version: 66.03
glider: 122
mission: 6
dive: 71
start: 2 29 108 1 30 44
data:
$ID,122
$MISSION,6
$DIVE,71
$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,-28744.604
$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,55
$R_STBD_OVSHOOT,31
$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
$GPS1,012333,1250.385,12042.885,11,1.5,11,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.7
$GPS2,013014,1250.356,12042.863,14,1.4,31,-0.8
$SPEED_LIMITS,0.156,0.209
$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,305.7,50198,-17.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,76,0.00,0.00,-55.65,0.000,2,0.000,0.000,250,2129,2419
$GC,78,-1.42,-146.0,3.3,-7.7,9,117,13.40,2.38,-16.55,0.000,4,0.167,0.055,2592,770,3276
$GC,308,-1.11,-146.0,62.5,-23.7,49,315,0.35,2.33,0.00,0.000,6,0.112,0.028,2657,2162,3277
$GC,653,-1.03,-146.0,121.7,-13.4,110,661,0.10,2.40,0.00,0.000,4,0.110,0.041,2676,769,3278
$GC,712,-1.08,-146.0,128.6,-10.9,120,719,0.00,2.30,0.00,0.000,6,0.000,0.027,2676,2157,3279
$GC,1054,-1.15,-146.0,158.3,-8.0,181,1061,0.00,2.38,0.00,0.000,4,0.000,0.044,2677,3548,3280
$GC,1132,-1.21,-146.0,164.6,-7.4,195,1139,0.17,2.22,0.00,0.000,6,0.046,0.026,2625,2188,3280
$GC,1476,-1.21,-146.0,200.0,-10.8,256,1482,0.00,2.33,0.00,0.000,4,0.000,0.044,2625,3549,3281
$GC,1516,-1.21,-146.0,204.0,-10.0,263,1523,0.00,2.28,0.00,0.000,6,0.000,0.028,2624,2173,3281
$GC,1861,-1.21,-146.0,237.3,-9.6,324,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2172,3281
$GC,2192,-1.21,-146.0,269.1,-9.8,366,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2172,3280
$GC,2510,-1.21,-146.0,299.1,-9.1,396,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2172,3279
$GC,2829,-1.21,-146.0,328.7,-8.9,426,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2170,3278
$GC,3148,-1.21,-146.0,357.8,-9.0,456,3152,0.00,2.50,0.00,0.000,4,0.000,0.051,2624,752,3276
$GC,3180,-1.24,-146.0,360.8,-8.9,458,3187,0.00,2.40,0.00,0.000,6,0.000,0.031,2624,2173,3276
$GC,3505,-1.24,-146.0,390.2,-9.4,489,3509,0.00,2.50,0.00,0.000,4,0.000,0.050,2624,752,3274
$GC,3544,-1.27,-146.0,394.1,-10.0,492,3548,0.00,2.38,0.00,0.000,6,0.000,0.032,2624,2154,3274
$GC,3869,-1.27,-146.0,424.2,-8.8,522,3873,0.00,2.42,0.00,0.000,4,0.000,0.048,2624,3556,3272
$GC,3919,-1.30,-146.0,429.0,-9.2,526,3923,0.00,2.35,0.00,0.000,6,0.000,0.032,2624,2157,3271
$GC,4244,-1.30,-146.0,457.2,-8.6,556,4248,0.00,2.47,0.00,0.000,4,0.000,0.052,2624,756,3269
$GC,4307,-1.35,-146.0,462.5,-8.7,561,4312,0.00,2.40,0.00,0.000,6,0.000,0.032,2625,2167,3269
$GC,4633,-1.39,-146.0,488.7,-7.6,591,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2170,3267
$GC,4957,-1.43,-146.0,512.2,-7.6,614,4959,0.15,0.00,0.00,0.000,6,0.054,0.000,2582,2170,3265
$GC,5266,-1.37,-146.0,541.1,-9.1,629,5268,0.12,0.00,0.00,0.000,6,0.111,0.000,2605,2170,3263
$GC,5575,-1.37,-146.0,568.3,-8.7,644,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2170,3261
$GC,5884,-1.37,-146.0,594.1,-8.4,659,5888,0.00,2.53,0.00,0.000,4,0.000,0.054,2605,750,3259
$GC,5922,-1.37,-146.0,597.5,-8.6,661,5927,0.00,2.40,0.00,0.000,6,0.000,0.035,2605,2151,3259
$STATE,6082,end dive,NO_VERTICAL_VELOCITY
$STATE,6082,begin apogee
$GC,6086,-0.34,0.0,597.3,0.0,669,6206,1.02,0.00,116.22,1.054,6,0.053,0.000,2835,2376,2678
$STATE,6207,end apogee,CONTROL_FINISHED_OK
$STATE,6207,begin climb
$GC,6208,1.42,146.0,597.1,0.0,675,6331,1.75,0.00,117.97,1.011,6,0.049,0.000,3223,2376,2082
$GC,6635,1.22,146.0,549.7,13.4,696,6640,0.25,2.53,0.00,0.000,4,0.115,0.053,3175,974,2080
