version: 66.03
glider: 122
mission: 6
dive: 201
start: 3 28 108 21 11 44
data:
$ID,122
$MISSION,6
$DIVE,201
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-30923.75
$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,14.2
$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,46
$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,2748
$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
$GPS1,210508,1249.893,12040.879,41,0.9,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.3
$GPS2,211057,1249.896,12040.846,13,1.3,13,-0.8
$SPEED_LIMITS,0.156,0.206
$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,88.0,3754,-23.1,-9.016
$D_GRID,1246
$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,-1.79,-98.6,0.0,0.0,0,84,0.00,0.00,-61.53,0.000,2,0.000,0.000,251,2128,2499
$GC,87,-1.80,-106.2,3.6,-8.5,10,119,13.10,2.45,-12.68,0.000,4,0.172,0.054,2508,755,3183
$GC,171,-1.52,-106.2,25.9,-24.3,24,178,0.35,2.35,0.00,0.000,6,0.134,0.026,2570,2164,3184
$GC,516,-1.38,-106.2,94.5,-19.4,85,524,0.15,2.45,0.00,0.000,4,0.120,0.041,2600,751,3185
$GC,547,-1.33,-106.2,99.8,-16.9,90,555,0.00,2.30,0.00,0.000,6,0.000,0.027,2600,2130,3186
$GC,892,-1.33,-106.2,145.2,-10.0,151,899,0.00,2.42,0.00,0.000,4,0.000,0.044,2600,3555,3188
$GC,1018,-1.37,-106.2,159.1,-10.8,173,1024,0.00,2.33,0.00,0.000,6,0.000,0.028,2600,2152,3188
$GC,1362,-1.44,-106.2,195.3,-10.4,234,1369,0.00,2.40,0.00,0.000,4,0.000,0.043,2600,3548,3190
$GC,1433,-1.50,-106.2,202.8,-10.7,246,1440,0.00,2.33,0.00,0.000,6,0.000,0.029,2600,2154,3190
$GC,1779,-1.59,-109.4,234.7,-8.8,307,1786,0.17,2.40,0.00,0.000,4,0.049,0.043,2546,3546,3189
$GC,1877,-1.55,-109.4,245.7,-11.3,324,1884,0.00,2.22,0.00,0.000,6,0.000,0.030,2546,2213,3189
$GC,2207,-1.55,-109.4,282.6,-11.3,358,2211,0.10,2.33,0.00,0.000,4,0.118,0.045,2562,3555,3188
$GC,2240,-1.55,-109.4,286.4,-10.9,360,2247,0.00,2.20,0.00,0.000,6,0.000,0.031,2562,2237,3188
$GC,2566,-1.55,-109.4,318.6,-9.5,391,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2235,3186
$GC,2884,-1.55,-109.4,351.1,-10.3,421,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2234,3185
$GC,3204,-1.59,-109.4,382.8,-10.1,451,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2234,3183
$GC,3522,-1.63,-109.4,414.9,-9.5,481,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2235,3181
$GC,3841,-1.66,-109.4,446.6,-9.8,511,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2235,3179
$GC,4159,-1.71,-109.4,477.5,-9.7,541,4160,0.15,0.00,0.00,0.000,6,0.057,0.000,2524,2235,3177
$GC,4488,-1.68,-109.4,510.2,-9.7,567,4492,0.00,2.33,0.00,0.000,4,0.000,0.051,2524,3552,3175
$GC,4522,-1.63,-109.4,514.1,-10.5,568,4530,0.12,2.25,0.00,0.000,6,0.123,0.035,2544,2229,3175
$GC,4838,-1.63,-109.4,544.3,-9.8,584,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2228,3172
$GC,5148,-1.64,-113.6,572.5,-8.7,599,5152,0.00,2.33,0.00,0.000,4,0.000,0.052,2544,3542,3170
$GC,5174,-1.64,-113.6,575.3,-9.8,600,5179,0.00,2.25,0.00,0.000,6,0.000,0.035,2544,2243,3170
$GC,5496,-1.64,-113.6,605.4,-9.8,616,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2241,3168
