version: 66.03
glider: 122
mission: 6
dive: 388
start: 5 11 108 8 24 16
data:
$ID,122
$MISSION,6
$DIVE,388
$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,0
$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,-34894.883
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,31
$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
$GPS1,081007,1237.919,12047.039,31,1.0,31,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-70.4
$GPS2,082344,1237.924,12047.184,10,1.3,10,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_2
$TGT_LATLONG,1218.780,12058.500
$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,150.8,40943,-18.6,-9.016
$D_GRID,720
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-65.38,0.000,2,0.000,0.000,248,2183,2380
$GC,96,-1.56,-146.0,3.3,-8.3,13,134,13.23,2.53,-19.25,0.000,4,0.164,0.052,2561,3624,3345
$GC,234,-1.30,-146.0,28.7,-17.8,37,241,0.32,2.30,0.00,0.000,6,0.115,0.025,2621,2225,3346
$GC,580,-1.18,-146.0,76.3,-12.6,98,586,0.15,2.40,0.00,0.000,4,0.117,0.041,2651,3628,3347
$GC,672,-1.10,-146.0,87.9,-12.3,114,678,0.00,2.20,0.00,0.000,6,0.000,0.025,2651,2271,3347
$GC,1016,-1.18,-146.0,123.6,-10.1,175,1022,0.00,2.50,0.00,0.000,4,0.000,0.040,2651,817,3349
$GC,1074,-1.18,-146.0,129.5,-10.3,185,1080,0.00,2.67,0.00,0.000,6,0.000,0.029,2651,2412,3349
$GC,1419,-1.35,-146.0,160.7,-8.1,246,1425,0.17,2.75,0.00,0.000,4,0.044,0.038,2591,816,3349
$GC,1507,-1.31,-146.0,168.9,-9.1,261,1513,0.15,2.55,0.00,0.000,6,0.100,0.029,2619,2339,3349
$GC,1852,-1.40,-146.0,197.1,-7.9,322,1858,0.00,2.62,0.00,0.000,4,0.000,0.041,2619,821,3349
$GC,1945,-1.43,-146.0,204.5,-8.4,338,1951,0.12,2.45,0.00,0.000,6,0.054,0.031,2577,2280,3349
$GC,2290,-1.43,-146.0,233.3,-7.7,399,2296,0.00,2.55,0.00,0.000,4,0.000,0.044,2577,813,3348
$GC,2342,-1.37,-146.0,238.0,-8.8,408,2349,0.15,2.33,0.00,0.000,6,0.102,0.031,2605,2193,3348
$GC,2682,-1.47,-146.0,266.1,-8.3,452,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2195,3347
$GC,3003,-1.56,-146.0,289.7,-7.0,482,3009,0.20,0.00,0.00,0.000,6,0.045,0.000,2549,2194,3345
$GC,3330,-1.56,-146.0,317.8,-9.2,513,3334,0.00,2.40,0.00,0.000,4,0.000,0.047,2548,824,3343
$GC,3375,-1.46,-146.0,322.3,-9.5,516,3382,0.17,2.53,0.00,0.000,6,0.100,0.033,2580,2309,3342
$GC,3701,-1.52,-146.0,348.7,-8.2,547,3705,0.00,2.25,0.00,0.000,4,0.000,0.050,2581,3610,3340
$GC,3796,-1.52,-146.0,357.4,-9.0,555,3801,0.00,2.08,0.00,0.000,6,0.000,0.031,2581,2359,3338
$GC,4126,-1.57,-146.0,384.0,-7.8,586,4129,0.00,2.20,0.00,0.000,4,0.000,0.050,2581,3618,3335
$GC,4182,-1.53,-146.0,389.2,-8.5,590,4188,0.00,2.25,0.00,0.000,6,0.000,0.031,2581,2274,3335
$GC,4510,-1.59,-146.0,413.6,-7.7,621,4514,0.00,2.33,0.00,0.000,4,0.000,0.050,2581,3610,3332
$GC,4617,-1.59,-146.0,423.0,-8.7,630,4623,0.00,2.10,0.00,0.000,6,0.000,0.032,2581,2356,3332
$GC,4946,-1.64,-146.0,451.1,-8.6,661,4950,0.15,2.20,0.00,0.000,4,0.054,0.050,2540,3609,3329
$GC,5008,-1.51,-146.0,457.6,-9.9,666,5013,0.17,2.30,0.00,0.000,6,0.108,0.033,2572,2257,3329
$GC,5333,-1.55,-146.0,484.3,-7.9,696,5337,0.00,2.40,0.00,0.000,4,0.000,0.051,2572,3619,3327
$GC,5441,-1.51,-146.0,493.4,-8.3,705,5447,0.00,2.17,0.00,0.000,6,0.000,0.034,2572,2331,3327
