version: 66.03
glider: 122
mission: 6
dive: 104
start: 3 7 108 20 44 36
data:
$ID,122
$MISSION,6
$DIVE,104
$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,554.62329
$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,-29325.885
$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,49
$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,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,1
$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
$GPS1,202537,1246.853,12016.405,38,1.1,49,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.5
$GPS2,204402,1246.611,12016.349,16,1.0,33,-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,222.8,2391,-25.8,-9.016
$D_GRID,872
$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,19,-1.86,-69.4,0.0,0.0,0,94,0.00,0.00,-73.05,0.000,2,0.000,0.000,252,2121,2656
$GC,96,-1.88,-81.1,3.7,-7.9,11,122,12.85,2.53,-6.45,0.000,4,0.169,0.049,2491,3570,3012
$GC,268,-1.61,-81.1,54.7,-28.4,41,276,0.32,2.35,0.00,0.000,6,0.127,0.028,2549,2160,3013
$GC,614,-1.46,-81.1,126.5,-22.3,102,621,0.15,2.40,0.00,0.000,4,0.136,0.041,2578,3561,3014
$GC,639,-1.37,-81.1,131.4,-20.5,106,647,0.15,2.30,0.00,0.000,6,0.120,0.027,2605,2172,3014
$GC,985,-1.46,-81.1,176.8,-12.3,167,992,0.00,2.47,0.00,0.000,4,0.000,0.044,2605,743,3016
$GC,1037,-1.56,-81.1,183.3,-12.0,176,1045,0.17,2.45,0.00,0.000,6,0.048,0.028,2554,2212,3015
$GC,1383,-1.60,-81.1,225.5,-11.2,237,1390,0.00,2.30,0.00,0.000,4,0.000,0.045,2554,3555,3015
$GC,1463,-1.63,-81.1,234.6,-10.6,251,1470,0.00,2.17,0.00,0.000,6,0.000,0.028,2554,2235,3015
$GC,1798,-1.69,-81.1,269.6,-11.0,295,1802,0.00,2.60,0.00,0.000,4,0.000,0.048,2554,744,3014
$GC,2028,-1.73,-81.1,294.4,-10.5,315,2033,0.12,2.47,0.00,0.000,6,0.058,0.031,2515,2209,3013
$GC,2352,-1.73,-81.1,330.9,-11.4,345,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2209,3012
$GC,2671,-1.73,-81.1,366.7,-10.9,375,2676,0.00,2.55,0.00,0.000,4,0.000,0.050,2515,754,3009
$GC,2793,-1.73,-81.1,380.9,-11.2,385,2801,0.00,2.42,0.00,0.000,6,0.000,0.031,2515,2171,3009
$GC,3120,-1.73,-81.1,415.9,-10.6,416,3124,0.00,2.50,0.00,0.000,4,0.000,0.049,2515,752,3006
$GC,3192,-1.73,-81.1,424.2,-11.5,422,3196,0.00,2.40,0.00,0.000,6,0.000,0.032,2515,2164,3005
$GC,3518,-1.73,-81.1,460.7,-11.4,452,3522,0.00,2.42,0.00,0.000,4,0.000,0.049,2515,3558,3003
$GC,3556,-1.73,-81.1,465.3,-11.2,455,3561,0.00,2.38,0.00,0.000,6,0.000,0.033,2515,2154,3003
$GC,3882,-1.73,-81.1,500.0,-11.2,485,3886,0.00,2.50,0.00,0.000,4,0.000,0.053,2515,743,3001
$GC,3937,-1.73,-81.1,506.5,-11.3,487,3944,0.00,2.47,0.00,0.000,6,0.000,0.034,2515,2168,3000
$GC,4255,-1.73,-81.1,540.3,-10.5,503,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2169,2998
$GC,4564,-1.73,-81.1,571.7,-10.1,518,4569,0.00,2.53,0.00,0.000,4,0.000,0.053,2515,749,2996
$GC,4671,-1.73,-81.1,583.3,-10.7,523,4675,0.00,2.42,0.00,0.000,6,0.000,0.035,2515,2159,2997
