version: 66.03
glider: 122
mission: 6
dive: 133
start: 3 14 108 2 52 32
data:
$ID,122
$MISSION,6
$DIVE,133
$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,-29839.102
$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,56
$R_STBD_OVSHOOT,33
$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
$GPS1,024638,1244.625,12016.152,35,1.0,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.2
$GPS2,025145,1244.598,12016.119,14,1.0,14,-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,326.5,2199,-18.0,-9.016
$D_GRID,817
$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,20,-1.45,-137.6,0.0,0.0,0,88,0.00,0.00,-66.15,0.000,2,0.000,0.000,253,2107,2564
$GC,90,-1.46,-145.0,3.7,-8.6,12,123,13.50,2.55,-12.50,0.000,4,0.172,0.051,2580,3556,3273
$GC,170,-1.08,-145.0,27.2,-27.5,25,178,0.45,2.33,0.00,0.000,6,0.117,0.028,2665,2161,3274
$GC,516,-1.00,-145.0,83.3,-13.5,86,522,0.12,0.00,0.00,0.000,6,0.115,0.000,2687,2161,3275
$GC,860,-1.00,-145.0,127.9,-12.4,147,867,0.00,2.40,0.00,0.000,4,0.000,0.041,2687,3562,3277
$GC,913,-1.03,-145.0,133.8,-11.0,156,920,0.00,2.38,0.00,0.000,6,0.000,0.027,2687,2130,3277
$GC,1259,-1.13,-146.0,164.8,-7.8,217,1268,0.12,2.40,0.00,0.000,4,0.054,0.044,2648,745,3278
$GC,1297,-1.13,-146.0,168.4,-9.0,223,1304,0.00,2.28,0.00,0.000,6,0.000,0.028,2648,2113,3278
$GC,1643,-1.16,-146.0,201.6,-9.5,284,1650,0.00,2.47,0.00,0.000,4,0.000,0.045,2648,3554,3279
$GC,1768,-1.21,-146.0,213.9,-9.9,306,1776,0.00,2.35,0.00,0.000,6,0.000,0.029,2647,2142,3279
$GC,2113,-1.27,-146.0,242.8,-8.6,367,2120,0.00,2.42,0.00,0.000,4,0.000,0.044,2648,3548,3277
$GC,2240,-1.34,-146.0,253.4,-7.8,386,2245,0.17,2.33,0.00,0.000,6,0.048,0.031,2594,2155,3277
$GC,2566,-1.29,-146.0,285.5,-9.9,416,2568,0.15,0.00,0.00,0.000,6,0.104,0.000,2622,2155,3276
$GC,2884,-1.29,-146.0,313.7,-9.8,446,2888,0.00,2.47,0.00,0.000,4,0.000,0.052,2623,752,3274
$GC,2916,-1.32,-146.0,317.0,-8.9,448,2924,0.00,2.38,0.00,0.000,6,0.000,0.031,2623,2155,3274
$GC,3244,-1.32,-146.0,349.1,-9.5,479,3248,0.00,2.40,0.00,0.000,4,0.000,0.049,2623,3549,3272
$GC,3309,-1.32,-146.0,355.7,-9.2,484,3318,0.00,2.35,0.00,0.000,6,0.000,0.033,2623,2174,3272
$GC,3637,-1.32,-146.0,384.4,-8.3,515,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2171,3269
$GC,3953,-1.32,-146.0,412.7,-9.4,545,3957,0.00,2.53,0.00,0.000,4,0.000,0.054,2623,752,3267
$GC,3996,-1.37,-146.0,417.2,-9.8,548,4004,0.00,2.40,0.00,0.000,6,0.000,0.032,2623,2159,3267
$GC,4323,-1.40,-146.0,446.0,-8.6,579,4328,0.10,2.45,0.00,0.000,4,0.063,0.051,2593,3554,3265
$GC,4366,-1.36,-146.0,450.6,-10.3,582,4374,0.00,2.38,0.00,0.000,6,0.000,0.034,2593,2152,3265
$GC,4693,-1.32,-146.0,479.2,-8.7,613,4698,0.12,2.47,0.00,0.000,4,0.107,0.051,2616,3554,3263
$GC,4732,-1.32,-146.0,482.6,-8.2,616,4737,0.00,2.38,0.00,0.000,6,0.000,0.034,2616,2157,3263
$GC,5055,-1.32,-146.0,509.5,-8.4,641,5060,0.00,2.50,0.00,0.000,4,0.000,0.055,2616,752,3261
$GC,5082,-1.36,-146.0,512.1,-8.9,642,5086,0.00,2.40,0.00,0.000,6,0.000,0.034,2616,2152,3260
