version: 66.03
glider: 122
mission: 6
dive: 56
start: 2 26 108 9 16 16
data:
$ID,122
$MISSION,6
$DIVE,56
$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,440
$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,-28454.918
$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,37
$R_STBD_OVSHOOT,37
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,090726,1246.742,12023.679,44,1.1,44,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.8
$GPS2,091523,1246.612,12023.687,12,4.8,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,1000.000
$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,81.1,35249,-22.8,-9.016
$D_GRID,636
$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,-76.7,0.0,0.0,0,85,0.00,0.00,-64.47,0.000,2,0.000,0.000,247,2167,2479
$GC,87,-1.71,-103.1,3.0,-6.6,10,112,12.98,0.00,-9.57,0.000,6,0.166,0.000,2525,2167,2961
$GC,450,-1.46,-103.1,90.6,-20.5,74,458,0.28,2.45,0.00,0.000,4,0.122,0.041,2579,744,2964
$GC,486,-1.32,-103.1,97.2,-18.3,80,494,0.20,2.35,0.00,0.000,6,0.114,0.028,2615,2153,2964
$GC,831,-1.32,-103.1,145.2,-12.0,141,838,0.00,2.42,0.00,0.000,4,0.000,0.044,2615,750,2965
$GC,928,-1.32,-103.1,157.7,-12.7,158,935,0.00,2.25,0.00,0.000,6,0.000,0.028,2616,2097,2966
$GC,1272,-1.39,-103.1,195.6,-9.9,219,1279,0.00,2.33,0.00,0.000,4,0.000,0.045,2615,753,2967
$GC,1324,-1.47,-103.1,200.9,-10.2,228,1332,0.15,2.15,0.00,0.000,6,0.052,0.028,2572,2046,2967
$GC,1670,-1.47,-103.1,237.0,-12.4,289,1676,0.00,2.60,0.00,0.000,4,0.000,0.049,2572,3554,2967
$GC,1755,-1.47,-103.1,247.8,-12.7,304,1762,0.00,2.53,0.00,0.000,6,0.000,0.031,2572,2046,2966
$GC,2082,-1.47,-104.0,280.5,-8.9,336,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2045,2966
$GC,2400,-1.47,-104.0,309.4,-9.3,366,2404,0.00,2.62,0.00,0.000,4,0.000,0.047,2572,3558,2965
$GC,2483,-1.47,-104.0,317.9,-10.8,373,2488,0.00,2.50,0.00,0.000,6,0.000,0.032,2572,2074,2964
$GC,2808,-1.47,-104.0,347.0,-9.0,403,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2073,2962
$GC,3128,-1.52,-117.8,376.7,-7.8,433,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2073,2961
$GC,3446,-1.57,-126.0,403.5,-8.3,463,3450,0.00,2.33,0.00,0.000,4,0.000,0.053,2572,755,2959
$GC,3531,-1.58,-127.3,411.0,-8.9,470,3535,0.00,2.22,0.00,0.000,6,0.000,0.031,2573,2071,2958
$GC,3858,-1.64,-146.0,435.6,-7.3,500,3863,0.12,2.58,0.00,0.000,4,0.061,0.048,2539,3556,2957
$GC,3912,-1.60,-146.0,440.9,-9.1,504,3920,0.00,2.50,0.00,0.000,6,0.000,0.033,2539,2093,2956
$GC,4239,-1.60,-146.0,469.5,-8.1,535,4243,0.00,2.38,0.00,0.000,4,0.000,0.054,2539,750,2954
$GC,4337,-1.56,-146.0,477.9,-8.2,543,4342,0.12,2.25,0.00,0.000,6,0.120,0.032,2560,2076,2954
$GC,4671,-1.56,-146.0,503.1,-7.0,572,4675,0.00,2.35,0.00,0.000,4,0.000,0.054,2561,752,2952
$GC,4714,-1.56,-146.0,506.3,-8.0,574,4718,0.00,2.25,0.00,0.000,6,0.000,0.033,2561,2055,2952
$GC,5044,-1.56,-146.0,530.5,-7.5,590,5048,0.00,2.62,0.00,0.000,4,0.000,0.051,2561,3558,2950
$GC,5161,-1.56,-146.0,540.2,-8.2,595,5165,0.00,2.50,0.00,0.000,6,0.000,0.035,2561,2084,2949
$GC,5476,-1.56,-146.0,563.4,-7.6,610,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2083,2947
$GC,5786,-1.59,-146.0,587.8,-7.4,625,5790,0.00,2.58,0.00,0.000,4,0.000,0.051,2561,3551,2945
$GC,5864,-1.59,-146.0,593.8,-7.8,628,5871,0.00,2.50,0.00,0.000,6,0.000,0.035,2561,2080,2945
$GC,6179,-1.63,-146.0,616.3,-7.2,644,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2080,2944
$STATE,6465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6465,begin apogee
