version: 66.03
glider: 122
mission: 6
dive: 418
start: 5 17 108 4 27 23
data:
$ID,122
$MISSION,6
$DIVE,418
$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,-35412.828
$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,24
$R_STBD_OVSHOOT,42
$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
$GPS1,042026,1236.191,12044.952,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.2
$GPS2,042651,1236.210,12044.967,14,1.5,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12043.000
$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,198.0,12039,-18.6,-9.016
$D_GRID,840
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-70.25,0.000,2,0.000,0.000,250,2235,2532
$GC,102,-1.56,-146.0,3.5,-8.8,14,134,13.27,0.00,-15.85,0.000,6,0.166,0.000,2560,2236,3345
$GC,472,-1.34,-146.0,64.7,-15.2,80,478,0.25,2.38,0.00,0.000,4,0.121,0.042,2609,3620,3347
$GC,576,-1.20,-146.0,78.7,-13.6,98,583,0.17,2.35,0.00,0.000,6,0.113,0.025,2641,2185,3347
$GC,921,-1.26,-146.0,115.4,-10.2,159,927,0.00,2.45,0.00,0.000,4,0.000,0.042,2640,3616,3349
$GC,956,-1.26,-146.0,119.1,-10.6,165,962,0.00,2.00,0.00,0.000,6,0.000,0.025,2640,2375,3349
$GC,1301,-1.36,-146.0,152.8,-8.1,226,1307,0.15,2.67,0.00,0.000,4,0.049,0.040,2589,821,3351
$GC,1382,-1.28,-146.0,160.9,-9.6,240,1389,0.17,2.50,0.00,0.000,6,0.096,0.029,2622,2323,3351
$GC,1729,-1.39,-146.0,190.1,-7.9,301,1734,0.00,2.20,0.00,0.000,4,0.000,0.045,2622,3611,3352
$GC,1793,-1.43,-146.0,195.7,-8.9,312,1799,0.12,2.03,0.00,0.000,6,0.057,0.027,2584,2363,3352
$GC,2138,-1.48,-146.0,225.9,-8.4,373,2144,0.00,2.15,0.00,0.000,4,0.000,0.044,2584,3619,3352
$GC,2197,-1.44,-146.0,231.3,-9.1,383,2202,0.00,2.20,0.00,0.000,6,0.000,0.028,2584,2282,3352
$GC,2535,-1.49,-146.0,259.8,-8.6,433,2539,0.00,2.30,0.00,0.000,4,0.000,0.045,2584,3618,3350
$GC,2620,-1.49,-146.0,267.2,-8.7,440,2624,0.00,2.12,0.00,0.000,6,0.000,0.029,2584,2331,3350
$GC,2949,-1.56,-146.0,295.4,-8.8,470,2952,0.00,2.22,0.00,0.000,4,0.000,0.046,2584,3621,3348
$GC,3027,-1.56,-146.0,303.3,-9.9,476,3033,0.00,2.25,0.00,0.000,6,0.000,0.031,2584,2265,3348
$GC,3355,-1.64,-146.0,331.8,-8.6,507,3360,0.15,2.55,0.00,0.000,4,0.051,0.049,2533,817,3346
$GC,3433,-1.51,-146.0,339.7,-9.9,513,3440,0.22,2.65,0.00,0.000,6,0.099,0.033,2576,2371,3346
$GC,3759,-1.56,-146.0,366.7,-8.2,544,3762,0.00,2.15,0.00,0.000,4,0.000,0.050,2576,3612,3343
$GC,3850,-1.56,-146.0,374.4,-8.0,552,3854,0.00,2.25,0.00,0.000,6,0.000,0.031,2576,2267,3343
$GC,4178,-1.62,-146.0,399.8,-7.5,582,4183,0.12,2.55,0.00,0.000,4,0.057,0.049,2539,824,3341
$GC,4257,-1.52,-146.0,407.0,-9.3,588,4263,0.17,2.70,0.00,0.000,6,0.104,0.033,2571,2403,3340
$GC,4582,-1.57,-146.0,432.5,-8.0,619,4586,0.00,2.10,0.00,0.000,4,0.000,0.051,2571,3608,3338
$GC,4667,-1.53,-146.0,439.5,-8.4,626,4673,0.00,2.22,0.00,0.000,6,0.000,0.032,2571,2287,3337
$GC,4995,-1.60,-146.0,463.1,-7.0,657,5000,0.00,2.60,0.00,0.000,4,0.000,0.051,2571,824,3334
$GC,5092,-1.60,-146.0,470.6,-7.4,665,5096,0.00,2.70,0.00,0.000,6,0.000,0.035,2571,2389,3333
$GC,5420,-1.65,-146.0,494.1,-7.4,695,5425,0.12,2.12,0.00,0.000,4,0.058,0.051,2536,3609,3332
