version: 66.03
glider: 122
mission: 6
dive: 81
start: 3 2 108 10 14 59
data:
$ID,122
$MISSION,6
$DIVE,81
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,-28896.273
$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,52
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,2
$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
$GPS1,100708,1245.773,12015.570,30,1.9,30,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.3
$GPS2,101427,1245.768,12015.531,14,2.0,14,-0.8
$SPEED_LIMITS,0.156,0.209
$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,82.4,49992,-17.4,-9.016
$D_GRID,823
$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,16,begin dive
$GC,17,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-63.67,0.000,2,0.000,0.000,250,2119,2650
$GC,86,-1.42,-146.0,3.8,-7.6,10,119,13.43,2.38,-11.00,0.000,4,0.166,0.053,2588,769,3277
$GC,233,-1.15,-146.0,40.8,-21.3,35,241,0.32,2.33,0.00,0.000,6,0.108,0.027,2650,2164,3279
$GC,578,-1.02,-146.0,98.1,-13.3,96,585,0.15,2.42,0.00,0.000,4,0.102,0.041,2683,759,3281
$GC,619,-1.02,-146.0,103.1,-11.5,103,626,0.00,2.33,0.00,0.000,6,0.000,0.027,2682,2160,3281
$GC,963,-1.02,-146.0,143.0,-11.5,164,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2161,3282
$GC,1304,-1.09,-146.0,174.1,-8.2,225,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2163,3283
$GC,1647,-1.19,-146.0,203.8,-9.0,286,1654,0.15,2.40,0.00,0.000,4,0.050,0.047,2632,3556,3283
$GC,1727,-1.19,-146.0,212.6,-10.9,300,1734,0.00,2.30,0.00,0.000,6,0.000,0.029,2632,2171,3283
$GC,2071,-1.19,-146.0,247.7,-8.6,361,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2171,3282
$GC,2402,-1.19,-146.0,275.9,-7.6,394,2406,0.00,2.38,0.00,0.000,4,0.000,0.046,2632,3547,3281
$GC,2430,-1.19,-146.0,278.1,-7.5,396,2434,0.00,2.33,0.00,0.000,6,0.000,0.031,2632,2156,3281
$GC,2755,-1.19,-146.0,303.2,-8.1,426,2759,0.00,2.42,0.00,0.000,4,0.000,0.048,2632,3554,3279
$GC,2806,-1.23,-146.0,307.4,-8.4,430,2810,0.00,2.33,0.00,0.000,6,0.000,0.031,2632,2171,3280
$GC,3131,-1.23,-146.0,333.5,-8.1,460,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2169,3278
$GC,3450,-1.26,-146.0,358.4,-8.4,490,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2169,3275
$GC,3768,-1.30,-146.0,383.9,-7.8,520,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2169,3273
$GC,4087,-1.34,-146.0,409.7,-8.5,550,4091,0.00,2.42,0.00,0.000,4,0.000,0.051,2632,3549,3271
$GC,4126,-1.39,-146.0,413.4,-9.5,553,4130,0.15,2.38,0.00,0.000,6,0.057,0.034,2593,2153,3271
$GC,4450,-1.34,-146.0,448.8,-11.3,583,4454,0.00,2.45,0.00,0.000,4,0.000,0.051,2593,3545,3269
$GC,4479,-1.30,-146.0,451.8,-10.9,585,4483,0.15,2.33,0.00,0.000,6,0.101,0.034,2621,2179,3269
$GC,4808,-1.30,-146.0,480.4,-8.3,616,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2178,3267
$GC,5136,-1.30,-146.0,505.7,-8.4,644,5140,0.00,2.40,0.00,0.000,4,0.000,0.052,2621,3548,3265
$GC,5162,-1.30,-146.0,508.2,-9.1,645,5166,0.00,2.35,0.00,0.000,6,0.000,0.035,2621,2184,3265
$GC,5490,-1.30,-146.0,534.6,-7.9,661,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2182,3263
