version: 66.03
glider: 122
mission: 6
dive: 18
start: 2 19 108 9 53 38
data:
$ID,122
$MISSION,6
$DIVE,18
$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,-27811.484
$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,14.76
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,34
$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
$GPS1,094809,1245.676,12016.947,15,2.0,15,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.2
$GPS2,095247,1245.716,12016.885,11,2.1,30,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,79.6,47611,-23.3,-10.000
$D_GRID,871
$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,17,-1.73,-86.6,0.0,0.0,0,86,0.00,0.00,-67.07,0.000,2,0.000,0.000,250,2178,2663
$GC,88,-1.76,-106.7,3.5,-8.2,13,115,13.18,2.50,-5.72,0.000,4,0.173,0.053,2517,762,2977
$GC,194,-1.56,-106.7,36.0,-25.1,32,200,0.25,2.33,0.00,0.000,6,0.130,0.028,2561,2152,2978
$GC,537,-1.49,-106.7,97.6,-15.5,93,543,0.00,2.40,0.00,0.000,4,0.000,0.045,2561,3555,2981
$GC,582,-1.41,-106.7,104.9,-16.2,101,589,0.17,2.30,0.00,0.000,6,0.110,0.029,2593,2168,2981
$GC,924,-1.41,-106.7,146.0,-11.6,162,930,0.00,2.50,0.00,0.000,4,0.000,0.050,2592,741,2983
$GC,1048,-1.44,-106.7,161.6,-12.6,184,1054,0.00,2.38,0.00,0.000,6,0.000,0.030,2593,2164,2983
$GC,1391,-1.49,-110.2,198.1,-9.7,245,1397,0.00,2.47,0.00,0.000,4,0.000,0.049,2593,749,2984
$GC,1570,-1.56,-125.0,215.7,-8.7,277,1577,0.12,2.35,0.00,0.000,6,0.057,0.031,2556,2154,2984
$GC,1912,-1.56,-125.0,252.2,-10.3,336,1916,0.00,2.47,0.00,0.000,4,0.000,0.051,2556,748,2983
$GC,2000,-1.56,-125.0,262.1,-11.1,343,2007,0.00,2.40,0.00,0.000,6,0.000,0.031,2556,2152,2983
$GC,2325,-1.56,-126.2,294.0,-9.9,374,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2152,2983
$GC,2644,-1.56,-126.2,325.0,-10.2,404,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2152,2982
$GC,2963,-1.56,-126.2,356.6,-10.1,434,2968,0.00,2.50,0.00,0.000,4,0.000,0.054,2556,741,2980
$GC,3040,-1.57,-134.2,364.5,-9.3,440,3047,0.00,2.40,0.00,0.000,6,0.000,0.031,2556,2149,2980
$GC,3365,-1.59,-144.9,394.5,-9.1,471,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2149,2978
$GC,3686,-1.62,-146.0,423.7,-8.3,501,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2150,2977
$GC,4003,-1.65,-146.0,448.3,-7.8,531,4007,0.00,2.45,0.00,0.000,4,0.000,0.052,2556,3555,2975
$GC,4097,-1.67,-146.0,456.0,-8.3,539,4102,0.00,2.38,0.00,0.000,6,0.000,0.035,2556,2143,2975
$GC,4421,-1.70,-146.0,481.9,-8.3,569,4425,0.00,2.47,0.00,0.000,4,0.000,0.053,2556,3555,2973
$GC,4460,-1.73,-146.0,485.5,-9.0,572,4466,0.12,2.38,0.00,0.000,6,0.064,0.034,2525,2149,2973
$GC,4790,-1.73,-146.0,515.8,-9.0,596,4794,0.00,2.45,0.00,0.000,4,0.000,0.053,2524,3546,2971
$GC,4867,-1.70,-146.0,523.2,-9.7,599,4873,0.00,2.38,0.00,0.000,6,0.000,0.035,2525,2146,2971
