version: 66.03
glider: 122
mission: 6
dive: 24
start: 2 20 108 13 1 6
data:
$ID,122
$MISSION,6
$DIVE,24
$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,-27921.248
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,32
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$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
$GPS1,125108,1247.267,12029.896,29,1.6,29,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-66.3
$GPS2,130014,1247.219,12029.771,11,1.5,15,-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,75.4,24310,-23.3,-10.000
$D_GRID,680
$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,-67.15,0.000,2,0.000,0.000,252,2140,2689
$GC,88,-1.73,-90.9,3.7,-9.6,13,111,13.12,2.50,-4.12,0.000,4,0.171,0.054,2521,3559,2912
$GC,139,-1.38,-90.9,19.9,-25.6,22,146,0.43,2.35,0.00,0.000,6,0.117,0.030,2600,2157,2913
$GC,483,-1.34,-90.9,85.7,-13.5,83,489,0.00,2.40,0.00,0.000,4,0.000,0.043,2600,3557,2915
$GC,511,-1.31,-90.9,89.6,-13.8,88,517,0.00,2.35,0.00,0.000,6,0.000,0.028,2600,2136,2915
$GC,853,-1.31,-90.9,131.3,-11.1,149,859,0.00,2.42,0.00,0.000,4,0.000,0.048,2601,747,2916
$GC,915,-1.31,-90.9,137.9,-10.6,160,921,0.00,2.35,0.00,0.000,6,0.000,0.028,2600,2164,2917
$GC,1259,-1.36,-94.6,173.7,-9.7,221,1265,0.00,2.47,0.00,0.000,4,0.000,0.050,2600,751,2917
$GC,1422,-1.42,-94.6,190.9,-10.1,250,1428,0.00,2.35,0.00,0.000,6,0.000,0.029,2600,2159,2917
$GC,1765,-1.53,-116.8,220.7,-8.1,311,1772,0.15,0.00,0.00,0.000,6,0.053,0.000,2554,2159,2917
$GC,2111,-1.53,-116.8,255.9,-10.6,368,2115,0.00,2.40,0.00,0.000,4,0.000,0.048,2554,3554,2916
$GC,2199,-1.54,-122.0,265.0,-9.5,375,2206,0.00,2.38,0.00,0.000,6,0.000,0.031,2554,2147,2916
$GC,2524,-1.56,-133.9,292.9,-9.0,406,2528,0.00,2.47,0.00,0.000,4,0.000,0.053,2554,743,2915
$GC,2551,-1.57,-141.4,295.4,-9.4,408,2555,0.00,2.38,0.00,0.000,6,0.000,0.032,2554,2154,2915
$GC,2875,-1.58,-146.0,323.4,-8.7,438,2880,0.00,2.42,0.00,0.000,4,0.000,0.049,2554,3557,2914
$GC,2914,-1.58,-146.0,327.1,-9.4,441,2918,0.00,2.38,0.00,0.000,6,0.000,0.032,2554,2143,2913
$GC,3238,-1.58,-146.0,353.4,-8.0,471,3243,0.00,2.47,0.00,0.000,4,0.000,0.054,2554,747,2912
$GC,3334,-1.58,-146.0,362.2,-8.6,479,3338,0.00,2.38,0.00,0.000,6,0.000,0.032,2554,2152,2911
$GC,3658,-1.58,-146.0,387.9,-7.3,509,3662,0.00,2.42,0.00,0.000,4,0.000,0.049,2554,3549,2909
$GC,3820,-1.58,-146.0,401.1,-7.5,523,3825,0.00,2.38,0.00,0.000,6,0.000,0.033,2554,2138,2909
$GC,4144,-1.58,-146.0,425.4,-7.8,553,4149,0.00,2.47,0.00,0.000,4,0.000,0.056,2554,747,2907
$GC,4207,-1.58,-146.0,430.6,-8.6,558,4212,0.00,2.40,0.00,0.000,6,0.000,0.034,2554,2155,2906
$GC,4531,-1.58,-146.0,455.3,-7.9,588,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2156,2905
$GC,4851,-1.58,-146.0,479.0,-7.7,618,4855,0.00,2.50,0.00,0.000,4,0.000,0.056,2554,753,2904
$GC,4923,-1.58,-146.0,484.8,-8.6,624,4927,0.00,2.38,0.00,0.000,6,0.000,0.035,2554,2149,2903
$GC,5255,-1.61,-146.0,507.7,-6.7,650,5259,0.00,2.45,0.00,0.000,4,0.000,0.054,2554,3550,2902
$GC,5384,-1.61,-146.0,517.8,-8.1,656,5388,0.00,2.38,0.00,0.000,6,0.000,0.035,2554,2150,2901
$GC,5710,-1.65,-146.0,542.8,-7.6,672,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2148,2900
$GC,6020,-1.69,-146.0,565.0,-7.3,687,6024,0.00,2.47,0.00,0.000,4,0.000,0.053,2554,3557,2898
$GC,6097,-1.69,-146.0,571.5,-8.3,690,6103,0.00,2.42,0.00,0.000,6,0.000,0.035,2554,2147,2898
$GC,6412,-1.73,-146.0,595.2,-7.6,706,6414,0.12,0.00,0.00,0.000,6,0.064,0.000,2523,2145,2896
$GC,6721,-1.73,-146.0,619.9,-7.9,721,6726,0.00,2.47,0.00,0.000,4,0.000,0.054,2523,3551,2896
