version: 66.03
glider: 122
mission: 6
dive: 23
start: 2 20 108 8 39 25
data:
$ID,122
$MISSION,6
$DIVE,23
$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,330
$T_MISSION,396
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,410
$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,-27905.277
$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,32
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,083138,1247.473,12027.754,30,1.2,30,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.8
$GPS2,083833,1247.491,12027.649,14,1.1,14,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,2000.000
$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,78.5,27911,-23.3,-10.000
$D_GRID,807
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.73,-86.6,0.0,0.0,0,86,0.00,0.00,-66.68,0.000,2,0.000,0.000,249,2147,2640
$GC,88,-1.77,-114.3,3.2,-7.6,13,115,13.12,2.42,-6.95,0.000,4,0.172,0.051,2513,3561,3006
$GC,166,-1.45,-114.3,27.3,-28.6,27,173,0.40,2.38,0.00,0.000,6,0.119,0.031,2587,2145,3007
$GC,510,-1.41,-114.3,91.1,-14.2,88,516,0.00,2.40,0.00,0.000,4,0.000,0.044,2587,3554,3010
$GC,577,-1.37,-114.3,101.6,-15.0,100,583,0.00,2.35,0.00,0.000,6,0.000,0.029,2586,2140,3011
$GC,921,-1.37,-114.3,147.4,-11.1,161,927,0.00,2.42,0.00,0.000,4,0.000,0.049,2587,749,3012
$GC,1113,-1.43,-114.3,171.5,-12.3,195,1119,0.00,2.35,0.00,0.000,6,0.000,0.030,2587,2158,3013
$GC,1456,-1.49,-114.3,209.8,-10.6,256,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2157,3013
$GC,1798,-1.57,-114.4,244.1,-10.0,317,1804,0.12,0.00,0.00,0.000,6,0.059,0.000,2552,2158,3013
$GC,2130,-1.57,-114.4,278.9,-10.6,353,2134,0.00,2.50,0.00,0.000,4,0.000,0.054,2552,744,3012
$GC,2185,-1.57,-114.4,285.3,-11.2,357,2192,0.00,2.40,0.00,0.000,6,0.000,0.032,2552,2144,3011
$GC,2510,-1.57,-114.5,319.4,-10.0,388,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2144,3011
$GC,2830,-1.59,-129.6,349.8,-8.7,418,2834,0.00,2.42,0.00,0.000,4,0.000,0.051,2552,3551,3009
$GC,2891,-1.60,-132.1,356.0,-9.8,423,2895,0.00,2.38,0.00,0.000,6,0.000,0.033,2551,2139,3009
$GC,3215,-1.62,-146.0,385.0,-8.6,453,3219,0.00,2.47,0.00,0.000,4,0.000,0.056,2551,747,3007
$GC,3246,-1.62,-146.0,388.2,-9.4,455,3253,0.00,2.40,0.00,0.000,6,0.000,0.032,2551,2149,3007
$GC,3572,-1.62,-146.0,416.5,-8.0,486,3576,0.00,2.45,0.00,0.000,4,0.000,0.050,2552,3561,3005
$GC,3688,-1.62,-146.0,427.5,-9.2,496,3692,0.00,2.38,0.00,0.000,6,0.000,0.034,2551,2150,3004
$GC,4019,-1.62,-146.0,458.6,-9.7,527,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2147,3003
$GC,4338,-1.62,-146.0,488.7,-9.4,557,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2147,3001
$GC,4651,-1.66,-146.0,517.0,-8.8,578,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2147,3000