$GC,5806,-1.64,-113.6,636.7,-9.8,631,5810,0.00,2.30,0.00,0.000,4,0.000,0.053,2545,3541,3166
$GC,5832,-1.64,-113.6,639.8,-11.2,632,5838,0.00,2.28,0.00,0.000,6,0.000,0.036,2544,2229,3166
$GC,6153,-1.64,-113.6,669.6,-9.2,648,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2224,3165
$GC,6463,-1.64,-113.6,698.0,-9.1,663,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2224,3163
$GC,6772,-1.64,-113.6,724.5,-9.0,678,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2224,3162
$GC,7082,-1.65,-119.3,752.1,-8.6,693,7086,0.00,2.35,0.00,0.000,4,0.000,0.055,2545,3548,3161
$GC,7136,-1.65,-119.3,757.7,-10.7,695,7143,0.00,2.28,0.00,0.000,6,0.000,0.037,2544,2241,3161
$GC,7453,-1.68,-120.0,786.0,-9.0,711,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2239,3160
$GC,7762,-1.70,-133.0,812.2,-8.2,726,7766,0.00,2.67,0.00,0.000,4,0.000,0.060,2545,753,3158
$GC,7801,-1.72,-146.0,815.3,-8.0,728,7806,0.00,2.58,0.00,0.000,6,0.000,0.038,2545,2246,3158
$GC,8130,-1.72,-146.0,841.7,-8.6,744,8134,0.00,2.30,0.00,0.000,4,0.000,0.058,2545,3541,3156
$GC,8152,-1.75,-146.0,844.0,-9.2,745,8156,0.00,2.17,0.00,0.000,6,0.000,0.037,2545,2264,3156
$GC,8474,-2.20,-146.0,866.8,-1.6,761,8480,0.52,2.72,0.00,0.000,4,0.059,0.061,2425,758,3156
$STATE,8696,end dive,NO_VERTICAL_VELOCITY
$STATE,8697,begin apogee
$GC,8704,-0.35,0.0,865.9,0.0,771,8795,1.85,0.00,86.43,1.299,6,0.073,0.000,2825,2364,2748
$STATE,8796,end apogee,CONTROL_FINISHED_OK
$STATE,8796,begin climb
$GC,8798,1.87,146.0,865.8,0.0,775,8932,2.20,2.60,125.22,1.249,4,0.053,0.061,3311,3729,2152
$GC,9162,1.62,146.0,827.6,14.9,791,9166,0.30,2.35,0.00,0.000,6,0.150,0.041,3261,2381,2150
$GC,9488,1.49,146.0,788.7,12.4,807,9490,0.17,0.00,0.00,0.000,6,0.140,0.000,3232,2380,2148
$GC,9797,1.42,146.0,754.1,11.2,822,9802,0.00,2.58,0.00,0.000,4,0.000,0.061,3232,966,2147
$GC,9876,1.33,146.0,744.8,11.0,825,9883,0.20,2.47,0.00,0.000,6,0.127,0.041,3198,2372,2147
$GC,10191,1.33,146.0,714.9,9.4,841,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2372,2146
$GC,10501,1.33,146.0,684.9,9.5,856,10506,0.00,2.58,0.00,0.000,4,0.000,0.061,3198,960,2145
$GC,10551,1.33,146.0,679.7,10.2,858,10555,0.00,2.45,0.00,0.000,6,0.000,0.039,3198,2356,2145
$GC,10872,1.33,146.0,647.8,9.5,874,10876,0.00,2.53,0.00,0.000,4,0.000,0.059,3197,960,2144
$GC,10927,1.33,146.0,642.5,9.6,876,10932,0.00,2.40,0.00,0.000,6,0.000,0.039,3198,2332,2144
$GC,11249,1.35,159.0,615.3,8.2,892,11264,0.00,2.58,9.85,1.193,4,0.000,0.061,3198,3726,2099
$GC,11314,1.35,159.0,609.5,9.1,894,11318,0.00,2.42,0.00,0.000,6,0.000,0.039,3198,2337,2099
$GC,11642,1.38,174.7,583.4,8.0,910,11662,0.00,0.00,13.65,1.156,6,0.000,0.000,3198,2336,2034
$GC,11971,1.43,186.4,555.8,8.3,926,11986,0.00,2.55,9.80,1.140,4,0.000,0.060,3198,966,1988
$GC,12054,1.43,186.4,548.1,9.3,929,12058,0.00,2.42,0.00,0.000,6,0.000,0.038,3198,2339,1988
$GC,12381,1.48,186.4,518.2,9.1,945,12383,0.15,0.00,0.00,0.000,6,0.072,0.000,3230,2338,1987
$GC,12693,1.48,186.4,484.9,10.7,966,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2338,1987
$GC,13012,1.48,186.4,452.5,9.7,996,13016,0.00,2.50,0.00,0.000,4,0.000,0.058,3230,959,1987
