version: 66.03
glider: 122
mission: 6
dive: 25
start: 2 20 108 16 54 7
data:
$ID,122
$MISSION,6
$DIVE,25
$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,-27937.248
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,164408,1247.246,12031.582,26,1.5,26,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-71.0
$GPS2,165315,1247.265,12031.490,15,1.6,15,-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,73.4,21309,-23.3,-10.000
$D_GRID,826
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.73,-86.6,0.0,0.0,0,87,0.00,0.00,-67.03,0.000,2,0.000,0.000,251,2126,2656
$GC,89,-1.76,-107.9,3.3,-8.1,13,116,13.12,2.47,-6.25,0.000,4,0.172,0.055,2517,3559,2981
$GC,133,-1.21,-107.9,17.0,-29.1,21,140,0.62,2.33,0.00,0.000,6,0.117,0.028,2634,2167,2981
$GC,476,-1.21,-107.9,74.5,-13.8,82,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2167,2983
$GC,818,-1.27,-107.9,117.6,-12.7,143,824,0.00,2.47,0.00,0.000,4,0.000,0.049,2635,747,2986
$GC,880,-1.34,-107.9,125.9,-13.3,154,886,0.12,2.35,0.00,0.000,6,0.057,0.029,2597,2158,2986
$GC,1223,-1.39,-107.9,167.8,-10.7,215,1229,0.00,2.47,0.00,0.000,4,0.000,0.049,2597,740,2987
$GC,1381,-1.45,-107.9,184.7,-10.1,243,1387,0.00,2.35,0.00,0.000,6,0.000,0.030,2597,2152,2987
$GC,1725,-1.55,-122.8,216.3,-8.7,304,1731,0.15,0.00,0.00,0.000,6,0.052,0.000,2548,2152,2987
$GC,2065,-1.55,-122.8,254.5,-10.9,361,2069,0.00,2.47,0.00,0.000,4,0.000,0.051,2548,744,2987
$GC,2097,-1.55,-122.8,258.3,-11.2,363,2103,0.00,2.38,0.00,0.000,6,0.000,0.031,2548,2143,2987
$GC,2421,-1.55,-122.8,293.9,-10.9,394,2425,0.00,2.47,0.00,0.000,4,0.000,0.053,2548,739,2986
$GC,2520,-1.55,-122.8,305.0,-10.3,402,2527,0.00,2.40,0.00,0.000,6,0.000,0.032,2548,2145,2985
$GC,2846,-1.58,-137.1,334.9,-8.8,433,2850,0.00,2.45,0.00,0.000,4,0.000,0.050,2548,3558,2984
$GC,2899,-1.58,-137.1,340.4,-10.2,437,2906,0.00,2.40,0.00,0.000,6,0.000,0.032,2548,2144,2984
$GC,3225,-1.59,-146.0,370.5,-9.0,468,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2142,2982
$GC,3543,-1.59,-146.0,400.6,-8.9,498,3547,0.00,2.47,0.00,0.000,4,0.000,0.051,2548,3558,2980
$GC,3575,-1.59,-146.0,403.5,-8.6,500,3581,0.00,2.40,0.00,0.000,6,0.000,0.033,2548,2135,2980
$GC,3900,-1.59,-146.0,430.1,-7.8,531,3904,0.00,2.47,0.00,0.000,4,0.000,0.051,2548,3546,2978
$GC,3931,-1.59,-146.0,432.8,-8.5,533,3938,0.00,2.38,0.00,0.000,6,0.000,0.034,2548,2156,2978
$GC,4257,-1.59,-146.0,458.0,-8.2,564,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2154,2976
$GC,4575,-1.59,-146.0,485.5,-8.4,594,4579,0.00,2.45,0.00,0.000,4,0.000,0.052,2548,3545,2974
$GC,4617,-1.59,-146.0,489.5,-9.3,597,4624,0.00,2.40,0.00,0.000,6,0.000,0.035,2548,2153,2974
$GC,4939,-1.59,-146.0,517.0,-8.8,619,4943,0.00,2.47,0.00,0.000,4,0.000,0.052,2548,3557,2972
$GC,5010,-1.59,-146.0,523.8,-9.4,622,5014,0.00,2.42,0.00,0.000,6,0.000,0.035,2548,2152,2972
$GC,5332,-1.63,-146.0,550.8,-8.5,638,5336,0.00,2.45,0.00,0.000,4,0.000,0.053,2548,3550,2970
$GC,5371,-1.63,-146.0,554.2,-8.4,640,5375,0.00,2.38,0.00,0.000,6,0.000,0.035,2548,2150,2970
