version: 66.03
glider: 122
mission: 6
dive: 131
start: 3 13 108 18 39 32
data:
$ID,122
$MISSION,6
$DIVE,131
$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,475
$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,-29807.822
$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,55
$R_STBD_OVSHOOT,25
$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,9
$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
$GPS1,183308,1245.277,12016.129,42,1.5,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.3
$GPS2,183857,1245.276,12016.097,12,1.6,12,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,307.4,1253,-25.8,-9.016
$D_GRID,872
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.86,-69.4,0.0,0.0,0,84,0.00,0.00,-63.22,0.000,2,0.000,0.000,252,2117,2467
$GC,87,-1.87,-75.5,3.5,-8.4,10,119,13.00,2.40,-9.70,0.000,4,0.173,0.055,2489,766,2987
$GC,170,-1.56,-75.5,29.0,-28.8,24,178,0.40,2.35,0.00,0.000,6,0.139,0.028,2559,2165,2988
$GC,516,-1.45,-75.5,104.1,-18.7,85,523,0.15,0.00,0.00,0.000,6,0.125,0.000,2589,2166,2991
$GC,860,-1.50,-75.5,156.4,-12.3,146,867,0.00,2.35,0.00,0.000,4,0.000,0.044,2589,3549,2992
$GC,907,-1.54,-75.5,162.4,-12.1,154,914,0.00,2.28,0.00,0.000,6,0.000,0.027,2589,2173,2992
$GC,1252,-1.65,-75.5,196.3,-9.8,215,1259,0.17,2.47,0.00,0.000,4,0.049,0.044,2535,746,2993
$GC,1355,-1.65,-75.5,207.8,-11.5,233,1362,0.00,2.38,0.00,0.000,6,0.000,0.028,2535,2166,2993
$GC,1699,-1.68,-75.5,241.9,-9.7,294,1706,0.00,2.38,0.00,0.000,4,0.000,0.044,2535,3552,2994
$GC,1802,-1.68,-75.5,252.0,-9.8,311,1806,0.00,2.30,0.00,0.000,6,0.000,0.029,2535,2165,2994
$GC,2133,-1.68,-75.5,285.4,-9.9,342,2138,0.00,2.47,0.00,0.000,4,0.000,0.048,2534,750,2994
$GC,2390,-1.68,-75.5,312.5,-9.9,364,2398,0.00,2.33,0.00,0.000,6,0.000,0.031,2534,2112,2993
$GC,2717,-1.68,-75.5,343.0,-10.5,395,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2112,2991
$GC,3034,-1.68,-75.5,374.2,-9.3,425,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2112,2989
$GC,3354,-1.71,-75.5,405.5,-10.9,455,3358,0.00,2.40,0.00,0.000,4,0.000,0.051,2534,756,2988
$GC,3439,-1.71,-75.5,415.4,-11.7,462,3443,0.00,2.28,0.00,0.000,6,0.000,0.031,2534,2098,2988
$GC,3766,-1.75,-77.7,447.3,-8.8,492,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2098,2985
$GC,4083,-1.79,-77.7,477.5,-9.6,522,4087,0.00,2.55,0.00,0.000,4,0.000,0.049,2535,3557,2983
$GC,4144,-1.79,-80.3,483.4,-8.8,527,4149,0.00,2.50,0.00,0.000,6,0.000,0.034,2534,2086,2983
$GC,4466,-1.83,-80.3,515.3,-9.8,550,4468,0.12,0.00,0.00,0.000,6,0.063,0.000,2501,2085,2981
$GC,4773,-1.83,-80.3,549.1,-11.0,565,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2085,2979
$GC,5084,-1.83,-80.3,581.9,-10.3,580,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2086,2978
$GC,5392,-1.83,-80.3,614.7,-10.8,595,5396,0.00,2.35,0.00,0.000,4,0.000,0.055,2501,753,2976
$GC,5533,-1.78,-80.3,631.6,-11.4,601,5537,0.00,2.28,0.00,0.000,6,0.000,0.035,2501,2080,2974
$GC,5853,-1.78,-80.3,665.5,-9.8,617,5858,0.00,2.58,0.00,0.000,4,0.000,0.053,2501,3548,2973
$GC,5897,-1.74,-80.3,670.5,-11.3,619,5901,0.12,2.47,0.00,0.000,6,0.130,0.035,2521,2091,2973
$GC,6225,-1.90,-119.1,696.4,-5.4,635,6227,0.15,0.00,0.00,0.000,6,0.059,0.000,2484,2085,2971
$STATE,6387,end dive,NO_VERTICAL_VELOCITY
$STATE,6387,begin apogee
$GC,6392,-0.34,0.0,695.7,0.0,643,6456,1.75,0.00,60.15,1.148,6,0.112,0.000,2826,2376,2678
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6458,1.94,119.1,695.4,0.0,646,6563,2.35,0.00,98.90,1.103,6,0.060,0.000,3329,2376,2192
$GC,6880,1.77,119.1,644.5,16.6,667,6881,0.20,0.00,0.00,0.000,6,0.138,0.000,3295,2376,2189
