version: 66.03
glider: 122
mission: 6
dive: 188
start: 3 26 108 6 4 5
data:
$ID,122
$MISSION,6
$DIVE,188
$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,-30663.992
$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,54
$R_STBD_OVSHOOT,22
$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
$GPS1,055438,1245.285,12017.638,38,1.6,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.3
$GPS2,060333,1245.387,12017.605,15,1.7,15,-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,75.6,46460,-17.4,-9.016
$D_GRID,819
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.42,-146.0,0.0,0.0,0,91,0.00,0.00,-67.03,0.000,2,0.000,0.000,251,2121,2601
$GC,94,-1.42,-146.0,3.8,-8.1,10,127,13.55,2.42,-12.05,0.000,4,0.171,0.054,2589,763,3277
$GC,212,-1.18,-146.0,31.7,-19.6,30,220,0.30,2.35,0.00,0.000,6,0.108,0.027,2646,2171,3277
$GC,557,-1.05,-146.0,88.0,-13.4,91,565,0.15,2.38,0.00,0.000,4,0.101,0.043,2679,3557,3279
$GC,616,-1.05,-146.0,95.5,-12.1,101,623,0.00,2.25,0.00,0.000,6,0.000,0.026,2679,2189,3279
$GC,961,-1.05,-146.0,133.6,-8.4,162,968,0.00,2.47,0.00,0.000,4,0.000,0.043,2679,755,3281
$GC,987,-1.11,-146.0,135.9,-8.6,166,995,0.00,2.42,0.00,0.000,6,0.000,0.028,2679,2205,3281
$GC,1325,-1.20,-146.0,162.5,-7.6,227,1334,0.15,2.30,0.00,0.000,4,0.049,0.045,2627,3549,3282
$GC,1403,-1.16,-146.0,170.1,-9.5,240,1411,0.12,2.28,0.00,0.000,6,0.094,0.028,2652,2177,3282
$GC,1751,-1.20,-146.0,196.3,-5.7,301,1757,0.00,2.38,0.00,0.000,4,0.000,0.045,2652,3554,3282
$GC,1827,-1.24,-146.0,202.2,-7.8,314,1834,0.00,2.28,0.00,0.000,6,0.000,0.030,2652,2189,3282
$GC,2172,-1.30,-146.0,226.8,-7.2,375,2179,0.15,2.35,0.00,0.000,4,0.053,0.045,2604,3548,3280
$GC,2225,-1.23,-146.0,231.9,-9.8,384,2232,0.17,2.22,0.00,0.000,6,0.092,0.031,2638,2218,3280
$GC,2568,-1.26,-146.0,260.2,-7.6,434,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2217,3278
$GC,2888,-1.26,-146.0,283.8,-7.4,464,2892,0.00,2.33,0.00,0.000,4,0.000,0.048,2638,3552,3275
$GC,2940,-1.29,-146.0,288.2,-8.4,468,2944,0.00,2.22,0.00,0.000,6,0.000,0.032,2638,2231,3275
$GC,3266,-1.33,-146.0,313.5,-8.0,498,3268,0.12,0.00,0.00,0.000,6,0.058,0.000,2602,2226,3273
$GC,3584,-1.29,-146.0,342.8,-9.1,528,3588,0.12,2.30,0.00,0.000,4,0.101,0.049,2625,3549,3270
$GC,3651,-1.29,-146.0,348.6,-8.7,534,3655,0.00,2.22,0.00,0.000,6,0.000,0.033,2624,2234,3270
$GC,3977,-1.29,-146.0,377.2,-8.9,564,3981,0.00,2.62,0.00,0.000,4,0.000,0.054,2625,756,3268
$GC,4005,-1.29,-146.0,379.9,-9.2,566,4009,0.00,2.53,0.00,0.000,6,0.000,0.034,2625,2229,3268
$GC,4330,-1.29,-146.0,408.6,-8.5,596,4334,0.00,2.30,0.00,0.000,4,0.000,0.051,2625,3545,3266