$GC,5183,-1.70,-146.0,552.0,-9.4,615,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2142,2969
$GC,5491,-1.70,-146.0,578.9,-8.7,630,5495,0.00,2.47,0.00,0.000,4,0.000,0.054,2525,3556,2968
$GC,5568,-1.68,-146.0,586.1,-9.2,633,5574,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2142,2967
$GC,5883,-1.68,-146.0,613.1,-7.7,649,5887,0.00,2.47,0.00,0.000,4,0.000,0.054,2525,3549,2966
$GC,5948,-1.68,-146.0,618.8,-8.8,652,5953,0.00,2.40,0.00,0.000,6,0.000,0.036,2525,2152,2965
$GC,6275,-1.68,-146.0,644.9,-7.8,668,6279,0.00,2.53,0.00,0.000,4,0.000,0.061,2525,742,2965
$GC,6362,-1.68,-146.0,653.6,-10.3,672,6367,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2141,2963
$GC,6689,-1.68,-146.0,682.2,-8.9,688,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2143,2962
$GC,6999,-1.68,-146.0,710.2,-9.0,703,7003,0.00,2.47,0.00,0.000,4,0.000,0.056,2525,3554,2962
$GC,7025,-1.68,-146.0,712.9,-9.5,704,7029,0.00,2.40,0.00,0.000,6,0.000,0.036,2525,2156,2962
$GC,7346,-1.68,-146.0,738.0,-7.5,720,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2155,2961
$GC,7655,-1.68,-146.0,762.4,-8.0,735,7659,0.00,2.47,0.00,0.000,4,0.000,0.057,2525,3553,2960
$GC,7710,-1.68,-146.0,767.1,-9.1,737,7716,0.00,2.42,0.00,0.000,6,0.000,0.037,2525,2147,2960
$GC,8025,-1.68,-146.0,793.5,-8.5,753,8030,0.00,2.53,0.00,0.000,4,0.000,0.064,2525,741,2959
$GC,8147,-1.68,-146.0,805.1,-9.8,758,8154,0.00,2.45,0.00,0.000,6,0.000,0.038,2525,2150,2958
$GC,8463,-1.68,-146.0,832.7,-8.6,774,8467,0.00,2.47,0.00,0.000,4,0.000,0.060,2525,3553,2957
$GC,8562,-1.68,-146.0,842.3,-9.7,778,8568,0.00,2.42,0.00,0.000,6,0.000,0.038,2525,2150,2956
$GC,8877,-1.86,-146.0,866.4,-4.0,794,8879,0.12,0.00,0.00,0.000,6,0.059,0.000,2483,2150,2956
$STATE,9040,end dive,NO_VERTICAL_VELOCITY
$STATE,9041,begin apogee
$GC,9045,-0.34,0.0,865.7,0.0,802,9136,1.62,0.00,87.38,1.309,6,0.075,0.000,2828,2409,2539
$STATE,9137,end apogee,CONTROL_FINISHED_OK
$STATE,9137,begin climb
$GC,9138,1.83,146.0,865.7,0.0,806,9268,2.17,0.00,124.32,1.262,6,0.061,0.000,3305,2409,1943
$GC,9569,1.70,146.0,797.3,19.1,827,9570,0.17,0.00,0.00,0.000,6,0.141,0.000,3276,2409,1939
$GC,9878,1.61,146.0,743.1,17.5,842,9882,0.00,2.58,0.00,0.000,4,0.000,0.061,3276,996,1938
$GC,9948,1.53,146.0,729.9,18.0,845,9954,0.17,2.47,0.00,0.000,6,0.135,0.041,3242,2394,1938
$GC,10269,1.48,146.0,679.1,14.8,861,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2394,1937
$GC,10578,1.44,146.0,633.6,14.8,876,10580,0.12,0.00,0.00,0.000,6,0.140,0.000,3222,2394,1937
$GC,10887,1.44,146.0,592.5,12.7,891,10891,0.00,2.53,0.00,0.000,4,0.000,0.060,3222,998,1936
$GC,10994,1.41,146.0,578.5,13.3,896,10998,0.00,2.45,0.00,0.000,6,0.000,0.041,3222,2406,1936
$GC,11319,1.41,146.0,537.1,12.4,912,11323,0.00,2.38,0.00,0.000,4,0.000,0.061,3222,3735,1936