$GC,5516,-1.52,-146.0,502.9,-8.6,702,5521,0.20,2.22,0.00,0.000,6,0.108,0.033,2572,2287,3331
$GC,5842,-1.58,-146.0,528.3,-8.2,718,5846,0.00,2.60,0.00,0.000,4,0.000,0.052,2572,827,3329
$GC,5927,-1.58,-146.0,536.0,-8.7,722,5931,0.00,2.72,0.00,0.000,6,0.000,0.036,2572,2398,3327
$GC,6257,-1.64,-146.0,560.6,-7.1,738,6263,0.12,2.80,0.00,0.000,4,0.058,0.051,2536,827,3327
$GC,6280,-1.61,-146.0,562.8,-8.0,739,6284,0.00,2.53,0.00,0.000,6,0.000,0.035,2536,2292,3327
$GC,6601,-1.61,-146.0,587.4,-7.7,755,6605,0.00,2.33,0.00,0.000,4,0.000,0.054,2536,3609,3325
$GC,6681,-1.50,-146.0,594.3,-9.0,758,6687,0.22,2.05,0.00,0.000,6,0.108,0.033,2577,2394,3325
$GC,7001,-1.59,-146.0,617.8,-7.4,774,7004,0.00,2.15,0.00,0.000,4,0.000,0.054,2577,3610,3322
$GC,7041,-1.59,-146.0,621.1,-7.7,776,7044,0.00,1.95,0.00,0.000,6,0.000,0.034,2577,2452,3322
$GC,7376,-1.66,-146.0,647.0,-7.7,792,7381,0.17,2.05,0.00,0.000,4,0.050,0.054,2525,3608,3321
$GC,7394,-1.66,-146.0,648.8,-8.4,793,7398,0.00,2.15,0.00,0.000,6,0.000,0.035,2525,2341,3320
$GC,7724,-1.63,-146.0,676.7,-8.5,809,7729,0.12,2.72,0.00,0.000,4,0.117,0.054,2546,820,3319
$GC,7793,-1.57,-146.0,682.8,-8.2,812,7797,0.00,2.50,0.00,0.000,6,0.000,0.038,2547,2260,3318
$GC,8115,-1.57,-146.0,709.0,-8.3,828,8119,0.00,2.58,0.00,0.000,4,0.000,0.056,2546,827,3317
$GC,8142,-1.51,-146.0,711.5,-9.1,829,8147,0.15,2.70,0.00,0.000,6,0.117,0.037,2573,2386,3317
$GC,8461,-1.56,-146.0,736.1,-7.8,844,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2385,3316
$STATE,8764,end dive,NO_VERTICAL_VELOCITY
$STATE,8765,begin apogee
$GC,8771,-0.35,0.0,744.5,0.0,859,8895,1.17,0.00,120.35,1.168,6,0.058,0.000,2832,2386,2748
$STATE,8896,end apogee,CONTROL_FINISHED_OK
$STATE,8896,begin climb
$GC,8899,1.56,146.0,744.3,0.0,865,9029,1.85,0.00,124.85,1.129,6,0.044,0.000,3250,2385,2152
$GC,9331,1.37,176.2,717.1,7.7,886,9363,0.22,2.70,25.55,1.134,4,0.121,0.058,3206,946,2029
$GC,9486,1.23,180.1,703.3,8.8,893,9496,0.20,2.45,3.42,1.141,6,0.122,0.038,3172,2336,2013
$GC,9815,1.24,222.7,677.8,7.1,909,9857,0.00,2.65,36.47,1.118,4,0.000,0.058,3172,950,1840
$GC,9985,1.19,226.6,663.0,8.8,916,9997,0.00,2.33,3.22,1.121,6,0.000,0.038,3172,2272,1824
$GC,10306,1.24,255.2,636.8,7.7,932,10337,0.00,2.47,25.17,1.111,4,0.000,0.058,3171,950,1707
$GC,10401,1.24,256.9,629.1,8.9,936,10405,0.00,2.25,0.00,0.000,6,0.000,0.037,3172,2235,1704
$GC,10717,1.34,275.2,602.8,8.2,951,10739,0.12,0.00,17.10,1.105,6,0.070,0.000,3200,2234,1626
$GC,11049,1.35,282.0,573.5,8.7,967,11057,0.00,0.00,5.95,1.116,6,0.000,0.000,3200,2235,1598
$GC,11358,1.41,298.1,546.9,8.3,982,11378,0.00,2.80,14.45,1.083,4,0.000,0.057,3200,3724,1531
$GC,11406,1.37,298.1,542.3,10.1,984,11411,0.00,2.35,0.00,0.000,6,0.000,0.037,3200,2373,1531
$GC,11729,1.39,305.9,515.1,8.7,1000,11742,0.00,2.70,6.45,1.086,4,0.000,0.057,3200,936,1500
$GC,11806,1.36,305.9,508.0,9.3,1003,11810,0.00,2.25,0.00,0.000,6,0.000,0.037,3200,2221,1499
$GC,12132,1.42,314.3,479.8,8.6,1029,12143,0.00,0.00,7.68,1.060,6,0.000,0.000,3200,2222,1465
$GC,12465,1.53,329.5,451.4,8.3,1060,12487,0.15,2.78,13.25,1.025,4,0.065,0.055,3240,3718,1404
$GC,12523,1.43,329.8,446.0,9.0,1065,12527,0.12,2.38,0.00,0.000,6,0.129,0.037,3220,2354,1403
