version: 66.03
glider: 122
mission: 6
dive: 196
start: 3 27 108 15 50 37
data:
$ID,122
$MISSION,6
$DIVE,196
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-30833.309
$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,74
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,154437,1247.246,12030.724,32,1.0,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.4
$GPS2,155003,1247.238,12030.698,15,1.2,15,-0.8
$SPEED_LIMITS,0.156,0.206
$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,81.0,22692,-18.6,-9.016
$D_GRID,725
$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,20,-1.51,-146.0,0.0,0.0,0,85,0.00,0.00,-61.90,0.000,2,0.000,0.000,249,2099,2496
$GC,87,-1.51,-146.0,3.3,-8.0,11,122,13.48,2.33,-15.85,0.000,4,0.172,0.053,2569,787,3345
$GC,191,-1.28,-146.0,27.9,-23.1,28,198,0.30,2.30,0.00,0.000,6,0.113,0.026,2624,2171,3347
$GC,536,-1.12,-146.0,92.4,-17.8,89,544,0.15,2.35,0.00,0.000,4,0.109,0.042,2656,3548,3348
$GC,573,-1.04,-146.0,98.3,-16.1,95,581,0.10,2.25,0.00,0.000,6,0.105,0.026,2675,2181,3349
$GC,919,-1.11,-146.0,137.0,-8.7,156,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2181,3351
$GC,1263,-1.22,-146.0,166.6,-8.6,217,1270,0.15,2.35,0.00,0.000,4,0.049,0.042,2623,3551,3353
$GC,1321,-1.22,-146.0,172.8,-10.9,227,1328,0.00,2.28,0.00,0.000,6,0.000,0.028,2623,2176,3352
$GC,1666,-1.22,-146.0,206.6,-9.5,288,1672,0.00,2.35,0.00,0.000,4,0.000,0.043,2623,3548,3353
$GC,1707,-1.22,-146.0,210.7,-10.0,295,1713,0.00,2.22,0.00,0.000,6,0.000,0.029,2623,2203,3353
$GC,2051,-1.26,-146.0,242.2,-9.0,356,2058,0.00,2.33,0.00,0.000,4,0.000,0.044,2623,3553,3352
$GC,2093,-1.29,-146.0,246.2,-9.6,363,2100,0.00,2.25,0.00,0.000,6,0.000,0.030,2622,2204,3351
$GC,2423,-1.33,-146.0,276.3,-9.1,397,2427,0.00,2.33,0.00,0.000,4,0.000,0.046,2623,3548,3350
$GC,2478,-1.37,-146.0,281.7,-9.5,401,2485,0.00,2.22,0.00,0.000,6,0.000,0.031,2623,2216,3349
$GC,2805,-1.42,-146.0,309.4,-7.6,432,2807,0.12,0.00,0.00,0.000,6,0.058,0.000,2586,2212,3347
$GC,3122,-1.42,-146.0,338.1,-9.2,462,3126,0.00,2.33,0.00,0.000,4,0.000,0.048,2586,3549,3346
$GC,3184,-1.39,-146.0,344.5,-10.8,467,3188,0.00,2.22,0.00,0.000,6,0.000,0.033,2585,2231,3345
$GC,3510,-1.39,-146.0,377.5,-10.3,497,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2227,3343
$GC,3828,-1.39,-146.0,409.9,-10.5,527,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2227,3341
$GC,4146,-1.39,-146.0,440.5,-9.6,557,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2227,3338
$GC,4465,-1.39,-146.0,469.6,-8.9,587,4470,0.00,2.62,0.00,0.000,4,0.000,0.054,2585,758,3337
$GC,4486,-1.39,-146.0,471.9,-9.7,588,4494,0.00,2.50,0.00,0.000,6,0.000,0.035,2586,2213,3336
$GC,4813,-1.39,-146.0,502.0,-9.1,618,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2213,3334
$GC,5120,-1.39,-146.0,532.1,-9.9,633,5124,0.00,2.33,0.00,0.000,4,0.000,0.054,2586,3546,3332
