version: 66.03
glider: 122
mission: 6
dive: 16
start: 2 19 108 2 10 42
data:
$ID,122
$MISSION,6
$DIVE,16
$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,330
$T_MISSION,396
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,410
$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,-27764.902
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.83
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,020532,1245.676,12016.819,37,1.2,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-70.9
$GPS2,020950,1245.740,12016.769,9,0.9,14,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,2000.000
$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,265.3,2302,-25.0,-10.000
$D_GRID,823
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.81,-75.6,0.0,0.0,0,85,0.00,0.00,-66.38,0.000,2,0.000,0.000,250,2211,2626
$GC,87,-1.83,-86.4,3.3,-9.0,13,114,12.98,2.42,-5.15,0.000,4,0.170,0.054,2504,3601,2894
$GC,170,-1.83,-86.4,29.3,-30.4,28,176,0.00,2.35,0.00,0.000,6,0.000,0.030,2503,2197,2895
$GC,512,-1.83,-86.4,102.6,-15.5,89,519,0.00,2.45,0.00,0.000,4,0.000,0.048,2504,794,2897
$GC,771,-1.83,-86.4,140.7,-13.5,135,778,0.00,2.38,0.00,0.000,6,0.000,0.029,2504,2212,2899
$GC,1114,-1.83,-86.4,186.5,-12.8,196,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2900
$GC,1456,-1.83,-86.4,229.8,-11.2,257,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2901
$GC,1789,-1.83,-86.4,268.0,-11.6,304,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2900
$GC,2108,-1.83,-86.4,301.2,-10.3,334,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2212,2899
$GC,2428,-1.83,-87.2,333.6,-9.9,364,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2898
$GC,2746,-1.86,-102.1,364.8,-8.6,394,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2897
$GC,3065,-1.86,-103.7,393.4,-9.8,424,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2896
$GC,3383,-1.88,-112.8,423.7,-9.1,454,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2894
$GC,3702,-1.89,-119.4,453.8,-9.4,484,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2212,2893
$GC,4021,-1.92,-135.9,482.4,-8.4,514,4025,0.00,2.53,0.00,0.000,4,0.000,0.057,2504,798,2891
$GC,4149,-1.93,-146.0,493.7,-8.9,525,4153,0.00,2.38,0.00,0.000,6,0.000,0.035,2504,2195,2891
$GC,4477,-1.93,-146.0,521.1,-8.2,544,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2195,2889
$GC,4785,-1.93,-146.0,546.7,-8.1,559,4789,0.00,2.50,0.00,0.000,4,0.000,0.056,2504,790,2887
$GC,4833,-1.93,-146.0,551.2,-9.5,561,4838,0.00,2.42,0.00,0.000,6,0.000,0.035,2504,2193,2887
$GC,5154,-1.93,-146.0,579.4,-8.3,577,5158,0.00,2.50,0.00,0.000,4,0.000,0.057,2504,791,2886
$GC,5203,-1.93,-146.0,583.7,-8.7,579,5208,0.00,2.42,0.00,0.000,6,0.000,0.035,2504,2192,2886
$GC,5525,-1.93,-146.0,611.1,-8.8,595,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2193,2885
$GC,5833,-1.93,-146.0,636.1,-8.1,610,5838,0.00,2.47,0.00,0.000,4,0.000,0.058,2504,3604,2883
$GC,5974,-1.93,-146.0,646.9,-7.0,616,5978,0.00,2.38,0.00,0.000,6,0.000,0.036,2504,2194,2883
$GC,6290,-1.93,-146.0,672.2,-7.8,631,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2193,2881
$GC,6598,-1.93,-146.0,694.1,-7.5,646,6602,0.00,2.50,0.00,0.000,4,0.000,0.059,2504,792,2880
$GC,6749,-1.93,-146.0,705.7,-7.5,653,6753,0.00,2.42,0.00,0.000,6,0.000,0.036,2504,2209,2879
$GC,7074,-1.93,-146.0,729.4,-6.9,669,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2210,2878
$GC,7383,-1.93,-146.0,753.2,-7.8,684,7388,0.00,2.45,0.00,0.000,4,0.000,0.058,2504,3605,2877
$GC,7438,-1.93,-146.0,757.9,-8.7,686,7445,0.00,2.40,0.00,0.000,6,0.000,0.035,2504,2199,2876
$GC,7754,-1.93,-146.0,782.1,-7.5,702,7758,0.00,2.47,0.00,0.000,4,0.000,0.056,2504,3602,2876