$GC,5799,-1.30,-146.0,559.1,-7.8,676,5803,0.00,2.58,0.00,0.000,4,0.000,0.057,2621,743,3260
$GC,5831,-1.34,-146.0,561.7,-7.6,677,5840,0.00,2.45,0.00,0.000,6,0.000,0.036,2621,2172,3261
$GC,6147,-1.38,-146.0,586.4,-8.3,693,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2173,3259
$GC,6457,-1.41,-146.0,611.0,-8.0,708,6461,0.12,2.45,0.00,0.000,4,0.060,0.056,2587,3560,3258
$GC,6489,-1.37,-146.0,614.1,-9.4,709,6496,0.00,2.38,0.00,0.000,6,0.000,0.036,2587,2162,3258
$GC,6805,-1.34,-146.0,645.9,-10.4,725,6810,0.15,2.55,0.00,0.000,4,0.110,0.058,2614,741,3257
$GC,6854,-1.38,-146.0,650.8,-8.6,727,6858,0.00,2.45,0.00,0.000,6,0.000,0.036,2614,2163,3256
$GC,7176,-1.41,-146.0,678.4,-8.7,743,7180,0.00,2.47,0.00,0.000,4,0.000,0.058,2614,3559,3255
$GC,7215,-1.44,-146.0,682.0,-9.2,745,7219,0.12,2.40,0.00,0.000,6,0.064,0.037,2579,2157,3255
$GC,7542,-1.39,-146.0,714.9,-10.0,761,7544,0.12,0.00,0.00,0.000,6,0.120,0.000,2600,2157,3253
$GC,7849,-1.39,-146.0,742.2,-8.2,776,7854,0.00,2.53,0.00,0.000,4,0.000,0.061,2600,751,3252
$GC,7893,-1.39,-146.0,746.0,-8.4,778,7897,0.00,2.45,0.00,0.000,6,0.000,0.036,2600,2175,3252
$GC,8220,-1.39,-146.0,771.4,-7.4,794,8225,0.00,2.58,0.00,0.000,4,0.000,0.061,2600,748,3251
$GC,8253,-1.39,-146.0,774.2,-8.0,795,8260,0.00,2.42,0.00,0.000,6,0.000,0.038,2600,2155,3250
$GC,8569,-1.39,-146.0,798.7,-7.7,811,8573,0.00,2.50,0.00,0.000,4,0.000,0.060,2600,3562,3249
$GC,8600,-1.39,-146.0,801.5,-8.2,812,8607,0.00,2.40,0.00,0.000,6,0.000,0.037,2600,2158,3249
$STATE,8894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8894,begin apogee
$GC,8899,-0.34,0.0,823.9,7.4,827,9022,1.12,0.00,119.60,1.252,6,0.100,0.000,2827,2390,2678
$STATE,9023,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9024,1.42,146.0,826.7,0.0,833,9157,1.77,2.53,122.82,1.208,4,0.058,0.060,3213,3722,2082
$GC,9279,1.18,146.0,799.7,15.0,844,9284,0.22,2.38,0.00,0.000,6,0.114,0.038,3163,2375,2081
$GC,9603,1.07,146.0,761.9,11.3,860,9605,0.12,0.00,0.00,0.000,6,0.123,0.000,3142,2375,2079
$GC,9910,1.01,146.0,731.8,9.3,875,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2374,2078
$GC,10220,0.95,146.0,703.0,9.3,890,10221,0.17,0.00,0.00,0.000,6,0.112,0.000,3110,2373,2076
$GC,10529,1.00,177.7,679.4,7.4,905,10560,0.00,2.65,25.70,1.184,4,0.000,0.061,3110,978,1952
$GC,10583,1.00,177.7,675.0,9.1,907,10588,0.00,2.50,0.00,0.000,6,0.000,0.038,3110,2370,1952
$GC,10905,1.01,183.8,646.8,8.7,923,10912,0.00,0.00,5.28,1.190,6,0.000,0.000,3110,2371,1928
$GC,11214,1.01,186.3,619.8,8.9,938,11218,0.00,0.00,2.67,1.147,6,0.000,0.000,3110,2370,1918
$GC,11523,1.04,200.6,592.4,8.3,953,11545,0.00,2.65,11.95,1.151,4,0.000,0.058,3109,973,1860
$GC,11569,1.08,200.6,588.3,9.3,955,11574,0.15,2.53,0.00,0.000,6,0.064,0.039,3145,2400,1859
$GC,11895,1.04,200.6,553.7,10.3,971,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2401,1859
$GC,12204,1.01,200.6,521.1,10.2,986,12209,0.12,2.60,0.00,0.000,4,0.115,0.056,3124,962,1859
$GC,12244,1.01,200.6,517.3,9.3,988,12248,0.00,2.47,0.00,0.000,6,0.000,0.037,3124,2383,1858
