version: 66.03
glider: 122
mission: 6
dive: 401
start: 5 13 108 19 53 23
data:
$ID,122
$MISSION,6
$DIVE,401
$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,-35117.43
$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,27
$R_STBD_OVSHOOT,68
$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
$GPS1,194255,1235.613,12048.774,28,0.9,46,-0.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.2
$GPS2,195251,1235.615,12048.802,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12
$TGT_LATLONG,1230.000,12048.000
$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,188.7,10500,-18.6,-9.016
$D_GRID,674
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,90,0.00,0.00,-64.65,0.000,2,0.000,0.000,246,2263,2483
$GC,94,-1.56,-146.0,3.7,-9.6,13,131,13.25,2.55,-16.27,0.000,4,0.165,0.051,2560,804,3346
$GC,149,-1.26,-146.0,16.4,-18.5,23,156,0.35,2.33,0.00,0.000,6,0.109,0.027,2625,2194,3347
$GC,494,-1.15,-146.0,63.8,-12.9,84,500,0.15,2.40,0.00,0.000,4,0.114,0.038,2657,799,3348
$GC,546,-1.15,-146.0,70.5,-12.8,93,552,0.00,2.47,0.00,0.000,6,0.000,0.028,2657,2280,3349
$GC,890,-1.26,-146.0,107.3,-9.6,154,897,0.12,2.55,0.00,0.000,4,0.052,0.038,2613,797,3351
$GC,955,-1.14,-146.0,114.4,-11.5,165,962,0.22,2.67,0.00,0.000,6,0.094,0.028,2656,2395,3350
$GC,1301,-1.27,-146.0,147.3,-8.7,226,1307,0.12,2.72,0.00,0.000,4,0.051,0.038,2612,805,3352
$GC,1337,-1.27,-146.0,150.7,-8.9,232,1343,0.00,2.65,0.00,0.000,6,0.000,0.028,2612,2386,3352
$GC,1682,-1.35,-146.0,181.0,-8.7,293,1688,0.00,2.12,0.00,0.000,4,0.000,0.048,2612,3622,3352
$GC,1745,-1.35,-146.0,186.7,-9.3,304,1752,0.00,2.30,0.00,0.000,6,0.000,0.028,2612,2224,3352
$GC,2091,-1.44,-146.0,214.1,-8.3,365,2097,0.00,2.40,0.00,0.000,4,0.000,0.044,2612,3621,3352
$GC,2183,-1.48,-146.0,222.3,-8.9,381,2189,0.15,2.45,0.00,0.000,6,0.051,0.028,2567,2145,3352
$GC,2531,-1.48,-146.0,253.5,-8.7,439,2535,0.00,2.28,0.00,0.000,4,0.000,0.046,2567,828,3351
$GC,2604,-1.40,-146.0,260.7,-10.1,445,2610,0.17,2.42,0.00,0.000,6,0.100,0.031,2599,2268,3350
$GC,2929,-1.50,-146.0,286.6,-8.1,476,2933,0.00,2.33,0.00,0.000,4,0.000,0.048,2599,3615,3349
$GC,3026,-1.50,-146.0,295.5,-9.7,484,3030,0.00,2.08,0.00,0.000,6,0.000,0.031,2599,2361,3348
$GC,3361,-1.59,-146.0,323.2,-7.5,515,3366,0.15,2.17,0.00,0.000,4,0.051,0.048,2549,3615,3346
$GC,3440,-1.47,-146.0,330.8,-9.5,521,3446,0.17,2.15,0.00,0.000,6,0.106,0.031,2581,2311,3345
$GC,3765,-1.52,-146.0,354.7,-7.4,552,3769,0.00,2.28,0.00,0.000,4,0.000,0.048,2581,3621,3343
$GC,3795,-1.52,-146.0,357.1,-8.7,554,3799,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2195,3343
$GC,4128,-1.59,-146.0,383.4,-8.4,585,4132,0.00,2.47,0.00,0.000,4,0.000,0.048,2581,3614,3341
$GC,4206,-1.59,-146.0,390.2,-8.1,591,4212,0.00,2.55,0.00,0.000,6,0.000,0.032,2581,2110,3340
$GC,4534,-1.64,-146.0,415.5,-7.6,622,4539,0.15,2.28,0.00,0.000,4,0.054,0.051,2534,821,3337
$GC,4567,-1.52,-146.0,418.7,-9.2,624,4574,0.20,2.45,0.00,0.000,6,0.103,0.033,2571,2257,3336
