version: 66.03
glider: 122
mission: 6
dive: 403
start: 5 14 108 5 5 14
data:
$ID,122
$MISSION,6
$DIVE,403
$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,300
$T_MISSION,360
$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,200
$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,-35149.332
$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,29
$R_STBD_OVSHOOT,73
$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
$GPS1,045825,1235.330,12048.812,38,1.1,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.7
$GPS2,050439,1235.345,12048.772,15,1.2,15,-0.8
$SPEED_LIMITS,0.191,0.252
$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,188.8,9998,-19.1,-11.000
$D_GRID,725
$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,19,begin dive
$GC,23,-1.67,-194.7,0.0,0.0,0,85,0.00,0.00,-60.10,0.000,2,0.000,0.000,252,2263,2456
$GC,89,-1.67,-194.7,3.6,-9.0,12,131,13.10,2.58,-20.67,0.000,4,0.166,0.050,2535,804,3545
$GC,178,-1.46,-194.7,21.5,-18.2,28,184,0.28,2.33,0.00,0.000,6,0.116,0.027,2585,2189,3545
$GC,523,-1.33,-194.7,71.5,-12.7,89,529,0.15,2.38,0.00,0.000,4,0.113,0.037,2616,804,3547
$GC,598,-1.27,-194.7,81.7,-13.1,102,604,0.00,2.50,0.00,0.000,6,0.000,0.027,2616,2299,3548
$GC,943,-1.38,-194.7,122.4,-9.8,163,948,0.00,2.25,0.00,0.000,4,0.000,0.044,2616,3618,3549
$GC,1000,-1.38,-194.7,128.4,-10.4,173,1006,0.00,2.25,0.00,0.000,6,0.000,0.025,2616,2238,3549
$GC,1345,-1.48,-194.7,161.7,-10.4,234,1352,0.15,2.38,0.00,0.000,4,0.049,0.042,2564,3622,3550
$GC,1444,-1.41,-194.7,172.8,-11.1,251,1451,0.17,2.00,0.00,0.000,6,0.096,0.026,2597,2385,3550
$GC,1789,-1.53,-194.7,201.7,-9.3,312,1796,0.12,2.12,0.00,0.000,4,0.053,0.044,2556,3625,3550
$GC,1859,-1.48,-194.7,209.4,-11.0,324,1866,0.12,2.08,0.00,0.000,6,0.101,0.028,2579,2350,3550
$GC,2205,-1.58,-194.7,241.2,-8.4,385,2211,0.00,2.65,0.00,0.000,4,0.000,0.043,2579,822,3550
$GC,2241,-1.61,-194.7,244.5,-9.4,391,2247,0.12,2.35,0.00,0.000,6,0.054,0.031,2537,2218,3550
$GC,2575,-1.61,-194.7,278.4,-9.9,427,2579,0.00,2.42,0.00,0.000,4,0.000,0.045,2537,827,3549
$GC,2643,-1.53,-194.7,285.5,-10.7,432,2649,0.17,2.50,0.00,0.000,6,0.098,0.032,2570,2301,3549
$GC,2969,-1.62,-194.7,314.6,-9.0,463,2973,0.00,2.28,0.00,0.000,4,0.000,0.048,2570,3618,3547
$GC,3025,-1.62,-194.7,320.2,-10.0,467,3031,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2180,3547
$GC,3353,-1.72,-194.7,348.7,-8.8,498,3358,0.15,2.40,0.00,0.000,4,0.053,0.048,2522,814,3544
$GC,3409,-1.60,-194.7,354.8,-10.0,502,3415,0.17,2.53,0.00,0.000,6,0.104,0.032,2554,2302,3544
$GC,3735,-1.64,-194.7,384.7,-8.9,533,3739,0.00,2.30,0.00,0.000,4,0.000,0.050,2554,3622,3542
$GC,3791,-1.61,-194.7,390.0,-9.8,537,3797,0.00,2.45,0.00,0.000,6,0.000,0.032,2554,2167,3541
$GC,4119,-1.68,-194.7,417.2,-8.2,568,4124,0.00,2.38,0.00,0.000,4,0.000,0.050,2554,821,3539
$GC,4153,-1.68,-194.7,420.5,-8.6,570,4159,0.00,2.58,0.00,0.000,6,0.000,0.035,2554,2323,3538
