version: 66.03
glider: 122
mission: 6
dive: 43
start: 2 24 108 2 48 25
data:
$ID,122
$MISSION,6
$DIVE,43
$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,-28202.297
$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,35
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,4
$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
$GPS1,023437,1245.413,12024.084,38,0.9,38,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.8
$GPS2,024733,1245.364,12024.086,16,1.0,16,-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,272.6,15516,-22.8,-9.016
$D_GRID,625
$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,-66.88,0.000,2,0.000,0.000,250,2157,2656
$GC,89,-1.68,-80.2,3.7,-8.7,13,112,13.07,2.42,-3.97,0.000,4,0.168,0.053,2536,3545,2867
$GC,236,-1.39,-80.2,42.7,-22.8,39,242,0.32,2.30,0.00,0.000,6,0.111,0.028,2597,2150,2869
$GC,579,-1.30,-80.2,95.8,-14.6,100,586,0.12,2.42,0.00,0.000,4,0.119,0.044,2619,750,2870
$GC,799,-1.30,-80.2,127.3,-13.5,139,805,0.00,2.22,0.00,0.000,6,0.000,0.028,2619,2086,2871
$GC,1142,-1.30,-80.2,164.4,-10.5,200,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2086,2872
$GC,1484,-1.36,-80.2,197.0,-9.3,261,1490,0.00,2.50,0.00,0.000,4,0.000,0.046,2619,3547,2872
$GC,1608,-1.42,-80.2,208.9,-9.9,283,1614,0.12,2.42,0.00,0.000,6,0.058,0.030,2584,2087,2872
$GC,1952,-1.44,-89.5,239.5,-8.2,344,1957,0.00,2.33,0.00,0.000,4,0.000,0.048,2583,745,2872
$GC,2069,-1.44,-89.5,251.1,-10.6,364,2075,0.00,2.20,0.00,0.000,6,0.000,0.030,2584,2069,2872
$GC,2394,-1.46,-101.5,278.6,-7.9,395,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2070,2870
$GC,2714,-1.53,-124.5,300.2,-6.9,425,2718,0.00,2.55,0.00,0.000,4,0.000,0.048,2584,3551,2869
$GC,2903,-1.54,-132.5,315.2,-8.3,441,2909,0.00,2.53,0.00,0.000,6,0.000,0.031,2583,2064,2868
$GC,3229,-1.61,-146.0,342.2,-7.0,472,3231,0.15,0.00,0.00,0.000,6,0.055,0.000,2542,2062,2866
$GC,3547,-1.57,-146.0,366.0,-7.7,502,3552,0.10,2.33,0.00,0.000,4,0.122,0.051,2559,743,2864
$GC,3675,-1.57,-146.0,376.1,-8.1,513,3679,0.00,2.17,0.00,0.000,6,0.000,0.031,2559,2042,2863
$GC,4000,-1.57,-146.0,401.8,-7.7,543,4004,0.00,2.60,0.00,0.000,4,0.000,0.047,2559,3548,2861
$GC,4060,-1.57,-146.0,407.1,-8.6,548,4065,0.00,2.53,0.00,0.000,6,0.000,0.033,2559,2054,2861
$GC,4385,-1.57,-146.0,431.8,-7.3,578,4389,0.00,2.60,0.00,0.000,4,0.000,0.048,2559,3543,2860
$GC,4434,-1.57,-146.0,435.5,-7.5,582,4438,0.00,2.50,0.00,0.000,6,0.000,0.033,2559,2063,2859
$GC,4759,-1.57,-146.0,458.3,-6.5,612,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2062,2857
$GC,5077,-1.57,-146.0,478.5,-6.7,642,5081,0.00,2.60,0.00,0.000,4,0.000,0.049,2559,3545,2856
$GC,5227,-1.57,-146.0,489.6,-7.1,655,5231,0.00,2.50,0.00,0.000,6,0.000,0.035,2559,2070,2855
$GC,5547,-1.57,-146.0,511.9,-7.0,677,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2069,2853
$GC,5856,-1.57,-146.0,530.5,-5.8,692,5860,0.00,2.58,0.00,0.000,4,0.000,0.051,2559,3539,2852
$GC,5923,-1.57,-146.0,534.9,-6.9,695,5927,0.00,2.47,0.00,0.000,6,0.000,0.035,2559,2080,2851
$GC,6244,-1.57,-146.0,555.6,-6.6,711,6248,0.00,2.58,0.00,0.000,4,0.000,0.051,2559,3545,2850
$GC,6293,-1.57,-146.0,559.3,-7.2,713,6298,0.00,2.47,0.00,0.000,6,0.000,0.035,2559,2105,2850
$GC,6614,-1.57,-146.0,577.6,-5.5,729,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2103,2848
$GC,6923,-1.57,-146.0,593.9,-5.8,744,6928,0.00,2.50,0.00,0.000,4,0.000,0.051,2559,3539,2847
$GC,7063,-1.57,-146.0,603.5,-6.7,750,7067,0.00,2.47,0.00,0.000,6,0.000,0.035,2559,2085,2846