$GC,5762,-1.55,-146.0,515.6,-6.6,725,5766,0.00,2.28,0.00,0.000,4,0.000,0.052,2572,3619,3324
$GC,5835,-1.55,-146.0,521.5,-8.2,728,5839,0.00,2.35,0.00,0.000,6,0.000,0.034,2572,2244,3324
$GC,6154,-1.60,-146.0,546.9,-8.4,743,6158,0.00,2.55,0.00,0.000,4,0.000,0.054,2572,813,3322
$GC,6232,-1.60,-146.0,554.0,-8.6,746,6238,0.00,2.65,0.00,0.000,6,0.000,0.037,2572,2345,3321
$GC,6549,-1.65,-146.0,579.0,-8.0,762,6553,0.12,2.22,0.00,0.000,4,0.059,0.054,2537,3607,3319
$GC,6655,-1.52,-146.0,589.4,-10.3,766,6663,0.17,2.35,0.00,0.000,6,0.110,0.035,2568,2234,3318
$GC,6974,-1.52,-146.0,616.2,-8.0,782,6978,0.00,2.45,0.00,0.000,4,0.000,0.054,2568,3612,3317
$GC,7046,-1.48,-146.0,622.6,-8.7,785,7050,0.00,2.25,0.00,0.000,6,0.000,0.035,2568,2282,3317
$GC,7369,-1.53,-146.0,647.5,-7.3,801,7373,0.00,2.38,0.00,0.000,4,0.000,0.054,2568,3619,3315
$GC,7396,-1.53,-146.0,650.0,-8.4,802,7402,0.00,2.28,0.00,0.000,6,0.000,0.035,2568,2274,3315
$GC,7720,-1.59,-146.0,673.9,-7.6,818,7724,0.00,2.38,0.00,0.000,4,0.000,0.055,2568,3607,3313
$GC,7806,-1.54,-146.0,680.9,-8.1,822,7810,0.00,2.15,0.00,0.000,6,0.000,0.035,2568,2343,3312
$GC,8136,-1.60,-146.0,706.7,-8.1,838,8140,0.00,2.28,0.00,0.000,4,0.000,0.057,2568,3618,3311
$GC,8199,-1.55,-146.0,712.2,-9.2,841,8203,0.00,2.08,0.00,0.000,6,0.000,0.036,2568,2399,3311
$STATE,8302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8302,begin apogee
$GC,8309,-0.35,0.0,721.2,8.5,846,8431,1.30,0.00,118.72,1.152,6,0.103,0.000,2826,2320,2748
$STATE,8432,end apogee,CONTROL_FINISHED_OK
$STATE,8432,begin climb
$GC,8435,1.56,146.0,727.9,0.0,852,8570,1.90,2.62,124.50,1.114,4,0.053,0.056,3245,3710,2151
$GC,8669,1.28,146.0,716.3,10.1,863,8674,0.35,2.38,0.00,0.000,6,0.131,0.038,3184,2352,2150
$GC,8997,1.22,183.8,691.2,7.3,879,9038,0.00,2.58,31.80,1.118,4,0.000,0.056,3184,3713,1998
$GC,9062,1.09,183.8,685.8,9.3,882,9067,0.22,2.42,0.00,0.000,6,0.123,0.039,3145,2337,1997
$GC,9389,1.20,249.8,664.1,6.1,898,9452,0.10,2.67,56.67,1.100,4,0.077,0.061,3167,935,1728
$GC,9475,1.17,249.8,657.5,9.4,902,9480,0.00,2.50,0.00,0.000,6,0.000,0.038,3168,2344,1727
$GC,9797,1.18,258.3,630.6,8.6,918,9806,0.00,0.00,6.80,1.127,6,0.000,0.000,3167,2343,1695
$GC,10106,1.20,270.4,603.3,8.5,933,10122,0.00,2.65,10.90,1.115,4,0.000,0.058,3168,928,1644
$GC,10237,1.17,270.4,591.3,9.1,938,10241,0.00,2.47,0.00,0.000,6,0.000,0.038,3168,2346,1643
$GC,10571,1.20,283.5,562.7,8.4,954,10591,0.00,2.70,11.40,1.100,4,0.000,0.058,3168,928,1591
$GC,10647,1.20,283.5,555.3,9.4,957,10651,0.00,2.40,0.00,0.000,6,0.000,0.038,3168,2294,1590
$GC,10969,1.23,283.5,525.6,9.1,973,10973,0.00,2.50,0.00,0.000,4,0.000,0.058,3168,923,1590
$GC,11019,1.24,288.6,520.9,8.8,975,11030,0.00,2.30,4.25,1.090,6,0.000,0.037,3168,2246,1571
$GC,11344,1.30,290.4,492.9,8.9,994,11349,0.00,2.65,0.00,0.000,4,0.000,0.057,3168,3726,1570
$GC,11435,1.30,292.1,484.4,8.9,1001,11444,0.00,2.85,3.60,1.068,6,0.000,0.039,3168,2088,1557
$GC,11771,1.41,308.6,456.7,8.3,1033,11790,0.20,0.00,14.30,1.033,6,0.058,0.000,3216,2087,1490
$GC,12109,1.37,308.6,424.5,9.4,1065,12114,0.00,2.92,0.00,0.000,4,0.000,0.053,3216,3729,1487