$GC,4374,-1.29,-146.0,412.7,-8.4,599,4381,0.00,2.20,0.00,0.000,6,0.000,0.033,2625,2241,3266
$GC,4701,-1.29,-146.0,439.1,-8.1,630,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2239,3263
$GC,5019,-1.29,-146.0,463.7,-7.8,660,5023,0.00,2.65,0.00,0.000,4,0.000,0.055,2625,757,3261
$GC,5075,-1.32,-146.0,468.3,-8.2,664,5081,0.00,2.53,0.00,0.000,6,0.000,0.035,2625,2221,3260
$GC,5400,-1.32,-146.0,491.7,-6.8,695,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2222,3258
$GC,5713,-1.32,-146.0,512.8,-6.7,716,5717,0.00,2.35,0.00,0.000,4,0.000,0.054,2625,3554,3256
$GC,5756,-1.32,-146.0,515.9,-7.0,718,5760,0.00,2.22,0.00,0.000,6,0.000,0.034,2625,2241,3256
$GC,6084,-1.32,-146.0,539.2,-7.3,734,6088,0.00,2.65,0.00,0.000,4,0.000,0.056,2625,752,3255
$GC,6128,-1.37,-146.0,542.6,-8.4,736,6132,0.00,2.53,0.00,0.000,6,0.000,0.035,2625,2221,3255
$GC,6449,-1.40,-146.0,567.0,-8.0,752,6454,0.12,2.35,0.00,0.000,4,0.061,0.054,2589,3554,3253
$GC,6484,-1.35,-146.0,570.4,-9.9,753,6491,0.10,2.25,0.00,0.000,6,0.112,0.035,2607,2227,3253
$GC,6800,-1.35,-146.0,596.4,-7.8,769,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2226,3251
$GC,7112,-1.35,-146.0,620.9,-8.2,784,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2225,3250
$GC,7418,-1.35,-146.0,645.1,-7.7,799,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2224,3248
$GC,7728,-1.35,-146.0,668.3,-7.8,814,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2224,3247
$GC,8037,-1.35,-146.0,692.8,-7.6,829,8041,0.00,2.35,0.00,0.000,4,0.000,0.055,2606,3551,3247
$GC,8076,-1.35,-146.0,695.9,-8.3,831,8080,0.00,2.25,0.00,0.000,6,0.000,0.037,2607,2236,3247
$GC,8403,-1.35,-146.0,719.9,-7.2,847,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2230,3245
$GC,8712,-1.35,-146.0,742.3,-7.2,862,8716,0.00,2.65,0.00,0.000,4,0.000,0.059,2607,759,3244
$GC,8767,-1.38,-146.0,746.6,-7.9,864,8774,0.00,2.53,0.00,0.000,6,0.000,0.037,2607,2219,3244
$GC,9083,-1.38,-146.0,769.0,-7.2,880,9087,0.00,2.35,0.00,0.000,4,0.000,0.058,2607,3545,3243
$GC,9137,-1.38,-146.0,773.5,-8.2,882,9144,0.00,2.25,0.00,0.000,6,0.000,0.037,2607,2229,3243
$GC,9454,-1.38,-146.0,797.8,-8.1,898,9458,0.00,2.65,0.00,0.000,4,0.000,0.060,2606,755,3241
$GC,9481,-1.38,-146.0,800.2,-8.7,899,9485,0.00,2.55,0.00,0.000,6,0.000,0.038,2607,2227,3241
$STATE,9735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9735,begin apogee
$GC,9741,-0.34,0.0,820.0,8.4,911,9863,1.10,0.00,118.47,1.257,6,0.096,0.000,2829,2378,2678
$STATE,9863,end apogee,CONTROL_FINISHED_OK
$STATE,9863,begin climb
$GC,9865,1.42,146.0,824.4,0.0,917,9999,1.77,2.55,123.72,1.213,4,0.057,0.062,3217,3719,2082
