version: 66.03
glider: 122
mission: 6
dive: 69
start: 2 28 108 18 7 28
data:
$ID,122
$MISSION,6
$DIVE,69
$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,440
$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,-28699.205
$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,50
$R_STBD_OVSHOOT,29
$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,5
$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
$GPS1,175432,1249.886,12040.658,41,1.1,41,-0.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-71.6
$GPS2,180647,1249.692,12040.705,12,3.4,31,-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,47.2,4145,-19.1,-9.016
$D_GRID,1293
$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,16,begin dive
$GC,18,-1.50,-123.8,0.0,0.0,0,102,0.00,0.00,-80.82,0.000,2,0.000,0.000,251,2130,2588
$GC,104,-1.52,-135.2,3.4,-8.4,13,136,13.23,2.42,-12.12,0.000,4,0.166,0.052,2569,764,3233
$GC,210,-1.24,-135.2,30.2,-23.7,31,218,0.32,2.33,0.00,0.000,6,0.114,0.028,2629,2155,3234
$GC,555,-1.10,-135.2,97.1,-17.1,92,563,0.15,2.40,0.00,0.000,4,0.107,0.044,2661,3554,3234
$GC,580,-1.02,-135.2,100.8,-15.6,96,588,0.10,2.28,0.00,0.000,6,0.105,0.027,2680,2175,3234
$GC,926,-1.08,-135.2,140.8,-10.0,157,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2175,3235
$GC,1265,-1.22,-146.0,169.3,-8.0,218,1272,0.15,2.47,0.00,0.000,4,0.050,0.044,2628,749,3236
$GC,1306,-1.27,-146.0,173.3,-9.9,225,1313,0.00,2.38,0.00,0.000,6,0.000,0.028,2628,2171,3236
$GC,1650,-1.27,-146.0,208.5,-10.0,286,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2171,3236
$GC,1993,-1.31,-146.0,243.2,-10.1,347,2000,0.00,2.47,0.00,0.000,4,0.000,0.048,2628,752,3235
$GC,2029,-1.36,-146.0,246.7,-10.0,353,2035,0.00,2.38,0.00,0.000,6,0.000,0.030,2628,2167,3234
$GC,2357,-1.41,-146.0,276.6,-8.9,387,2358,0.15,0.00,0.00,0.000,6,0.050,0.000,2582,2168,3233
$GC,2676,-1.36,-146.0,313.2,-12.1,417,2681,0.15,2.47,0.00,0.000,4,0.104,0.048,2614,756,3231
$GC,2719,-1.40,-146.0,318.2,-10.5,420,2727,0.00,2.42,0.00,0.000,6,0.000,0.032,2614,2167,3231
$GC,3046,-1.43,-146.0,347.5,-8.9,451,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2168,3229
$GC,3364,-1.46,-146.0,377.9,-9.0,481,3369,0.12,2.40,0.00,0.000,4,0.058,0.048,2577,3551,3227
$GC,3403,-1.43,-146.0,382.2,-11.2,484,3408,0.00,2.33,0.00,0.000,6,0.000,0.032,2577,2172,3227
$GC,3730,-1.39,-146.0,417.7,-10.7,514,3732,0.12,0.00,0.00,0.000,6,0.112,0.000,2599,2168,3225
$GC,4046,-1.39,-146.0,449.3,-9.9,544,4050,0.00,2.40,0.00,0.000,4,0.000,0.050,2599,3550,3223
$GC,4097,-1.42,-146.0,454.3,-9.7,548,4101,0.00,2.33,0.00,0.000,6,0.000,0.033,2599,2178,3223
$GC,4422,-1.42,-146.0,485.5,-9.6,578,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2176,3220
$GC,4736,-1.45,-146.0,513.2,-9.2,601,4740,0.00,2.55,0.00,0.000,4,0.000,0.054,2599,743,3218
$GC,4779,-1.50,-146.0,517.3,-9.1,603,4783,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,2188,3218
$GC,5107,-1.53,-146.0,546.3,-8.9,619,5109,0.15,0.00,0.00,0.000,6,0.054,0.000,2558,2189,3216
