version: 66.03
glider: 122
mission: 6
dive: 168
start: 3 21 108 13 42 58
data:
$ID,122
$MISSION,6
$DIVE,168
$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,-30374.441
$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,54
$R_STBD_OVSHOOT,36
$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
$GPS1,133708,1246.840,12029.832,35,1.0,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.5
$GPS2,134226,1246.832,12029.812,12,1.0,12,-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,66.3,24442,-17.4,-9.016
$D_GRID,680
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-61.50,0.000,2,0.000,0.000,254,2121,2418
$GC,87,-1.42,-146.0,3.3,-7.3,9,126,13.57,2.47,-16.10,0.000,4,0.173,0.053,2588,3554,3276
$GC,229,-1.12,-146.0,37.5,-22.9,33,237,0.38,2.30,0.00,0.000,6,0.114,0.028,2659,2161,3277
$GC,574,-1.01,-146.0,96.1,-14.2,94,581,0.12,0.00,0.00,0.000,6,0.117,0.000,2681,2161,3279
$GC,918,-1.01,-146.0,135.1,-10.4,155,925,0.00,2.35,0.00,0.000,4,0.000,0.042,2681,3551,3280
$GC,976,-1.01,-146.0,141.4,-10.5,165,984,0.00,2.33,0.00,0.000,6,0.000,0.027,2681,2139,3281
$GC,1318,-1.11,-146.0,169.9,-7.9,226,1324,0.00,2.42,0.00,0.000,4,0.000,0.043,2681,3555,3282
$GC,1348,-1.20,-146.0,172.2,-7.6,231,1355,0.17,2.33,0.00,0.000,6,0.046,0.028,2628,2147,3282
$GC,1693,-1.20,-146.0,202.9,-8.1,292,1700,0.00,2.40,0.00,0.000,4,0.000,0.043,2628,3551,3282
$GC,1762,-1.20,-146.0,208.9,-8.5,304,1769,0.00,2.28,0.00,0.000,6,0.000,0.029,2628,2180,3282
$GC,2107,-1.20,-146.0,239.3,-9.0,365,2113,0.00,2.35,0.00,0.000,4,0.000,0.044,2629,3549,3281
$GC,2170,-1.20,-146.0,245.5,-9.6,376,2176,0.00,2.28,0.00,0.000,6,0.000,0.031,2628,2184,3281
$GC,2499,-1.20,-146.0,274.6,-8.8,411,2503,0.00,2.38,0.00,0.000,4,0.000,0.047,2629,3557,3280
$GC,2549,-1.20,-146.0,279.5,-9.4,415,2553,0.00,2.25,0.00,0.000,6,0.000,0.031,2629,2210,3279
$GC,2875,-1.20,-146.0,307.8,-8.6,445,2879,0.00,2.33,0.00,0.000,4,0.000,0.048,2628,3549,3277
$GC,2914,-1.20,-146.0,311.4,-9.1,448,2918,0.00,2.20,0.00,0.000,6,0.000,0.031,2628,2238,3277
$GC,3240,-1.20,-146.0,337.7,-8.2,478,3244,0.00,2.62,0.00,0.000,4,0.000,0.052,2628,752,3275
$GC,3283,-1.25,-146.0,341.7,-8.4,481,3290,0.00,2.47,0.00,0.000,6,0.000,0.033,2628,2207,3274
$GC,3610,-1.25,-146.0,367.8,-8.2,512,3614,0.00,2.33,0.00,0.000,4,0.000,0.050,2628,3548,3272
$GC,3673,-1.28,-146.0,373.1,-8.2,517,3678,0.00,2.25,0.00,0.000,6,0.000,0.033,2628,2214,3272
$GC,4000,-1.28,-146.0,398.5,-7.8,547,4004,0.00,2.60,0.00,0.000,4,0.000,0.054,2628,748,3269
$GC,4032,-1.32,-146.0,401.5,-8.3,549,4039,0.00,2.50,0.00,0.000,6,0.000,0.035,2628,2209,3269
$GC,4358,-1.35,-146.0,427.0,-7.3,580,4362,0.00,2.35,0.00,0.000,4,0.000,0.052,2628,3555,3267
$GC,4402,-1.35,-146.0,430.9,-8.4,583,4409,0.00,2.25,0.00,0.000,6,0.000,0.033,2628,2223,3267
$GC,4729,-1.39,-146.0,454.4,-7.4,614,4734,0.12,2.62,0.00,0.000,4,0.059,0.054,2592,750,3265
