version: 66.03
glider: 122
mission: 6
dive: 423
start: 5 18 108 7 26 32
data:
$ID,122
$MISSION,6
$DIVE,423
$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,-35525.609
$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,55
$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
$GPS1,071908,1235.326,12043.956,25,1.8,25,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.9
$GPS2,072559,1235.309,12043.966,13,3.2,32,-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,190.9,9986,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-59.67,0.000,2,0.000,0.000,248,2250,2390
$GC,89,-1.56,-146.0,3.6,-8.9,12,127,13.30,2.38,-18.95,0.000,4,0.166,0.054,2559,3600,3345
$GC,162,-1.28,-146.0,17.3,-16.6,25,169,0.35,2.33,0.00,0.000,6,0.118,0.026,2623,2192,3346
$GC,507,-1.25,-146.0,63.3,-12.4,86,513,0.00,2.35,0.00,0.000,4,0.000,0.041,2623,824,3347
$GC,543,-1.18,-146.0,67.7,-13.1,92,549,0.12,2.53,0.00,0.000,6,0.121,0.028,2645,2332,3347
$GC,888,-1.26,-146.0,103.6,-9.9,153,894,0.00,2.60,0.00,0.000,4,0.000,0.038,2645,821,3349
$GC,951,-1.26,-146.0,110.4,-10.5,164,957,0.00,2.60,0.00,0.000,6,0.000,0.028,2645,2368,3349
$GC,1297,-1.39,-146.0,143.6,-8.1,225,1303,0.17,2.12,0.00,0.000,4,0.044,0.045,2584,3609,3352
$GC,1333,-1.32,-146.0,146.9,-9.2,231,1340,0.17,1.95,0.00,0.000,6,0.097,0.025,2618,2400,3352
$GC,1679,-1.41,-146.0,177.5,-8.0,292,1686,0.00,2.72,0.00,0.000,4,0.000,0.045,2618,820,3353
$GC,1738,-1.41,-146.0,182.1,-7.9,302,1744,0.00,2.72,0.00,0.000,6,0.000,0.030,2618,2433,3353
$GC,2083,-1.52,-146.0,209.4,-7.8,363,2090,0.17,2.80,0.00,0.000,4,0.044,0.041,2556,820,3352
$GC,2126,-1.42,-146.0,213.2,-9.2,370,2132,0.20,2.65,0.00,0.000,6,0.099,0.031,2594,2388,3352
$GC,2471,-1.51,-146.0,243.4,-8.2,431,2477,0.00,2.08,0.00,0.000,4,0.000,0.048,2594,3599,3352
$GC,2524,-1.51,-146.0,247.9,-8.7,440,2529,0.00,2.05,0.00,0.000,6,0.000,0.028,2593,2348,3352
$GC,2854,-1.59,-146.0,273.5,-7.7,473,2859,0.15,2.17,0.00,0.000,4,0.049,0.045,2544,3607,3350
$GC,2932,-1.45,-146.0,281.3,-9.6,479,2938,0.22,1.88,0.00,0.000,6,0.101,0.029,2585,2457,3350
$GC,3258,-1.52,-146.0,308.8,-8.7,510,3261,0.00,1.98,0.00,0.000,4,0.000,0.048,2585,3601,3347
$GC,3308,-1.52,-146.0,313.4,-8.8,514,3314,0.00,2.03,0.00,0.000,6,0.000,0.031,2585,2374,3347
$GC,3637,-1.59,-146.0,341.3,-8.4,545,3641,0.12,2.12,0.00,0.000,4,0.054,0.048,2547,3603,3345
$GC,3698,-1.46,-146.0,347.3,-9.3,550,3704,0.20,2.20,0.00,0.000,6,0.104,0.031,2584,2280,3345
$GC,4024,-1.55,-146.0,372.8,-7.8,581,4028,0.00,2.58,0.00,0.000,4,0.000,0.049,2584,822,3343
$GC,4108,-1.55,-146.0,379.5,-7.6,588,4113,0.00,2.67,0.00,0.000,6,0.000,0.034,2584,2380,3342