$GC,7796,-1.93,-146.0,785.8,-8.0,704,7801,0.00,2.40,0.00,0.000,6,0.000,0.035,2504,2202,2875
$GC,8123,-1.93,-146.0,809.1,-7.0,720,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2200,2874
$STATE,8348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8348,begin apogee
$GC,8352,-0.34,0.0,824.2,6.6,731,8426,1.67,0.00,69.80,1.282,6,0.114,0.000,2832,2410,2539
$STATE,8427,end apogee,CONTROL_FINISHED_OK
$STATE,8427,begin climb
$GC,8428,1.93,146.0,825.2,0.0,734,8557,2.25,0.00,123.47,1.235,6,0.057,0.000,3331,2410,1942
$GC,8858,1.93,146.0,748.2,20.2,755,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2409,1939
$GC,9167,1.93,146.0,687.0,19.1,770,9172,0.00,2.55,0.00,0.000,4,0.000,0.058,3330,1001,1938
$GC,9251,1.93,146.0,670.8,19.3,774,9255,0.00,2.42,0.00,0.000,6,0.000,0.038,3331,2394,1937
$GC,9576,1.93,146.0,610.2,18.0,790,9581,0.00,2.38,0.00,0.000,4,0.000,0.060,3331,3725,1937
$GC,9693,1.93,146.0,587.2,20.9,795,9698,0.00,2.30,0.00,0.000,6,0.000,0.035,3331,2399,1937
$GC,10014,1.93,146.0,528.2,18.0,811,10018,0.00,2.53,0.00,0.000,4,0.000,0.059,3331,992,1936
$GC,10085,1.93,146.0,515.3,18.0,814,10090,0.00,2.45,0.00,0.000,6,0.000,0.036,3331,2398,1935
$GC,10413,1.93,146.0,457.4,18.4,841,10417,0.00,2.53,0.00,0.000,4,0.000,0.054,3331,987,1935
$GC,10480,1.93,146.0,445.0,18.3,846,10486,0.00,2.42,0.00,0.000,6,0.000,0.036,3331,2400,1934
$GC,10804,1.93,146.0,385.9,17.3,877,10808,0.00,2.50,0.00,0.000,4,0.000,0.055,3331,996,1934
$GC,10864,1.93,146.0,374.9,17.5,882,10868,0.00,2.42,0.00,0.000,6,0.000,0.036,3331,2408,1935
$GC,11188,1.93,146.0,319.0,17.4,912,11192,0.00,2.33,0.00,0.000,4,0.000,0.055,3331,3730,1934
$GC,11283,1.93,146.0,301.9,18.5,920,11287,0.00,2.25,0.00,0.000,6,0.000,0.034,3331,2392,1935
$GC,11608,1.93,146.0,245.9,16.2,952,11614,0.00,2.47,0.00,0.000,4,0.000,0.052,3331,988,1935
$GC,11653,1.93,146.0,238.7,15.6,960,11659,0.00,2.42,0.00,0.000,6,0.000,0.036,3331,2406,1935
$GC,11995,1.93,146.0,187.3,13.3,1021,12001,0.00,2.30,0.00,0.000,4,0.000,0.054,3331,3722,1935
$GC,12035,1.93,146.0,181.2,15.5,1028,12041,0.00,2.22,0.00,0.000,6,0.000,0.032,3330,2393,1935
$GC,12378,1.93,146.0,134.7,13.0,1089,12384,0.00,2.33,0.00,0.000,4,0.000,0.051,3331,3724,1935
$GC,12552,1.94,149.2,114.3,9.7,1120,12558,0.00,2.20,0.00,0.000,6,0.000,0.031,3331,2397,1936
$GC,12895,1.97,170.3,85.7,7.9,1181,12922,0.00,2.53,17.60,0.722,4,0.000,0.050,3331,1002,1843
$GC,12988,1.97,170.3,76.9,11.1,1198,12995,0.00,2.38,0.00,0.000,6,0.000,0.031,3331,2406,1843
$GC,13332,2.14,268.5,53.3,0.4,1259,13415,0.20,2.53,76.10,0.644,4,0.063,0.048,3377,1001,1442
$GC,13611,2.14,268.5,23.5,15.8,1310,13617,0.00,2.38,0.00,0.000,6,0.000,0.031,3377,2403,1439
$STATE,13779,end climb,SURFACE_DEPTH_REACHED
$STATE,13779,begin surface coast
$FINISH,-0.2,1.005634
$STATE,13796,end surface coast,CONTROL_FINISHED_OK
$STATE,13797,begin surface
$SM_CCo,13817,65.75,0.567,0,0,866,410.14
$SM_GC,0.71,0.00,0.00,65.75,0.000,0.000,0.567,253,2171,866,-12.22,-0.82,410.14
$IRIDIUM_FIX,1241.04,12016.50,140597,222217
$TT8_MAMPS,0.023777
$HUMID,1857
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.00
$XPDR_PINGS,390
$24V_AH,23.3,7.511
$10V_AH,10.1,2.411
$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,30.950,97.375,286.975,65.750,0.000,31.432,12.918,126.915,116.750,0.000,0.000,14.255,2153.411,8976.906,480.734,2251.289,311.704,0.000,1580.279,0.000,2184.317,0.000,120.579
$DEVICE_MAMPS,170.274,59.826,1281.657,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40891,1343
$CAP_FILE_SIZE,130470,0
$CFSIZE,260165632,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,060308,1245.491,12015.531,30,0.8,30,-0.8