version: 66.03
glider: 122
mission: 6
dive: 210
start: 3 30 108 22 1 9
data:
$ID,122
$MISSION,6
$DIVE,210
$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,-31078.34
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,215438,1248.217,12027.260,29,1.0,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.0
$GPS2,220033,1248.174,12027.272,11,1.2,11,-0.8
$SPEED_LIMITS,0.156,0.206
$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,266.9,21784,-18.6,-9.016
$D_GRID,790
$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,-1.56,-146.0,0.0,0.0,0,77,0.00,0.00,-55.70,0.000,2,0.000,0.000,249,2113,2321
$GC,80,-1.56,-146.0,3.0,-7.5,9,119,13.43,2.58,-19.85,0.000,4,0.172,0.052,2562,3570,3346
$GC,240,-1.20,-146.0,41.4,-24.6,36,248,0.43,2.35,0.00,0.000,6,0.117,0.028,2641,2157,3347
$GC,586,-1.08,-146.0,98.8,-16.6,97,592,0.15,0.00,0.00,0.000,6,0.108,0.000,2672,2157,3349
$GC,931,-1.18,-146.0,135.2,-8.5,158,938,0.12,2.42,0.00,0.000,4,0.053,0.041,2632,3571,3351
$GC,995,-1.18,-146.0,141.8,-10.2,169,1002,0.00,2.35,0.00,0.000,6,0.000,0.027,2632,2149,3351
$GC,1341,-1.22,-146.0,174.5,-8.4,230,1347,0.00,2.42,0.00,0.000,4,0.000,0.042,2632,3562,3352
$GC,1461,-1.27,-146.0,185.8,-9.6,251,1468,0.00,2.25,0.00,0.000,6,0.000,0.027,2632,2200,3352
$GC,1806,-1.33,-146.0,215.0,-8.3,312,1813,0.00,2.50,0.00,0.000,4,0.000,0.051,2632,759,3352
$GC,1843,-1.42,-146.0,218.1,-8.3,318,1851,0.17,2.45,0.00,0.000,6,0.045,0.029,2575,2221,3352
$GC,2188,-1.36,-146.0,252.1,-9.7,377,2193,0.15,2.33,0.00,0.000,4,0.099,0.046,2608,3570,3352
$GC,2221,-1.36,-146.0,255.5,-9.7,379,2228,0.00,2.25,0.00,0.000,6,0.000,0.029,2608,2209,3352
$GC,2548,-1.36,-146.0,284.5,-8.9,410,2552,0.00,2.55,0.00,0.000,4,0.000,0.048,2608,750,3351
$GC,2569,-1.36,-146.0,286.8,-9.2,411,2577,0.00,2.47,0.00,0.000,6,0.000,0.031,2608,2215,3350
$GC,2897,-1.36,-146.0,315.6,-9.1,442,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2216,3349
$GC,3214,-1.36,-146.0,343.3,-8.0,472,3218,0.00,2.58,0.00,0.000,4,0.000,0.050,2608,756,3347
$GC,3254,-1.41,-146.0,346.9,-8.9,475,3258,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2197,3347
$GC,3581,-1.41,-146.0,374.1,-8.2,505,3585,0.00,2.35,0.00,0.000,4,0.000,0.048,2608,3557,3345
$GC,3649,-1.41,-146.0,380.2,-8.5,511,3653,0.00,2.28,0.00,0.000,6,0.000,0.032,2608,2208,3345
$GC,3977,-1.41,-146.0,407.9,-8.9,541,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3343
$GC,4301,-1.41,-146.0,437.2,-9.2,572,4306,0.00,2.35,0.00,0.000,4,0.000,0.050,2608,3548,3342
$GC,4334,-1.44,-146.0,440.5,-9.2,574,4341,0.00,2.22,0.00,0.000,6,0.000,0.032,2608,2226,3341
$GC,4663,-1.47,-146.0,468.6,-8.6,605,4668,0.12,2.60,0.00,0.000,4,0.059,0.051,2572,762,3339
$GC,4691,-1.47,-146.0,471.7,-9.6,607,4695,0.00,2.47,0.00,0.000,6,0.000,0.033,2572,2215,3339
$GC,5033,-1.43,-146.0,504.6,-9.3,637,5035,0.10,0.00,0.00,0.000,6,0.116,0.000,2589,2216,3337
$GC,5341,-1.43,-146.0,530.6,-8.5,652,5345,0.00,2.35,0.00,0.000,4,0.000,0.052,2589,3552,3336
$GC,5391,-1.43,-146.0,535.2,-8.9,654,5395,0.00,2.28,0.00,0.000,6,0.000,0.034,2589,2210,3335