$GC,4773,-1.35,-146.0,458.4,-9.1,617,4779,0.00,2.53,0.00,0.000,6,0.000,0.035,2592,2218,3264
$GC,5100,-1.31,-146.0,488.5,-9.3,648,5105,0.12,2.35,0.00,0.000,4,0.109,0.053,2615,3555,3262
$GC,5132,-1.31,-146.0,492.0,-9.3,650,5139,0.00,2.28,0.00,0.000,6,0.000,0.034,2615,2231,3262
$GC,5461,-1.31,-146.0,517.8,-7.8,671,5466,0.00,2.62,0.00,0.000,4,0.000,0.055,2615,758,3260
$GC,5501,-1.35,-146.0,520.9,-7.5,673,5505,0.00,2.50,0.00,0.000,6,0.000,0.035,2615,2210,3259
$GC,5827,-1.35,-146.0,544.9,-7.4,689,5831,0.00,2.38,0.00,0.000,4,0.000,0.055,2615,3555,3258
$GC,5872,-1.35,-146.0,548.6,-8.6,691,5875,0.00,2.25,0.00,0.000,6,0.000,0.035,2615,2217,3258
$GC,6204,-1.35,-146.0,572.8,-7.2,707,6209,0.00,2.62,0.00,0.000,4,0.000,0.057,2615,750,3256
$GC,6248,-1.39,-146.0,576.1,-7.0,709,6253,0.00,2.50,0.00,0.000,6,0.000,0.035,2615,2199,3256
$GC,6569,-1.39,-146.0,599.3,-7.6,725,6574,0.00,2.40,0.00,0.000,4,0.000,0.056,2615,3559,3255
$GC,6609,-1.39,-146.0,602.4,-7.7,727,6613,0.00,2.28,0.00,0.000,6,0.000,0.035,2615,2221,3255
$GC,6935,-1.39,-146.0,629.2,-8.1,743,6940,0.00,2.62,0.00,0.000,4,0.000,0.058,2615,758,3253
$GC,6986,-1.43,-146.0,633.6,-9.0,745,6990,0.00,2.45,0.00,0.000,6,0.000,0.035,2615,2198,3252
$GC,7301,-1.43,-146.0,658.7,-8.1,760,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,3251
$STATE,7568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7568,begin apogee
$GC,7573,-0.34,0.0,680.6,8.4,773,7693,1.05,0.00,117.00,1.131,6,0.097,0.000,2826,2383,2678
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7697,1.42,146.0,685.2,0.0,779,7826,1.77,2.67,120.10,1.088,4,0.057,0.058,3216,978,2081
$GC,7876,1.19,146.0,674.0,12.5,787,7881,0.28,2.45,0.00,0.000,6,0.115,0.038,3167,2368,2080
$GC,8203,1.08,146.0,640.8,10.0,803,8208,0.15,2.50,0.00,0.000,4,0.125,0.056,3141,985,2079
$GC,8253,1.01,146.0,635.9,10.0,805,8257,0.00,2.40,0.00,0.000,6,0.000,0.039,3141,2355,2079
$GC,8569,0.95,146.0,606.7,9.3,820,8574,0.15,2.50,0.00,0.000,4,0.120,0.055,3115,976,2078
$GC,8624,0.99,170.4,601.8,7.8,822,8653,0.00,2.40,19.35,1.099,6,0.000,0.038,3115,2349,1983
$GC,8961,1.01,183.0,574.1,8.4,839,8977,0.00,2.53,10.80,1.102,4,0.000,0.058,3115,3730,1930
$GC,9000,1.01,183.0,570.5,10.0,840,9005,0.00,2.40,0.00,0.000,6,0.000,0.037,3115,2349,1930
$GC,9327,1.05,206.2,543.3,7.8,856,9353,0.00,2.58,18.83,1.071,4,0.000,0.058,3115,979,1837
$GC,9448,1.05,206.2,532.5,9.2,861,9452,0.00,2.35,0.00,0.000,6,0.000,0.038,3115,2322,1836
$GC,9770,1.12,222.2,505.6,8.2,877,9792,0.15,2.60,13.10,1.065,4,0.067,0.057,3154,3723,1772
$GC,9820,1.06,222.2,500.3,11.2,879,9824,0.00,2.45,0.00,0.000,6,0.000,0.037,3154,2311,1772
$GC,10147,1.06,222.2,465.5,10.8,909,10151,0.00,2.40,0.00,0.000,4,0.000,0.057,3154,973,1770
$GC,10186,1.02,222.2,460.9,11.9,912,10191,0.15,2.38,0.00,0.000,6,0.112,0.037,3128,2335,1770
$GC,10510,1.02,222.2,429.6,9.0,942,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2334,1769