$GC,5697,-1.66,-146.0,578.8,-7.8,656,5701,0.00,2.47,0.00,0.000,4,0.000,0.053,2548,3554,2968
$GC,5728,-1.66,-146.0,581.5,-9.0,657,5735,0.00,2.42,0.00,0.000,6,0.000,0.035,2548,2150,2968
$GC,6044,-1.69,-146.0,608.0,-8.7,673,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2149,2967
$GC,6353,-1.73,-146.0,633.6,-8.2,688,6357,0.00,2.47,0.00,0.000,4,0.000,0.054,2548,3552,2966
$GC,6407,-1.73,-146.0,638.5,-9.3,690,6414,0.00,2.42,0.00,0.000,6,0.000,0.036,2548,2149,2965
$GC,6723,-1.78,-146.0,663.5,-7.7,706,6728,0.15,2.47,0.00,0.000,4,0.058,0.054,2503,3548,2963
$GC,6762,-1.69,-146.0,666.9,-9.0,708,6767,0.17,2.40,0.00,0.000,6,0.124,0.037,2533,2144,2963
$GC,7088,-1.69,-146.0,692.4,-7.8,724,7092,0.00,2.53,0.00,0.000,4,0.000,0.062,2533,740,2962
$GC,7136,-1.69,-146.0,696.8,-8.7,726,7141,0.00,2.42,0.00,0.000,6,0.000,0.036,2533,2140,2962
$GC,7458,-1.69,-146.0,721.2,-7.3,742,7462,0.00,2.50,0.00,0.000,4,0.000,0.056,2533,3562,2961
$GC,7496,-1.69,-146.0,724.2,-8.0,744,7500,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2142,2961
$GC,7822,-1.69,-146.0,747.0,-7.2,760,7826,0.00,2.50,0.00,0.000,4,0.000,0.055,2533,3555,2960
$GC,7899,-1.69,-146.0,752.8,-7.5,763,7905,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2152,2960
$GC,8214,-1.69,-146.0,776.8,-7.8,779,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2151,2959
$GC,8523,-1.69,-146.0,799.8,-7.7,794,8529,0.00,2.47,0.00,0.000,4,0.000,0.056,2533,3555,2958
$GC,8555,-1.69,-146.0,802.6,-8.6,795,8560,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2153,2958
$STATE,8875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8875,begin apogee
$GC,8879,-0.34,0.0,826.7,7.4,811,8971,1.52,0.00,87.57,1.276,6,0.121,0.000,2827,2390,2539
$STATE,8971,end apogee,CONTROL_FINISHED_OK
$STATE,8971,begin climb
$GC,8973,1.83,146.0,828.1,0.0,815,9107,2.20,2.50,124.38,1.227,4,0.061,0.059,3306,3714,1942
$GC,9134,1.60,146.0,807.7,19.9,823,9141,0.25,2.38,0.00,0.000,6,0.140,0.038,3255,2375,1941
$GC,9451,1.50,146.0,757.0,15.6,839,9456,0.12,2.58,0.00,0.000,4,0.153,0.063,3235,969,1939
$GC,9494,1.44,146.0,749.7,15.7,841,9498,0.00,2.47,0.00,0.000,6,0.000,0.040,3235,2365,1938
$GC,9821,1.39,146.0,703.9,13.7,857,9825,0.15,2.45,0.00,0.000,4,0.140,0.060,3211,3727,1937
$GC,9882,1.34,146.0,695.3,13.7,860,9885,0.00,2.33,0.00,0.000,6,0.000,0.038,3211,2372,1937
$GC,10212,1.34,146.0,648.9,14.2,876,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2369,1937
$GC,10523,1.34,146.0,607.5,13.4,891,10527,0.00,2.55,0.00,0.000,4,0.000,0.063,3211,969,1936
$GC,10593,1.34,146.0,597.8,13.6,894,10599,0.00,2.47,0.00,0.000,6,0.000,0.038,3211,2376,1936
$GC,10915,1.34,146.0,557.5,12.6,910,10919,0.00,2.40,0.00,0.000,4,0.000,0.060,3211,3723,1936
$GC,10959,1.30,146.0,551.6,13.8,912,10964,0.12,2.33,0.00,0.000,6,0.137,0.038,3191,2370,1936
$GC,11285,1.30,146.0,512.8,11.5,928,11289,0.00,2.42,0.00,0.000,4,0.000,0.058,3191,3722,1935
