMID,1976
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,418
$24V_AH,23.3,34.023
$10V_AH,10.1,17.086
$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,32.800,170.100,470.575,26.550,0.000,25.528,39.264,137.553,113.250,0.000,0.000,13.887,3563.927,11896.898,668.384,2991.370,503.384,0.000,2178.830,0.000,2938.423,0.000,64.381
$DEVICE_MAMPS,173.342,62.127,1266.317,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56646,1836
$CAP_FILE_SIZE,187721,0
$CFSIZE,260165632,242692096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,120.4,1
$GPS,250308,031208,1246.891,12022.239,25,1.7,25,-0.8