version: 66.03
glider: 122
mission: 6
dive: 203
start: 3 29 108 5 36 21
data:
$ID,122
$MISSION,6
$DIVE,203
$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,-30980.258
$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,14.2
$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,40
$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,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
$GPS1,052353,1251.095,12042.798,10,2.9,29,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.5
$GPS2,053545,1251.159,12042.799,18,1.8,18,-0.8
$SPEED_LIMITS,0.156,0.206
$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,251.8,50364,-18.6,-9.016
$D_GRID,1049
$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,-1.56,-146.0,0.0,0.0,0,84,0.00,0.00,-62.45,0.000,2,0.000,0.000,251,2127,2576
$GC,87,-1.56,-146.0,3.7,-7.7,10,119,13.35,2.53,-13.77,0.000,4,0.170,0.051,2561,3561,3346
$GC,149,-1.16,-146.0,21.9,-26.4,20,156,0.47,2.35,0.00,0.000,6,0.120,0.027,2649,2147,3347
$GC,495,-1.08,-146.0,78.1,-14.1,81,502,0.10,2.42,0.00,0.000,4,0.128,0.041,2665,3561,3348
$GC,549,-1.08,-146.0,85.3,-13.2,90,556,0.00,2.25,0.00,0.000,6,0.000,0.026,2666,2195,3348
$GC,894,-1.12,-146.0,127.1,-10.4,151,901,0.00,2.47,0.00,0.000,4,0.000,0.041,2666,756,3349
$GC,925,-1.20,-146.0,130.3,-10.6,156,932,0.00,2.45,0.00,0.000,6,0.000,0.028,2666,2224,3349
$GC,1271,-1.31,-146.0,161.6,-8.4,217,1279,0.17,2.30,0.00,0.000,4,0.046,0.044,2608,3569,3350
$GC,1302,-1.31,-146.0,165.0,-10.4,222,1309,0.00,2.20,0.00,0.000,6,0.000,0.026,2608,2225,3350
$GC,1647,-1.31,-146.0,198.2,-10.2,283,1654,0.00,2.30,0.00,0.000,4,0.000,0.042,2608,3571,3350
$GC,1705,-1.31,-146.0,204.3,-10.6,293,1712,0.00,2.17,0.00,0.000,6,0.000,0.028,2608,2240,3350
$GC,2050,-1.31,-146.0,236.2,-9.5,354,2057,0.00,2.58,0.00,0.000,4,0.000,0.052,2608,758,3349
$GC,2097,-1.31,-146.0,240.2,-8.7,362,2104,0.00,2.55,0.00,0.000,6,0.000,0.029,2608,2275,3350
$GC,2433,-1.31,-146.0,273.5,-9.2,402,2438,0.00,2.65,0.00,0.000,4,0.000,0.047,2608,755,3348
$GC,2474,-1.34,-146.0,277.3,-9.6,405,2478,0.00,2.53,0.00,0.000,6,0.000,0.031,2608,2252,3348
$GC,2800,-1.34,-146.0,306.7,-8.5,435,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2252,3346
$GC,3118,-1.34,-146.0,334.8,-8.9,465,3122,0.00,2.60,0.00,0.000,4,0.000,0.048,2608,762,3344
$GC,3147,-1.38,-146.0,337.4,-8.9,467,3151,0.00,2.50,0.00,0.000,6,0.000,0.031,2608,2240,3344
$GC,3474,-1.38,-146.0,366.0,-8.9,497,3478,0.00,2.28,0.00,0.000,4,0.000,0.048,2608,3560,3342
$GC,3518,-1.41,-146.0,370.2,-8.9,500,3525,0.00,2.22,0.00,0.000,6,0.000,0.031,2608,2226,3342
$GC,3844,-1.41,-146.0,395.4,-8.0,531,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2225,3340
$GC,4163,-1.41,-146.0,420.9,-7.9,561,4167,0.00,2.35,0.00,0.000,4,0.000,0.050,2608,3568,3337
$GC,4226,-1.45,-146.0,426.9,-9.3,566,4230,0.00,2.22,0.00,0.000,6,0.000,0.033,2608,2249,3337
$GC,4552,-1.48,-146.0,457.3,-9.4,596,4557,0.12,2.65,0.00,0.000,4,0.058,0.053,2571,759,3334
$GC,4585,-1.44,-146.0,460.8,-9.7,598,4592,0.00,2.58,0.00,0.000,6,0.000,0.035,2571,2264,3334
$GC,4911,-1.39,-146.0,491.1,-9.4,629,4916,0.15,2.28,0.00,0.000,4,0.108,0.050,2602,3564,3332
$GC,4940,-1.39,-146.0,493.7,-8.9,631,4944,0.00,2.22,0.00,0.000,6,0.000,0.033,2602,2249,3331
$GC,5272,-1.39,-146.0,521.2,-7.5,650,5276,0.00,2.65,0.00,0.000,4,0.000,0.054,2602,761,3329
$GC,5306,-1.43,-146.0,523.5,-6.5,651,5313,0.00,2.55,0.00,0.000,6,0.000,0.036,2602,2240,3329
$STATE,5536,end dive,NO_VERTICAL_VELOCITY
$STATE,5536,begin apogee
