version: 66.03
glider: 122
mission: 6
dive: 127
start: 3 12 108 21 20 53
data:
$ID,122
$MISSION,6
$DIVE,127
$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,475
$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,-29729.936
$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,66
$R_STBD_OVSHOOT,24
$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,9
$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
$GPS1,211507,1248.299,12025.068,38,1.7,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.3
$GPS2,212021,1248.292,12025.034,13,1.6,13,-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,251.3,17918,-17.4,-9.016
$D_GRID,787
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-61.80,0.000,2,0.000,0.000,254,2096,2405
$GC,86,-1.42,-146.0,3.1,-8.0,11,125,13.55,2.55,-16.42,0.000,4,0.172,0.053,2590,3565,3275
$GC,266,-1.08,-146.0,51.6,-26.1,42,274,0.40,2.30,0.00,0.000,6,0.119,0.028,2665,2181,3277
$GC,612,-1.00,-146.0,108.7,-13.2,103,619,0.10,2.38,0.00,0.000,4,0.117,0.041,2682,3563,3278
$GC,670,-1.00,-146.0,116.2,-13.0,113,677,0.00,2.35,0.00,0.000,6,0.000,0.028,2682,2149,3279
$GC,1015,-1.03,-146.0,152.2,-10.5,174,1022,0.00,2.42,0.00,0.000,4,0.000,0.042,2682,3561,3279
$GC,1146,-1.10,-146.0,165.5,-9.7,197,1154,0.00,2.22,0.00,0.000,6,0.000,0.027,2682,2212,3280
$GC,1488,-1.20,-146.0,193.5,-7.8,258,1495,0.15,2.55,0.00,0.000,4,0.048,0.044,2631,745,3280
$GC,1524,-1.23,-146.0,196.7,-9.7,264,1531,0.00,2.47,0.00,0.000,6,0.000,0.028,2631,2223,3280
$GC,1869,-1.23,-146.0,226.9,-8.7,325,1875,0.00,2.30,0.00,0.000,4,0.000,0.046,2631,3561,3280
$GC,1943,-1.23,-146.0,233.4,-9.1,338,1949,0.00,2.25,0.00,0.000,6,0.000,0.029,2631,2205,3280
$GC,2283,-1.23,-146.0,264.6,-9.1,385,2287,0.00,2.55,0.00,0.000,4,0.000,0.048,2632,744,3281
$GC,2334,-1.27,-146.0,269.5,-9.7,389,2338,0.00,2.45,0.00,0.000,6,0.000,0.031,2631,2198,3281
$GC,2660,-1.27,-146.0,298.4,-9.0,419,2664,0.00,2.33,0.00,0.000,4,0.000,0.048,2631,3548,3280
$GC,2703,-1.27,-146.0,303.1,-10.6,422,2710,0.00,2.30,0.00,0.000,6,0.000,0.031,2630,2189,3279
$GC,3029,-1.27,-146.0,331.5,-8.3,453,3033,0.00,2.35,0.00,0.000,4,0.000,0.046,2631,3549,3279
$GC,3051,-1.27,-146.0,333.5,-8.3,454,3058,0.00,2.28,0.00,0.000,6,0.000,0.031,2631,2192,3278
$GC,3377,-1.27,-146.0,361.0,-8.8,485,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2188,3277
$GC,3695,-1.27,-146.0,388.4,-7.6,515,3699,0.00,2.38,0.00,0.000,4,0.000,0.048,2631,3551,3274
$GC,3723,-1.30,-146.0,390.7,-8.1,517,3727,0.00,2.30,0.00,0.000,6,0.000,0.032,2631,2190,3274
$GC,4050,-1.33,-146.0,414.8,-7.9,547,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2186,3272
$GC,4367,-1.36,-146.0,441.5,-9.0,577,4369,0.12,0.00,0.00,0.000,6,0.058,0.000,2594,2186,3270
$GC,4686,-1.31,-146.0,473.8,-9.8,607,4691,0.12,2.40,0.00,0.000,4,0.107,0.050,2617,3549,3268
$GC,4718,-1.31,-146.0,477.2,-9.3,609,4726,0.00,2.35,0.00,0.000,6,0.000,0.034,2617,2182,3268
$GC,5055,-1.31,-146.0,506.0,-8.6,638,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2181,3266