$GC,4959,-1.71,-146.0,541.7,-7.6,593,4963,0.00,2.47,0.00,0.000,4,0.000,0.053,2552,3554,2998
$GC,5043,-1.71,-146.0,548.8,-8.4,597,5047,0.00,2.40,0.00,0.000,6,0.000,0.035,2552,2140,2998
$GC,5368,-1.75,-146.0,573.0,-7.6,613,5370,0.12,0.00,0.00,0.000,6,0.065,0.000,2520,2138,2996
$GC,5677,-1.75,-146.0,600.1,-8.8,628,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2138,2994
$GC,5987,-1.75,-146.0,628.8,-9.3,643,5991,0.00,2.50,0.00,0.000,4,0.000,0.054,2520,3557,2993
$GC,6065,-1.70,-146.0,636.3,-9.4,646,6071,0.00,2.40,0.00,0.000,6,0.000,0.037,2521,2148,2992
$GC,6379,-1.70,-146.0,664.8,-9.2,662,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2146,2990
$GC,6689,-1.70,-146.0,691.6,-7.7,677,6693,0.00,2.47,0.00,0.000,4,0.000,0.055,2520,3548,2989
$GC,6737,-1.70,-146.0,695.3,-7.2,679,6742,0.00,2.42,0.00,0.000,6,0.000,0.037,2520,2144,2988
$GC,7059,-1.70,-146.0,722.1,-9.3,695,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2143,2988
$GC,7368,-1.70,-146.0,746.6,-7.2,710,7372,0.00,2.47,0.00,0.000,4,0.000,0.055,2520,3550,2986
$GC,7416,-1.70,-146.0,750.6,-8.2,712,7421,0.00,2.42,0.00,0.000,6,0.000,0.037,2520,2146,2986
$GC,7737,-1.70,-146.0,777.8,-8.7,728,7742,0.00,2.50,0.00,0.000,4,0.000,0.055,2520,3557,2985
$GC,7827,-1.70,-146.0,786.0,-9.3,732,7831,0.00,2.40,0.00,0.000,6,0.000,0.037,2520,2150,2984
$STATE,8103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8103,begin apogee
$GC,8108,-0.34,0.0,808.1,7.9,746,8206,1.55,0.00,92.45,1.256,6,0.112,0.000,2825,2386,2539
$STATE,8207,end apogee,CONTROL_FINISHED_OK
$STATE,8207,begin climb
$GC,8208,1.83,146.0,809.7,0.0,751,8340,2.17,2.67,122.85,1.208,4,0.060,0.062,3304,966,1942
$GC,8385,1.64,146.0,786.7,19.3,759,8392,0.17,2.50,0.00,0.000,6,0.137,0.040,3265,2362,1940
$GC,8700,1.53,146.0,733.1,16.5,775,8705,0.15,2.47,0.00,0.000,4,0.135,0.061,3235,3732,1939
$GC,8754,1.43,146.0,723.9,16.6,777,8761,0.00,2.38,0.00,0.000,6,0.000,0.038,3236,2378,1939
$GC,9070,1.36,146.0,676.4,15.3,793,9075,0.15,2.58,0.00,0.000,4,0.133,0.064,3206,971,1938
$GC,9141,1.36,146.0,665.6,13.6,796,9146,0.00,2.50,0.00,0.000,6,0.000,0.040,3207,2381,1937
$GC,9462,1.36,146.0,621.8,13.8,812,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2381,1937
$GC,9773,1.36,146.0,579.7,13.3,827,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2381,1936
$GC,10080,1.36,146.0,537.7,14.1,842,10084,0.00,2.40,0.00,0.000,4,0.000,0.060,3207,3723,1936
$GC,10107,1.36,146.0,533.6,15.5,843,10112,0.00,2.35,0.00,0.000,6,0.000,0.037,3206,2374,1936
$GC,10427,1.36,146.0,488.8,13.8,862,10431,0.00,2.42,0.00,0.000,4,0.000,0.058,3207,3726,1936
$GC,10510,1.36,146.0,476.5,14.6,869,10514,0.00,2.33,0.00,0.000,6,0.000,0.036,3207,2367,1936