$GC,5170,-1.39,-146.0,537.2,-9.6,635,5174,0.00,2.22,0.00,0.000,6,0.000,0.035,2585,2233,3332
$GC,5491,-1.39,-146.0,566.7,-9.0,651,5496,0.00,2.65,0.00,0.000,4,0.000,0.057,2585,751,3330
$GC,5518,-1.39,-146.0,569.4,-9.3,652,5522,0.00,2.55,0.00,0.000,6,0.000,0.036,2586,2227,3330
$GC,5840,-1.39,-146.0,597.4,-8.5,668,5844,0.00,2.33,0.00,0.000,4,0.000,0.054,2586,3548,3328
$GC,5867,-1.39,-146.0,600.0,-9.5,669,5871,0.00,2.22,0.00,0.000,6,0.000,0.035,2585,2242,3327
$GC,6183,-1.39,-146.0,626.2,-8.3,684,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2240,3326
$GC,6492,-1.39,-146.0,654.4,-9.3,699,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3325
$GC,6802,-1.39,-146.0,681.9,-8.7,714,6806,0.00,2.33,0.00,0.000,4,0.000,0.055,2586,3552,3323
$GC,6835,-1.39,-146.0,685.1,-8.9,715,6842,0.00,2.25,0.00,0.000,6,0.000,0.037,2586,2236,3323
$GC,7151,-1.39,-146.0,711.9,-8.4,731,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2236,3322
$STATE,7313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7314,begin apogee
$GC,7319,-0.34,0.0,725.6,8.5,739,7441,1.20,0.00,118.60,1.164,6,0.100,0.000,2826,2384,2748
$STATE,7442,end apogee,CONTROL_FINISHED_OK
$STATE,7442,begin climb
$GC,7444,1.51,146.0,729.7,0.0,745,7576,1.85,2.45,121.55,1.121,4,0.056,0.058,3235,3714,2152
$GC,7677,1.25,146.0,714.5,12.1,755,7682,0.30,2.33,0.00,0.000,6,0.124,0.040,3182,2384,2151
$GC,7993,1.14,146.0,685.5,9.1,770,7998,0.15,2.58,0.00,0.000,4,0.133,0.059,3157,961,2150
$GC,8043,1.06,146.0,680.8,9.1,772,8048,0.12,2.45,0.00,0.000,6,0.128,0.040,3136,2355,2149
$GC,8359,1.10,171.2,656.3,7.9,787,8384,0.00,2.53,20.58,1.133,4,0.000,0.059,3136,3728,2049
$GC,8413,1.06,171.2,651.6,9.5,789,8417,0.00,2.38,0.00,0.000,6,0.000,0.038,3136,2366,2049
$GC,8730,1.08,185.0,625.3,8.4,804,8751,0.00,2.58,11.32,1.138,4,0.000,0.058,3136,970,1992
$GC,8789,1.08,185.0,619.6,9.5,806,8797,0.00,2.50,0.00,0.000,6,0.000,0.039,3136,2386,1992
$GC,9105,1.09,192.3,592.7,8.7,822,9118,0.00,2.62,6.25,1.137,4,0.000,0.058,3136,965,1963
$GC,9164,1.09,192.3,586.9,9.3,824,9171,0.00,2.47,0.00,0.000,6,0.000,0.039,3136,2372,1963
$GC,9480,1.11,204.3,558.9,8.5,840,9495,0.00,2.60,10.05,1.114,4,0.000,0.057,3136,964,1915
$GC,9558,1.11,204.3,551.9,9.6,842,9565,0.00,2.42,0.00,0.000,6,0.000,0.038,3136,2345,1914
$GC,9873,1.13,217.5,525.1,8.4,858,9886,0.00,0.00,11.07,1.091,6,0.000,0.000,3135,2346,1861
$GC,10184,1.17,217.5,496.5,9.4,874,10188,0.10,2.50,0.00,0.000,4,0.076,0.056,3159,966,1860
$GC,10249,1.17,217.5,489.3,10.6,879,10257,0.00,2.40,0.00,0.000,6,0.000,0.038,3160,2337,1860
$GC,10577,1.21,245.2,460.5,7.8,910,10605,0.00,0.00,23.27,1.025,6,0.000,0.000,3160,2337,1747
$GC,10923,1.21,245.2,429.6,9.2,943,10927,0.00,2.47,0.00,0.000,4,0.000,0.054,3160,962,1746