$GC,11350,1.37,146.0,532.7,13.7,913,11357,0.00,2.30,0.00,0.000,6,0.000,0.037,3222,2402,1936
$GC,11667,1.37,146.0,491.5,13.0,932,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2401,1936
$GC,11986,1.37,146.0,451.9,11.7,962,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2400,1936
$GC,12305,1.37,146.0,415.0,12.3,992,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2400,1936
$GC,12624,1.37,146.0,378.5,11.4,1022,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2399,1936
$GC,12943,1.37,146.0,342.8,11.5,1052,12947,0.00,2.50,0.00,0.000,4,0.000,0.056,3222,994,1936
$GC,13019,1.37,146.0,333.9,11.7,1058,13026,0.00,2.45,0.00,0.000,6,0.000,0.037,3222,2405,1935
$GC,13345,1.37,146.0,298.7,10.6,1089,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2405,1936
$GC,13662,1.37,146.0,264.3,11.1,1119,13667,0.00,2.50,0.00,0.000,4,0.000,0.054,3222,995,1936
$GC,13694,1.37,146.0,260.7,11.0,1121,13701,0.00,2.42,0.00,0.000,6,0.000,0.036,3223,2400,1936
$GC,14034,1.38,151.7,224.5,9.5,1173,14040,0.00,0.00,3.72,0.881,6,0.000,0.000,3222,2400,1920
$GC,14377,1.41,155.3,189.9,9.7,1234,14383,0.00,0.00,3.17,0.860,6,0.000,0.000,3222,2400,1906
$GC,14721,1.49,176.8,159.6,8.1,1295,14742,0.00,2.60,16.88,0.799,4,0.000,0.053,3222,995,1818
$GC,14840,1.54,189.8,149.2,8.9,1316,14857,0.00,2.42,10.60,0.794,6,0.000,0.035,3222,2410,1764
$GC,15195,1.64,212.0,116.5,8.1,1379,15222,0.15,2.60,17.60,0.742,4,0.069,0.052,3259,997,1673
$GC,15323,1.67,212.0,101.4,12.4,1402,15329,0.00,2.40,0.00,0.000,6,0.000,0.034,3259,2402,1672
$GC,15667,1.72,215.9,68.7,9.7,1463,15672,0.00,0.00,2.97,0.724,6,0.000,0.000,3259,2402,1658
$GC,16010,1.89,276.6,43.2,4.7,1524,16067,0.22,2.40,47.30,0.637,4,0.064,0.049,3316,3720,1410
$GC,16319,1.89,276.6,12.5,10.6,1580,16325,0.00,2.22,0.00,0.000,6,0.000,0.029,3316,2384,1407
$STATE,16432,end climb,SURFACE_DEPTH_REACHED
$STATE,16432,begin surface coast
$FINISH,-0.1,1.019742
$STATE,16454,end surface coast,CONTROL_FINISHED_OK
$STATE,16454,begin surface
$SM_CCo,16475,63.67,0.569,0,0,866,410.14
$SM_GC,0.94,0.00,0.00,63.67,0.000,0.000,0.569,251,2130,866,-12.21,-0.57,410.14
$IRIDIUM_FIX,1241.04,12013.48,150597,060648
$TT8_MAMPS,0.023777
$HUMID,1926
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.70
$XPDR_PINGS,440
$ALTIM_BOTTOM_PING,850.1,19.5
$24V_AH,23.2,7.786
$10V_AH,10.1,2.557
$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,32.425,117.925,313.950,63.675,0.000,33.013,18.504,125.622,130.000,0.000,0.000,31.151,2574.817,10738.872,535.771,2671.386,331.747,0.000,1822.938,0.000,2575.722,0.000,127.107
$DEVICE_MAMPS,173.342,63.661,1308.502,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50363,1604
$CAP_FILE_SIZE,157912,0
$CFSIZE,260165632,255819776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,143037,1245.572,12019.228,41,0.9,47,-0.8