$GC,4437,-1.61,-146.0,404.0,-7.5,618,4442,0.15,2.75,0.00,0.000,4,0.050,0.047,2534,827,3340
$GC,4538,-1.49,-146.0,413.4,-8.6,626,4545,0.22,2.47,0.00,0.000,6,0.105,0.034,2576,2275,3339
$GC,4864,-1.57,-146.0,439.0,-8.2,657,4868,0.00,2.55,0.00,0.000,4,0.000,0.049,2576,825,3337
$GC,4904,-1.57,-146.0,442.3,-8.5,660,4908,0.00,2.45,0.00,0.000,6,0.000,0.034,2576,2251,3336
$GC,5238,-1.64,-146.0,466.1,-7.4,691,5243,0.12,2.55,0.00,0.000,4,0.056,0.050,2540,822,3334
$GC,5278,-1.54,-146.0,469.5,-7.8,694,5283,0.15,2.70,0.00,0.000,6,0.110,0.035,2567,2387,3333
$GC,5604,-1.58,-146.0,494.8,-8.0,724,5608,0.00,2.17,0.00,0.000,4,0.000,0.053,2567,3625,3332
$GC,5632,-1.58,-146.0,497.4,-8.5,726,5636,0.00,2.17,0.00,0.000,6,0.000,0.032,2567,2336,3331
$GC,5963,-1.63,-146.0,524.0,-7.8,743,5967,0.00,2.28,0.00,0.000,4,0.000,0.053,2567,3625,3330
$GC,6053,-1.60,-146.0,531.6,-8.1,747,6056,0.00,2.03,0.00,0.000,6,0.000,0.033,2567,2424,3329
$GC,6381,-1.67,-146.0,555.0,-7.0,763,6386,0.12,2.12,0.00,0.000,4,0.058,0.052,2532,3625,3327
$GC,6454,-1.54,-146.0,561.0,-7.9,766,6459,0.20,2.17,0.00,0.000,6,0.109,0.034,2568,2340,3327
$GC,6774,-1.59,-146.0,583.2,-7.3,781,6778,0.00,2.28,0.00,0.000,4,0.000,0.054,2568,3623,3326
$GC,6881,-1.59,-146.0,592.0,-8.1,786,6885,0.00,2.00,0.00,0.000,6,0.000,0.035,2568,2438,3325
$GC,7217,-1.65,-146.0,616.8,-7.2,802,7221,0.00,2.08,0.00,0.000,4,0.000,0.055,2567,3616,3323
$GC,7251,-1.65,-146.0,619.6,-7.9,803,7255,0.00,2.20,0.00,0.000,6,0.000,0.035,2567,2318,3323
$GC,7569,-1.71,-146.0,642.7,-7.4,818,7574,0.15,2.33,0.00,0.000,4,0.055,0.054,2523,3625,3321
$GC,7587,-1.71,-146.0,644.4,-8.2,819,7591,0.00,2.03,0.00,0.000,6,0.000,0.035,2523,2428,3321
$GC,7924,-1.66,-146.0,670.7,-7.6,835,7928,0.00,2.88,0.00,0.000,4,0.000,0.053,2522,821,3319
$GC,8019,-1.55,-146.0,678.7,-7.3,839,8024,0.22,2.58,0.00,0.000,6,0.112,0.037,2563,2300,3319
$GC,8340,-1.60,-146.0,700.2,-6.9,854,8344,0.00,2.65,0.00,0.000,4,0.000,0.054,2564,827,3318
$GC,8389,-1.60,-146.0,704.5,-8.3,856,8394,0.00,2.75,0.00,0.000,6,0.000,0.038,2564,2409,3318
$GC,8709,-1.64,-146.0,728.4,-7.4,871,8713,0.00,2.12,0.00,0.000,4,0.000,0.060,2564,3615,3317
$GC,8800,-1.61,-146.0,735.3,-7.6,875,8804,0.00,2.25,0.00,0.000,6,0.000,0.036,2564,2298,3317
$GC,9128,-1.66,-146.0,758.4,-6.8,891,9132,0.00,2.65,0.00,0.000,4,0.000,0.057,2563,823,3315
$GC,9223,-1.66,-146.0,765.8,-7.4,895,9227,0.00,2.78,0.00,0.000,6,0.000,0.038,2564,2416,3315
$GC,9541,-1.71,-146.0,787.9,-7.0,910,9546,0.15,2.15,0.00,0.000,4,0.056,0.058,2524,3625,3313
$GC,9631,-1.58,-146.0,796.0,-9.0,914,9635,0.17,2.22,0.00,0.000,6,0.115,0.037,2555,2312,3313
$GC,9957,-1.58,-146.0,821.3,-7.7,930,9961,0.00,2.33,0.00,0.000,4,0.000,0.057,2555,3615,3312
