version: 66.03
glider: 122
mission: 6
dive: 53
start: 2 25 108 20 18 45
data:
$ID,122
$MISSION,6
$DIVE,53
$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,0.0020000001
$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,520.52661
$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,-28387.777
$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,45
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,200402,1246.217,12020.868,41,1.3,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.0
$GPS2,201751,1246.151,12020.833,12,1.2,12,-0.8
$SPEED_LIMITS,0.156,0.166
$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,79.8,40466,-22.8,-9.016
$D_GRID,772
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.67,-76.7,0.0,0.0,0,87,0.00,0.00,-66.30,0.000,2,0.000,0.000,253,2131,2554
$GC,89,-1.69,-87.9,3.3,-8.0,11,115,13.05,2.45,-6.65,0.000,4,0.168,0.054,2531,753,2900
$GC,261,-1.39,-87.9,51.2,-24.9,41,269,0.38,2.33,0.00,0.000,6,0.119,0.026,2600,2159,2901
$GC,607,-1.30,-87.9,110.8,-16.0,102,614,0.10,2.38,0.00,0.000,4,0.121,0.042,2617,3554,2903
$GC,643,-1.25,-87.9,116.4,-15.0,108,650,0.00,2.30,0.00,0.000,6,0.000,0.028,2617,2164,2903
$GC,988,-1.25,-87.9,162.2,-12.3,169,994,0.00,2.45,0.00,0.000,4,0.000,0.044,2617,744,2904
$GC,1175,-1.25,-87.9,184.1,-9.7,202,1182,0.00,2.30,0.00,0.000,6,0.000,0.028,2618,2129,2904
$GC,1519,-1.35,-102.2,213.9,-7.7,263,1527,0.00,2.40,0.00,0.000,4,0.000,0.045,2618,740,2904
$GC,1550,-1.45,-114.0,216.4,-8.0,268,1558,0.15,2.25,0.00,0.000,6,0.051,0.028,2572,2098,2905
$GC,1895,-1.45,-114.0,248.2,-9.5,329,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2098,2904
$GC,2227,-1.46,-122.8,274.2,-8.2,362,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2098,2903
$GC,2545,-1.47,-128.2,300.3,-8.5,392,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2098,2902
$GC,2864,-1.50,-146.0,324.3,-7.4,422,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2098,2900
$GC,3182,-1.50,-146.0,348.6,-6.9,452,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2099,2898
$GC,3502,-1.54,-146.0,373.6,-8.1,482,3506,0.00,2.50,0.00,0.000,4,0.000,0.048,2573,3545,2896
$GC,3658,-1.54,-146.0,386.9,-7.7,495,3666,0.00,2.42,0.00,0.000,6,0.000,0.032,2573,2106,2895
$GC,3985,-1.57,-146.0,408.2,-6.1,526,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2105,2894
$GC,4303,-1.60,-146.0,428.2,-6.5,556,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2105,2892
$GC,4621,-1.65,-146.0,449.2,-6.9,586,4626,0.12,2.50,0.00,0.000,4,0.061,0.049,2540,3543,2890
$GC,4687,-1.60,-146.0,454.4,-8.6,591,4695,0.00,2.45,0.00,0.000,6,0.000,0.034,2540,2098,2889
$GC,5013,-1.57,-146.0,479.5,-8.2,622,5015,0.12,0.00,0.00,0.000,6,0.122,0.000,2561,2096,2888
$GC,5330,-1.57,-146.0,503.8,-7.5,650,5334,0.00,2.55,0.00,0.000,4,0.000,0.051,2561,3549,2886