$GC,11007,1.21,245.2,421.4,9.7,950,11011,0.00,2.35,0.00,0.000,6,0.000,0.037,3160,2319,1745
$GC,11339,1.22,248.6,390.9,8.9,981,11351,0.00,2.47,2.65,1.002,4,0.000,0.055,3160,977,1734
$GC,11374,1.22,248.6,387.5,9.9,984,11378,0.00,2.30,0.00,0.000,6,0.000,0.036,3160,2296,1734
$GC,11702,1.22,248.6,357.2,9.3,1014,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2297,1734
$GC,12028,1.22,250.4,326.9,8.9,1045,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2297,1734
$GC,12346,1.22,250.8,298.2,9.0,1075,12359,0.00,2.45,2.22,0.940,4,0.000,0.054,3160,967,1725
$GC,12427,1.23,257.8,290.9,8.7,1082,12440,0.00,2.28,6.07,0.940,6,0.000,0.035,3160,2284,1696
$GC,12757,1.27,278.8,263.3,8.1,1113,12781,0.00,2.67,17.52,0.878,4,0.000,0.054,3160,3729,1611
$GC,12808,1.30,278.8,258.5,9.4,1117,12816,0.12,2.53,0.00,0.000,6,0.069,0.035,3190,2274,1610
$GC,13146,1.30,278.8,224.9,10.1,1170,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2273,1609
$GC,13490,1.30,278.8,192.0,9.6,1231,13496,0.00,2.58,0.00,0.000,4,0.000,0.051,3190,3730,1609
$GC,13570,1.30,278.8,184.1,9.4,1245,13577,0.00,2.45,0.00,0.000,6,0.000,0.035,3190,2299,1609
$GC,13915,1.31,285.4,152.8,8.7,1306,13929,0.00,2.42,5.35,0.822,4,0.000,0.052,3190,965,1583
$GC,14068,1.35,309.8,139.0,7.9,1332,14094,0.00,2.25,19.70,0.758,6,0.000,0.034,3190,2277,1484
$GC,14434,1.51,342.2,112.7,7.6,1396,14468,0.17,2.60,25.70,0.713,4,0.052,0.049,3242,3727,1352
$GC,14497,1.51,342.2,107.2,9.2,1406,14504,0.00,2.53,0.00,0.000,6,0.000,0.032,3243,2252,1352
$GC,14842,1.61,383.8,80.7,7.2,1467,14882,0.00,2.33,33.17,0.662,4,0.000,0.049,3243,961,1181
$GC,14913,1.73,412.0,75.7,7.8,1478,14941,0.17,2.17,22.75,0.652,6,0.051,0.031,3292,2238,1067
$GC,15280,1.73,412.0,41.0,9.8,1542,15287,0.00,2.22,0.00,0.000,4,0.000,0.045,3292,967,1064
$GC,15366,1.73,412.0,32.1,9.7,1557,15373,0.00,2.12,0.00,0.000,6,0.000,0.029,3292,2231,1063
$STATE,15687,end climb,SURFACE_DEPTH_REACHED
$STATE,15687,begin surface coast
$FINISH,-0.2,1.021382
$STATE,15709,end surface coast,CONTROL_FINISHED_OK
$STATE,15709,begin surface
$SM_CCo,15731,30.27,0.556,0,0,810,475.15
$SM_GC,0.85,0.00,0.00,30.27,0.000,0.000,0.556,250,2109,810,-12.21,-1.16,475.15
$IRIDIUM_FIX,1243.25,12029.39,210697,111110
$TT8_MAMPS,0.023777
$HUMID,1945
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.70
$XPDR_PINGS,403
$24V_AH,23.4,36.296
$10V_AH,10.2,18.296
$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,31.850,134.500,457.850,30.275,0.000,27.535,37.820,148.420,106.500,0.000,0.000,15.700,3288.001,9048.760,673.231,2603.878,485.433,0.000,1991.311,0.000,2563.447,0.000,42.632
$DEVICE_MAMPS,171.808,59.059,1163.539,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50377,1618
$CAP_FILE_SIZE,155481,0
$CFSIZE,260165632,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,358.1,1
$GPS,270308,201437,1247.711,12032.337,36,1.4,42,-0.8