$GC,6788,-1.68,-146.0,625.4,-8.6,724,6792,0.00,2.40,0.00,0.000,6,0.000,0.036,2523,2143,2896
$GC,7115,-1.68,-146.0,650.7,-8.1,740,7119,0.00,2.50,0.00,0.000,4,0.000,0.054,2523,3557,2894
$GC,7199,-1.63,-146.0,657.9,-8.5,744,7203,0.15,2.40,0.00,0.000,6,0.123,0.037,2548,2150,2894
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7528,-0.34,0.0,680.2,6.3,760,7605,1.40,0.00,72.28,1.157,6,0.110,0.000,2825,2389,2539
$STATE,7606,end apogee,CONTROL_FINISHED_OK
$STATE,7606,begin climb
$GC,7608,1.83,146.0,681.1,0.0,764,7734,2.25,0.00,121.45,1.113,6,0.062,0.000,3304,2389,1943
$GC,8033,1.66,146.0,611.5,18.8,785,8035,0.20,0.00,0.00,0.000,6,0.139,0.000,3270,2389,1939
$GC,8343,1.55,146.0,562.1,15.4,800,8345,0.15,0.00,0.00,0.000,6,0.142,0.000,3246,2389,1938
$GC,8652,1.48,146.0,518.1,14.2,815,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2389,1937
$GC,8966,1.42,146.0,472.2,15.1,838,8971,0.15,2.35,0.00,0.000,4,0.133,0.056,3217,3709,1936
$GC,9038,1.39,146.0,461.8,14.7,844,9043,0.00,2.28,0.00,0.000,6,0.000,0.036,3217,2376,1936
$GC,9362,1.39,146.0,418.1,13.6,874,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2375,1936
$GC,9681,1.39,146.0,375.7,12.9,904,9685,0.00,2.50,0.00,0.000,4,0.000,0.056,3217,973,1935
$GC,9742,1.36,146.0,367.7,12.8,909,9746,0.00,2.40,0.00,0.000,6,0.000,0.037,3217,2368,1934
$GC,10066,1.36,146.0,328.2,12.5,939,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2368,1934
$GC,10383,1.36,146.0,289.3,12.4,969,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2368,1934
$GC,10702,1.36,146.0,251.7,12.7,999,10706,0.00,2.50,0.00,0.000,4,0.000,0.053,3216,966,1934
$GC,10758,1.36,146.0,244.8,12.6,1007,10764,0.00,2.42,0.00,0.000,6,0.000,0.035,3217,2381,1934
$GC,11101,1.36,146.0,205.8,12.1,1068,11106,0.00,2.35,0.00,0.000,4,0.000,0.054,3216,3723,1934
$GC,11156,1.36,146.0,198.5,13.3,1078,11163,0.00,2.28,0.00,0.000,6,0.000,0.033,3217,2372,1934
$GC,11500,1.43,166.6,165.3,8.2,1139,11521,0.00,0.00,14.75,0.805,6,0.000,0.000,3217,2369,1858
$GC,11858,1.50,166.6,133.5,10.6,1203,11864,0.00,2.47,0.00,0.000,4,0.000,0.051,3217,970,1858
$GC,11886,1.55,166.6,130.5,11.0,1208,11892,0.12,2.40,0.00,0.000,6,0.071,0.033,3246,2376,1858
$GC,12230,1.63,191.7,96.9,7.8,1269,12251,0.00,0.00,19.42,0.723,6,0.000,0.000,3246,2376,1757
$GC,12588,1.78,224.5,65.2,7.2,1333,12619,0.17,0.00,25.90,0.672,6,0.060,0.000,3293,2377,1622
$GC,12956,1.78,224.5,26.4,11.0,1399,12962,0.00,2.35,0.00,0.000,4,0.000,0.048,3293,3727,1621
$GC,13040,1.78,224.5,16.7,11.0,1414,13046,0.00,2.28,0.00,0.000,6,0.000,0.029,3293,2363,1621
$STATE,13190,end climb,SURFACE_DEPTH_REACHED
$STATE,13190,begin surface coast
$FINISH,-0.2,1.022119
$STATE,13214,end surface coast,CONTROL_FINISHED_OK
$STATE,13214,begin surface
$SM_CCo,13235,88.18,0.567,0,0,866,410.14
$SM_GC,0.75,0.00,0.00,88.18,0.000,0.000,0.567,251,2127,866,-12.21,-0.65,410.14
$IRIDIUM_FIX,1245.46,12029.39,160597,131333
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.00
$XPDR_PINGS,473
$24V_AH,23.3,8.566
$10V_AH,10.2,3.012
$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,31.900,101.850,253.800,88.175,0.000,73.789,63.234,193.022,123.000,0.000,0.000,15.342,2284.389,8316.651,495.309,2321.519,484.609,0.000,1623.867,0.000,2282.327,0.000,35.384
$DEVICE_MAMPS,171.041,55.991,1157.403,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,968.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44063,1445
$CAP_FILE_SIZE,136087,0
$CFSIZE,260165632,255410176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200208,164408,1247.246,12031.582,26,1.5,26,-0.8