$GC,5404,-1.36,-146.0,541.2,-9.5,658,5408,0.00,2.47,0.00,0.000,4,0.000,0.054,2616,3556,3258
$GC,5447,-1.39,-146.0,545.7,-9.8,660,5451,0.00,2.38,0.00,0.000,6,0.000,0.034,2616,2154,3258
$GC,5775,-1.39,-146.0,575.8,-8.5,676,5779,0.00,2.47,0.00,0.000,4,0.000,0.054,2616,3553,3256
$GC,5820,-1.43,-146.0,580.5,-10.1,678,5824,0.00,2.35,0.00,0.000,6,0.000,0.034,2615,2163,3256
$GC,6142,-1.46,-146.0,612.0,-9.4,694,6144,0.15,0.00,0.00,0.000,6,0.056,0.000,2575,2160,3254
$GC,6451,-1.40,-146.0,642.6,-8.5,709,6452,0.12,0.00,0.00,0.000,6,0.117,0.000,2596,2159,3253
$GC,6760,-1.40,-146.0,670.5,-8.8,724,6764,0.00,2.50,0.00,0.000,4,0.000,0.058,2596,753,3251
$GC,6810,-1.40,-146.0,674.9,-8.1,726,6815,0.00,2.42,0.00,0.000,6,0.000,0.036,2597,2165,3252
$GC,7135,-1.40,-146.0,701.3,-8.0,742,7139,0.00,2.47,0.00,0.000,4,0.000,0.057,2596,3561,3250
$GC,7178,-1.40,-146.0,705.2,-7.5,744,7182,0.00,2.38,0.00,0.000,6,0.000,0.036,2596,2168,3249
$GC,7508,-1.40,-146.0,730.8,-7.9,760,7512,0.00,2.47,0.00,0.000,4,0.000,0.056,2596,3557,3248
$GC,7551,-1.40,-146.0,734.6,-8.1,762,7555,0.00,2.38,0.00,0.000,6,0.000,0.038,2596,2175,3248
$GC,7884,-1.40,-146.0,760.9,-8.7,778,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2174,3247
$GC,8188,-1.80,-146.0,770.4,0.4,793,8190,0.40,0.00,0.00,0.000,6,0.051,0.000,2503,2174,3246
$STATE,8207,end dive,NO_VERTICAL_VELOCITY
$STATE,8207,begin apogee
$GC,8212,-0.34,0.0,770.3,0.0,794,8334,1.52,0.00,117.90,1.205,6,0.063,0.000,2834,2391,2678
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8337,1.46,146.0,770.1,0.0,800,8467,1.83,2.67,122.18,1.157,4,0.057,0.058,3227,965,2081
$GC,8505,1.25,146.0,757.7,13.5,808,8510,0.28,2.47,0.00,0.000,6,0.120,0.039,3179,2363,2080
$GC,8827,1.14,146.0,721.6,11.7,824,8829,0.15,0.00,0.00,0.000,6,0.118,0.000,3153,2364,2078
$GC,9136,1.08,146.0,686.7,11.4,839,9140,0.00,2.45,0.00,0.000,4,0.000,0.061,3152,3729,2078
$GC,9186,0.99,146.0,681.2,11.0,841,9191,0.17,2.35,0.00,0.000,6,0.123,0.038,3122,2369,2077
$GC,9507,1.00,151.7,653.4,8.7,857,9516,0.00,2.58,4.15,1.167,4,0.000,0.058,3122,966,2059
$GC,9589,1.02,165.0,646.1,8.3,860,9606,0.00,2.45,11.35,1.165,6,0.000,0.038,3122,2362,2005
$GC,9928,1.05,182.8,618.8,8.1,877,9952,0.00,2.60,15.05,1.141,4,0.000,0.058,3122,966,1932
$GC,10024,1.09,182.8,609.8,10.4,881,10028,0.00,2.42,0.00,0.000,6,0.000,0.038,3122,2345,1931
$GC,10352,1.16,196.1,584.5,8.3,897,10366,0.17,0.00,11.25,1.140,6,0.063,0.000,3162,2344,1878
$GC,10662,1.13,196.1,552.6,10.7,912,10666,0.00,2.50,0.00,0.000,4,0.000,0.057,3162,964,1877
$GC,10705,1.08,196.1,547.2,12.1,914,10709,0.00,2.40,0.00,0.000,6,0.000,0.038,3162,2340,1876
$GC,11032,1.08,196.1,508.4,12.1,930,11036,0.00,2.47,0.00,0.000,4,0.000,0.061,3162,3723,1876
$GC,11081,1.04,196.1,501.9,13.1,932,11085,0.17,2.38,0.00,0.000,6,0.123,0.038,3131,2348,1876
$GC,11411,1.07,196.1,467.6,9.2,962,11415,0.00,2.47,0.00,0.000,4,0.000,0.058,3131,970,1876
$GC,11496,1.10,211.1,460.3,8.2,969,11513,0.00,2.38,12.18,1.061,6,0.000,0.037,3131,2336,1817