$GC,10831,1.05,241.9,402.3,8.0,972,10851,0.00,0.00,16.48,0.996,6,0.000,0.000,3128,2334,1691
$GC,11170,1.11,245.6,372.3,8.8,1004,11183,0.00,2.53,3.05,1.001,4,0.000,0.054,3127,967,1676
$GC,11218,1.16,252.3,367.8,8.7,1008,11232,0.15,2.40,6.12,0.996,6,0.063,0.038,3165,2341,1649
$GC,11548,1.16,252.3,333.6,10.2,1039,11552,0.00,2.47,0.00,0.000,4,0.000,0.054,3165,963,1648
$GC,11609,1.16,252.3,327.1,10.2,1044,11613,0.00,2.35,0.00,0.000,6,0.000,0.036,3165,2316,1648
$GC,11936,1.16,252.3,293.7,10.1,1074,11940,0.00,2.42,0.00,0.000,4,0.000,0.054,3165,963,1648
$GC,11976,1.16,252.3,289.3,10.8,1077,11980,0.00,2.33,0.00,0.000,6,0.000,0.035,3165,2311,1647
$GC,12302,1.16,252.3,257.5,10.0,1107,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2311,1647
$GC,12633,1.16,252.3,224.3,9.2,1160,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2311,1648
$GC,12977,1.16,252.3,192.1,9.3,1221,12984,0.00,2.40,0.00,0.000,4,0.000,0.051,3165,961,1648
$GC,13018,1.16,252.3,188.2,9.5,1228,13025,0.00,2.30,0.00,0.000,6,0.000,0.034,3165,2304,1648
$GC,13363,1.22,285.5,160.2,7.3,1289,13398,0.00,2.55,26.95,0.775,4,0.000,0.051,3165,3724,1512
$GC,13461,1.27,285.5,151.4,9.3,1305,13468,0.00,2.42,0.00,0.000,6,0.000,0.033,3165,2306,1511
$GC,13801,1.45,331.7,126.5,6.7,1366,13843,0.22,2.47,36.72,0.719,4,0.051,0.051,3225,972,1324
$GC,13872,1.45,331.7,120.0,9.5,1378,13878,0.00,2.33,0.00,0.000,6,0.000,0.032,3225,2318,1321
$GC,14216,1.49,355.1,89.9,7.8,1439,14241,0.00,2.45,18.10,0.689,4,0.000,0.048,3225,961,1228
$GC,14293,1.53,355.7,83.3,9.0,1452,14299,0.00,2.30,0.00,0.000,6,0.000,0.030,3225,2314,1227
$GC,14637,1.68,386.3,59.2,7.5,1513,14668,0.17,2.47,24.65,0.632,4,0.051,0.046,3277,966,1102
$GC,14786,1.68,386.3,44.7,10.1,1539,14793,0.00,2.20,0.00,0.000,6,0.000,0.029,3277,2267,1100
$GC,15130,1.69,395.2,15.0,8.6,1600,15142,0.00,0.00,6.70,0.611,6,0.000,0.000,3277,2267,1065
$STATE,15286,end climb,SURFACE_DEPTH_REACHED
$STATE,15286,begin surface coast
$FINISH,-0.1,1.021183
$STATE,15310,end surface coast,CONTROL_FINISHED_OK
$STATE,15310,begin surface
$SM_CCo,15332,38.70,0.548,0,0,740,475.15
$SM_GC,0.50,0.00,0.00,38.70,0.000,0.000,0.548,252,2111,740,-12.20,-1.10,475.15
$IRIDIUM_FIX,1241.04,12029.39,150697,090918
$TT8_MAMPS,0.023777
$HUMID,1887
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.90
$XPDR_PINGS,466
$24V_AH,23.4,31.525
$10V_AH,10.2,15.717
$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,32.000,159.925,437.950,38.700,0.000,24.239,44.753,141.419,121.250,0.000,0.000,12.976,3254.835,8655.215,656.084,2671.506,458.405,0.000,2011.072,0.000,2626.008,0.000,35.378
$DEVICE_MAMPS,173.342,58.292,1130.558,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50321,1632
$CAP_FILE_SIZE,162160,0
$CFSIZE,260165632,243957760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,317.1,1
$GPS,210308,180026,1247.655,12031.323,42,1.5,42,-0.8