$GC,13078,1.44,186.4,445.4,10.6,1001,13085,0.00,2.38,0.00,0.000,6,0.000,0.038,3230,2322,1988
$GC,13404,1.44,186.4,413.5,9.5,1032,13408,0.00,2.45,0.00,0.000,4,0.000,0.057,3230,966,1988
$GC,13493,1.41,186.4,404.5,9.3,1039,13500,0.00,2.33,0.00,0.000,6,0.000,0.038,3230,2300,1988
$GC,13820,1.41,186.4,373.1,9.9,1070,13824,0.00,2.55,0.00,0.000,4,0.000,0.057,3230,3732,1987
$GC,13859,1.36,186.4,369.1,10.6,1073,13864,0.15,2.50,0.00,0.000,6,0.137,0.038,3207,2285,1988
$GC,14184,1.44,206.9,342.4,7.7,1103,14209,0.00,2.42,17.10,0.966,4,0.000,0.056,3206,966,1903
$GC,14292,1.47,206.9,332.6,9.0,1112,14299,0.00,2.28,0.00,0.000,6,0.000,0.037,3206,2267,1903
$GC,14621,1.57,226.7,305.4,7.7,1143,14646,0.15,2.67,16.23,0.930,4,0.067,0.057,3245,3726,1823
$GC,14696,1.57,226.7,297.3,10.8,1149,14703,0.00,2.55,0.00,0.000,6,0.000,0.038,3245,2263,1822
$GC,15023,1.57,226.7,265.6,9.8,1180,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2262,1822
$GC,15348,1.57,226.7,234.1,9.9,1225,15355,0.00,2.60,0.00,0.000,4,0.000,0.052,3245,3726,1822
$GC,15452,1.53,226.7,223.6,9.7,1243,15459,0.00,2.55,0.00,0.000,6,0.000,0.038,3245,2250,1822
$GC,15797,1.55,236.6,193.6,8.4,1304,15812,0.00,2.72,7.85,0.860,4,0.000,0.051,3245,3736,1783
$GC,15943,1.55,236.6,180.5,9.1,1329,15950,0.00,2.50,0.00,0.000,6,0.000,0.035,3245,2286,1783
$GC,16288,1.65,260.2,151.6,7.5,1390,16314,0.00,2.42,19.45,0.779,4,0.000,0.054,3245,956,1685
$GC,16360,1.71,260.2,145.1,9.4,1402,16368,0.15,2.33,0.00,0.000,6,0.064,0.033,3279,2297,1685
$GC,16707,1.83,310.0,120.0,5.8,1463,16753,0.10,2.65,39.72,0.716,4,0.076,0.049,3303,3736,1483
$GC,16793,1.83,310.0,112.8,9.9,1477,16800,0.00,2.50,0.00,0.000,6,0.000,0.034,3303,2287,1482
$GC,17139,1.91,320.2,85.4,8.4,1538,17153,0.00,2.42,7.60,0.718,4,0.000,0.049,3303,961,1441
$GC,17182,1.97,325.3,81.6,8.7,1545,17196,0.15,2.25,4.38,0.729,6,0.063,0.031,3339,2279,1420
$GC,17534,1.98,331.1,52.8,8.6,1607,17548,0.00,2.38,4.32,0.682,4,0.000,0.046,3339,963,1397
$GC,17628,1.98,332.4,45.0,8.9,1623,17635,0.00,2.25,0.00,0.000,6,0.000,0.030,3339,2285,1397
$GC,17973,2.07,345.8,19.0,8.2,1684,17987,0.00,0.00,11.82,0.611,6,0.000,0.000,3339,2285,1338
$STATE,18205,end climb,SURFACE_DEPTH_REACHED
$STATE,18205,begin surface coast
$FINISH,-0.1,1.007697
$STATE,18240,end surface coast,CONTROL_FINISHED_OK
$STATE,18240,begin surface
$SM_CCo,18262,63.62,0.544,0,0,810,475.15
$SM_GC,0.86,0.00,0.00,63.62,0.000,0.000,0.544,250,2111,810,-12.21,-1.10,475.15
$IRIDIUM_FIX,1247.67,12042.28,220697,151552
$TT8_MAMPS,0.023777
$HUMID,1923
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.90
$XPDR_PINGS,379
$ALTIM_BOTTOM_PING,850.9,31.9
$24V_AH,23.2,37.226
$10V_AH,10.1,18.798
$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,33.950,146.200,373.425,63.625,0.000,24.817,38.640,164.615,104.250,0.000,0.000,13.398,3587.478,11081.690,628.595,2871.441,521.825,0.000,2050.529,0.000,2811.866,0.000,71.782
$DEVICE_MAMPS,171.808,61.360,1298.531,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53504,1731
$CAP_FILE_SIZE,173135,0
$CFSIZE,260165632,241143808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030, 36.1,1
$GPS,290308,021829,1250.128,12042.642,39,1.3,42,-0.8