$GC,5708,-1.43,-146.0,561.3,-8.4,669,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,3333
$GC,6016,-1.43,-146.0,588.1,-8.4,684,6020,0.00,2.38,0.00,0.000,4,0.000,0.053,2589,3552,3332
$GC,6083,-1.43,-146.0,594.0,-8.7,687,6087,0.00,2.28,0.00,0.000,6,0.000,0.035,2589,2214,3331
$GC,6405,-1.43,-146.0,621.6,-8.7,703,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2213,3329
$GC,6714,-1.43,-146.0,649.3,-8.5,718,6718,0.00,2.38,0.00,0.000,4,0.000,0.054,2589,3549,3328
$GC,6768,-1.43,-146.0,654.2,-8.8,720,6776,0.00,2.25,0.00,0.000,6,0.000,0.035,2589,2230,3327
$GC,7085,-1.43,-146.0,678.7,-7.8,736,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2229,3326
$GC,7394,-1.43,-146.0,703.6,-7.9,751,7399,0.00,2.62,0.00,0.000,4,0.000,0.058,2589,764,3325
$GC,7416,-1.43,-146.0,705.5,-8.3,752,7420,0.00,2.53,0.00,0.000,6,0.000,0.038,2589,2221,3324
$GC,7740,-1.43,-146.0,730.4,-8.0,768,7744,0.00,2.35,0.00,0.000,4,0.000,0.057,2589,3552,3323
$GC,7812,-1.43,-146.0,736.5,-8.5,771,7816,0.00,2.20,0.00,0.000,6,0.000,0.036,2589,2262,3323
$GC,8136,-1.43,-146.0,761.6,-8.1,787,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2261,3322
$GC,8443,-1.43,-146.0,787.6,-8.7,802,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2261,3321
$STATE,8482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8482,begin apogee
$GC,8488,-0.35,0.0,791.1,8.5,804,8611,1.17,0.00,119.95,1.217,6,0.094,0.000,2827,2380,2748
$STATE,8612,end apogee,CONTROL_FINISHED_OK
$STATE,8612,begin climb
$GC,8615,1.56,146.0,795.5,0.0,810,8748,1.90,2.53,123.65,1.181,4,0.054,0.059,3254,3713,2152
$GC,8843,1.27,146.0,780.0,12.0,820,8848,0.40,2.33,0.00,0.000,6,0.130,0.040,3183,2386,2151
$GC,9164,1.16,146.0,749.8,9.3,836,9169,0.15,2.58,0.00,0.000,4,0.123,0.058,3153,968,2149
$GC,9237,1.08,146.0,742.6,9.9,839,9241,0.00,2.40,0.00,0.000,6,0.000,0.039,3153,2334,2149
$GC,9553,1.05,162.7,715.3,8.3,854,9573,0.00,0.00,13.73,1.194,6,0.000,0.000,3153,2334,2083
$GC,9882,1.07,197.0,689.6,7.5,870,9913,0.00,0.00,29.23,1.164,6,0.000,0.000,3153,2334,1943
$GC,10211,1.07,197.0,659.5,9.7,886,10215,0.00,2.50,0.00,0.000,4,0.000,0.059,3153,967,1941
$GC,10300,1.03,197.0,650.9,9.7,890,10305,0.12,2.42,0.00,0.000,6,0.116,0.039,3131,2349,1941
$GC,10621,1.08,202.0,623.7,8.8,906,10627,0.00,0.00,3.80,1.156,6,0.000,0.000,3132,2349,1924
$GC,10931,1.14,217.5,596.4,8.3,921,10954,0.10,2.60,13.27,1.141,4,0.078,0.058,3154,978,1860
$GC,10971,1.14,217.5,592.6,9.7,922,10978,0.00,2.47,0.00,0.000,6,0.000,0.039,3154,2372,1860
$GC,11289,1.16,230.3,565.3,8.4,938,11305,0.00,2.62,11.15,1.125,4,0.000,0.058,3154,962,1807
$GC,11420,1.18,240.9,553.9,8.5,943,11434,0.00,2.38,9.05,1.110,6,0.000,0.038,3154,2318,1765
$GC,11752,1.21,240.9,524.0,9.3,959,11756,0.00,2.45,0.00,0.000,4,0.000,0.058,3154,969,1764
$GC,11814,1.21,240.9,518.0,10.0,962,11818,0.00,2.33,0.00,0.000,6,0.000,0.038,3154,2296,1763
$GC,12133,1.21,240.9,488.3,9.4,983,12137,0.00,2.58,0.00,0.000,4,0.000,0.059,3154,3733,1763
$GC,12176,1.21,240.9,483.8,10.5,986,12184,0.00,2.50,0.00,0.000,6,0.000,0.038,3155,2291,1763