$GC,4893,-1.56,-146.0,442.7,-7.0,655,4897,0.00,2.55,0.00,0.000,4,0.000,0.049,2571,816,3335
$GC,4944,-1.52,-146.0,446.5,-7.7,659,4948,0.00,2.42,0.00,0.000,6,0.000,0.033,2571,2232,3334
$GC,5273,-1.56,-146.0,470.1,-7.4,689,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2232,3331
$GC,5601,-1.60,-146.0,496.4,-8.3,720,5605,0.00,2.50,0.00,0.000,4,0.000,0.051,2571,819,3330
$GC,5667,-1.60,-146.0,502.7,-9.6,724,5672,0.00,2.47,0.00,0.000,6,0.000,0.035,2571,2257,3329
$GC,5991,-1.64,-146.0,528.0,-7.7,740,5995,0.10,2.40,0.00,0.000,4,0.065,0.053,2542,3618,3327
$GC,6101,-1.53,-146.0,537.3,-8.8,745,6106,0.15,2.50,0.00,0.000,6,0.111,0.035,2568,2147,3327
$GC,6431,-1.56,-146.0,562.6,-7.8,761,6435,0.00,2.35,0.00,0.000,4,0.000,0.054,2568,824,3326
$GC,6487,-1.52,-146.0,567.6,-8.5,763,6493,0.00,2.53,0.00,0.000,6,0.000,0.036,2568,2288,3325
$GC,6803,-1.57,-146.0,592.5,-8.0,779,6808,0.00,2.62,0.00,0.000,4,0.000,0.052,2567,818,3323
$GC,6901,-1.54,-146.0,600.4,-8.4,783,6905,0.00,2.67,0.00,0.000,6,0.000,0.036,2568,2363,3322
$GC,7217,-1.54,-146.0,623.8,-7.4,798,7221,0.00,2.22,0.00,0.000,4,0.000,0.057,2568,3619,3320
$GC,7302,-1.54,-146.0,630.5,-7.4,802,7307,0.00,2.38,0.00,0.000,6,0.000,0.035,2568,2230,3319
$GC,7632,-1.59,-146.0,654.9,-7.3,818,7636,0.00,2.47,0.00,0.000,4,0.000,0.054,2568,3622,3318
$GC,7730,-1.59,-146.0,662.9,-8.1,822,7734,0.00,2.22,0.00,0.000,6,0.000,0.035,2568,2310,3318
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7885,-0.35,0.0,674.3,7.7,829,8008,1.27,0.00,118.72,1.109,6,0.091,0.000,2827,2309,2748
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8012,1.56,146.0,680.4,0.0,835,8143,1.90,2.62,123.00,1.075,4,0.051,0.056,3250,3726,2151
$GC,8310,1.29,158.3,664.6,8.5,849,8326,0.35,2.42,9.98,1.104,6,0.123,0.039,3188,2338,2102
$GC,8639,1.24,197.6,641.6,7.3,864,8681,0.00,2.60,33.05,1.076,4,0.000,0.056,3188,3721,1942
$GC,8774,1.13,205.4,630.4,8.7,870,8789,0.20,2.38,6.62,1.102,6,0.126,0.038,3154,2363,1910
$GC,9105,1.20,244.1,605.3,7.3,886,9147,0.00,2.70,32.60,1.065,4,0.000,0.059,3153,934,1751
$GC,9226,1.22,256.8,595.5,8.5,891,9242,0.00,2.47,10.88,1.077,6,0.000,0.038,3153,2341,1701
$GC,9567,1.29,261.1,566.2,8.8,908,9576,0.15,2.55,3.65,1.075,4,0.064,0.058,3190,3721,1683
$GC,9640,1.22,261.1,558.7,10.7,911,9644,0.00,2.67,0.00,0.000,6,0.000,0.039,3190,2194,1683
$GC,9962,1.16,263.7,529.2,8.9,927,9972,0.15,2.80,2.15,1.032,4,0.123,0.054,3162,3721,1673
$GC,10109,1.17,266.9,516.2,8.9,933,10120,0.00,2.53,3.55,1.066,6,0.000,0.038,3162,2267,1658
$GC,10436,1.28,283.9,489.6,8.3,954,10457,0.00,0.00,14.73,1.036,6,0.000,0.000,3162,2267,1589
$GC,10776,1.39,302.4,461.4,8.2,986,10798,0.17,0.00,15.82,1.016,6,0.061,0.000,3208,2268,1514
$GC,11116,1.39,302.4,429.0,9.5,1018,11120,0.00,2.60,0.00,0.000,4,0.000,0.054,3208,3727,1512
$GC,11133,1.39,302.4,427.4,9.2,1019,11137,0.00,2.78,0.00,0.000,6,0.000,0.038,3209,2138,1512
$GC,11460,1.39,302.4,395.7,10.0,1049,11464,0.00,2.17,0.00,0.000,4,0.000,0.058,3209,926,1511