$GC,4481,-1.76,-194.7,447.0,-8.2,601,4485,0.15,2.28,0.00,0.000,4,0.053,0.050,2503,3622,3536
$GC,4545,-1.62,-194.7,453.3,-10.0,606,4550,0.25,2.42,0.00,0.000,6,0.114,0.033,2548,2197,3536
$GC,4870,-1.66,-194.7,482.2,-9.0,636,4875,0.00,2.45,0.00,0.000,4,0.000,0.052,2548,817,3533
$GC,4927,-1.62,-194.7,487.9,-10.1,640,4933,0.00,2.60,0.00,0.000,6,0.000,0.035,2548,2325,3533
$GC,5250,-1.68,-194.7,516.3,-8.8,662,5254,0.00,2.67,0.00,0.000,4,0.000,0.050,2548,819,3531
$GC,5339,-1.68,-194.7,524.9,-9.4,666,5343,0.00,2.38,0.00,0.000,6,0.000,0.035,2548,2202,3530
$GC,5663,-1.75,-194.7,552.6,-8.5,682,5668,0.12,2.47,0.00,0.000,4,0.057,0.051,2511,813,3527
$GC,5697,-1.66,-194.7,556.3,-10.3,683,5703,0.15,2.60,0.00,0.000,6,0.113,0.037,2537,2317,3527
$GC,6016,-1.71,-194.7,584.5,-8.8,699,6020,0.00,2.30,0.00,0.000,4,0.000,0.055,2537,3621,3526
$GC,6101,-1.68,-194.7,592.8,-9.1,703,6106,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2201,3525
$GC,6433,-1.72,-194.7,621.5,-8.6,719,6437,0.00,2.47,0.00,0.000,4,0.000,0.054,2537,813,3523
$GC,6495,-1.69,-194.7,627.8,-9.9,722,6500,0.00,2.60,0.00,0.000,6,0.000,0.037,2537,2324,3523
$GC,6827,-1.74,-194.7,657.7,-9.4,738,6831,0.00,2.30,0.00,0.000,4,0.000,0.057,2537,3625,3522
$GC,6913,-1.71,-194.7,666.6,-10.0,742,6918,0.00,2.40,0.00,0.000,6,0.000,0.035,2537,2223,3521
$GC,7243,-1.76,-194.7,696.3,-8.9,758,7247,0.00,2.53,0.00,0.000,4,0.000,0.056,2537,810,3519
$GC,7329,-1.76,-194.7,704.6,-9.2,762,7334,0.00,2.62,0.00,0.000,6,0.000,0.038,2537,2326,3518
$STATE,7571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7572,begin apogee
$GC,7578,-0.35,0.0,726.1,8.8,774,7744,1.45,0.00,162.18,1.138,6,0.102,0.000,2826,2325,2748
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7749,1.67,194.7,734.6,0.0,782,7924,2.00,2.58,164.65,1.105,4,0.053,0.058,3271,3717,1953
$GC,7947,1.40,194.7,724.2,12.2,791,7954,0.35,2.42,0.00,0.000,6,0.137,0.040,3211,2339,1953
$GC,8266,1.33,232.6,693.9,9.5,807,8306,0.00,2.70,31.62,1.100,4,0.000,0.061,3211,928,1798
$GC,8353,1.23,242.0,684.8,10.6,811,8368,0.20,2.47,8.32,1.114,6,0.121,0.038,3176,2326,1760
$GC,8687,1.29,276.2,652.8,9.6,827,8721,0.00,2.62,29.23,1.092,4,0.000,0.058,3175,932,1622
$GC,8751,1.29,276.2,645.8,11.8,830,8755,0.00,2.40,0.00,0.000,6,0.000,0.038,3176,2289,1620
$GC,9078,1.33,302.6,613.0,9.9,846,9107,0.00,2.67,22.73,1.085,4,0.000,0.058,3176,3718,1514
$GC,9130,1.33,302.6,607.5,11.1,848,9134,0.00,2.50,0.00,0.000,6,0.000,0.039,3176,2295,1513
$GC,9446,1.42,357.1,578.3,8.8,863,9501,0.17,2.67,47.45,1.048,4,0.061,0.056,3219,3716,1291
$GC,9602,1.37,357.1,561.1,11.5,870,9606,0.00,2.60,0.00,0.000,6,0.000,0.040,3219,2234,1288
$GC,9923,1.33,357.1,525.6,11.2,886,9928,0.12,2.67,0.00,0.000,4,0.114,0.054,3198,3723,1286
$GC,9964,1.33,357.1,520.9,12.1,888,9968,0.00,2.55,0.00,0.000,6,0.000,0.038,3198,2259,1286
$GC,10284,1.34,363.5,487.6,10.7,909,10295,0.00,2.45,4.62,1.056,4,0.000,0.058,3198,926,1266