$GC,12504,1.25,243.4,452.8,8.9,1017,12517,0.10,2.45,2.30,1.034,4,0.077,0.058,3178,969,1755
$GC,12585,1.25,243.4,444.1,10.0,1024,12589,0.00,2.30,0.00,0.000,6,0.000,0.038,3178,2285,1755
$GC,12910,1.25,245.7,413.3,8.9,1054,12922,0.00,2.45,2.15,1.015,4,0.000,0.056,3178,968,1745
$GC,12960,1.25,245.7,408.4,10.0,1058,12968,0.00,2.30,0.00,0.000,6,0.000,0.038,3178,2281,1745
$GC,13288,1.27,254.6,380.8,8.6,1089,13297,0.00,0.00,7.95,1.009,6,0.000,0.000,3178,2282,1709
$GC,13616,1.27,254.6,351.5,9.0,1120,13620,0.00,2.38,0.00,0.000,4,0.000,0.056,3178,965,1709
$GC,13648,1.27,254.6,348.2,9.1,1122,13655,0.00,2.28,0.00,0.000,6,0.000,0.036,3178,2278,1709
$GC,13974,1.29,270.7,320.2,8.3,1153,13994,0.00,0.00,13.98,0.939,6,0.000,0.000,3178,2278,1643
$GC,14314,1.33,292.8,291.1,8.0,1185,14338,0.00,2.47,18.15,0.898,4,0.000,0.055,3178,969,1553
$GC,14417,1.33,292.8,281.7,9.2,1194,14421,0.00,2.25,0.00,0.000,6,0.000,0.036,3178,2259,1552
$GC,14744,1.38,292.8,252.0,9.1,1224,14746,0.12,0.00,0.00,0.000,6,0.064,0.000,3211,2259,1552
$GC,15076,1.38,292.8,218.4,10.2,1281,15083,0.00,2.33,0.00,0.000,4,0.000,0.054,3211,960,1552
$GC,15106,1.38,292.8,215.0,11.0,1286,15113,0.00,2.20,0.00,0.000,6,0.000,0.036,3211,2234,1552
$GC,15451,1.38,292.8,181.3,9.5,1347,15457,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2235,1552
$GC,15795,1.41,307.6,151.1,8.4,1408,15809,0.00,0.00,11.80,0.796,6,0.000,0.000,3211,2235,1494
$GC,16147,1.55,356.3,123.6,6.8,1470,16194,0.15,2.75,39.75,0.720,4,0.058,0.050,3248,3727,1294
$GC,16212,1.55,356.3,117.9,9.3,1480,16219,0.00,2.62,0.00,0.000,6,0.000,0.034,3249,2212,1293
$GC,16557,1.75,417.8,92.3,6.3,1541,16617,0.15,2.30,49.65,0.671,4,0.058,0.051,3291,964,1043
$GC,16653,1.80,421.0,84.6,8.9,1556,16661,0.00,2.28,2.30,0.718,6,0.000,0.032,3291,2283,1031
$GC,16999,1.86,432.0,53.8,8.5,1617,17014,0.00,2.42,8.68,0.661,4,0.000,0.048,3292,962,985
$GC,17094,1.94,439.3,45.1,8.7,1633,17109,0.17,2.08,5.65,0.663,6,0.045,0.030,3345,2189,956
$GC,17446,1.94,439.3,9.7,9.8,1695,17453,0.00,2.67,0.00,0.000,4,0.000,0.046,3344,3730,955
$STATE,17519,end climb,SURFACE_DEPTH_REACHED
$STATE,17520,begin surface coast
$FINISH,0.0,1.021042
$STATE,17537,end surface coast,CONTROL_FINISHED_OK
$STATE,17537,begin surface
$SM_CCo,17563,18.15,0.579,0,0,811,475.15
$SM_GC,0.72,0.00,0.00,18.15,0.000,0.000,0.579,252,2142,811,-12.20,-0.20,475.15
$IRIDIUM_FIX,1245.46,12027.48,240697,161638
$TT8_MAMPS,0.024544
$HUMID,1986
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.50
$XPDR_PINGS,378
$24V_AH,23.3,38.834
$10V_AH,10.1,19.649
$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,32.975,149.950,486.175,18.150,0.000,31.117,41.610,160.703,102.000,0.000,0.000,11.864,3573.407,10339.561,697.112,2804.822,525.811,0.000,2108.716,0.000,2756.627,0.000,55.330
$DEVICE_MAMPS,171.808,59.059,1217.229,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53467,1711
$CAP_FILE_SIZE,173686,0
$CFSIZE,260165632,240377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,167.9,1
$GPS,310308,025537,1247.714,12025.605,38,1.9,50,-0.8