$GC,7384,-1.57,-146.0,623.5,-6.1,766,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2084,2845
$STATE,7423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7423,begin apogee
$GC,7427,-0.34,0.0,625.8,5.8,768,7492,1.35,0.00,61.65,1.115,6,0.109,0.000,2826,2378,2539
$STATE,7493,end apogee,CONTROL_FINISHED_OK
$STATE,7493,begin climb
$GC,7495,1.79,146.0,626.8,0.0,771,7619,2.17,0.00,119.90,1.073,6,0.058,0.000,3293,2378,1942
$GC,7914,1.63,146.0,562.8,17.1,792,7919,0.17,2.40,0.00,0.000,4,0.129,0.055,3261,3722,1939
$GC,7946,1.49,146.0,557.0,17.3,793,7953,0.12,2.33,0.00,0.000,6,0.120,0.035,3234,2381,1939
$GC,8261,1.45,146.0,508.1,15.1,809,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2379,1938
$GC,8578,1.40,146.0,462.6,13.2,836,8583,0.12,2.53,0.00,0.000,4,0.125,0.055,3213,971,1937
$GC,8621,1.40,146.0,457.2,12.8,839,8628,0.00,2.40,0.00,0.000,6,0.000,0.036,3213,2340,1937
$GC,8946,1.40,146.0,414.7,13.4,870,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2340,1936
$GC,9264,1.40,146.0,374.9,12.5,900,9268,0.00,2.45,0.00,0.000,4,0.000,0.055,3213,3727,1935
$GC,9306,1.40,146.0,369.1,14.3,903,9313,0.00,2.40,0.00,0.000,6,0.000,0.035,3213,2336,1935
$GC,9632,1.40,146.0,328.6,11.4,934,9636,0.00,2.42,0.00,0.000,4,0.000,0.054,3214,972,1935
$GC,9799,1.40,146.0,306.6,13.1,948,9805,0.00,2.30,0.00,0.000,6,0.000,0.035,3213,2315,1934
$GC,10123,1.40,146.0,269.4,12.7,979,10127,0.00,2.47,0.00,0.000,4,0.000,0.054,3213,3725,1934
$GC,10380,1.40,146.0,237.3,11.3,1011,10386,0.00,2.38,0.00,0.000,6,0.000,0.034,3213,2320,1933
$GC,10723,1.40,146.0,203.2,9.1,1072,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2319,1934
$GC,11065,1.47,157.7,176.7,8.0,1133,11081,0.00,2.55,7.43,0.815,4,0.000,0.049,3213,3731,1896
$GC,11114,1.47,157.7,172.3,9.5,1142,11121,0.00,2.33,0.00,0.000,6,0.000,0.031,3213,2353,1896
$GC,11458,1.54,157.7,143.0,9.5,1203,11464,0.12,2.40,0.00,0.000,4,0.069,0.047,3244,3731,1896
$GC,11605,1.55,159.1,129.8,8.9,1229,11611,0.00,2.30,0.00,0.000,6,0.000,0.030,3244,2353,1895
$GC,11949,1.63,190.5,103.5,6.2,1290,11981,0.00,0.00,25.58,0.705,6,0.000,0.000,3244,2349,1761
$GC,12318,1.75,220.0,76.4,6.3,1356,12350,0.15,2.50,22.70,0.667,4,0.061,0.048,3288,974,1641
$GC,12495,1.75,220.0,56.7,12.4,1388,12502,0.00,2.35,0.00,0.000,6,0.000,0.031,3287,2361,1640
$GC,12839,1.85,251.6,27.9,6.2,1449,12870,0.00,2.50,23.90,0.612,4,0.000,0.047,3288,980,1512
$GC,12989,1.92,251.6,14.1,10.1,1476,12995,0.15,2.25,0.00,0.000,6,0.058,0.028,3326,2321,1511
$STATE,13111,end climb,SURFACE_DEPTH_REACHED
$STATE,13111,begin surface coast
$FINISH,0.2,1.021582
$STATE,13135,end surface coast,CONTROL_FINISHED_OK
$STATE,13135,begin surface
$SM_CCo,13156,86.50,0.548,0,0,805,425.10
$SM_GC,0.80,0.00,0.00,86.50,0.000,0.000,0.548,253,2132,805,-12.20,-0.51,425.10
$IRIDIUM_FIX,1238.83,12026.36,200597,020209
$TT8_MAMPS,0.024544
$HUMID,1813
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.50
$XPDR_PINGS,545
$24V_AH,23.4,10.950
$10V_AH,10.2,4.501
$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,31.825,102.850,261.150,86.500,0.000,102.424,64.577,318.563,139.500,0.000,0.000,16.619,2363.815,8097.137,511.025,2430.761,651.564,0.000,1680.535,0.000,2383.520,0.000,24.509
$DEVICE_MAMPS,167.973,55.224,1115.218,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47219,1502
$CAP_FILE_SIZE,141489,0
$CFSIZE,260165632,254005248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240208,063007,1245.046,12022.289,26,1.4,26,-0.8