version: 66.03
glider: 122
mission: 6
dive: 402
start: 5 14 108 0 28 34
data:
$ID,122
$MISSION,6
$DIVE,402
$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,-35133.676
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,002138,1235.405,12048.878,32,0.9,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.7
$GPS2,002802,1235.409,12048.855,10,1.2,15,-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,189.6,10136,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,88,0.00,0.00,-60.62,0.000,2,0.000,0.000,247,2274,2300
$GC,92,-1.56,-146.0,3.1,-7.4,12,134,13.32,2.58,-21.25,0.000,4,0.167,0.050,2561,800,3346
$GC,158,-1.30,-146.0,15.5,-17.3,24,165,0.30,2.40,0.00,0.000,6,0.113,0.028,2616,2232,3347
$GC,504,-1.18,-146.0,62.3,-12.7,85,510,0.15,2.47,0.00,0.000,4,0.117,0.038,2647,797,3349
$GC,590,-1.12,-146.0,72.7,-11.9,100,596,0.00,2.47,0.00,0.000,6,0.000,0.027,2647,2276,3349
$GC,935,-1.21,-146.0,109.8,-10.3,161,940,0.00,2.53,0.00,0.000,4,0.000,0.038,2646,802,3351
$GC,1020,-1.25,-146.0,118.9,-11.0,176,1027,0.00,2.28,0.00,0.000,6,0.000,0.027,2647,2173,3351
$GC,1365,-1.38,-146.0,150.1,-8.8,237,1371,0.17,2.35,0.00,0.000,4,0.045,0.038,2588,798,3353
$GC,1464,-1.33,-146.0,159.7,-9.8,254,1470,0.15,2.28,0.00,0.000,6,0.100,0.028,2616,2169,3353
$GC,1809,-1.40,-146.0,189.3,-8.0,315,1815,0.00,2.35,0.00,0.000,4,0.000,0.041,2616,801,3353
$GC,1889,-1.40,-146.0,196.3,-8.8,329,1895,0.00,2.33,0.00,0.000,6,0.000,0.029,2616,2193,3353
$GC,2234,-1.51,-146.0,224.0,-8.7,390,2241,0.15,2.45,0.00,0.000,4,0.049,0.044,2563,3616,3353
$GC,2277,-1.41,-146.0,228.2,-10.5,397,2284,0.17,2.50,0.00,0.000,6,0.096,0.029,2596,2119,3353
$GC,2617,-1.46,-146.0,258.3,-8.4,449,2621,0.00,2.28,0.00,0.000,4,0.000,0.045,2596,807,3351
$GC,2639,-1.51,-146.0,260.5,-8.7,450,2645,0.00,2.47,0.00,0.000,6,0.000,0.031,2596,2279,3351
$GC,2967,-1.58,-146.0,288.2,-8.7,481,2972,0.15,2.30,0.00,0.000,4,0.051,0.047,2544,3609,3349
$GC,3057,-1.45,-146.0,297.8,-10.5,488,3063,0.22,2.42,0.00,0.000,6,0.102,0.031,2586,2156,3349
$GC,3382,-1.50,-146.0,326.7,-8.8,519,3386,0.00,2.38,0.00,0.000,4,0.000,0.048,2586,800,3347
$GC,3472,-1.50,-146.0,334.8,-9.2,526,3478,0.00,2.47,0.00,0.000,6,0.000,0.033,2587,2258,3346
$GC,3800,-1.58,-146.0,361.8,-8.3,557,3805,0.12,2.55,0.00,0.000,4,0.055,0.047,2548,809,3344
$GC,3817,-1.58,-146.0,363.5,-8.6,558,3821,0.00,2.33,0.00,0.000,6,0.000,0.032,2548,2176,3344
$GC,4145,-1.58,-146.0,391.1,-8.5,588,4150,0.00,2.50,0.00,0.000,4,0.000,0.048,2548,3614,3342
$GC,4253,-1.47,-146.0,401.2,-8.9,597,4258,0.20,2.28,0.00,0.000,6,0.108,0.032,2585,2265,3342
$GC,4579,-1.52,-146.0,426.4,-7.6,627,4583,0.00,2.38,0.00,0.000,4,0.000,0.050,2585,3624,3339
$GC,4651,-1.52,-146.0,432.3,-8.2,633,4657,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2190,3338
$GC,4980,-1.61,-146.0,456.2,-7.3,664,4985,0.15,2.53,0.00,0.000,4,0.053,0.050,2537,3621,3336