$GC,5415,-1.49,-146.0,577.2,-9.8,634,5420,0.12,2.58,0.00,0.000,4,0.117,0.054,2580,749,3215
$GC,5481,-1.49,-146.0,583.9,-9.7,637,5485,0.00,2.42,0.00,0.000,6,0.000,0.035,2580,2163,3214
$GC,5808,-1.49,-146.0,613.9,-8.8,653,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2163,3212
$GC,6119,-1.49,-146.0,641.5,-9.0,668,6123,0.00,2.53,0.00,0.000,4,0.000,0.056,2580,749,3211
$GC,6179,-1.49,-146.0,647.6,-9.7,671,6184,0.00,2.42,0.00,0.000,6,0.000,0.036,2580,2154,3210
$GC,6507,-1.49,-146.0,675.3,-8.5,687,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2154,3208
$GC,6815,-1.49,-146.0,701.6,-8.9,702,6819,0.00,2.47,0.00,0.000,4,0.000,0.058,2580,3555,3207
$GC,6853,-1.49,-146.0,705.0,-9.4,704,6858,0.00,2.40,0.00,0.000,6,0.000,0.037,2580,2152,3207
$GC,7180,-1.49,-146.0,731.9,-7.8,720,7184,0.00,2.47,0.00,0.000,4,0.000,0.055,2580,3555,3206
$GC,7211,-1.49,-146.0,734.9,-8.2,721,7219,0.00,2.40,0.00,0.000,6,0.000,0.037,2580,2169,3205
$GC,7528,-1.49,-146.0,759.7,-8.1,737,7532,0.00,2.45,0.00,0.000,4,0.000,0.057,2580,3555,3204
$GC,7570,-1.49,-146.0,763.6,-8.5,739,7575,0.00,2.38,0.00,0.000,6,0.000,0.037,2580,2185,3204
$GC,7898,-1.49,-146.0,788.5,-8.0,755,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2184,3202
$GC,8208,-1.95,-146.0,801.9,0.5,770,8213,0.45,2.45,0.00,0.000,4,0.054,0.058,2477,3557,3201
$STATE,8268,end dive,NO_VERTICAL_VELOCITY
$STATE,8268,begin apogee
$GC,8274,-0.34,0.0,801.7,0.0,773,8391,1.65,0.00,109.35,1.238,6,0.071,0.000,2828,2362,2677
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8393,1.53,146.0,801.5,0.0,779,8525,1.88,2.65,122.45,1.190,4,0.056,0.060,3239,976,2081
$GC,8580,1.31,146.0,785.2,14.1,787,8586,0.22,2.50,0.00,0.000,6,0.117,0.039,3195,2372,2080
$GC,8902,1.19,146.0,745.9,12.5,803,8907,0.15,2.55,0.00,0.000,4,0.121,0.058,3169,977,2079
$GC,8963,1.11,146.0,738.6,11.4,806,8968,0.12,2.45,0.00,0.000,6,0.128,0.039,3149,2367,2078
$GC,9290,1.05,174.9,706.8,7.4,822,9316,0.00,0.00,23.88,1.184,6,0.000,0.000,3148,2367,1964
$GC,9619,0.99,178.6,681.0,8.8,838,9629,0.15,2.53,3.08,1.161,4,0.127,0.064,3119,3723,1950
$GC,9663,0.97,183.9,677.2,8.7,840,9673,0.00,2.38,5.05,1.183,6,0.000,0.037,3119,2351,1927
$GC,9988,0.97,183.9,648.1,9.4,856,9993,0.00,2.50,0.00,0.000,4,0.000,0.063,3119,3726,1926
$GC,10141,0.94,183.9,633.1,10.7,863,10145,0.00,2.33,0.00,0.000,6,0.000,0.038,3119,2378,1926
$GC,10467,0.94,188.8,603.7,8.7,879,10473,0.00,0.00,4.10,1.166,6,0.000,0.000,3119,2376,1908
$GC,10776,0.95,189.5,576.1,9.0,894,10780,0.00,2.45,0.00,0.000,4,0.000,0.063,3119,3729,1908
$GC,10875,0.95,189.5,565.9,10.3,898,10883,0.00,2.30,0.00,0.000,6,0.000,0.036,3119,2404,1908
$GC,11193,1.01,207.6,539.3,8.0,914,11212,0.00,0.00,15.95,1.109,6,0.000,0.000,3119,2401,1831
$GC,11521,1.05,207.6,509.2,9.2,930,11525,0.00,2.40,0.00,0.000,4,0.000,0.062,3119,3732,1830
$GC,11643,1.05,207.6,497.2,10.0,936,11650,0.00,2.33,0.00,0.000,6,0.000,0.036,3119,2390,1829
$GC,11969,1.10,215.3,469.3,8.6,967,11983,0.12,2.50,6.40,1.083,4,0.071,0.061,3147,3724,1799
$GC,12078,1.06,215.3,458.3,10.3,976,12085,0.00,2.25,0.00,0.000,6,0.000,0.035,3148,2410,1799