$STATE,10202,end dive,NO_VERTICAL_VELOCITY
$STATE,10202,begin apogee
$GC,10211,-0.35,0.0,829.5,0.0,941,10336,1.23,0.00,121.82,1.246,6,0.065,0.000,2823,2344,2748
$STATE,10337,end apogee,CONTROL_FINISHED_OK
$STATE,10337,begin climb
$GC,10341,1.56,146.0,829.4,0.0,947,10476,1.92,2.67,127.35,1.203,4,0.054,0.061,3242,934,2152
$GC,10563,1.30,146.0,816.3,9.5,957,10568,0.30,2.47,0.00,0.000,6,0.121,0.039,3189,2329,2150
$GC,10882,1.24,190.9,794.1,7.0,972,10926,0.00,2.67,38.62,1.203,4,0.000,0.060,3189,937,1969
$GC,11025,1.12,190.9,781.8,9.3,978,11030,0.22,2.38,0.00,0.000,6,0.116,0.039,3149,2281,1967
$GC,11341,1.18,226.7,758.1,7.4,993,11382,0.00,2.55,31.40,1.192,4,0.000,0.061,3149,933,1821
$GC,11451,1.20,240.4,749.2,8.4,998,11471,0.00,2.28,11.98,1.196,6,0.000,0.039,3149,2217,1768
$GC,11783,1.30,266.4,723.2,7.8,1014,11812,0.15,2.45,23.25,1.180,4,0.065,0.061,3188,943,1661
$GC,11917,1.24,266.5,711.0,9.0,1020,11922,0.00,2.42,0.00,0.000,6,0.000,0.040,3188,2310,1658
$GC,12245,1.19,266.5,680.6,9.3,1036,12247,0.12,0.00,0.00,0.000,6,0.116,0.000,3167,2309,1657
$GC,12554,1.25,273.3,653.6,8.7,1051,12565,0.00,2.60,5.85,1.185,4,0.000,0.061,3167,3724,1633
$GC,12577,1.27,285.9,651.6,8.5,1052,12594,0.00,2.78,11.52,1.153,6,0.000,0.041,3167,2155,1582
$GC,12904,1.36,295.3,623.1,8.6,1068,12918,0.15,2.33,8.55,1.163,4,0.068,0.063,3201,935,1544
$GC,12994,1.29,295.3,614.5,9.1,1072,12998,0.00,2.40,0.00,0.000,6,0.000,0.038,3201,2293,1542
$GC,13322,1.24,295.3,584.4,9.4,1088,13327,0.15,2.60,0.00,0.000,4,0.113,0.058,3171,3733,1541
$GC,13423,1.24,295.3,575.0,9.0,1092,13429,0.00,2.72,0.00,0.000,6,0.000,0.041,3171,2176,1541
$GC,13740,1.34,303.2,548.0,8.7,1108,13754,0.12,2.35,6.70,1.127,4,0.071,0.061,3200,938,1511
$GC,13818,1.30,303.2,540.1,9.3,1111,13821,0.00,1.88,0.00,0.000,6,0.000,0.036,3200,2020,1511
$GC,14140,1.30,303.2,508.2,9.4,1127,14144,0.00,3.08,0.00,0.000,4,0.000,0.056,3200,3733,1510
$GC,14235,1.30,303.2,498.6,9.8,1132,14240,0.00,2.70,0.00,0.000,6,0.000,0.039,3200,2187,1511
$GC,14563,1.34,328.7,470.9,7.9,1162,14594,0.00,2.40,22.60,1.037,4,0.000,0.058,3200,923,1407
$GC,14645,1.34,328.7,463.5,9.2,1169,14650,0.00,1.95,0.00,0.000,6,0.000,0.036,3200,2045,1405
$GC,14975,1.41,332.9,436.0,8.8,1200,14986,0.00,3.05,3.67,1.047,4,0.000,0.054,3200,3726,1390
$GC,15101,1.42,334.4,424.3,9.0,1211,15106,0.00,2.62,0.00,0.000,6,0.000,0.038,3200,2223,1390
$GC,15430,1.52,345.6,396.2,8.5,1241,15451,0.15,2.45,11.70,0.997,4,0.063,0.057,3242,928,1337
$GC,15544,1.44,345.6,385.0,10.6,1251,15548,0.12,1.98,0.00,0.000,6,0.117,0.035,3221,2066,1336
$GC,15876,1.49,349.8,354.8,8.8,1282,15887,0.00,3.00,3.45,0.986,4,0.000,0.053,3221,3726,1322