$GC,5054,-1.50,-146.0,462.7,-8.9,670,5058,0.20,2.28,0.00,0.000,6,0.105,0.033,2574,2280,3335
$GC,5379,-1.55,-146.0,486.9,-7.6,700,5383,0.00,2.35,0.00,0.000,4,0.000,0.051,2574,3613,3333
$GC,5442,-1.55,-146.0,492.1,-8.1,705,5446,0.00,2.42,0.00,0.000,6,0.000,0.035,2574,2187,3332
$GC,5779,-1.60,-146.0,517.4,-7.6,726,5783,0.00,2.45,0.00,0.000,4,0.000,0.054,2574,812,3331
$GC,5835,-1.60,-146.0,522.4,-8.2,728,5841,0.00,2.58,0.00,0.000,6,0.000,0.035,2574,2304,3330
$GC,6152,-1.64,-146.0,547.0,-7.8,744,6157,0.12,2.33,0.00,0.000,4,0.058,0.054,2537,3622,3328
$GC,6237,-1.53,-146.0,554.6,-8.9,748,6242,0.17,2.45,0.00,0.000,6,0.108,0.035,2569,2187,3327
$GC,6567,-1.57,-146.0,579.4,-7.5,764,6575,0.00,2.45,0.00,0.000,4,0.000,0.054,2569,817,3326
$GC,6649,-1.54,-146.0,586.2,-7.8,767,6653,0.00,2.58,0.00,0.000,6,0.000,0.036,2569,2307,3326
$GC,6966,-1.58,-146.0,609.7,-7.4,782,6971,0.00,2.67,0.00,0.000,4,0.000,0.054,2569,806,3324
$GC,7079,-1.55,-146.0,618.5,-6.5,787,7084,0.00,2.40,0.00,0.000,6,0.000,0.036,2569,2193,3323
$GC,7410,-1.59,-146.0,642.6,-7.4,803,7414,0.00,2.47,0.00,0.000,4,0.000,0.054,2569,813,3321
$GC,7450,-1.56,-146.0,645.8,-7.6,805,7454,0.00,2.60,0.00,0.000,6,0.000,0.038,2569,2308,3321
$GC,7778,-1.60,-146.0,670.3,-7.6,821,7782,0.00,2.33,0.00,0.000,4,0.000,0.058,2569,3621,3320
$STATE,7820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7820,begin apogee
$GC,7829,-0.35,0.0,674.2,7.6,823,7952,1.25,0.00,119.12,1.110,6,0.103,0.000,2820,2325,2748
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7953,begin climb
$GC,7956,1.56,146.0,679.9,0.0,829,8087,1.92,2.60,122.78,1.075,4,0.051,0.058,3246,939,2152
$GC,8135,1.29,149.2,674.4,8.9,837,8145,0.32,2.47,2.83,1.085,6,0.115,0.038,3187,2341,2139
$GC,8475,1.22,176.5,648.6,7.8,854,8505,0.00,2.58,22.75,1.087,4,0.000,0.058,3188,3720,2028
$GC,8558,1.10,181.4,641.5,8.8,857,8567,0.22,2.38,4.18,1.099,6,0.121,0.038,3148,2357,2008
$GC,8897,1.14,204.2,615.5,8.0,874,8921,0.00,2.67,19.23,1.081,4,0.000,0.059,3148,926,1915
$GC,8962,1.14,204.2,609.7,9.3,877,8967,0.00,2.55,0.00,0.000,6,0.000,0.038,3148,2367,1914
$GC,9289,1.22,235.4,584.5,7.6,893,9321,0.10,2.50,25.95,1.064,4,0.077,0.057,3171,3727,1787
$GC,9398,1.17,235.4,575.3,9.4,898,9403,0.00,2.62,0.00,0.000,6,0.000,0.039,3171,2232,1786
$GC,9725,1.19,245.8,547.2,8.6,914,9739,0.00,2.45,8.77,1.078,4,0.000,0.060,3171,927,1745
$GC,9838,1.19,271.6,537.7,7.9,919,9868,0.00,2.53,22.42,1.039,6,0.000,0.037,3171,2366,1640
$GC,10193,1.26,292.6,507.8,8.1,936,10217,0.00,2.53,18.08,1.033,4,0.000,0.057,3171,3718,1555
$GC,10269,1.26,292.6,500.8,9.3,939,10273,0.00,2.62,0.00,0.000,6,0.000,0.038,3171,2216,1553
$GC,10595,1.37,302.0,472.9,8.6,968,10610,0.15,2.40,7.72,1.039,4,0.062,0.058,3213,933,1516
$GC,10645,1.28,302.0,467.9,10.7,972,10651,0.15,2.53,0.00,0.000,6,0.114,0.038,3186,2366,1515
$GC,10970,1.31,302.0,438.3,9.0,1003,10974,0.00,2.60,0.00,0.000,4,0.000,0.055,3187,930,1514