$GC,12176,1.28,308.6,417.8,11.0,1070,12182,0.17,2.55,0.00,0.000,6,0.121,0.038,3187,2261,1487
$GC,12501,1.29,317.3,389.3,8.6,1101,12515,0.00,2.72,7.28,1.006,4,0.000,0.053,3187,3729,1454
$GC,12534,1.29,317.3,386.4,9.8,1104,12538,0.00,2.47,0.00,0.000,6,0.000,0.036,3187,2306,1454
$GC,12859,1.40,336.1,359.5,8.2,1134,12880,0.10,0.00,16.40,0.954,6,0.076,0.000,3211,2305,1377
$GC,13200,1.44,339.1,330.5,8.9,1166,13211,0.00,2.53,2.60,0.956,4,0.000,0.053,3211,934,1364
$GC,13280,1.44,339.1,322.8,9.7,1173,13284,0.00,2.17,0.00,0.000,6,0.000,0.035,3211,2187,1363
$GC,13604,1.44,339.1,291.0,9.4,1203,13609,0.00,2.72,0.00,0.000,4,0.000,0.052,3211,3726,1364
$GC,13645,1.40,339.1,286.9,10.2,1206,13649,0.00,2.65,0.00,0.000,6,0.000,0.037,3211,2196,1364
$GC,13970,1.47,339.1,256.6,9.8,1236,13974,0.00,2.72,0.00,0.000,4,0.000,0.051,3211,3731,1364
$GC,14037,1.47,339.1,249.8,10.3,1241,14043,0.00,2.85,0.00,0.000,6,0.000,0.037,3211,2081,1364
$GC,14382,1.55,351.4,217.6,8.5,1302,14399,0.15,2.97,10.68,0.849,4,0.061,0.048,3252,3730,1314
$GC,14463,1.46,351.4,209.4,10.7,1316,14469,0.17,2.55,0.00,0.000,6,0.123,0.035,3222,2255,1314
$GC,14808,1.52,362.6,177.7,8.5,1377,14824,0.00,2.67,9.75,0.814,4,0.000,0.050,3223,3736,1269
$GC,14842,1.56,362.6,174.5,10.0,1383,14848,0.00,2.83,0.00,0.000,6,0.000,0.035,3223,2115,1269
$GC,15187,1.72,384.6,146.6,8.0,1444,15214,0.22,2.20,18.33,0.753,4,0.052,0.054,3283,931,1179
$GC,15227,1.66,384.6,143.1,9.4,1451,15233,0.00,2.38,0.00,0.000,6,0.000,0.034,3283,2295,1178
$GC,15572,1.70,407.9,113.7,8.0,1512,15598,0.00,2.58,19.40,0.713,4,0.000,0.049,3283,3730,1083
$GC,15633,1.75,437.7,108.9,7.7,1523,15666,0.00,2.78,25.27,0.687,6,0.000,0.033,3283,2120,962
$GC,16006,1.92,469.8,80.2,7.6,1589,16039,0.15,2.15,26.23,0.650,4,0.054,0.048,3330,925,831
$GC,16086,1.87,469.8,72.9,9.9,1603,16092,0.00,1.83,0.00,0.000,6,0.000,0.030,3329,2006,829
$GC,16429,1.87,469.8,40.5,9.3,1664,16435,0.00,1.90,0.00,0.000,4,0.000,0.048,3330,929,827
$GC,16453,1.87,469.8,38.3,9.1,1668,16459,0.00,2.00,0.00,0.000,6,0.000,0.028,3330,2129,827
$GC,16798,2.04,497.3,10.5,7.8,1729,16824,0.00,0.00,21.55,0.566,6,0.000,0.000,3330,2131,720
$STATE,16895,end climb,SURFACE_DEPTH_REACHED
$STATE,16895,begin surface coast
$FINISH,0.2,1.020742
$STATE,16920,end surface coast,CONTROL_FINISHED_OK
$STATE,16922,begin surface
$SM_CCo,17007,0.00,0.000,0,0,714,498.94
$SM_GC,0.74,13.52,0.00,0.00,0.038,0.000,0.000,249,2274,714,-12.17,1.64,498.94
$IRIDIUM_FIX,1232.20,12046.08,050897,080848
$TT8_MAMPS,0.023777
$HUMID,2055
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,362
$ALTIM_BOTTOM_PING,670.7,156.5
$24V_AH,23.1,72.437
$10V_AH,10.1,37.284
$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,33.875,180.775,540.425,0.000,0.000,79.319,140.589,296.102,95.500,0.000,0.000,10.935,2778.476,10389.741,689.091,2964.250,996.764,0.000,2207.712,0.000,2906.705,0.000,39.699
$DEVICE_MAMPS,164.138,69.797,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1170.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56581,1751
$CAP_FILE_SIZE,187916,0
$CFSIZE,260165632,224448512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,130902,1237.964,12047.138,43,1.2,43,-0.8