$GC,12563,1.01,200.6,486.1,9.1,1010,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,1858
$GC,12881,1.01,200.6,456.1,9.1,1040,12886,0.00,2.38,0.00,0.000,4,0.000,0.058,3124,3722,1858
$GC,12920,1.01,200.6,452.3,10.0,1043,12925,0.00,2.33,0.00,0.000,6,0.000,0.036,3124,2365,1858
$GC,13245,1.02,211.2,423.9,8.5,1073,13256,0.00,0.00,8.70,1.050,6,0.000,0.000,3124,2363,1817
$GC,13575,1.08,221.1,396.0,8.5,1104,13585,0.00,0.00,8.68,1.022,6,0.000,0.000,3124,2364,1776
$GC,13903,1.12,221.1,365.8,9.1,1135,13905,0.12,0.00,0.00,0.000,6,0.069,0.000,3154,2363,1775
$GC,14220,1.12,221.1,332.1,10.2,1165,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2363,1775
$GC,14538,1.12,221.1,300.3,9.6,1195,14542,0.00,2.40,0.00,0.000,4,0.000,0.053,3154,3725,1775
$GC,14585,1.08,221.1,295.6,10.7,1199,14589,0.00,2.30,0.00,0.000,6,0.000,0.035,3155,2373,1775
$GC,14909,1.08,221.1,258.9,10.3,1229,14913,0.00,2.47,0.00,0.000,4,0.000,0.053,3155,975,1775
$GC,14981,1.08,221.1,251.2,10.3,1235,14986,0.00,2.38,0.00,0.000,6,0.000,0.034,3155,2360,1775
$GC,15323,1.09,221.9,219.2,9.0,1294,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2360,1775
$GC,15666,1.10,229.3,190.0,8.6,1355,15680,0.00,2.50,7.12,0.854,4,0.000,0.050,3154,967,1742
$GC,15720,1.10,229.3,184.9,10.3,1364,15727,0.00,2.40,0.00,0.000,6,0.000,0.035,3154,2358,1742
$GC,16064,1.16,239.4,156.1,8.5,1425,16081,0.00,2.42,8.62,0.805,4,0.000,0.049,3154,3727,1700
$GC,16144,1.23,247.5,149.6,8.6,1438,16159,0.00,2.28,6.22,0.799,6,0.000,0.031,3155,2383,1668
$GC,16496,1.44,322.9,128.7,5.2,1500,16567,0.25,2.60,59.88,0.702,4,0.049,0.049,3221,977,1359
$GC,16595,1.44,322.9,120.4,9.7,1517,16601,0.00,2.45,0.00,0.000,6,0.000,0.032,3222,2397,1357
$GC,16939,1.44,322.9,85.4,10.2,1578,16946,0.00,2.30,0.00,0.000,4,0.000,0.048,3221,3720,1357
$GC,17047,1.44,322.9,73.5,10.3,1597,17053,0.00,2.22,0.00,0.000,6,0.000,0.030,3222,2393,1357
$GC,17390,1.56,366.5,44.0,6.8,1658,17433,0.10,2.55,33.80,0.614,4,0.065,0.045,3252,967,1181
$GC,17525,1.56,366.5,31.3,10.5,1681,17531,0.00,2.38,0.00,0.000,6,0.000,0.029,3252,2363,1178
$STATE,17827,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,-0.1,1.021600
$STATE,17851,end surface coast,CONTROL_FINISHED_OK
$STATE,17852,begin surface
$SM_CCo,17873,35.33,0.561,0,0,884,440.07
$SM_GC,0.97,0.00,0.00,35.33,0.000,0.000,0.561,250,2118,884,-12.21,-0.90,440.07
$IRIDIUM_FIX,1243.25,12016.50,270597,101031
$TT8_MAMPS,0.023777
$HUMID,1830
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,468
$ALTIM_BOTTOM_PING,511.2,7.9
$24V_AH,23.3,16.604
$10V_AH,10.2,7.688
$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,32.350,131.950,421.050,35.325,0.000,48.272,55.564,169.432,117.750,0.000,0.000,14.910,3485.722,11005.053,623.043,2750.687,487.541,0.000,2009.707,0.000,2727.317,0.000,7.193
$DEVICE_MAMPS,166.439,61.360,1251.744,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53462,1739
$CAP_FILE_SIZE,166683,0
$CFSIZE,260165632,251121664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,340.7,1
$GPS,020308,151438,1246.838,12017.476,37,1.3,37,-0.8