$GC,12403,1.06,215.5,428.8,9.0,1007,12407,0.00,2.38,0.00,0.000,4,0.000,0.061,3147,3729,1799
$GC,12466,1.01,215.5,422.4,10.2,1012,12470,0.12,2.22,0.00,0.000,6,0.130,0.035,3128,2422,1799
$GC,12790,1.08,225.8,395.4,8.4,1042,12804,0.00,2.45,9.18,1.019,4,0.000,0.058,3128,3733,1756
$GC,12910,1.08,225.8,384.6,9.4,1052,12918,0.00,2.22,0.00,0.000,6,0.000,0.035,3128,2442,1756
$GC,13237,1.14,230.5,356.5,8.8,1083,13250,0.12,2.35,3.95,0.996,4,0.070,0.058,3157,3738,1738
$GC,13346,1.10,230.5,344.6,11.0,1092,13353,0.00,2.17,0.00,0.000,6,0.000,0.034,3157,2455,1738
$GC,13671,1.10,230.5,311.5,9.9,1123,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2453,1738
$GC,13989,1.11,237.4,281.6,8.6,1153,14002,0.00,2.30,6.28,0.933,4,0.000,0.056,3157,3729,1709
$GC,14060,1.11,237.4,275.1,9.6,1159,14064,0.00,2.12,0.00,0.000,6,0.000,0.034,3156,2474,1710
$GC,14388,1.11,238.2,243.6,9.0,1195,14395,0.00,2.65,0.00,0.000,4,0.000,0.050,3157,975,1709
$GC,14440,1.15,238.2,238.1,10.4,1204,14447,0.00,2.60,0.00,0.000,6,0.000,0.038,3157,2473,1709
$GC,14786,1.20,242.9,207.0,8.7,1265,14793,0.00,0.00,4.70,0.872,6,0.000,0.000,3157,2474,1687
$GC,15131,1.28,266.2,178.8,7.7,1326,15158,0.12,2.28,19.15,0.790,4,0.065,0.056,3188,3729,1591
$GC,15193,1.24,266.2,172.6,10.6,1336,15200,0.00,2.15,0.00,0.000,6,0.000,0.032,3188,2461,1591
$GC,15538,1.33,297.1,141.2,7.3,1397,15573,0.00,2.72,24.17,0.742,4,0.000,0.049,3189,978,1466
$GC,15703,1.44,318.0,128.0,7.8,1425,15726,0.15,2.47,16.88,0.732,6,0.058,0.035,3224,2410,1380
$GC,16064,1.53,336.6,96.2,8.0,1488,16085,0.00,2.42,14.43,0.700,4,0.000,0.053,3224,3732,1305
$GC,16210,1.60,348.8,82.9,8.3,1513,16225,0.12,2.20,9.85,0.700,6,0.065,0.030,3256,2419,1254
$GC,16564,1.70,370.6,50.8,7.8,1575,16590,0.00,2.35,16.83,0.643,4,0.000,0.048,3256,3722,1166
$GC,16630,1.77,376.9,45.0,8.7,1586,16646,0.15,2.17,5.12,0.672,6,0.058,0.029,3295,2425,1140
$GC,16983,1.77,376.9,8.1,11.6,1648,16990,0.00,2.28,0.00,0.000,4,0.000,0.048,3295,3733,1139
$STATE,17041,end climb,SURFACE_DEPTH_REACHED
$STATE,17041,begin surface coast
$FINISH,0.1,1.021072
$STATE,17057,end surface coast,CONTROL_FINISHED_OK
$STATE,17058,begin surface
$SM_CCo,17081,32.65,0.566,0,0,883,440.07
$SM_GC,1.81,0.00,0.00,32.65,0.000,0.000,0.566,252,2140,883,-12.20,-0.31,440.07
$IRIDIUM_FIX,1245.46,12039.25,240597,181856
$TT8_MAMPS,0.023777
$HUMID,1901
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.00
$XPDR_PINGS,407
$ALTIM_BOTTOM_PING,540.8,8.2
$24V_AH,23.3,14.637
$10V_AH,10.1,6.601
$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,33.925,148.900,420.775,32.650,0.000,71.818,61.307,354.157,103.250,0.000,0.000,31.984,3407.042,10321.204,666.258,2762.848,704.367,0.000,2049.016,0.000,2714.804,0.000,12.638
$DEVICE_MAMPS,165.672,63.661,1237.938,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53528,1661
$CAP_FILE_SIZE,174882,0
$CFSIZE,260165632,252092416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,164.5,1
$GPS,280208,225356,1250.936,12042.016,40,1.4,40,-0.8