version: 66.03
glider: 122
mission: 6
dive: 21
start: 2 19 108 23 30 49
data:
$ID,122
$MISSION,6
$DIVE,21
$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,-27877.535
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,232457,1247.490,12023.308,40,2.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.3
$GPS2,232957,1247.493,12023.315,16,1.1,16,-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,81.2,35595,-23.3,-10.000
$D_GRID,814
$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,16,begin dive
$GC,17,-1.73,-86.6,0.0,0.0,0,86,0.00,0.00,-66.43,0.000,2,0.000,0.000,254,2136,2636
$GC,88,-1.75,-98.4,3.4,-9.0,13,110,13.18,0.00,-5.75,0.000,6,0.174,0.000,2518,2136,2943
$GC,447,-1.60,-98.4,92.3,-18.5,77,453,0.20,2.45,0.00,0.000,4,0.127,0.042,2555,3568,2946
$GC,476,-1.50,-98.4,97.1,-16.5,82,482,0.12,2.35,0.00,0.000,6,0.120,0.030,2577,2157,2946
$GC,820,-1.47,-98.4,145.6,-14.5,143,826,0.00,2.47,0.00,0.000,4,0.000,0.049,2577,741,2948
$GC,881,-1.47,-98.4,154.1,-13.5,154,887,0.00,2.38,0.00,0.000,6,0.000,0.029,2577,2159,2948
$GC,1222,-1.48,-101.8,192.5,-9.7,215,1228,0.00,2.47,0.00,0.000,4,0.000,0.049,2577,747,2949
$GC,1340,-1.48,-101.8,204.5,-10.3,236,1346,0.00,2.35,0.00,0.000,6,0.000,0.030,2577,2150,2949
$GC,1683,-1.49,-109.4,236.0,-9.3,297,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2149,2949
$GC,2019,-1.53,-117.1,267.8,-9.3,341,2024,0.00,2.47,0.00,0.000,4,0.000,0.051,2577,744,2948
$GC,2081,-1.58,-131.6,273.2,-8.7,346,2085,0.00,2.38,0.00,0.000,6,0.000,0.031,2577,2154,2948
$GC,2406,-1.63,-146.0,300.2,-7.5,376,2410,0.12,2.42,0.00,0.000,4,0.061,0.048,2543,3557,2946
$GC,2511,-1.63,-146.0,310.7,-10.0,385,2515,0.00,2.38,0.00,0.000,6,0.000,0.032,2543,2137,2947
$GC,2840,-1.63,-146.0,342.8,-10.8,416,2844,0.00,2.45,0.00,0.000,4,0.000,0.053,2543,749,2946
$GC,2873,-1.61,-146.0,346.3,-11.0,418,2879,0.00,2.40,0.00,0.000,6,0.000,0.031,2543,2153,2946
$GC,3197,-1.61,-146.0,376.6,-8.8,449,3201,0.00,2.42,0.00,0.000,4,0.000,0.049,2543,3552,2945
$GC,3274,-1.61,-146.0,384.4,-9.8,455,3281,0.00,2.40,0.00,0.000,6,0.000,0.032,2543,2145,2944
$GC,3599,-1.61,-146.0,414.6,-9.4,486,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2143,2943
$GC,3918,-1.61,-146.0,442.7,-8.5,516,3922,0.00,2.45,0.00,0.000,4,0.000,0.051,2543,3546,2941
$GC,4002,-1.61,-146.0,450.1,-8.6,523,4006,0.00,2.35,0.00,0.000,6,0.000,0.034,2543,2151,2941
$GC,4325,-1.61,-146.0,477.1,-9.0,553,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2147,2939
$GC,4653,-1.61,-146.0,505.4,-7.9,581,4657,0.00,2.45,0.00,0.000,4,0.000,0.051,2543,3546,2937
$GC,4730,-1.61,-146.0,512.0,-8.5,584,4737,0.00,2.40,0.00,0.000,6,0.000,0.035,2543,2150,2937
