version: 66.03
glider: 122
mission: 6
dive: 32
start: 2 21 108 21 1 18
data:
$ID,122
$MISSION,6
$DIVE,32
$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,366
$T_MISSION,439
$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,425
$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,-28034.906
$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,29
$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
$GPS1,205407,1251.399,12042.078,40,1.1,51,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.3
$GPS2,210026,1251.504,12042.008,12,1.5,17,-0.8
$SPEED_LIMITS,0.156,0.166
$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,258.0,49104,-22.8,-9.016
$D_GRID,1098
$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,-1.67,-76.7,0.0,0.0,0,87,0.00,0.00,-66.97,0.000,2,0.000,0.000,251,2146,2585
$GC,89,-1.68,-83.9,3.1,-8.4,13,116,13.12,2.50,-5.97,0.000,4,0.170,0.055,2532,741,2885
$GC,369,-1.36,-83.9,75.8,-26.9,63,375,0.40,2.38,0.00,0.000,6,0.124,0.028,2606,2167,2885
$GC,712,-1.36,-83.9,122.4,-12.0,124,718,0.00,2.47,0.00,0.000,4,0.000,0.045,2606,735,2888
$GC,970,-1.36,-83.9,153.6,-10.4,170,977,0.00,2.35,0.00,0.000,6,0.000,0.027,2606,2154,2889
$GC,1314,-1.44,-96.0,184.1,-7.9,231,1320,0.00,2.38,0.00,0.000,4,0.000,0.045,2606,3548,2890
$GC,1364,-1.47,-96.0,188.8,-9.1,240,1371,0.00,2.33,0.00,0.000,6,0.000,0.028,2606,2139,2889
$GC,1708,-1.59,-121.1,214.5,-6.7,301,1714,0.17,2.42,0.00,0.000,4,0.051,0.044,2552,3553,2890
$GC,1799,-1.53,-121.1,223.4,-10.1,317,1805,0.00,2.33,0.00,0.000,6,0.000,0.030,2552,2150,2890
$GC,2137,-1.50,-121.1,257.7,-9.4,371,2142,0.12,2.40,0.00,0.000,4,0.118,0.044,2574,3549,2889
$GC,2186,-1.50,-121.1,262.3,-9.4,375,2190,0.00,2.33,0.00,0.000,6,0.000,0.031,2574,2149,2889
$GC,2517,-1.52,-132.1,287.5,-8.0,406,2521,0.00,2.42,0.00,0.000,4,0.000,0.046,2573,3554,2887
$GC,2559,-1.52,-136.6,291.3,-8.6,409,2566,0.00,2.38,0.00,0.000,6,0.000,0.031,2574,2154,2887
$GC,2885,-1.54,-145.2,318.9,-8.2,440,2889,0.00,2.47,0.00,0.000,4,0.000,0.053,2574,749,2886
$GC,2968,-1.54,-145.2,326.9,-9.2,447,2972,0.00,2.35,0.00,0.000,6,0.000,0.031,2574,2147,2885
$GC,3298,-1.54,-146.0,353.2,-8.2,478,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,2884
$GC,3617,-1.57,-146.0,377.3,-7.5,508,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,2882
$GC,3937,-1.60,-146.0,401.0,-6.9,538,3941,0.00,2.47,0.00,0.000,4,0.000,0.054,2574,749,2881
$GC,4013,-1.60,-146.0,407.5,-7.9,544,4020,0.00,2.40,0.00,0.000,6,0.000,0.033,2574,2146,2880
$GC,4339,-1.64,-146.0,431.3,-6.6,575,4344,0.12,2.45,0.00,0.000,4,0.061,0.048,2539,3557,2878
$GC,4378,-1.58,-146.0,434.5,-8.5,578,4383,0.10,2.38,0.00,0.000,6,0.127,0.033,2555,2146,2878
$GC,4701,-1.58,-146.0,456.7,-6.9,608,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2145,2876
$GC,5020,-1.58,-146.0,483.6,-8.1,638,5024,0.00,2.45,0.00,0.000,4,0.000,0.051,2555,3548,2875
$GC,5064,-1.58,-146.0,487.1,-7.8,641,5070,0.00,2.40,0.00,0.000,6,0.000,0.034,2555,2150,2875
$GC,5395,-1.58,-146.0,510.7,-6.2,665,5400,0.00,2.50,0.00,0.000,4,0.000,0.057,2555,746,2873
$GC,5467,-1.58,-146.0,515.8,-8.0,668,5471,0.00,2.42,0.00,0.000,6,0.000,0.035,2555,2147,2873
$GC,5788,-1.58,-146.0,538.2,-6.9,684,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2147,2871
$GC,6097,-1.58,-146.0,559.2,-6.9,699,6101,0.00,2.50,0.00,0.000,4,0.000,0.058,2555,751,2870
$GC,6168,-1.58,-146.0,564.2,-6.3,702,6172,0.00,2.42,0.00,0.000,6,0.000,0.035,2555,2167,2869
$GC,6489,-1.58,-146.0,583.7,-6.0,718,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2167,2868
$GC,6798,-1.58,-146.0,601.9,-6.3,733,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2167,2868
$GC,7109,-1.58,-146.0,621.4,-5.5,748,7113,0.00,2.53,0.00,0.000,4,0.000,0.059,2555,752,2867
$GC,7174,-1.58,-146.0,626.4,-7.7,751,7179,0.00,2.42,0.00,0.000,6,0.000,0.036,2555,2152,2866