$GC,5361,-1.31,-146.0,532.9,-8.6,653,5366,0.00,2.40,0.00,0.000,4,0.000,0.051,2617,3552,3264
$GC,5411,-1.31,-146.0,537.5,-8.4,655,5415,0.00,2.30,0.00,0.000,6,0.000,0.034,2617,2202,3264
$GC,5733,-1.31,-146.0,562.5,-7.3,671,5737,0.00,2.38,0.00,0.000,4,0.000,0.052,2616,3545,3262
$GC,5765,-1.31,-146.0,565.2,-7.5,672,5772,0.00,2.28,0.00,0.000,6,0.000,0.035,2617,2209,3262
$GC,6082,-1.31,-146.0,590.2,-7.9,688,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2207,3260
$GC,6390,-1.31,-146.0,614.3,-7.6,703,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,3258
$GC,6699,-1.31,-146.0,637.0,-7.2,718,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,3257
$GC,7011,-1.31,-146.0,661.7,-8.3,733,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,3255
$GC,7318,-1.31,-146.0,687.8,-8.7,748,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,3254
$GC,7628,-1.31,-146.0,712.2,-8.1,763,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,3253
$GC,7936,-1.31,-146.0,738.6,-8.9,778,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,3251
$GC,8246,-1.31,-146.0,767.3,-9.0,793,8250,0.00,2.62,0.00,0.000,4,0.000,0.060,2617,746,3251
$GC,8286,-1.35,-146.0,770.9,-9.8,795,8290,0.00,2.53,0.00,0.000,6,0.000,0.038,2617,2204,3250
$STATE,8486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8486,begin apogee
$GC,8491,-0.34,0.0,787.2,7.8,805,8613,1.05,0.00,118.65,1.224,6,0.094,0.000,2830,2370,2678
$STATE,8614,end apogee,CONTROL_FINISHED_OK
$STATE,8614,begin climb
$GC,8615,1.42,146.0,790.5,0.0,811,8742,1.77,0.00,122.28,1.176,6,0.058,0.000,3218,2370,2081
$GC,9048,1.22,146.0,741.6,13.8,832,9053,0.22,2.45,0.00,0.000,4,0.117,0.060,3174,3725,2079
$GC,9103,1.07,146.0,734.2,12.3,834,9111,0.20,2.35,0.00,0.000,6,0.130,0.040,3140,2378,2079
$GC,9420,1.02,150.9,704.3,8.8,850,9429,0.00,2.60,3.90,1.179,4,0.000,0.060,3141,966,2062
$GC,9502,0.97,151.1,696.6,9.0,853,9511,0.12,2.45,0.00,0.000,6,0.126,0.039,3120,2357,2061
$GC,9818,1.04,193.5,674.7,6.9,869,9860,0.00,2.60,35.58,1.151,4,0.000,0.062,3120,3728,1889
$GC,9893,1.04,194.6,668.8,9.0,872,9897,0.00,2.40,0.00,0.000,6,0.000,0.039,3120,2355,1889
$GC,10215,1.10,208.5,641.6,8.3,888,10238,0.12,2.60,12.70,1.161,4,0.071,0.059,3149,975,1826
$GC,10283,1.10,208.5,634.9,10.5,891,10287,0.00,2.42,0.00,0.000,6,0.000,0.039,3148,2349,1825
$GC,10608,1.10,208.5,601.5,10.3,907,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2349,1825
$GC,10918,1.10,208.5,570.8,9.8,922,10922,0.00,2.47,0.00,0.000,4,0.000,0.061,3149,3725,1824
$GC,10990,1.06,208.5,563.4,10.1,925,10994,0.00,2.38,0.00,0.000,6,0.000,0.039,3149,2356,1824
$GC,11311,1.06,208.5,532.8,9.7,941,11315,0.00,2.50,0.00,0.000,4,0.000,0.058,3149,962,1824
$GC,11372,1.06,208.5,526.4,10.0,943,11379,0.00,2.45,0.00,0.000,6,0.000,0.038,3149,2364,1823
$GC,11689,1.06,208.5,494.6,10.2,961,11693,0.00,2.45,0.00,0.000,4,0.000,0.062,3149,3734,1823
$GC,11735,1.06,208.5,489.5,11.6,965,11739,0.00,2.38,0.00,0.000,6,0.000,0.038,3149,2354,1823