$GC,10318,1.34,363.5,483.9,11.5,912,10323,0.00,2.38,0.00,0.000,6,0.000,0.038,3198,2279,1265
$GC,10647,1.44,378.0,449.3,10.4,942,10668,0.00,2.55,12.95,1.017,4,0.000,0.057,3198,930,1205
$GC,10719,1.50,387.1,441.2,10.6,948,10736,0.15,2.20,8.65,1.014,6,0.062,0.037,3233,2189,1169
$GC,11055,1.46,387.1,403.4,11.3,980,11059,0.00,2.72,0.00,0.000,4,0.000,0.054,3233,3727,1166
$GC,11162,1.42,387.1,391.5,11.3,989,11166,0.00,2.58,0.00,0.000,6,0.000,0.038,3232,2246,1165
$GC,11490,1.42,388.1,355.9,11.0,1019,11494,0.00,2.38,0.00,0.000,4,0.000,0.057,3233,923,1164
$GC,11565,1.37,388.1,347.5,11.1,1025,11570,0.15,2.33,0.00,0.000,6,0.115,0.036,3206,2264,1163
$GC,11891,1.54,427.5,316.2,9.4,1055,11933,0.15,2.67,35.28,0.890,4,0.063,0.053,3246,3728,1003
$GC,11973,1.54,427.5,307.3,12.2,1062,11979,0.00,2.90,0.00,0.000,6,0.000,0.038,3246,2071,1001
$GC,12300,1.65,446.1,272.5,10.2,1093,12322,0.00,3.03,15.85,0.870,4,0.000,0.049,3246,3733,928
$GC,12414,1.65,446.1,259.5,11.9,1103,12418,0.00,2.50,0.00,0.000,6,0.000,0.035,3246,2289,925
$GC,12752,1.78,480.3,224.0,9.6,1155,12790,0.17,2.50,29.73,0.805,4,0.057,0.052,3295,923,789
$GC,12856,1.70,480.3,212.0,12.1,1173,12861,0.00,2.08,0.00,0.000,6,0.000,0.035,3295,2123,786
$GC,13201,1.65,480.9,168.1,11.0,1234,13207,0.15,2.15,0.00,0.000,4,0.108,0.053,3264,928,784
$GC,13265,1.65,483.7,161.0,10.9,1245,13270,0.00,2.17,0.00,0.000,6,0.000,0.033,3264,2200,784
$GC,13609,1.90,538.5,127.4,8.8,1306,13666,0.22,2.35,48.42,0.701,4,0.048,0.050,3329,935,552
$GC,13741,1.93,555.2,113.8,10.3,1330,13762,0.00,1.85,13.98,0.708,6,0.000,0.031,3329,2022,483
$GC,14104,2.13,593.5,78.2,9.5,1394,14125,0.15,3.08,12.88,0.674,4,0.051,0.046,3377,3727,417
$GC,14200,2.10,593.5,66.7,11.7,1411,14206,0.00,2.65,0.00,0.000,6,0.000,0.031,3377,2178,415
$GC,14544,2.10,593.5,25.8,12.3,1472,14550,0.00,2.20,0.00,0.000,4,0.000,0.047,3378,920,414
$GC,14630,2.11,601.5,16.0,10.7,1487,14636,0.00,2.08,0.00,0.000,6,0.000,0.028,3378,2161,414
$STATE,14769,end climb,SURFACE_DEPTH_REACHED
$STATE,14769,begin surface coast
$FINISH,-0.2,1.018582
$STATE,14793,end surface coast,CONTROL_FINISHED_OK
$STATE,14793,begin surface
$SM_CCo,14878,0.00,0.000,0,0,413,572.53
$SM_GC,0.74,13.68,0.00,0.00,0.035,0.000,0.000,248,2266,413,-12.18,1.44,572.53
$IRIDIUM_FIX,1229.99,12051.01,080897,000040
$TT8_MAMPS,0.02301
$HUMID,2123
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.50
$XPDR_PINGS,322
$ALTIM_BOTTOM_PING,670.3,70.5
$24V_AH,23.1,75.112
$10V_AH,10.1,38.587
$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,34.525,176.350,648.525,0.000,0.000,25.303,36.389,165.312,85.500,0.000,0.000,15.029,2417.147,8827.173,745.949,2623.655,639.280,0.000,2127.808,0.000,2562.029,0.000,39.303
$DEVICE_MAMPS,165.672,62.894,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47272,1516
$CAP_FILE_SIZE,168097,0
$CFSIZE,260165632,223182848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,091426,1234.861,12048.718,37,1.6,37,-0.8