$GC,5046,-1.61,-146.0,536.5,-7.6,600,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2148,2936
$GC,5355,-1.61,-146.0,559.2,-7.3,615,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2148,2934
$GC,5664,-1.61,-146.0,581.7,-7.5,630,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2148,2933
$GC,5973,-1.61,-146.0,606.2,-7.3,645,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2148,2932
$GC,6284,-1.61,-146.0,630.6,-8.6,660,6288,0.00,2.47,0.00,0.000,4,0.000,0.054,2543,3552,2930
$GC,6322,-1.61,-146.0,634.0,-9.0,662,6326,0.00,2.38,0.00,0.000,6,0.000,0.035,2543,2150,2930
$GC,6648,-1.61,-146.0,660.9,-8.4,678,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2149,2929
$GC,6956,-1.61,-146.0,683.8,-7.0,693,6960,0.00,2.47,0.00,0.000,4,0.000,0.054,2542,3554,2928
$GC,7011,-1.61,-146.0,688.1,-7.7,695,7017,0.00,2.42,0.00,0.000,6,0.000,0.036,2543,2146,2928
$GC,7328,-1.63,-146.0,710.4,-7.2,711,7332,0.00,2.47,0.00,0.000,4,0.000,0.054,2543,3549,2927
$GC,7400,-1.63,-146.0,716.2,-7.9,714,7405,0.00,2.38,0.00,0.000,6,0.000,0.036,2542,2150,2927
$GC,7715,-1.66,-146.0,739.7,-7.2,729,7720,0.00,2.50,0.00,0.000,4,0.000,0.061,2543,747,2926
$GC,7798,-1.66,-146.0,746.5,-7.9,732,7804,0.00,2.42,0.00,0.000,6,0.000,0.036,2543,2143,2926
$GC,8113,-1.68,-146.0,768.7,-7.0,748,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2144,2925
$GC,8424,-1.70,-146.0,790.9,-7.1,763,8428,0.00,2.50,0.00,0.000,4,0.000,0.057,2543,3562,2923
$GC,8456,-1.70,-146.0,793.7,-7.3,764,8462,0.00,2.40,0.00,0.000,6,0.000,0.036,2543,2147,2924
$STATE,8728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8728,begin apogee
$GC,8732,-0.34,0.0,814.2,7.4,778,8816,1.45,0.00,80.10,1.264,6,0.108,0.000,2829,2408,2539
$STATE,8817,end apogee,CONTROL_FINISHED_OK
$STATE,8817,begin climb
$GC,8819,1.83,146.0,815.7,0.0,782,8950,2.15,2.62,123.10,1.216,4,0.061,0.058,3301,1001,1942
$GC,8972,1.69,146.0,796.8,19.7,789,8980,0.12,2.47,0.00,0.000,6,0.138,0.039,3278,2385,1941
$GC,9289,1.60,146.0,740.5,18.0,805,9294,0.15,2.53,0.00,0.000,4,0.142,0.058,3249,997,1939
$GC,9321,1.53,146.0,734.5,18.1,806,9328,0.00,2.47,0.00,0.000,6,0.000,0.040,3250,2393,1939
$GC,9636,1.47,146.0,684.0,15.2,822,9638,0.12,0.00,0.00,0.000,6,0.144,0.000,3230,2393,1938
$GC,9946,1.44,146.0,639.4,14.7,837,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2393,1937
$GC,10255,1.40,146.0,593.1,15.3,852,10259,0.00,2.53,0.00,0.000,4,0.000,0.058,3229,996,1937
$GC,10298,1.37,146.0,585.9,17.3,854,10303,0.15,2.45,0.00,0.000,6,0.140,0.038,3205,2405,1936
$GC,10624,1.37,146.0,539.5,14.3,870,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2406,1936
$GC,10933,1.37,146.0,497.7,13.8,885,10937,0.00,2.53,0.00,0.000,4,0.000,0.057,3205,1001,1936