$GC,7189,1.67,119.1,603.7,12.4,682,7191,0.15,0.00,0.00,0.000,6,0.138,0.000,3270,2376,2188
$GC,7497,1.61,119.1,567.7,11.6,697,7501,0.00,2.50,0.00,0.000,4,0.000,0.055,3270,984,2186
$GC,7725,1.54,119.1,539.2,13.3,707,7730,0.17,2.42,0.00,0.000,6,0.139,0.038,3241,2379,2186
$GC,8047,1.54,119.1,506.1,10.3,723,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2380,2185
$GC,8363,1.54,119.1,475.5,9.5,750,8367,0.00,2.53,0.00,0.000,4,0.000,0.056,3241,977,2184
$GC,8447,1.54,119.1,467.3,9.5,757,8451,0.00,2.42,0.00,0.000,6,0.000,0.038,3240,2371,2184
$GC,8772,1.54,123.1,438.6,8.6,787,8777,0.00,2.50,0.00,0.000,4,0.000,0.054,3241,976,2184
$GC,8827,1.54,123.1,433.1,10.5,791,8835,0.00,2.40,0.00,0.000,6,0.000,0.037,3241,2346,2184
$GC,9154,1.55,124.7,402.7,8.9,822,9163,0.00,0.00,3.22,1.023,6,0.000,0.000,3240,2345,2168
$GC,9482,1.55,126.9,373.3,8.8,853,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2345,2168
$GC,9800,1.56,133.0,344.9,8.4,883,9813,0.00,2.53,6.72,0.988,4,0.000,0.054,3240,982,2135
$GC,9840,1.56,133.0,341.0,9.5,886,9847,0.00,2.35,0.00,0.000,6,0.000,0.037,3241,2314,2135
$GC,10168,1.56,133.0,311.5,9.6,917,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2314,2135
$GC,10484,1.60,137.6,282.1,8.6,947,10494,0.00,0.00,4.05,0.952,6,0.000,0.000,3241,2314,2116
$GC,10813,1.64,137.6,252.7,9.3,978,10817,0.00,2.38,0.00,0.000,4,0.000,0.052,3241,982,2116
$GC,10926,1.64,137.6,242.2,9.1,995,10933,0.00,2.30,0.00,0.000,6,0.000,0.036,3240,2315,2116
$GC,11272,1.70,144.9,215.5,8.3,1056,11280,0.15,0.00,5.90,0.888,6,0.079,0.000,3277,2314,2087
$GC,11618,1.71,150.1,188.5,8.5,1117,11625,0.00,0.00,4.35,0.867,6,0.000,0.000,3277,2314,2065
$GC,11962,1.79,198.3,166.7,4.5,1178,12008,0.00,2.42,37.88,0.765,4,0.000,0.050,3277,982,1867
$GC,12126,1.87,208.8,153.5,8.0,1206,12141,0.15,2.30,7.90,0.795,6,0.065,0.035,3312,2314,1827
$GC,12481,1.96,240.1,128.9,6.1,1268,12513,0.00,2.53,24.80,0.722,4,0.000,0.050,3311,3726,1698
$GC,12587,1.97,243.1,120.5,8.7,1286,12595,0.00,2.40,2.22,0.765,6,0.000,0.032,3312,2315,1687
$GC,12933,2.05,247.0,89.0,8.7,1347,12942,0.15,2.42,3.05,0.720,4,0.066,0.047,3352,971,1671
$GC,12954,2.09,247.0,86.9,9.3,1350,12962,0.00,2.35,0.00,0.000,6,0.000,0.031,3352,2344,1670
$GC,13299,2.14,280.4,57.3,5.9,1411,13332,0.00,2.50,26.20,0.633,4,0.000,0.045,3352,980,1533
$GC,13406,2.20,280.4,48.2,9.1,1429,13413,0.15,2.25,0.00,0.000,6,0.058,0.030,3388,2305,1533
$GC,13751,2.21,285.5,18.9,8.5,1490,13759,0.00,2.40,3.78,0.627,4,0.000,0.044,3389,972,1513
$GC,13923,2.21,285.5,2.7,9.6,1520,13929,0.00,2.15,0.00,0.000,6,0.000,0.029,3388,2256,1513
$STATE,13934,end climb,SURFACE_DEPTH_REACHED
$STATE,13934,begin surface coast
$FINISH,-0.2,1.021391
$STATE,13958,end surface coast,CONTROL_FINISHED_OK
$STATE,13958,begin surface
$SM_CCo,13980,96.65,0.538,0,0,740,475.15
$SM_GC,0.72,0.00,0.00,96.65,0.000,0.000,0.538,248,2117,740,-12.22,-0.93,475.15
$IRIDIUM_FIX,1243.25,12018.41,070697,121234
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.20
$XPDR_PINGS,432
$ALTIM_BOTTOM_PING,630.3,73.7
$24V_AH,23.4,25.463
$10V_AH,10.2,12.410
$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,33.250,91.825,289.125,96.650,0.000,30.160,42.597,165.375,111.750,0.000,0.000,12.737,3131.414,7869.889,546.304,2427.452,456.455,0.000,1729.640,0.000,2402.214,0.000,29.154
$DEVICE_MAMPS,172.575,55.991,1148.199,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1023.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47125,1526
$CAP_FILE_SIZE,138773,0
$CFSIZE,260165632,247001088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,345.8,1
$GPS,130308,223526,1246.228,12015.150,42,0.9,42,-0.8