version: 66.03
glider: 122
mission: 6
dive: 44
start: 2 24 108 6 35 19
data:
$ID,122
$MISSION,6
$DIVE,44
$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,2
$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,-28216.039
$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,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,6
$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
$GPS1,063007,1245.046,12022.289,26,1.4,26,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-70.9
$GPS2,063427,1245.008,12022.292,13,2.0,13,-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,276.1,12321,-22.8,-9.016
$D_GRID,714
$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,-1.67,-76.7,0.0,0.0,0,85,0.00,0.00,-65.57,0.000,2,0.000,0.000,253,2131,2574
$GC,87,-1.69,-87.4,3.5,-8.1,10,113,12.98,2.50,-6.22,0.000,4,0.166,0.051,2530,3558,2899
$GC,227,-1.40,-87.4,40.1,-24.2,34,234,0.35,2.33,0.00,0.000,6,0.116,0.028,2595,2156,2900
$GC,571,-1.29,-87.4,97.8,-15.8,95,579,0.15,2.45,0.00,0.000,4,0.117,0.045,2626,747,2902
$GC,753,-1.29,-87.4,123.1,-12.6,127,760,0.00,2.25,0.00,0.000,6,0.000,0.028,2626,2099,2904
$GC,1098,-1.33,-87.4,162.4,-11.0,188,1104,0.00,2.35,0.00,0.000,4,0.000,0.045,2626,741,2905
$GC,1155,-1.40,-87.4,168.2,-9.5,198,1163,0.12,2.25,0.00,0.000,6,0.057,0.028,2588,2095,2905
$GC,1501,-1.40,-87.4,206.1,-11.5,259,1508,0.00,2.50,0.00,0.000,4,0.000,0.046,2588,3554,2905
$GC,1694,-1.40,-87.4,227.6,-11.0,293,1700,0.00,2.40,0.00,0.000,6,0.000,0.029,2588,2109,2905
$GC,2040,-1.46,-107.0,255.5,-7.2,348,2044,0.00,2.47,0.00,0.000,4,0.000,0.044,2587,3554,2905
$GC,2112,-1.48,-118.8,261.7,-7.9,354,2116,0.00,2.45,0.00,0.000,6,0.000,0.030,2588,2085,2905
$GC,2438,-1.55,-128.9,287.8,-8.1,384,2442,0.00,2.53,0.00,0.000,4,0.000,0.045,2588,3554,2904
$GC,2617,-1.60,-134.5,302.3,-8.5,399,2624,0.15,2.40,0.00,0.000,6,0.056,0.031,2548,2123,2903
$GC,2941,-1.57,-134.5,332.1,-9.3,430,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2122,2902
$GC,3259,-1.58,-138.9,361.2,-8.6,460,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2122,2900
$GC,3578,-1.58,-138.9,387.2,-9.7,490,3582,0.00,2.45,0.00,0.000,4,0.000,0.054,2547,740,2899
$GC,3617,-1.53,-138.9,390.8,-9.6,493,3621,0.12,2.33,0.00,0.000,6,0.123,0.032,2568,2115,2899
$GC,3941,-1.54,-146.0,417.0,-8.0,523,3945,0.00,2.47,0.00,0.000,4,0.000,0.048,2568,3545,2897
$GC,4003,-1.54,-146.0,422.4,-8.4,528,4008,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2122,2896
$GC,4328,-1.54,-146.0,449.0,-8.2,558,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2121,2896
$GC,4647,-1.58,-146.0,471.7,-6.4,588,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2121,2893
$GC,4966,-1.61,-146.0,492.2,-6.7,618,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2121,2891
$GC,5288,-1.65,-146.0,515.2,-7.6,639,5290,0.12,0.00,0.00,0.000,6,0.063,0.000,2535,2121,2890
$GC,5598,-1.62,-146.0,537.6,-6.8,654,5602,0.00,2.45,0.00,0.000,4,0.000,0.056,2535,744,2889
$GC,5647,-1.57,-146.0,541.5,-7.8,656,5652,0.10,2.35,0.00,0.000,6,0.120,0.035,2563,2103,2889
$GC,5968,-1.57,-146.0,564.9,-7.9,672,5973,0.00,2.55,0.00,0.000,4,0.000,0.053,2563,3559,2888
$GC,6097,-1.57,-146.0,576.0,-8.9,678,6102,0.00,2.45,0.00,0.000,6,0.000,0.035,2563,2120,2887
$GC,6425,-1.60,-146.0,598.8,-6.4,694,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2119,2885
$GC,6733,-1.60,-146.0,619.2,-6.6,709,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2119,2884
$GC,7043,-1.64,-146.0,638.4,-6.2,724,7047,0.00,2.45,0.00,0.000,4,0.000,0.059,2563,747,2883
$GC,7136,-1.64,-146.0,645.0,-7.1,728,7141,0.00,2.38,0.00,0.000,6,0.000,0.037,2564,2119,2882