$GC,15994,1.49,349.8,343.5,9.1,1292,16000,0.00,2.60,0.00,0.000,6,0.000,0.038,3221,2230,1322
$GC,16323,1.56,356.8,315.1,8.7,1323,16335,0.12,2.42,6.55,0.948,4,0.071,0.054,3251,929,1292
$GC,16427,1.49,356.8,304.7,10.8,1332,16431,0.12,1.98,0.00,0.000,6,0.116,0.035,3230,2073,1291
$GC,16758,1.56,360.3,275.1,8.9,1363,16769,0.00,3.00,3.15,0.918,4,0.000,0.052,3230,3721,1279
$GC,16854,1.56,360.3,266.1,9.2,1371,16860,0.00,2.58,0.00,0.000,6,0.000,0.036,3229,2229,1279
$GC,17186,1.65,374.8,238.0,8.4,1414,17208,0.15,2.40,12.93,0.852,4,0.064,0.054,3270,938,1219
$GC,17302,1.56,374.8,226.3,11.3,1434,17308,0.15,1.95,0.00,0.000,6,0.112,0.035,3244,2069,1217
$GC,17648,1.64,385.9,195.7,8.5,1495,17664,0.00,3.00,9.68,0.823,4,0.000,0.051,3243,3728,1173
$GC,17778,1.64,385.9,183.5,10.0,1518,17784,0.00,2.60,0.00,0.000,6,0.000,0.035,3243,2222,1173
$GC,18124,1.76,404.6,152.7,8.2,1579,18146,0.15,2.35,15.95,0.759,4,0.064,0.053,3285,934,1097
$GC,18251,1.76,404.6,141.4,9.8,1601,18257,0.00,1.98,0.00,0.000,6,0.000,0.033,3285,2087,1095
$GC,18596,1.88,436.9,113.2,7.6,1662,18629,0.12,2.15,27.23,0.695,4,0.061,0.049,3320,935,965
$GC,18736,1.88,436.9,101.4,9.4,1687,18742,0.00,2.05,0.00,0.000,6,0.000,0.031,3320,2143,962
$GC,19081,1.94,441.5,73.1,8.8,1748,19092,0.00,2.83,2.92,0.700,4,0.000,0.047,3320,3721,947
$GC,19215,2.11,506.7,63.7,6.1,1771,19277,0.20,2.97,54.55,0.610,6,0.050,0.031,3371,1983,681
$GC,19616,2.17,508.3,27.7,8.9,1843,19622,0.00,3.05,0.00,0.000,4,0.000,0.043,3372,3730,678
$GC,19663,2.20,523.0,23.6,8.4,1851,19685,0.00,2.70,12.62,0.591,6,0.000,0.029,3371,2135,614
$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$FINISH,0.0,1.010583
$STATE,19932,end surface coast,CONTROL_FINISHED_OK
$STATE,19932,begin surface
$SM_CCo,20017,0.00,0.000,0,0,610,524.21
$SM_GC,0.77,13.73,0.00,0.00,0.038,0.000,0.000,250,2252,610,-12.17,1.02,524.21
$IRIDIUM_FIX,1227.78,11834.51,120897,010101
$TT8_MAMPS,0.023777
$HUMID,2086
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.50
$XPDR_PINGS,396
$ALTIM_BOTTOM_PING,720.7,125.0
$24V_AH,22.8,79.119
$10V_AH,10.1,40.412
$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,36.275,227.925,574.050,0.000,0.000,24.214,37.403,176.877,105.000,0.000,0.000,33.392,3095.433,12403.177,720.161,3441.403,762.913,0.000,2471.412,0.000,3344.550,0.000,45.597
$DEVICE_MAMPS,165.672,62.894,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1271.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59759,1899
$CAP_FILE_SIZE,217199,0
$CFSIZE,260165632,221384704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,130126,1235.286,12043.649,40,1.4,40,-0.8