$GC,12847,1.43,329.8,416.2,9.1,1095,12852,0.00,2.55,0.00,0.000,4,0.000,0.056,3220,931,1402
$GC,12938,1.38,329.8,407.6,9.3,1102,12944,0.00,2.17,0.00,0.000,6,0.000,0.036,3220,2183,1400
$GC,13266,1.42,332.7,376.9,8.9,1133,13277,0.00,2.83,2.58,0.986,4,0.000,0.055,3220,3727,1391
$GC,13329,1.39,332.7,370.9,9.1,1138,13335,0.00,3.00,0.00,0.000,6,0.000,0.038,3220,2008,1391
$GC,13656,1.44,332.7,342.7,9.0,1169,13660,0.00,1.92,0.00,0.000,4,0.000,0.058,3221,934,1390
$GC,13669,1.48,333.7,341.4,9.0,1170,13673,0.00,2.20,0.00,0.000,6,0.000,0.036,3220,2205,1389
$GC,13997,1.55,333.7,311.5,9.4,1200,14003,0.10,0.00,0.00,0.000,6,0.077,0.000,3245,2205,1389
$GC,14326,1.59,357.3,283.2,8.0,1231,14357,0.00,2.78,21.58,0.877,4,0.000,0.052,3245,3727,1290
$GC,14404,1.55,357.3,276.0,9.4,1238,14408,0.00,2.42,0.00,0.000,6,0.000,0.035,3244,2328,1289
$GC,14731,1.55,357.3,245.6,9.5,1272,14737,0.00,2.50,0.00,0.000,4,0.000,0.054,3245,932,1287
$GC,14840,1.50,357.3,234.9,9.6,1291,14846,0.00,2.12,0.00,0.000,6,0.000,0.034,3245,2166,1286
$GC,15185,1.56,360.8,205.1,8.9,1352,15196,0.00,2.85,2.38,0.852,4,0.000,0.051,3245,3734,1277
$GC,15249,1.57,365.0,199.5,8.8,1363,15261,0.00,2.47,4.10,0.850,6,0.000,0.035,3245,2291,1259
$GC,15602,1.64,365.0,167.1,9.2,1425,15608,0.00,2.42,0.00,0.000,4,0.000,0.052,3245,929,1258
$GC,15693,1.67,384.7,158.5,8.1,1441,15716,0.10,2.12,17.02,0.767,6,0.072,0.034,3270,2170,1178
$GC,16057,1.82,426.3,131.1,7.2,1505,16100,0.15,2.83,35.20,0.707,4,0.058,0.050,3315,3731,1008
$GC,16112,1.82,426.3,126.0,9.5,1515,16118,0.00,3.03,0.00,0.000,6,0.000,0.034,3315,2000,1007
$GC,16457,1.89,447.6,97.2,8.1,1576,16479,0.00,3.17,16.75,0.684,4,0.000,0.046,3315,3733,922
$GC,16510,1.93,471.5,92.9,7.9,1585,16536,0.00,2.70,20.40,0.663,6,0.000,0.031,3315,2160,825
$GC,16877,2.05,472.5,62.3,9.0,1650,16883,0.15,2.17,0.00,0.000,4,0.054,0.048,3360,929,821
$GC,16947,2.05,472.5,55.2,9.0,1662,16952,0.00,1.88,0.00,0.000,6,0.000,0.029,3360,2049,820
$GC,17292,2.12,490.9,27.5,8.2,1723,17313,0.00,2.97,15.15,0.597,4,0.000,0.042,3361,3737,745
$GC,17405,2.12,490.9,17.0,9.2,1743,17411,0.00,2.65,0.00,0.000,6,0.000,0.028,3360,2162,744
$STATE,17561,end climb,SURFACE_DEPTH_REACHED
$STATE,17561,begin surface coast
$FINISH,0.1,1.020998
$STATE,17579,end surface coast,CONTROL_FINISHED_OK
$STATE,17579,begin surface
$SM_CCo,17664,0.00,0.000,0,0,741,492.32
$SM_GC,0.76,13.60,0.00,0.00,0.035,0.000,0.000,250,2264,741,-12.17,1.36,492.32
$IRIDIUM_FIX,1229.99,12047.98,100897,232305
$TT8_MAMPS,0.023777
$HUMID,2075
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.30
$XPDR_PINGS,344
$ALTIM_BOTTOM_PING,671.5,81.6
$24V_AH,23.0,78.146
$10V_AH,10.1,39.916
$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,33.900,180.450,539.075,0.000,0.000,23.718,37.581,172.226,90.750,0.000,0.000,14.289,2826.297,10843.146,677.102,2998.112,699.427,0.000,2209.054,0.000,2937.914,0.000,36.419
$DEVICE_MAMPS,165.672,63.661,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56622,1774
$CAP_FILE_SIZE,188247,0
$CFSIZE,260165632,221884416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,092301,1236.540,12044.521,37,1.0,37,-0.8