$GC,7458,-1.69,-146.0,666.7,-6.9,744,7460,0.12,0.00,0.00,0.000,6,0.063,0.000,2531,2119,2881
$STATE,7521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7521,begin apogee
$GC,7525,-0.34,0.0,671.5,7.6,747,7601,1.50,0.00,69.32,1.147,6,0.113,0.000,2825,2389,2539
$STATE,7602,end apogee,CONTROL_FINISHED_OK
$STATE,7602,begin climb
$GC,7603,1.79,146.0,673.4,0.0,751,7732,2.17,2.62,120.75,1.106,4,0.059,0.057,3292,976,1942
$GC,7764,1.61,146.0,654.1,18.5,759,7769,0.17,2.47,0.00,0.000,6,0.127,0.038,3258,2362,1940
$GC,8092,1.50,146.0,599.0,17.0,775,8097,0.15,2.53,0.00,0.000,4,0.127,0.056,3232,970,1939
$GC,8157,1.44,146.0,588.2,16.3,778,8162,0.00,2.45,0.00,0.000,6,0.000,0.038,3233,2352,1938
$GC,8485,1.39,146.0,538.0,15.6,794,8487,0.15,0.00,0.00,0.000,6,0.124,0.000,3207,2352,1938
$GC,8794,1.39,146.0,495.8,13.5,810,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2352,1937
$GC,9113,1.39,146.0,457.4,11.9,840,9117,0.00,2.47,0.00,0.000,4,0.000,0.055,3207,972,1936
$GC,9212,1.39,146.0,445.2,12.5,848,9220,0.00,2.45,0.00,0.000,6,0.000,0.037,3207,2368,1936
$GC,9538,1.39,146.0,406.4,11.8,879,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2367,1935
$GC,9855,1.39,146.0,366.5,12.9,909,9859,0.00,2.40,0.00,0.000,4,0.000,0.055,3207,3725,1935
$GC,9962,1.39,146.0,352.1,13.1,918,9966,0.00,2.30,0.00,0.000,6,0.000,0.035,3207,2370,1935
$GC,10287,1.39,146.0,311.5,12.3,948,10291,0.00,2.47,0.00,0.000,4,0.000,0.053,3207,974,1934
$GC,10337,1.39,146.0,305.1,12.5,952,10341,0.00,2.42,0.00,0.000,6,0.000,0.035,3207,2386,1934
$GC,10660,1.39,146.0,265.2,11.7,982,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2386,1934
$GC,10989,1.39,146.0,229.1,10.5,1029,10996,0.00,2.35,0.00,0.000,4,0.000,0.052,3207,3726,1934
$GC,11074,1.39,146.0,219.2,11.6,1044,11082,0.00,2.22,0.00,0.000,6,0.000,0.033,3207,2403,1934
$GC,11420,1.45,152.5,186.0,8.4,1105,11427,0.00,0.00,3.65,0.849,6,0.000,0.000,3207,2400,1917
$GC,11765,1.57,189.5,157.5,5.7,1166,11801,0.15,2.42,28.98,0.774,4,0.063,0.048,3249,3726,1766
$GC,11987,1.57,189.5,132.1,11.3,1204,11994,0.00,2.28,0.00,0.000,6,0.000,0.031,3248,2375,1765
$GC,12334,1.65,209.3,100.7,7.2,1265,12355,0.00,2.45,15.38,0.719,4,0.000,0.045,3248,3729,1685
$GC,12389,1.65,211.0,95.9,8.9,1274,12396,0.00,2.30,0.00,0.000,6,0.000,0.029,3248,2361,1685
$GC,12733,1.72,213.9,67.8,8.8,1335,12742,0.15,2.50,3.70,0.703,4,0.060,0.048,3290,972,1665
$GC,12996,1.76,234.4,42.3,7.2,1381,13016,0.00,2.30,16.05,0.641,6,0.000,0.029,3290,2341,1582
$GC,13355,1.82,241.5,12.8,8.4,1444,13370,0.00,2.45,5.25,0.630,4,0.000,0.046,3290,976,1553
$GC,13426,1.88,241.5,6.2,9.3,1456,13434,0.10,2.30,0.00,0.000,6,0.067,0.028,3319,2350,1553
$STATE,13472,end climb,SURFACE_DEPTH_REACHED
$STATE,13472,begin surface coast
$FINISH,-0.1,1.021376
$STATE,13497,end surface coast,CONTROL_FINISHED_OK
$STATE,13497,begin surface
$SM_CCo,13518,94.00,0.548,0,0,804,425.10
$SM_GC,0.85,0.00,0.00,94.00,0.000,0.000,0.548,249,2121,804,-12.21,-0.85,425.10
$IRIDIUM_FIX,1238.83,12023.34,200597,020203
$TT8_MAMPS,0.023777
$HUMID,1808
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,515
$ALTIM_BOTTOM_PING,671.5,8.6
$24V_AH,23.4,11.065
$10V_AH,10.2,4.574
$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,32.250,102.125,263.075,94.000,0.000,26.274,16.974,126.456,133.500,0.000,0.000,13.111,3106.073,7607.840,530.760,2344.740,315.483,0.000,1662.125,0.000,2306.418,0.000,36.209
$DEVICE_MAMPS,165.672,59.059,1147.432,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44034,1468
$CAP_FILE_SIZE,137235,0
$CFSIZE,260165632,253947904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,295.4,1
$GPS,240208,102326,1245.423,12020.645,41,1.7,41,-0.8