$GC,11512,1.33,302.4,390.5,9.0,1053,11516,0.00,2.35,0.00,0.000,6,0.000,0.037,3208,2275,1510
$GC,11837,1.33,305.7,360.0,8.9,1083,11841,0.00,2.42,0.00,0.000,4,0.000,0.054,3209,929,1510
$GC,11941,1.31,314.8,350.8,8.6,1092,11955,0.00,2.10,10.00,0.963,6,0.000,0.036,3209,2146,1464
$GC,12276,1.30,333.5,321.2,8.2,1123,12299,0.00,2.90,15.93,0.920,4,0.000,0.053,3208,3720,1388
$GC,12333,1.30,333.5,315.8,9.4,1128,12339,0.00,2.55,0.00,0.000,6,0.000,0.036,3208,2256,1387
$GC,12661,1.36,339.2,288.4,8.8,1159,12672,0.00,0.00,4.78,0.923,6,0.000,0.000,3208,2256,1365
$GC,12993,1.41,339.2,258.5,9.3,1190,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2256,1365
$GC,13322,1.48,352.8,230.1,8.4,1240,13339,0.00,2.47,11.88,0.847,4,0.000,0.052,3209,926,1309
$GC,13381,1.53,352.8,225.2,9.1,1250,13387,0.12,2.10,0.00,0.000,6,0.060,0.034,3244,2140,1307
$GC,13726,1.48,352.8,192.1,9.8,1311,13732,0.00,2.17,0.00,0.000,4,0.000,0.054,3244,926,1306
$GC,13750,1.43,352.8,189.3,10.8,1315,13756,0.15,2.28,0.00,0.000,6,0.109,0.035,3217,2246,1306
$GC,14095,1.56,378.1,159.5,7.9,1376,14123,0.12,2.40,21.17,0.758,4,0.064,0.050,3250,927,1205
$GC,14135,1.56,378.1,156.0,9.4,1383,14141,0.00,2.08,0.00,0.000,6,0.000,0.034,3250,2126,1204
$GC,14480,1.72,414.7,125.9,7.4,1444,14517,0.12,2.17,30.48,0.707,4,0.060,0.049,3285,931,1056
$GC,14600,1.75,429.8,115.8,8.3,1465,14621,0.00,2.30,12.70,0.713,6,0.000,0.034,3285,2259,994
$GC,14962,1.89,462.8,87.8,7.5,1529,14996,0.15,2.62,27.05,0.658,4,0.054,0.048,3328,3726,860
$GC,15019,1.89,462.8,82.4,9.8,1539,15025,0.00,2.78,0.00,0.000,6,0.000,0.031,3328,2113,859
$GC,15364,1.99,480.3,51.6,8.2,1600,15386,0.00,2.15,13.80,0.626,4,0.000,0.048,3328,929,788
$GC,15443,2.00,486.5,44.8,8.7,1614,15454,0.00,2.28,4.85,0.641,6,0.000,0.030,3328,2272,763
$GC,15794,2.16,513.0,14.3,7.8,1676,15821,0.17,2.62,21.25,0.569,4,0.047,0.045,3387,3728,655
$GC,15863,2.12,513.0,7.7,10.6,1688,15868,0.00,2.75,0.00,0.000,6,0.000,0.029,3386,2108,653
$STATE,15917,end climb,SURFACE_DEPTH_REACHED
$STATE,15917,begin surface coast
$FINISH,-0.1,1.020716
$STATE,15941,end surface coast,CONTROL_FINISHED_OK
$STATE,15941,begin surface
$SM_CCo,16026,0.00,0.000,0,0,649,514.64
$SM_GC,0.70,13.68,0.00,0.00,0.034,0.000,0.000,247,2276,649,-12.18,1.70,514.64
$IRIDIUM_FIX,1229.99,12047.98,070897,191904
$TT8_MAMPS,0.023777
$HUMID,2072
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.00
$XPDR_PINGS,381
$ALTIM_BOTTOM_PING,660.1,66.9
$24V_AH,23.1,74.731
$10V_AH,10.1,38.418
$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,34.200,170.800,548.625,0.000,0.000,53.289,75.700,247.223,100.000,0.000,0.000,15.024,2700.014,9512.803,669.942,2911.240,825.305,0.000,2163.795,0.000,2848.238,0.000,37.483
$DEVICE_MAMPS,164.905,59.059,1109.082,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1136.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53493,1702
$CAP_FILE_SIZE,180457,0
$CFSIZE,260165632,223334400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,002138,1235.405,12048.878,32,0.9,32,-0.8