$GC,11333,1.30,146.0,506.8,12.5,930,11338,0.00,2.35,0.00,0.000,6,0.000,0.038,3191,2372,1935
$GC,11663,1.35,146.0,469.7,11.4,958,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2371,1935
$GC,11981,1.39,146.0,434.8,10.9,988,11985,0.00,2.42,0.00,0.000,4,0.000,0.058,3190,3727,1935
$GC,12008,1.39,146.0,431.5,12.1,990,12013,0.00,2.33,0.00,0.000,6,0.000,0.037,3190,2369,1935
$GC,12332,1.44,146.0,395.5,10.8,1020,12337,0.12,2.42,0.00,0.000,4,0.076,0.056,3218,3732,1935
$GC,12371,1.40,146.0,390.6,13.1,1023,12375,0.00,2.33,0.00,0.000,6,0.000,0.036,3218,2365,1935
$GC,12695,1.40,146.0,351.8,12.1,1053,12699,0.00,2.50,0.00,0.000,4,0.000,0.058,3218,967,1935
$GC,12767,1.40,146.0,342.7,11.9,1059,12771,0.00,2.42,0.00,0.000,6,0.000,0.037,3218,2378,1934
$GC,13096,1.40,146.0,304.4,11.6,1090,13100,0.00,2.53,0.00,0.000,4,0.000,0.056,3218,971,1935
$GC,13128,1.40,146.0,300.5,11.4,1092,13135,0.00,2.45,0.00,0.000,6,0.000,0.036,3218,2376,1935
$GC,13453,1.40,146.0,262.5,11.3,1123,13458,0.00,2.53,0.00,0.000,4,0.000,0.055,3219,965,1934
$GC,13565,1.40,146.0,249.0,11.8,1133,13571,0.00,2.42,0.00,0.000,6,0.000,0.036,3218,2379,1935
$GC,13909,1.40,146.0,212.5,11.3,1194,13915,0.00,2.38,0.00,0.000,4,0.000,0.054,3218,3729,1935
$GC,13981,1.40,146.0,203.5,12.3,1207,13988,0.00,2.30,0.00,0.000,6,0.000,0.034,3219,2366,1936
$GC,14325,1.45,154.0,171.1,9.3,1268,14336,0.00,2.47,5.30,0.825,4,0.000,0.053,3218,976,1910
$GC,14387,1.46,157.6,165.2,9.7,1279,14398,0.00,2.40,3.12,0.834,6,0.000,0.035,3218,2382,1895
$GC,14736,1.52,162.6,132.1,9.6,1341,14747,0.00,2.53,4.22,0.805,4,0.000,0.052,3218,975,1875
$GC,14837,1.58,175.1,122.8,8.9,1359,14855,0.15,2.38,9.73,0.779,6,0.066,0.033,3253,2372,1825
$GC,15192,1.64,190.6,90.4,8.6,1422,15208,0.00,0.00,12.40,0.728,6,0.000,0.000,3253,2372,1761
$GC,15545,1.73,217.5,57.9,7.7,1485,15573,0.12,2.40,20.98,0.669,4,0.071,0.048,3283,3726,1651
$GC,15791,1.73,217.5,32.4,10.0,1529,15797,0.00,2.25,0.00,0.000,6,0.000,0.029,3283,2373,1651
$GC,16135,1.86,256.3,4.7,6.6,1590,16172,0.12,2.42,27.88,0.597,4,0.068,0.044,3313,3728,1493
$STATE,16176,end climb,SURFACE_DEPTH_REACHED
$STATE,16176,begin surface coast
$FINISH,-0.1,1.010125
$STATE,16199,end surface coast,CONTROL_FINISHED_OK
$STATE,16199,begin surface
$SM_CCo,16222,71.47,0.558,0,0,866,410.14
$SM_GC,0.87,0.00,0.00,71.47,0.000,0.000,0.558,251,2151,866,-12.21,0.03,410.14
$IRIDIUM_FIX,1241.04,12031.29,160597,161656
$TT8_MAMPS,0.023777
$HUMID,1809
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.10
$XPDR_PINGS,449
$24V_AH,23.2,8.701
$10V_AH,10.1,3.093
$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,32.925,165.925,295.575,71.475,0.000,72.847,67.391,192.395,120.500,0.000,0.000,15.373,2574.662,10568.794,577.566,2652.346,501.400,0.000,1890.883,0.000,2588.548,0.000,60.764
$DEVICE_MAMPS,171.808,62.894,1275.521,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50259,1602
$CAP_FILE_SIZE,165314,0
$CFSIZE,260165632,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,212656,1248.151,12033.061,42,0.8,42,-0.8