$GC,10044,1.17,146.0,812.4,14.6,925,10049,0.32,2.33,0.00,0.000,6,0.128,0.039,3161,2387,2081
$GC,10365,1.06,146.0,778.8,10.0,941,10370,0.15,2.58,0.00,0.000,4,0.131,0.058,3136,970,2080
$GC,10443,0.99,146.0,771.1,9.5,944,10450,0.00,2.42,0.00,0.000,6,0.000,0.040,3135,2346,2079
$GC,10759,0.98,175.7,746.8,7.5,960,10789,0.00,2.58,24.67,1.211,4,0.000,0.061,3136,3729,1961
$GC,10817,0.93,175.7,741.7,9.6,962,10824,0.15,2.42,0.00,0.000,6,0.128,0.039,3111,2346,1960
$GC,11135,0.95,189.4,715.9,8.3,978,11156,0.00,2.62,11.68,1.214,4,0.000,0.060,3110,965,1905
$GC,11224,0.96,192.5,707.9,8.9,982,11233,0.00,2.45,3.00,1.177,6,0.000,0.041,3110,2347,1893
$GC,11555,0.96,192.5,678.9,9.1,998,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2346,1891
$GC,11865,0.99,209.8,652.6,8.1,1013,11885,0.00,0.00,14.68,1.185,6,0.000,0.000,3110,2346,1822
$GC,12194,1.07,232.1,625.3,7.9,1029,12216,0.12,0.00,19.65,1.158,6,0.071,0.000,3139,2346,1731
$GC,12523,1.07,232.1,596.1,9.2,1045,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2346,1728
$GC,12832,1.07,232.1,567.3,9.4,1060,12836,0.00,2.50,0.00,0.000,4,0.000,0.058,3140,969,1728
$GC,12875,1.07,232.1,563.3,9.8,1062,12879,0.00,2.40,0.00,0.000,6,0.000,0.038,3140,2339,1728
$GC,13202,1.07,232.1,532.8,9.2,1078,13206,0.00,2.50,0.00,0.000,4,0.000,0.058,3140,960,1728
$GC,13242,1.07,235.5,529.2,8.8,1080,13251,0.00,2.38,2.88,1.106,6,0.000,0.038,3139,2322,1716
$GC,13573,1.07,236.8,499.5,9.0,1096,13577,0.00,2.50,0.00,0.000,4,0.000,0.058,3140,3723,1716
$GC,13606,1.07,236.8,496.3,10.1,1098,13613,0.00,2.45,0.00,0.000,6,0.000,0.038,3140,2306,1716
$GC,13932,1.08,240.4,467.6,8.8,1129,13942,0.00,2.50,4.22,1.085,4,0.000,0.057,3139,961,1697
$GC,13965,1.08,240.4,464.3,9.7,1132,13969,0.00,2.38,0.00,0.000,6,0.000,0.037,3140,2316,1697
$GC,14291,1.08,240.4,435.0,9.1,1162,14295,0.00,2.42,0.00,0.000,4,0.000,0.055,3139,970,1697
$GC,14364,1.08,240.4,427.5,10.3,1168,14368,0.00,2.28,0.00,0.000,6,0.000,0.037,3140,2280,1697
$GC,14691,1.09,248.6,398.2,8.6,1198,14703,0.00,2.67,7.40,1.033,4,0.000,0.055,3140,3730,1664
$GC,14730,1.09,248.6,394.5,9.2,1201,14738,0.00,2.50,0.00,0.000,6,0.000,0.037,3139,2289,1664
$GC,15058,1.11,261.3,367.3,8.4,1232,15074,0.00,2.62,11.12,0.989,4,0.000,0.054,3139,3729,1611
$GC,15101,1.11,261.3,362.8,10.2,1235,15108,0.00,2.47,0.00,0.000,6,0.000,0.036,3140,2305,1611
$GC,15428,1.11,261.3,333.2,9.2,1266,15432,0.00,2.40,0.00,0.000,4,0.000,0.056,3140,963,1611
$GC,15482,1.11,261.3,327.8,9.2,1270,15489,0.00,2.30,0.00,0.000,6,0.000,0.036,3140,2278,1609
$GC,15810,1.16,261.3,298.2,9.1,1301,15814,0.00,2.58,0.00,0.000,4,0.000,0.054,3140,3732,1610