$GC,7502,-1.58,-146.0,653.9,-8.9,767,7506,0.00,2.50,0.00,0.000,4,0.000,0.059,2555,753,2865
$GC,7569,-1.58,-146.0,659.6,-8.6,770,7573,0.00,2.40,0.00,0.000,6,0.000,0.037,2555,2154,2865
$STATE,7681,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7681,begin apogee
$GC,7685,-0.34,0.0,667.7,6.8,776,7755,1.38,0.00,66.10,1.148,6,0.113,0.000,2825,2383,2539
$STATE,7756,end apogee,CONTROL_FINISHED_OK
$STATE,7756,begin climb
$GC,7757,1.79,146.0,668.5,0.0,779,7887,2.12,2.67,119.85,1.101,4,0.060,0.058,3293,974,1941
$GC,7909,1.59,146.0,649.3,19.2,786,7914,0.17,2.47,0.00,0.000,6,0.128,0.038,3250,2361,1940
$GC,8232,1.51,146.0,601.7,15.0,802,8236,0.00,2.50,0.00,0.000,4,0.000,0.058,3250,977,1938
$GC,8271,1.41,146.0,595.5,15.4,804,8276,0.20,2.45,0.00,0.000,6,0.130,0.038,3215,2378,1938
$GC,8596,1.41,146.0,551.4,13.4,820,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2378,1937
$GC,8905,1.41,146.0,509.2,13.5,835,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2378,1936
$GC,9222,1.41,146.0,467.8,13.4,861,9226,0.00,2.53,0.00,0.000,4,0.000,0.055,3216,973,1936
$GC,9253,1.38,146.0,463.5,13.4,863,9260,0.00,2.45,0.00,0.000,6,0.000,0.037,3215,2375,1936
$GC,9578,1.38,146.0,422.4,12.4,894,9582,0.00,2.40,0.00,0.000,4,0.000,0.058,3215,3727,1936
$GC,9627,1.34,146.0,415.7,13.2,898,9632,0.00,2.30,0.00,0.000,6,0.000,0.035,3215,2375,1936
$GC,9951,1.34,146.0,377.1,11.5,928,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2373,1935
$GC,10269,1.34,146.0,339.1,11.7,958,10274,0.00,2.50,0.00,0.000,4,0.000,0.054,3215,964,1934
$GC,10364,1.34,146.0,326.9,13.5,966,10369,0.00,2.42,0.00,0.000,6,0.000,0.035,3215,2382,1934
$GC,10688,1.34,146.0,288.8,11.3,996,10692,0.00,2.50,0.00,0.000,4,0.000,0.053,3215,974,1934
$GC,10748,1.34,146.0,281.7,11.9,1001,10755,0.00,2.42,0.00,0.000,6,0.000,0.035,3216,2374,1934
$GC,11075,1.34,146.0,244.2,11.7,1036,11081,0.00,2.35,0.00,0.000,4,0.000,0.054,3215,3722,1934
$GC,11159,1.34,146.0,234.2,12.4,1051,11166,0.00,2.28,0.00,0.000,6,0.000,0.033,3215,2368,1934
$GC,11502,1.34,146.0,196.4,10.2,1112,11508,0.00,2.38,0.00,0.000,4,0.000,0.051,3215,3722,1934
$GC,11693,1.34,146.0,176.4,10.4,1146,11699,0.00,2.25,0.00,0.000,6,0.000,0.032,3215,2375,1934
$GC,12036,1.38,146.0,144.2,9.2,1207,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2373,1934
$GC,12378,1.47,172.9,118.8,6.6,1268,12404,0.00,2.42,19.35,0.742,4,0.000,0.048,3215,3730,1834
$GC,12523,1.53,173.6,106.6,9.0,1294,12530,0.10,2.28,0.00,0.000,6,0.074,0.030,3240,2374,1834
$GC,12868,1.68,223.9,85.6,4.5,1355,12911,0.12,0.00,39.55,0.682,6,0.067,0.000,3271,2372,1626
$GC,13249,1.81,258.9,57.9,5.9,1423,13281,0.12,2.58,26.80,0.644,4,0.065,0.049,3304,967,1482
$GC,13383,1.81,258.9,43.8,12.2,1447,13389,0.00,2.40,0.00,0.000,6,0.000,0.031,3304,2386,1481
$GC,13724,1.81,258.9,5.5,11.6,1508,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2388,1481
$STATE,13756,end climb,SURFACE_DEPTH_REACHED
$STATE,13756,begin surface coast
$FINISH,-0.1,1.021956
$STATE,13774,end surface coast,CONTROL_FINISHED_OK
$STATE,13774,begin surface
$SM_CCo,13795,79.10,0.554,0,0,805,425.10
$SM_GC,0.57,0.00,0.00,79.10,0.000,0.000,0.554,250,2129,805,-12.21,-0.59,425.10
$IRIDIUM_FIX,1247.67,12040.38,170597,212107
$TT8_MAMPS,0.023777
$HUMID,1813
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.50
$XPDR_PINGS,526
$ALTIM_BOTTOM_PING,650.4,41.7
$24V_AH,23.4,9.530
$10V_AH,10.2,3.592
$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,31.800,117.075,271.650,79.100,0.000,53.637,49.156,127.213,135.750,0.000,0.000,17.153,2394.415,8578.070,487.702,2449.836,379.610,0.000,1697.158,0.000,2397.978,0.000,32.661
$DEVICE_MAMPS,169.507,59.059,1148.199,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47213,1517
$CAP_FILE_SIZE,140737,0
$CFSIZE,260165632,254857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,005338,1251.409,12040.546,32,1.0,32,-0.8