$GC,11009,1.37,146.0,487.2,13.2,891,11016,0.00,2.45,0.00,0.000,6,0.000,0.038,3205,2398,1936
$GC,11334,1.37,146.0,444.3,13.0,922,11339,0.00,2.53,0.00,0.000,4,0.000,0.056,3205,992,1936
$GC,11373,1.37,146.0,439.3,13.6,925,11377,0.00,2.45,0.00,0.000,6,0.000,0.038,3205,2407,1935
$GC,11697,1.37,146.0,398.4,13.2,955,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2407,1935
$GC,12015,1.37,146.0,358.6,11.6,985,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2408,1935
$GC,12334,1.37,146.0,320.8,12.6,1015,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2408,1935
$GC,12652,1.37,146.0,282.9,10.7,1045,12656,0.00,2.50,0.00,0.000,4,0.000,0.053,3205,999,1936
$GC,12691,1.37,146.0,278.7,10.9,1048,12695,0.00,2.42,0.00,0.000,6,0.000,0.035,3205,2412,1935
$GC,13017,1.40,151.9,244.6,9.5,1082,13029,0.00,2.58,3.70,0.906,4,0.000,0.052,3205,997,1919
$GC,13069,1.40,153.4,239.5,9.9,1091,13075,0.00,2.42,0.00,0.000,6,0.000,0.035,3205,2412,1919
$GC,13412,1.43,153.4,204.1,10.3,1152,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2412,1919
$GC,13754,1.47,153.4,171.4,10.3,1213,13760,0.00,2.50,0.00,0.000,4,0.000,0.051,3205,999,1919
$GC,13805,1.50,153.4,166.3,10.3,1222,13811,0.12,2.40,0.00,0.000,6,0.074,0.034,3233,2412,1919
$GC,14148,1.55,180.2,134.1,7.7,1283,14175,0.00,2.62,22.17,0.761,4,0.000,0.049,3233,990,1804
$GC,14288,1.55,180.2,121.1,10.2,1308,14294,0.00,2.42,0.00,0.000,6,0.000,0.033,3234,2409,1803
$GC,14631,1.63,205.8,91.0,7.8,1369,14658,0.12,2.33,20.35,0.708,4,0.071,0.048,3262,3722,1698
$GC,14911,1.65,212.7,62.0,9.4,1419,14922,0.00,2.20,5.25,0.702,6,0.000,0.028,3262,2391,1670
$GC,15260,1.72,231.8,35.0,8.3,1481,15281,0.00,2.35,14.93,0.644,4,0.000,0.045,3263,3730,1593
$GC,15360,1.78,238.3,26.3,9.4,1499,15372,0.15,2.20,4.95,0.663,6,0.064,0.028,3300,2400,1567
$STATE,15629,end climb,SURFACE_DEPTH_REACHED
$STATE,15629,begin surface coast
$FINISH,-0.1,1.021852
$STATE,15653,end surface coast,CONTROL_FINISHED_OK
$STATE,15653,begin surface
$SM_CCo,15673,81.72,0.555,0,0,866,410.14
$SM_GC,0.82,0.00,0.00,81.72,0.000,0.000,0.555,251,2134,866,-12.21,-0.45,410.14
$IRIDIUM_FIX,1241.04,12021.43,150597,191913
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,566
$24V_AH,23.2,8.179
$10V_AH,10.1,2.787
$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,31.825,122.700,274.550,81.725,0.000,22.581,25.242,158.001,160.250,0.000,0.000,16.282,2480.443,10206.247,507.275,2532.839,359.580,0.000,1752.253,0.000,2459.565,0.000,116.912
$DEVICE_MAMPS,174.109,61.360,1264.016,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47266,1551
$CAP_FILE_SIZE,153380,0
$CFSIZE,260165632,255606784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,035438,1247.429,12025.676,41,0.9,41,-0.8