$GC,4997,-1.73,-81.1,615.7,-10.2,539,5001,0.00,2.53,0.00,0.000,4,0.000,0.054,2515,745,2994
$GC,5090,-1.73,-81.1,626.1,-11.1,543,5095,0.00,2.45,0.00,0.000,6,0.000,0.036,2515,2145,2992
$GC,5412,-1.73,-81.1,657.6,-9.8,559,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2146,2991
$GC,5722,-1.73,-81.1,688.5,-10.3,574,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2148,2989
$GC,6030,-1.73,-81.1,720.2,-10.2,589,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2148,2987
$GC,6339,-1.73,-81.1,750.7,-9.8,604,6343,0.00,2.47,0.00,0.000,4,0.000,0.056,2514,753,2986
$GC,6390,-1.73,-81.1,755.8,-10.3,606,6394,0.00,2.38,0.00,0.000,6,0.000,0.036,2515,2133,2985
$GC,6710,-1.73,-81.1,788.4,-10.0,622,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2133,2983
$GC,7020,-1.77,-86.2,814.5,-8.5,637,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2133,2982
$GC,7329,-1.78,-91.0,841.2,-8.6,652,7333,0.00,2.47,0.00,0.000,4,0.000,0.057,2515,754,2981
$STATE,7528,end dive,NO_VERTICAL_VELOCITY
$STATE,7528,begin apogee
$GC,7535,-0.34,0.0,845.9,0.0,661,7603,1.52,0.00,63.90,1.277,6,0.100,0.000,2825,2377,2678
$STATE,7603,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7605,1.90,91.0,845.8,0.0,664,7688,2.30,0.00,78.03,1.234,6,0.070,0.000,3318,2377,2306
$GC,7997,1.79,91.0,813.8,10.8,683,8002,0.15,2.55,0.00,0.000,4,0.141,0.056,3290,970,2304
$GC,8069,1.69,91.0,806.2,10.3,686,8073,0.00,2.47,0.00,0.000,6,0.000,0.040,3290,2379,2303
$GC,8390,1.62,91.0,773.5,10.8,702,8395,0.15,2.53,0.00,0.000,4,0.138,0.055,3262,979,2302
$GC,8439,1.58,91.0,768.3,10.5,704,8443,0.00,2.42,0.00,0.000,6,0.000,0.039,3261,2362,2302
$GC,8760,1.58,91.0,736.4,9.9,720,8765,0.00,2.45,0.00,0.000,4,0.000,0.061,3262,3725,2302
$GC,8823,1.50,91.0,729.9,10.5,723,8827,0.15,2.30,0.00,0.000,6,0.139,0.038,3236,2387,2301
$GC,9149,1.51,94.1,699.8,8.7,739,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2386,2301
$GC,9458,1.53,105.9,674.1,7.9,754,9480,0.00,2.67,11.48,1.206,4,0.000,0.058,3236,964,2245
$GC,9534,1.53,105.9,667.1,9.3,757,9539,0.00,2.50,0.00,0.000,6,0.000,0.039,3236,2369,2245
$GC,9856,1.53,105.9,637.4,9.4,773,9861,0.00,2.42,0.00,0.000,4,0.000,0.061,3236,3723,2244
$GC,9973,1.53,105.9,626.6,9.9,778,9978,0.00,2.33,0.00,0.000,6,0.000,0.038,3236,2392,2244
$GC,10295,1.53,105.9,597.9,9.4,794,10299,0.00,2.40,0.00,0.000,4,0.000,0.058,3236,3730,2244
$GC,10366,1.53,105.9,590.0,12.0,797,10370,0.00,2.30,0.00,0.000,6,0.000,0.038,3236,2408,2244
$GC,10688,1.53,105.9,558.2,9.9,813,10692,0.00,2.58,0.00,0.000,4,0.000,0.058,3236,965,2244
$GC,10759,1.53,105.9,551.1,9.9,816,10763,0.00,2.47,0.00,0.000,6,0.000,0.038,3236,2390,2243
$GC,11080,1.53,109.3,522.0,8.7,832,11089,0.00,2.60,2.75,1.103,4,0.000,0.055,3236,976,2232
$GC,11220,1.54,112.4,509.5,8.7,838,11229,0.00,2.40,3.20,1.108,6,0.000,0.038,3236,2356,2218
$GC,11552,1.54,112.4,478.9,9.6,864,11556,0.00,2.45,0.00,0.000,4,0.000,0.060,3236,3729,2218