$GC,11833,1.22,254.1,436.0,6.7,1000,11874,0.17,0.00,36.10,0.994,6,0.061,0.000,3174,2336,1642
$GC,12191,1.22,254.1,401.3,9.8,1034,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2335,1638
$GC,12510,1.22,254.1,367.8,11.0,1064,12514,0.00,2.47,0.00,0.000,4,0.000,0.055,3174,961,1638
$GC,12571,1.22,254.1,360.2,11.6,1069,12575,0.00,2.42,0.00,0.000,6,0.000,0.037,3174,2356,1637
$GC,12903,1.22,254.1,324.8,9.8,1100,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2357,1637
$GC,13220,1.22,254.1,292.3,10.3,1130,13224,0.00,2.47,0.00,0.000,4,0.000,0.054,3174,967,1637
$GC,13323,1.22,254.1,281.8,10.3,1139,13327,0.00,2.40,0.00,0.000,6,0.000,0.037,3174,2352,1637
$GC,13647,1.22,254.1,249.0,10.0,1169,13654,0.00,2.42,0.00,0.000,4,0.000,0.057,3175,3724,1638
$GC,13671,1.22,254.1,246.6,9.9,1173,13678,0.00,2.38,0.00,0.000,6,0.000,0.036,3175,2335,1637
$GC,14014,1.23,264.4,213.6,8.5,1234,14028,0.00,2.53,8.10,0.879,4,0.000,0.053,3174,966,1600
$GC,14069,1.27,264.4,208.3,9.9,1243,14076,0.00,2.47,0.00,0.000,6,0.000,0.035,3175,2391,1599
$GC,14416,1.35,282.1,179.0,8.1,1304,14437,0.10,2.65,14.57,0.813,4,0.072,0.052,3200,967,1526
$GC,14455,1.35,282.1,175.3,9.3,1310,14462,0.00,2.45,0.00,0.000,6,0.000,0.035,3200,2371,1525
$GC,14799,1.43,310.0,144.7,7.5,1371,14829,0.00,2.58,22.42,0.759,4,0.000,0.051,3200,961,1411
$GC,14904,1.55,323.0,135.7,8.3,1388,14923,0.20,2.35,10.20,0.771,6,0.053,0.033,3250,2322,1360
$GC,15262,1.60,331.0,105.6,8.6,1450,15276,0.00,0.00,6.55,0.751,6,0.000,0.000,3250,2321,1327
$GC,15613,1.62,342.2,76.5,8.4,1512,15627,0.00,2.50,8.77,0.703,4,0.000,0.049,3250,960,1282
$GC,15645,1.66,348.8,73.8,8.7,1517,15660,0.00,2.30,5.53,0.689,6,0.000,0.031,3250,2301,1255
$GC,15997,1.82,383.7,45.5,7.2,1579,16034,0.20,2.55,27.88,0.621,4,0.051,0.047,3306,3733,1112
$GC,16068,1.82,383.7,38.7,10.3,1591,16074,0.00,2.42,0.00,0.000,6,0.000,0.031,3306,2306,1111
$GC,16411,1.82,385.0,6.2,8.9,1652,16418,0.00,2.35,0.00,0.000,4,0.000,0.048,3306,964,1109
$STATE,16456,end climb,SURFACE_DEPTH_REACHED
$STATE,16456,begin surface coast
$FINISH,-0.0,1.020990
$STATE,16479,end surface coast,CONTROL_FINISHED_OK
$STATE,16479,begin surface
$SM_CCo,16503,44.28,0.555,0,0,740,475.15
$SM_GC,0.57,0.00,0.00,44.28,0.000,0.000,0.555,248,2168,740,-12.22,0.51,475.15
$IRIDIUM_FIX,1238.83,12015.39,070697,222247
$TT8_MAMPS,0.023777
$HUMID,1936
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.30
$XPDR_PINGS,392
$24V_AH,23.3,25.752
$10V_AH,10.1,12.575
$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,33.850,156.075,434.175,44.275,0.000,31.521,37.933,134.630,105.500,0.000,0.000,14.703,3576.658,9479.772,670.483,2716.323,436.914,0.000,2033.681,0.000,2661.922,0.000,57.384
$DEVICE_MAMPS,171.808,60.593,1204.957,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50345,1664
$CAP_FILE_SIZE,169744,0
$CFSIZE,260165632,246816768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,157.8,1
$GPS,140308,072932,1245.815,12015.443,37,1.5,37,-0.8