$GC,6470,-0.34,0.0,637.5,7.5,658,6555,1.35,0.00,81.45,1.105,6,0.104,0.000,2830,2386,2539
$STATE,6556,end apogee,CONTROL_FINISHED_OK
$STATE,6556,begin climb
$GC,6557,1.79,146.0,638.8,0.0,662,6688,2.10,2.62,119.10,1.068,4,0.056,0.056,3296,978,1942
$GC,6737,1.62,146.0,615.8,18.2,670,6742,0.15,2.47,0.00,0.000,6,0.121,0.038,3259,2365,1941
$GC,7065,1.52,146.0,565.0,15.3,686,7070,0.12,2.45,0.00,0.000,4,0.127,0.058,3238,3732,1939
$GC,7104,1.43,146.0,559.1,15.8,688,7109,0.12,2.33,0.00,0.000,6,0.129,0.036,3218,2379,1939
$GC,7429,1.43,146.0,513.8,13.8,704,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2377,1938
$GC,7744,1.43,146.0,473.1,12.3,728,7748,0.00,2.40,0.00,0.000,4,0.000,0.055,3217,3726,1937
$GC,7788,1.39,146.0,467.1,13.4,731,7795,0.00,2.30,0.00,0.000,6,0.000,0.035,3218,2401,1937
$GC,8114,1.39,146.0,425.0,13.3,762,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2398,1936
$GC,8431,1.39,146.0,381.6,13.3,792,8435,0.00,2.35,0.00,0.000,4,0.000,0.053,3218,3726,1935
$GC,8505,1.35,146.0,371.8,14.0,798,8509,0.00,2.25,0.00,0.000,6,0.000,0.035,3218,2404,1935
$GC,8829,1.35,146.0,328.9,12.9,828,8834,0.00,2.55,0.00,0.000,4,0.000,0.052,3218,967,1935
$GC,8872,1.35,146.0,322.6,14.1,831,8881,0.00,2.50,0.00,0.000,6,0.000,0.036,3218,2399,1934
$GC,9199,1.35,146.0,282.0,12.1,862,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2400,1934
$GC,9518,1.35,146.0,245.0,12.2,895,9525,0.00,2.33,0.00,0.000,4,0.000,0.053,3218,3723,1934
$GC,9598,1.35,146.0,234.9,13.4,909,9605,0.00,2.22,0.00,0.000,6,0.000,0.032,3218,2401,1934
$GC,9943,1.38,146.0,199.4,11.1,970,9950,0.00,2.33,0.00,0.000,4,0.000,0.051,3218,3726,1934
$GC,10012,1.38,146.0,191.2,11.7,982,10019,0.00,2.17,0.00,0.000,6,0.000,0.031,3218,2426,1934
$GC,10358,1.49,169.4,160.7,6.9,1043,10379,0.00,2.65,16.38,0.788,4,0.000,0.048,3217,977,1848
$GC,10414,1.59,192.7,157.0,6.9,1052,10442,0.15,2.50,18.60,0.772,6,0.065,0.032,3252,2429,1752
$GC,10779,1.59,192.7,121.7,9.4,1116,10787,0.00,2.58,0.00,0.000,4,0.000,0.048,3253,969,1751
$GC,11000,1.62,209.9,104.0,7.5,1155,11021,0.00,2.38,13.12,0.721,6,0.000,0.032,3253,2364,1683
$GC,11360,1.72,227.5,76.2,7.4,1218,11381,0.12,2.40,14.02,0.679,4,0.066,0.048,3284,3726,1610
$GC,11635,1.72,227.5,44.7,10.6,1266,11642,0.00,2.28,0.00,0.000,6,0.000,0.029,3284,2361,1610
$GC,11980,1.80,238.4,16.3,8.0,1327,11994,0.00,2.50,8.38,0.621,4,0.000,0.045,3284,970,1566
$GC,12147,1.90,256.6,3.4,7.4,1356,12168,0.15,2.28,11.90,0.595,6,0.058,0.028,3323,2328,1490
$STATE,12172,end climb,SURFACE_DEPTH_REACHED
$STATE,12172,begin surface coast
$FINISH,-0.1,1.010552
$STATE,12196,end surface coast,CONTROL_FINISHED_OK
$STATE,12196,begin surface
$SM_CCo,12217,88.12,0.537,0,0,744,440.07
$SM_GC,0.70,0.00,0.00,88.12,0.000,0.000,0.537,253,2118,744,-12.20,-0.90,440.07
$IRIDIUM_FIX,1243.25,12021.43,220597,090943
$TT8_MAMPS,0.023777
$HUMID,1796
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,509
$24V_AH,23.4,12.614
$10V_AH,10.2,5.523
$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,31.700,106.900,282.950,88.125,0.000,48.561,42.787,208.357,130.750,0.000,0.000,32.146,2837.045,6782.900,537.003,2205.507,453.038,0.000,1621.525,0.000,2154.325,0.000,26.319
$DEVICE_MAMPS,165.672,57.525,1105.247,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40943,1364
$CAP_FILE_SIZE,129246,0
$CFSIZE,260165632,253100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,244.1,1
$GPS,260208,124238,1246.760,12024.487,43,1.3,43,-0.8