$GC,5440,-1.57,-146.0,513.2,-8.2,655,5445,0.00,2.47,0.00,0.000,6,0.000,0.035,2562,2113,2885
$GC,5768,-1.57,-146.0,537.5,-7.6,671,5772,0.00,2.50,0.00,0.000,4,0.000,0.051,2562,3542,2884
$GC,5817,-1.57,-146.0,541.8,-8.6,673,5821,0.00,2.47,0.00,0.000,6,0.000,0.035,2561,2106,2884
$GC,6144,-1.57,-146.0,566.0,-6.7,689,6148,0.00,2.42,0.00,0.000,4,0.000,0.056,2561,741,2882
$GC,6206,-1.57,-146.0,570.8,-8.2,692,6210,0.00,2.28,0.00,0.000,6,0.000,0.034,2561,2087,2882
$GC,6538,-1.57,-146.0,592.3,-6.1,708,6542,0.00,2.40,0.00,0.000,4,0.000,0.055,2561,738,2880
$GC,6593,-1.57,-146.0,596.0,-6.8,710,6601,0.00,2.30,0.00,0.000,6,0.000,0.034,2561,2074,2880
$GC,6910,-1.60,-146.0,613.8,-5.8,726,6914,0.00,2.58,0.00,0.000,4,0.000,0.054,2562,3548,2879
$GC,7004,-1.60,-146.0,620.4,-7.1,730,7008,0.00,2.45,0.00,0.000,6,0.000,0.035,2562,2103,2878
$GC,7321,-1.64,-146.0,640.5,-6.3,745,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2103,2877
$GC,7631,-1.67,-146.0,660.6,-6.1,760,7636,0.00,2.53,0.00,0.000,4,0.000,0.054,2561,3546,2876
$GC,7725,-1.67,-146.0,667.1,-7.2,764,7730,0.00,2.42,0.00,0.000,6,0.000,0.035,2561,2117,2875
$GC,8048,-1.70,-146.0,686.2,-6.2,780,8053,0.12,2.53,0.00,0.000,4,0.066,0.052,2530,3546,2875
$GC,8114,-1.65,-146.0,690.9,-7.1,783,8118,0.00,2.40,0.00,0.000,6,0.000,0.035,2530,2134,2875
$GC,8435,-1.65,-146.0,713.7,-7.2,799,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2133,2873
$GC,8746,-1.65,-146.0,738.1,-8.2,814,8750,0.00,2.47,0.00,0.000,4,0.000,0.060,2530,750,2872
$GC,8787,-1.60,-146.0,741.4,-8.1,816,8792,0.12,2.38,0.00,0.000,6,0.128,0.035,2551,2138,2872
$GC,9114,-1.60,-146.0,764.9,-6.7,832,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2139,2871
$STATE,9235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9235,begin apogee
$GC,9239,-0.34,0.0,772.7,6.2,838,9312,1.38,0.00,68.78,1.238,6,0.105,0.000,2825,2379,2539
$STATE,9312,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9314,1.79,146.0,773.8,0.0,841,9442,2.15,0.00,122.82,1.194,6,0.061,0.000,3299,2379,1943
$GC,9745,1.62,146.0,708.2,17.0,862,9750,0.20,2.55,0.00,0.000,4,0.135,0.058,3261,976,1940
$GC,9800,1.50,146.0,699.3,15.2,864,9808,0.15,2.40,0.00,0.000,6,0.133,0.038,3236,2344,1939
$GC,10116,1.44,146.0,652.3,15.3,880,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2344,1938
$GC,10425,1.38,146.0,605.8,14.8,895,10430,0.17,2.47,0.00,0.000,4,0.123,0.058,3203,3728,1938
$GC,10513,1.38,146.0,592.6,15.2,899,10517,0.00,2.38,0.00,0.000,6,0.000,0.037,3203,2366,1937
$GC,10840,1.38,146.0,550.1,12.2,915,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2365,1936
$GC,11149,1.38,146.0,512.9,12.2,930,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2364,1936
$GC,11464,1.38,146.0,473.8,12.2,955,11469,0.00,2.42,0.00,0.000,4,0.000,0.057,3202,3726,1936