$GC,12059,1.06,208.5,455.4,10.4,995,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2352,1823
$GC,12377,1.06,208.5,424.1,9.8,1025,12382,0.00,2.47,0.00,0.000,4,0.000,0.057,3149,972,1823
$GC,12410,1.06,208.5,420.9,9.7,1027,12417,0.00,2.45,0.00,0.000,6,0.000,0.038,3149,2381,1823
$GC,12736,1.06,208.5,392.0,9.1,1058,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2381,1823
$GC,13053,1.06,208.5,362.2,9.4,1088,13058,0.00,2.53,0.00,0.000,4,0.000,0.055,3149,970,1823
$GC,13104,1.06,208.5,356.9,9.9,1092,13108,0.00,2.40,0.00,0.000,6,0.000,0.037,3149,2356,1823
$GC,13428,1.06,209.8,327.5,8.9,1122,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2355,1823
$GC,13747,1.09,225.8,300.2,8.2,1152,13770,0.00,2.58,13.55,0.939,4,0.000,0.054,3149,970,1757
$GC,13843,1.10,230.8,291.6,8.8,1160,13853,0.00,2.42,4.47,0.952,6,0.000,0.037,3149,2361,1737
$GC,14179,1.15,239.2,264.7,8.6,1192,14190,0.00,0.00,7.22,0.924,6,0.000,0.000,3149,2361,1702
$GC,14517,1.24,260.8,235.7,7.9,1238,14542,0.12,2.55,17.80,0.859,4,0.067,0.053,3181,972,1613
$GC,14610,1.24,260.8,226.6,10.2,1254,14616,0.00,2.40,0.00,0.000,6,0.000,0.036,3181,2346,1611
$GC,14954,1.24,260.8,193.1,9.5,1315,14960,0.00,2.47,0.00,0.000,4,0.000,0.052,3181,962,1611
$GC,14995,1.24,260.8,189.4,9.5,1322,15001,0.00,2.40,0.00,0.000,6,0.000,0.036,3181,2346,1611
$GC,15339,1.34,288.7,159.6,7.6,1383,15363,0.00,0.00,22.10,0.779,6,0.000,0.000,3181,2345,1500
$GC,15701,1.54,340.6,131.8,6.4,1447,15748,0.22,0.00,41.33,0.719,6,0.047,0.000,3245,2345,1288
$GC,16087,1.62,369.4,97.6,7.5,1515,16117,0.00,2.53,22.23,0.691,4,0.000,0.051,3245,966,1171
$GC,16185,1.70,383.2,89.1,8.3,1532,16205,0.12,2.35,11.00,0.700,6,0.057,0.032,3278,2332,1116
$GC,16543,1.76,419.1,54.9,7.2,1595,16579,0.00,2.50,29.00,0.632,4,0.000,0.049,3278,3731,968
$GC,16597,1.85,439.9,50.9,8.0,1604,16622,0.15,2.35,16.35,0.625,6,0.056,0.031,3319,2354,883
$GC,16960,1.85,439.9,11.6,10.9,1668,16967,0.00,2.45,0.00,0.000,4,0.000,0.050,3319,969,879
$STATE,17044,end climb,SURFACE_DEPTH_REACHED
$STATE,17044,begin surface coast
$FINISH,-0.1,1.021347
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17085,17.30,0.581,0,0,741,475.15
$SM_GC,0.88,0.00,0.00,17.30,0.000,0.000,0.581,249,2156,741,-12.22,0.17,475.15
$IRIDIUM_FIX,1243.25,11935.92,060697,161645
$TT8_MAMPS,0.023777
$HUMID,1946
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.20
$XPDR_PINGS,408
$24V_AH,23.3,24.832
$10V_AH,10.1,12.054
$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,32.150,135.650,478.150,17.300,0.000,22.958,41.970,143.231,109.250,0.000,0.000,13.550,3291.049,10336.733,678.310,2665.654,451.623,0.000,2015.872,0.000,2628.841,0.000,53.512
$DEVICE_MAMPS,171.808,62.127,1224.132,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53507,1686
$CAP_FILE_SIZE,163760,0
$CFSIZE,260165632,247300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,177.8,1
$GPS,130308,020708,1247.622,12022.839,37,1.3,37,-0.8