$GC,15832,1.19,261.3,295.9,9.3,1302,15839,0.10,2.53,0.00,0.000,6,0.074,0.036,3165,2258,1610
$GC,16156,1.19,261.3,264.5,9.4,1333,16160,0.00,2.30,0.00,0.000,4,0.000,0.054,3165,963,1610
$GC,16179,1.19,261.3,262.5,9.4,1334,16186,0.00,2.28,0.00,0.000,6,0.000,0.035,3165,2288,1610
$GC,16514,1.19,261.3,231.0,9.4,1383,16521,0.00,2.53,0.00,0.000,4,0.000,0.054,3165,3727,1610
$GC,16539,1.19,261.3,228.4,9.9,1387,16546,0.00,2.50,0.00,0.000,6,0.000,0.035,3165,2266,1611
$GC,16884,1.21,271.8,197.7,8.5,1448,16902,0.00,2.65,8.82,0.860,4,0.000,0.051,3165,3721,1569
$GC,16953,1.21,271.8,191.4,9.4,1460,16960,0.00,2.47,0.00,0.000,6,0.000,0.035,3165,2283,1569
$GC,17299,1.29,300.8,162.7,7.5,1521,17329,0.00,2.62,23.25,0.784,4,0.000,0.050,3164,3733,1451
$GC,17408,1.33,300.8,152.9,9.4,1540,17415,0.12,2.45,0.00,0.000,6,0.064,0.033,3197,2300,1449
$GC,17753,1.36,318.4,123.7,8.1,1601,17772,0.00,2.45,14.15,0.752,4,0.000,0.050,3198,967,1378
$GC,17870,1.47,362.5,114.9,6.8,1621,17912,0.12,2.28,35.55,0.705,6,0.061,0.033,3229,2291,1200
$GC,18252,1.58,395.4,83.1,7.3,1688,18288,0.00,2.42,26.05,0.670,4,0.000,0.049,3229,971,1064
$GC,18317,1.67,406.2,77.7,8.5,1699,18331,0.17,2.20,8.80,0.683,6,0.048,0.031,3278,2258,1021
$GC,18668,1.67,406.2,44.4,9.5,1761,18675,0.00,2.28,0.00,0.000,4,0.000,0.048,3279,966,1018
$GC,18692,1.67,406.2,42.0,9.4,1765,18699,0.00,2.20,0.00,0.000,6,0.000,0.030,3278,2266,1018
$GC,19037,1.70,406.2,10.9,9.4,1826,19044,0.00,2.55,0.00,0.000,4,0.000,0.047,3278,3736,1017
$GC,19062,1.74,406.2,8.5,9.3,1830,19069,0.00,2.55,0.00,0.000,6,0.000,0.029,3279,2218,1018
$STATE,19134,end climb,SURFACE_DEPTH_REACHED
$STATE,19134,begin surface coast
$FINISH,-0.3,1.021244
$STATE,19158,end surface coast,CONTROL_FINISHED_OK
$STATE,19158,begin surface
$SM_CCo,19180,33.35,0.555,0,0,740,475.15
$SM_GC,0.59,0.00,0.00,33.35,0.000,0.000,0.555,252,2108,740,-12.20,-1.19,475.15
$IRIDIUM_FIX,1241.04,12016.50,200697,060610
$TT8_MAMPS,0.023777
$HUMID,1907
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.80
$XPDR_PINGS,440
$24V_AH,23.3,35.063
$10V_AH,10.1,17.655
$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,32.575,189.350,458.125,33.350,0.000,44.909,76.734,227.733,118.250,0.000,0.000,15.628,3590.981,11782.058,715.187,2999.673,664.596,0.000,2235.959,0.000,2944.079,0.000,60.749
$DEVICE_MAMPS,171.041,62.127,1257.113,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56617,1847
$CAP_FILE_SIZE,192939,0
$CFSIZE,260165632,242171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,339.3,1
$GPS,260308,112537,1246.976,12019.648,36,0.9,41,-0.8