$GC,11519,1.38,146.0,466.8,12.5,959,11527,0.00,2.33,0.00,0.000,6,0.000,0.036,3203,2380,1935
$GC,11845,1.38,146.0,427.0,12.6,990,11849,0.00,2.40,0.00,0.000,4,0.000,0.055,3203,3728,1935
$GC,11883,1.38,146.0,421.8,13.5,993,11888,0.00,2.30,0.00,0.000,6,0.000,0.035,3203,2377,1935
$GC,12207,1.38,146.0,380.3,13.1,1023,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2377,1935
$GC,12526,1.38,146.0,342.1,11.9,1053,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2377,1935
$GC,12844,1.38,146.0,306.7,11.3,1083,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2376,1935
$GC,13163,1.38,146.0,268.9,11.4,1113,13167,0.00,2.40,0.00,0.000,4,0.000,0.053,3203,3737,1935
$GC,13269,1.38,146.0,256.1,12.8,1122,13273,0.00,2.30,0.00,0.000,6,0.000,0.033,3203,2371,1935
$GC,13609,1.42,146.0,221.6,9.7,1177,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2369,1935
$GC,13953,1.52,163.1,191.6,7.5,1238,13974,0.15,2.45,12.23,0.830,4,0.067,0.050,3242,3738,1874
$GC,13997,1.52,163.1,187.3,10.3,1245,14004,0.00,2.33,0.00,0.000,6,0.000,0.031,3242,2368,1874
$GC,14342,1.55,181.3,157.2,7.4,1306,14363,0.00,2.55,14.23,0.791,4,0.000,0.049,3242,974,1798
$GC,14487,1.55,181.3,144.8,9.4,1331,14494,0.00,2.42,0.00,0.000,6,0.000,0.032,3242,2396,1798
$GC,14832,1.62,197.2,114.3,7.6,1392,14852,0.00,2.55,13.05,0.739,4,0.000,0.047,3242,969,1733
$GC,14960,1.67,201.7,102.9,8.6,1414,14969,0.12,2.38,3.33,0.758,6,0.065,0.032,3272,2359,1716
$GC,15308,1.73,213.8,72.9,7.9,1475,15323,0.00,2.45,9.57,0.689,4,0.000,0.048,3272,3720,1667
$GC,15576,1.73,213.8,47.2,9.1,1522,15583,0.00,2.22,0.00,0.000,6,0.000,0.028,3273,2380,1667
$GC,15920,1.83,220.9,20.1,8.4,1583,15935,0.12,2.47,5.88,0.632,4,0.062,0.046,3307,972,1637
$GC,16003,1.86,236.8,13.3,7.6,1597,16023,0.00,2.28,12.07,0.609,6,0.000,0.029,3308,2329,1572
$STATE,16145,end climb,SURFACE_DEPTH_REACHED
$STATE,16146,begin surface coast
$FINISH,-0.0,1.021587
$STATE,16175,end surface coast,CONTROL_FINISHED_OK
$STATE,16175,begin surface
$SM_CCo,16196,139.95,0.536,0,0,416,520.53
$SM_GC,0.73,0.00,0.00,139.95,0.000,0.000,0.536,253,2121,416,-12.20,-0.82,520.53
$IRIDIUM_FIX,1241.04,12018.41,210597,202024
$TT8_MAMPS,0.023777
$HUMID,1761
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,553
$ALTIM_BOTTOM_PING,681.1,8.1
$24V_AH,23.3,12.237
$10V_AH,10.2,5.295
$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,32.100,116.625,261.950,139.950,0.000,131.890,167.431,184.525,143.500,0.000,0.000,12.522,3431.488,9873.363,603.605,2622.969,665.265,0.000,1875.680,0.000,2585.639,0.000,40.838
$DEVICE_MAMPS,167.973,59.826,1237.938,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50283,1627
$CAP_FILE_SIZE,158087,0
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,277.4,1
$GPS,260208,005207,1246.495,12022.062,32,0.9,32,-0.8