$GC,10840,1.36,146.0,433.3,13.0,900,10844,0.00,2.50,0.00,0.000,4,0.000,0.059,3206,972,1935
$GC,10889,1.36,146.0,426.4,14.5,904,10896,0.00,2.45,0.00,0.000,6,0.000,0.037,3206,2374,1935
$GC,11214,1.36,146.0,384.0,12.7,935,11218,0.00,2.53,0.00,0.000,4,0.000,0.056,3206,965,1935
$GC,11252,1.36,146.0,379.2,13.4,938,11256,0.00,2.42,0.00,0.000,6,0.000,0.037,3207,2376,1935
$GC,11575,1.36,146.0,343.1,10.3,968,11580,0.00,2.38,0.00,0.000,4,0.000,0.056,3206,3722,1935
$GC,11641,1.36,146.0,335.2,12.2,973,11648,0.00,2.33,0.00,0.000,6,0.000,0.035,3206,2367,1935
$GC,11966,1.36,146.0,299.8,10.6,1004,11970,0.00,2.47,0.00,0.000,4,0.000,0.055,3206,975,1935
$GC,12009,1.39,146.0,294.9,11.7,1007,12016,0.00,2.42,0.00,0.000,6,0.000,0.036,3207,2377,1935
$GC,12334,1.42,146.0,260.8,10.9,1038,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2376,1935
$GC,12664,1.43,149.2,226.4,9.7,1088,12670,0.00,2.35,0.00,0.000,4,0.000,0.054,3206,3720,1935
$GC,12748,1.43,149.2,217.1,12.4,1103,12754,0.00,2.28,0.00,0.000,6,0.000,0.033,3206,2369,1935
$GC,13092,1.52,172.0,181.8,8.0,1164,13119,0.12,2.55,19.30,0.815,4,0.073,0.054,3235,973,1836
$GC,13215,1.52,172.0,168.7,11.1,1186,13220,0.00,2.40,0.00,0.000,6,0.000,0.034,3235,2376,1836
$GC,13557,1.54,183.1,132.6,9.0,1247,13573,0.00,2.58,8.50,0.792,4,0.000,0.052,3236,971,1791
$GC,13618,1.54,183.1,126.1,10.9,1258,13624,0.00,2.42,0.00,0.000,6,0.000,0.033,3235,2383,1791
$GC,13961,1.62,191.9,91.9,9.2,1319,13973,0.00,2.58,7.20,0.749,4,0.000,0.048,3235,973,1755
$GC,14058,1.69,198.8,83.0,9.4,1336,14070,0.17,2.38,5.53,0.750,6,0.061,0.031,3276,2378,1728
$GC,14407,1.79,258.3,55.9,4.8,1398,14459,0.00,2.38,46.45,0.649,4,0.000,0.048,3276,3719,1485
$GC,14644,1.85,258.3,36.1,12.5,1441,14651,0.15,2.25,0.00,0.000,6,0.065,0.029,3312,2367,1484
$STATE,14930,end climb,SURFACE_DEPTH_REACHED
$STATE,14930,begin surface coast
$FINISH,-0.2,1.009159
$STATE,14948,end surface coast,CONTROL_FINISHED_OK
$STATE,14948,begin surface
$SM_CCo,14969,71.53,0.562,0,0,866,410.14
$SM_GC,0.70,0.00,0.00,71.53,0.000,0.000,0.562,252,2141,866,-12.20,-0.25,410.14
$IRIDIUM_FIX,1241.04,12029.39,160597,080847
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,459
$ALTIM_BOTTOM_PING,120.0,13.1
$24V_AH,23.3,8.446
$10V_AH,10.1,2.941
$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,32.075,127.200,302.275,71.525,0.000,50.491,49.479,161.303,116.500,0.000,0.000,14.739,2365.160,9752.172,519.791,2440.957,407.105,0.000,1743.135,0.000,2403.397,0.000,13.455
$DEVICE_MAMPS,171.808,63.661,1255.579,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47217,1495
$CAP_FILE_SIZE,142717,0
$CFSIZE,260165632,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,125108,1247.267,12029.896,29,1.6,29,-0.8