$GC,5542,-0.35,0.0,525.6,0.0,663,5661,1.05,0.00,115.25,0.985,6,0.071,0.000,2826,2403,2748
$STATE,5662,end apogee,CONTROL_FINISHED_OK
$STATE,5662,begin climb
$GC,5664,1.56,146.0,525.2,0.0,669,5792,1.92,2.60,116.93,0.948,4,0.061,0.053,3244,988,2151
$GC,5982,1.32,146.0,502.1,9.7,683,5987,0.28,2.40,0.00,0.000,6,0.118,0.037,3195,2358,2149
$GC,6307,1.20,146.0,470.3,9.5,712,6312,0.15,2.47,0.00,0.000,4,0.123,0.054,3166,982,2148
$GC,6339,1.12,146.0,467.3,9.3,714,6346,0.00,2.40,0.00,0.000,6,0.000,0.037,3166,2359,2148
$GC,6666,1.13,183.2,440.4,7.4,745,6702,0.00,2.55,28.58,0.953,4,0.000,0.056,3166,3729,2000
$GC,6725,1.07,183.2,435.4,9.3,750,6730,0.15,2.33,0.00,0.000,6,0.129,0.036,3141,2385,2000
$GC,7050,1.13,218.3,409.1,7.4,780,7086,0.00,2.60,28.05,0.936,4,0.000,0.054,3140,967,1856
$GC,7154,1.16,218.3,399.8,9.7,789,7158,0.00,2.42,0.00,0.000,6,0.000,0.038,3140,2352,1855
$GC,7481,1.21,218.3,369.8,9.4,819,7485,0.12,2.50,0.00,0.000,4,0.070,0.054,3171,964,1855
$GC,7553,1.21,218.3,362.4,10.3,825,7557,0.00,2.33,0.00,0.000,6,0.000,0.038,3171,2301,1854
$GC,7880,1.23,231.9,333.8,8.4,855,7892,0.00,0.00,10.35,0.933,6,0.000,0.000,3171,2301,1802
$GC,8207,1.23,231.9,304.7,9.3,886,8211,0.00,2.40,0.00,0.000,4,0.000,0.055,3171,967,1801
$GC,8262,1.23,231.9,299.0,10.2,890,8270,0.00,2.35,0.00,0.000,6,0.000,0.037,3171,2303,1800
$GC,8589,1.29,267.8,272.1,7.4,921,8625,0.00,2.45,28.77,0.854,4,0.000,0.054,3171,970,1654
$GC,8687,1.33,267.8,263.7,9.4,929,8694,0.10,2.28,0.00,0.000,6,0.072,0.037,3195,2277,1653
$GC,9021,1.33,270.1,234.0,8.9,976,9028,0.00,2.35,0.00,0.000,4,0.000,0.054,3195,964,1652
$GC,9074,1.33,270.1,229.1,9.5,985,9081,0.00,2.22,0.00,0.000,6,0.000,0.036,3195,2252,1652
$GC,9419,1.33,270.1,198.6,9.3,1046,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2252,1652
$GC,9763,1.40,290.3,168.2,8.1,1107,9789,0.00,2.35,17.75,0.781,4,0.000,0.052,3195,966,1563
$GC,9893,1.48,306.1,157.1,8.3,1129,9914,0.15,2.22,12.55,0.775,6,0.055,0.035,3238,2256,1499
$GC,10253,1.55,349.2,126.9,7.1,1192,10291,0.00,0.00,34.35,0.714,6,0.000,0.000,3238,2256,1324
$GC,10631,1.71,400.7,99.3,6.7,1258,10678,0.15,2.40,41.03,0.673,4,0.051,0.049,3285,963,1113
$GC,10797,1.71,400.7,83.6,9.4,1286,10804,0.00,2.15,0.00,0.000,6,0.000,0.032,3285,2220,1110
$GC,11142,1.79,420.9,53.1,8.1,1347,11163,0.00,2.72,15.27,0.641,4,0.000,0.048,3285,3726,1032
$GC,11204,1.86,420.9,47.1,10.4,1357,11212,0.12,2.58,0.00,0.000,6,0.057,0.031,3321,2212,1031
$GC,11550,1.86,420.9,14.2,9.3,1418,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2209,1030
$STATE,11684,end climb,SURFACE_DEPTH_REACHED
$STATE,11684,begin surface coast
$FINISH,-0.1,1.007806
$STATE,11714,end surface coast,CONTROL_FINISHED_OK
$STATE,11715,begin surface
$SM_CCo,11736,26.35,0.565,0,0,811,475.15
$SM_GC,1.14,0.00,0.00,26.35,0.000,0.000,0.565,253,2116,811,-12.19,-0.93,475.15
$IRIDIUM_FIX,1247.67,12043.41,230697,050519
$TT8_MAMPS,0.023777
$HUMID,1985
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.50
$XPDR_PINGS,465
$24V_AH,23.5,37.501
$10V_AH,10.2,18.942
$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,32.025,116.275,448.875,26.350,0.000,77.005,177.801,222.390,117.000,0.000,0.000,18.485,2945.926,5901.408,625.134,2306.866,713.918,0.000,1791.114,0.000,2274.348,0.000,6.377
$DEVICE_MAMPS,170.274,65.195,984.828,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44134,1447
$CAP_FILE_SIZE,135541,0
$CFSIZE,260165632,241049600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,326.8,1
$GPS,290308,085338,1251.251,12041.464,37,0.9,37,-0.8