$GC,6697,1.10,146.0,541.7,11.8,699,6702,0.17,2.42,0.00,0.000,6,0.115,0.037,3144,2362,2080
$GC,7023,1.05,146.0,507.5,10.6,715,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2362,2078
$GC,7340,1.02,149.8,477.3,8.8,741,7344,0.00,0.00,2.47,1.014,6,0.000,0.000,3144,2362,2067
$GC,7659,1.00,156.6,449.2,8.7,771,7672,0.12,2.53,5.80,1.026,4,0.115,0.054,3121,973,2038
$GC,7718,1.03,175.9,444.4,8.0,776,7742,0.00,2.45,15.73,0.986,6,0.000,0.038,3121,2375,1959
$GC,8060,1.08,186.1,416.6,8.5,808,8074,0.00,2.60,7.90,1.001,4,0.000,0.054,3121,980,1919
$GC,8101,1.12,186.1,413.1,9.0,811,8110,0.12,2.45,0.00,0.000,6,0.067,0.037,3151,2382,1919
$GC,8426,1.12,186.1,382.4,9.4,842,8430,0.00,2.38,0.00,0.000,4,0.000,0.058,3151,3721,1919
$GC,8481,1.08,186.1,376.9,10.8,846,8488,0.00,2.33,0.00,0.000,6,0.000,0.035,3151,2359,1919
$GC,8806,1.08,186.1,346.6,9.4,877,8810,0.00,2.47,0.00,0.000,4,0.000,0.054,3151,966,1918
$GC,8839,1.08,186.1,343.4,10.1,879,8846,0.00,2.40,0.00,0.000,6,0.000,0.036,3151,2361,1918
$GC,9164,1.10,201.0,314.4,8.3,910,9178,0.00,0.00,11.77,0.923,6,0.000,0.000,3151,2361,1857
$GC,9493,1.10,201.6,285.9,9.0,941,9497,0.00,2.47,0.00,0.000,4,0.000,0.052,3151,974,1856
$GC,9554,1.10,201.6,279.8,9.7,946,9558,0.00,2.38,0.00,0.000,6,0.000,0.035,3151,2348,1856
$GC,9879,1.10,201.6,249.2,9.2,976,9886,0.00,2.42,0.00,0.000,4,0.000,0.053,3151,3726,1856
$GC,9944,1.10,201.6,242.9,9.7,987,9951,0.00,2.33,0.00,0.000,6,0.000,0.034,3151,2358,1856
$GC,10290,1.13,219.7,215.1,8.1,1048,10311,0.00,2.58,14.80,0.828,4,0.000,0.052,3152,964,1781
$GC,10358,1.13,219.7,209.3,9.2,1059,10366,0.00,2.38,0.00,0.000,6,0.000,0.034,3151,2337,1780
$GC,10704,1.18,222.7,180.0,8.9,1120,10713,0.00,2.50,2.25,0.833,4,0.000,0.052,3151,3721,1770
$GC,10753,1.21,222.7,175.6,9.7,1128,10760,0.00,2.40,0.00,0.000,6,0.000,0.033,3151,2310,1770
$GC,11094,1.37,268.5,148.8,6.7,1189,11137,0.20,2.60,36.60,0.732,4,0.054,0.049,3204,3722,1582
$GC,11356,1.37,268.5,126.0,9.6,1235,11363,0.00,2.28,0.00,0.000,6,0.000,0.032,3204,2378,1580
$GC,11700,1.51,318.5,100.8,6.5,1296,11742,0.12,0.00,38.80,0.676,6,0.062,0.000,3238,2376,1379
$GC,12080,1.56,320.9,70.1,8.9,1363,12087,0.00,2.47,0.00,0.000,4,0.000,0.048,3238,973,1375
$GC,12183,1.62,334.8,61.3,8.3,1381,12202,0.00,2.45,12.00,0.658,6,0.000,0.030,3238,2416,1313
$GC,12541,1.76,379.1,34.3,6.8,1444,12583,0.17,2.60,34.70,0.596,4,0.049,0.046,3293,969,1131
$GC,12612,1.76,379.1,27.4,10.8,1456,12618,0.00,2.45,0.00,0.000,6,0.000,0.030,3293,2403,1129
$STATE,12858,end climb,SURFACE_DEPTH_REACHED
$STATE,12858,begin surface coast
$FINISH,-0.2,1.021146
$STATE,12882,end surface coast,CONTROL_FINISHED_OK
$STATE,12882,begin surface
$SM_CCo,12903,29.95,0.556,0,0,883,440.07
$SM_GC,1.14,0.00,0.00,29.95,0.000,0.000,0.556,254,2121,883,-12.19,-0.82,440.07
$IRIDIUM_FIX,1245.46,12047.21,250597,010145
$TT8_MAMPS,0.023777
$HUMID,1883
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,502
$24V_AH,23.5,14.883
$10V_AH,10.2,6.733
$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,31.700,102.600,417.025,29.950,0.000,58.107,61.947,116.999,128.000,0.000,0.000,31.859,2981.236,7031.402,605.939,2312.562,419.487,0.000,1748.145,0.000,2281.520,0.000,19.074
$DEVICE_MAMPS,167.206,57.525,1053.858,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47198,1504
$CAP_FILE_SIZE,134559,0
$CFSIZE,260165632,252006400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,162.1,1
$GPS,290208,050731,1250.386,12041.835,40,1.0,40,-0.8