$GC,11686,1.54,112.4,465.2,10.4,875,11693,0.00,2.38,0.00,0.000,6,0.000,0.037,3236,2359,2218
$GC,12012,1.54,112.4,436.2,9.0,906,12016,0.00,2.50,0.00,0.000,4,0.000,0.057,3236,960,2218
$GC,12077,1.54,112.4,430.0,9.5,911,12085,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2364,2218
$GC,12404,1.56,126.6,402.3,7.7,942,12421,0.00,2.47,11.75,1.021,4,0.000,0.057,3236,3726,2161
$GC,12639,1.56,126.6,378.6,9.6,962,12647,0.00,2.28,0.00,0.000,6,0.000,0.036,3236,2396,2160
$GC,12965,1.61,131.5,350.1,8.6,993,12978,0.00,2.40,4.18,0.999,4,0.000,0.054,3236,3726,2141
$GC,13068,1.61,131.5,340.1,10.2,1002,13073,0.00,2.25,0.00,0.000,6,0.000,0.036,3236,2411,2141
$GC,13393,1.67,142.9,311.5,8.0,1032,13405,0.15,0.00,9.52,0.955,6,0.074,0.000,3269,2409,2095
$GC,13721,1.69,151.8,281.3,8.2,1063,13734,0.00,2.65,7.32,0.930,4,0.000,0.053,3269,975,2059
$GC,13772,1.69,151.8,276.6,9.5,1067,13780,0.00,2.58,0.00,0.000,6,0.000,0.036,3269,2434,2059
$GC,14100,1.71,167.1,248.8,7.6,1099,14120,0.00,2.65,12.60,0.881,4,0.000,0.050,3269,975,1994
$GC,14245,1.71,167.1,234.0,11.7,1124,14252,0.00,2.47,0.00,0.000,6,0.000,0.036,3270,2402,1993
$GC,14589,1.77,175.0,200.0,8.3,1185,14603,0.00,2.38,6.55,0.858,4,0.000,0.053,3269,3730,1964
$GC,14694,1.79,186.4,191.4,8.0,1203,14709,0.12,2.28,9.02,0.835,6,0.077,0.034,3298,2395,1917
$GC,15047,1.80,192.6,155.8,8.4,1265,15055,0.00,0.00,5.18,0.817,6,0.000,0.000,3298,2393,1892
$GC,15393,1.94,242.7,132.4,4.4,1326,15437,0.15,0.00,39.47,0.721,6,0.068,0.000,3336,2393,1687
$GC,15776,1.96,253.3,101.7,8.0,1393,15789,0.00,2.42,8.12,0.726,4,0.000,0.048,3336,3728,1645
$GC,15981,1.96,253.3,81.1,10.9,1429,15988,0.00,2.20,0.00,0.000,6,0.000,0.030,3336,2413,1645
$GC,16325,2.01,253.3,50.7,9.8,1490,16332,0.00,2.53,0.00,0.000,4,0.000,0.046,3336,969,1646
$GC,16575,2.11,287.6,33.6,5.8,1534,16609,0.12,2.42,26.98,0.605,6,0.071,0.030,3367,2406,1504
$GC,16948,2.18,291.6,2.1,8.7,1599,16956,0.00,2.35,2.83,0.608,4,0.000,0.047,3367,3726,1489
$STATE,16961,end climb,SURFACE_DEPTH_REACHED
$STATE,16961,begin surface coast
$FINISH,-0.1,1.019592
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,17008,127.53,0.525,0,0,416,554.62
$SM_GC,0.71,0.00,0.00,127.53,0.000,0.000,0.525,253,2142,416,-12.19,-0.23,554.62
$IRIDIUM_FIX,1241.04,12018.41,010697,202032
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.60
$XPDR_PINGS,404
$ALTIM_BOTTOM_PING,661.8,4.3
$24V_AH,23.3,20.790
$10V_AH,10.1,9.915
$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,32.400,152.025,302.875,127.525,0.000,130.413,247.315,349.337,105.750,0.000,0.000,34.451,3368.970,10488.481,630.965,2805.846,953.537,0.000,2002.494,0.000,2736.107,0.000,36.856
$DEVICE_MAMPS,168.740,61.360,1277.055,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50361,1605
$CAP_FILE_SIZE,170623,0
$CFSIZE,260165632,249171968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,150.7,1
$GPS,080308,013125,1244.887,12015.816,38,1.6,38,-0.8