$GC,11082,1.27,302.0,427.7,9.4,1012,11088,0.00,2.28,0.00,0.000,6,0.000,0.038,3187,2240,1514
$GC,11410,1.36,308.9,398.0,8.7,1043,11422,0.00,2.67,5.90,1.006,4,0.000,0.054,3187,3723,1488
$GC,11461,1.36,308.9,392.9,9.6,1047,11468,0.00,2.35,0.00,0.000,6,0.000,0.036,3187,2363,1487
$GC,11789,1.43,320.8,365.7,8.5,1078,11805,0.15,2.62,10.35,0.968,4,0.065,0.054,3226,932,1439
$GC,11852,1.35,320.8,359.5,10.2,1083,11857,0.15,2.28,0.00,0.000,6,0.114,0.036,3200,2234,1437
$GC,12178,1.44,328.5,331.0,8.7,1113,12190,0.00,2.75,6.68,0.956,4,0.000,0.053,3200,3727,1408
$GC,12230,1.44,328.5,326.1,9.6,1117,12236,0.00,2.38,0.00,0.000,6,0.000,0.036,3200,2351,1407
$GC,12557,1.50,328.5,297.4,9.6,1148,12563,0.15,0.00,0.00,0.000,6,0.062,0.000,3236,2350,1407
$GC,12887,1.44,328.5,267.8,9.2,1179,12891,0.00,2.55,0.00,0.000,4,0.000,0.054,3236,925,1406
$GC,12931,1.35,328.5,263.1,9.1,1182,12937,0.20,2.22,0.00,0.000,6,0.109,0.036,3200,2216,1405
$GC,13266,1.46,347.8,235.6,8.2,1228,13287,0.00,0.00,16.40,0.844,6,0.000,0.000,3200,2217,1329
$GC,13625,1.55,347.8,204.8,9.2,1292,13631,0.17,0.00,0.00,0.000,6,0.058,0.000,3247,2217,1327
$GC,13969,1.55,347.8,173.2,9.3,1353,13975,0.00,2.30,0.00,0.000,4,0.000,0.053,3247,929,1326
$GC,14021,1.51,347.8,168.6,9.1,1362,14027,0.00,2.12,0.00,0.000,6,0.000,0.034,3247,2169,1326
$GC,14366,1.59,372.7,140.1,7.9,1423,14392,0.00,2.78,20.67,0.743,4,0.000,0.048,3247,3725,1227
$GC,14461,1.59,374.5,132.0,8.9,1440,14467,0.00,2.78,0.00,0.000,6,0.000,0.034,3247,2117,1225
$GC,14806,1.83,435.5,106.9,6.3,1501,14868,0.22,2.92,52.25,0.672,4,0.048,0.046,3311,3720,971
$GC,14929,1.83,453.7,97.6,8.2,1523,14951,0.00,2.92,14.70,0.679,6,0.000,0.034,3311,2032,897
$GC,15292,1.92,464.8,66.2,8.5,1587,15303,0.00,0.00,8.70,0.660,6,0.000,0.000,3311,2029,853
$GC,15642,2.04,480.3,35.5,8.3,1649,15664,0.15,3.05,12.43,0.612,4,0.052,0.044,3358,3730,788
$GC,15722,2.01,480.3,28.0,9.4,1663,15727,0.00,2.65,0.00,0.000,6,0.000,0.030,3358,2171,787
$STATE,16007,end climb,SURFACE_DEPTH_REACHED
$STATE,16007,begin surface coast
$FINISH,0.1,1.020734
$STATE,16031,end surface coast,CONTROL_FINISHED_OK
$STATE,16031,begin surface
$SM_CCo,16116,0.00,0.000,0,0,782,482.01
$SM_GC,0.89,13.62,0.00,0.00,0.038,0.000,0.000,252,2265,782,-12.16,1.39,482.01
$IRIDIUM_FIX,1229.99,12047.98,070897,191920
$TT8_MAMPS,0.02301
$HUMID,2088
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.80
$XPDR_PINGS,375
$ALTIM_BOTTOM_PING,641.1,92.5
$24V_AH,23.1,74.901
$10V_AH,10.1,38.506
$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,34.725,178.600,521.900,0.000,0.000,23.339,38.367,171.526,97.750,0.000,0.000,15.618,2723.979,9524.816,646.628,2930.684,673.617,0.000,2147.368,0.000,2868.082,0.000,31.020
$DEVICE_MAMPS,167.206,76.700,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53525,1718
$CAP_FILE_SIZE,180718,0
$CFSIZE,260165632,223248384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,045825,1235.330,12048.812,38,1.1,38,-0.8