version: 66.03
glider: 122
mission: 6
dive: 164
start: 3 20 108 22 45 34
data:
$ID,122
$MISSION,6
$DIVE,164
$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,-30315.93
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,223938,1246.972,12024.039,29,1.1,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.9
$GPS2,224503,1247.013,12024.052,14,1.0,14,-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,90.6,34450,-17.4,-9.016
$D_GRID,684
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,93,0.00,0.00,-69.90,0.000,2,0.000,0.000,253,2130,2637
$GC,95,-1.42,-146.0,3.9,-8.9,11,128,13.60,2.42,-11.25,0.000,4,0.173,0.055,2587,744,3276
$GC,253,-1.13,-146.0,43.4,-22.6,38,261,0.35,2.35,0.00,0.000,6,0.107,0.028,2654,2151,3276
$GC,599,-1.03,-146.0,97.7,-14.4,99,606,0.12,2.40,0.00,0.000,4,0.103,0.043,2678,3552,3279
$GC,674,-1.03,-146.0,107.7,-13.4,112,682,0.00,2.33,0.00,0.000,6,0.000,0.027,2678,2142,3279
$GC,1020,-1.03,-146.0,144.9,-8.7,173,1027,0.00,2.42,0.00,0.000,4,0.000,0.042,2678,3560,3281
$GC,1067,-1.09,-146.0,149.2,-8.9,181,1075,0.00,2.30,0.00,0.000,6,0.000,0.028,2678,2166,3281
$GC,1409,-1.17,-146.0,176.6,-8.1,242,1416,0.12,2.38,0.00,0.000,4,0.054,0.042,2638,3552,3282
$GC,1462,-1.17,-146.0,182.0,-10.6,251,1469,0.00,2.22,0.00,0.000,6,0.000,0.028,2638,2206,3282
$GC,1807,-1.17,-146.0,214.4,-10.0,312,1814,0.00,2.53,0.00,0.000,4,0.000,0.048,2638,756,3282
$GC,1831,-1.17,-146.0,216.9,-10.2,316,1837,0.00,2.45,0.00,0.000,6,0.000,0.031,2638,2213,3282
$GC,2175,-1.17,-146.0,248.3,-8.1,377,2182,0.00,2.30,0.00,0.000,4,0.000,0.048,2638,3551,3281
$GC,2226,-1.17,-146.0,253.2,-8.8,383,2233,0.00,2.22,0.00,0.000,6,0.000,0.031,2638,2213,3280
$GC,2552,-1.17,-146.0,280.2,-8.2,414,2556,0.00,2.58,0.00,0.000,4,0.000,0.051,2638,748,3279
$GC,2585,-1.21,-146.0,283.2,-8.5,416,2593,0.00,2.45,0.00,0.000,6,0.000,0.033,2638,2208,3279
$GC,2911,-1.21,-146.0,308.5,-7.5,447,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2208,3277
$GC,3230,-1.25,-146.0,332.4,-7.4,477,3234,0.00,2.33,0.00,0.000,4,0.000,0.050,2638,3548,3276
$GC,3259,-1.30,-146.0,334.9,-8.6,479,3263,0.00,2.28,0.00,0.000,6,0.000,0.032,2638,2197,3275
$GC,3586,-1.34,-146.0,361.3,-8.6,509,3587,0.12,0.00,0.00,0.000,6,0.057,0.000,2602,2196,3274
$GC,3903,-1.31,-146.0,390.0,-8.9,539,3907,0.00,2.38,0.00,0.000,4,0.000,0.050,2602,3553,3271
$GC,3942,-1.27,-146.0,393.7,-9.1,542,3947,0.12,2.30,0.00,0.000,6,0.100,0.034,2625,2197,3271
$GC,4267,-1.27,-146.0,419.0,-7.3,572,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2194,3269
$GC,4586,-1.27,-146.0,442.1,-7.3,602,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2193,3267
$GC,4905,-1.27,-146.0,466.0,-7.7,632,4909,0.00,2.40,0.00,0.000,4,0.000,0.052,2625,3556,3266
$GC,4983,-1.31,-146.0,472.6,-7.8,638,4990,0.00,2.28,0.00,0.000,6,0.000,0.035,2625,2216,3265
$GC,5310,-1.34,-146.0,495.9,-6.6,669,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2213,3263
$GC,5620,-1.37,-146.0,516.6,-6.7,687,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2212,3261
$GC,5929,-1.41,-146.0,539.5,-7.4,702,5931,0.12,0.00,0.00,0.000,6,0.060,0.000,2590,2213,3259
$GC,6238,-1.36,-146.0,562.2,-6.7,717,6242,0.00,2.35,0.00,0.000,4,0.000,0.054,2590,3545,3258
$GC,6282,-1.33,-146.0,565.6,-8.4,719,6287,0.12,2.28,0.00,0.000,6,0.105,0.036,2613,2208,3257
$GC,6602,-1.33,-146.0,588.4,-7.5,735,6607,0.00,2.62,0.00,0.000,4,0.000,0.058,2613,743,3256
$GC,6635,-1.33,-146.0,591.2,-8.0,736,6642,0.00,2.53,0.00,0.000,6,0.000,0.036,2613,2207,3256
$GC,6951,-1.33,-146.0,617.4,-8.3,752,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2209,3255
$GC,7260,-1.33,-146.0,641.8,-7.9,767,7264,0.00,2.38,0.00,0.000,4,0.000,0.056,2613,3554,3254
$GC,7354,-1.33,-146.0,649.8,-8.3,771,7359,0.00,2.33,0.00,0.000,6,0.000,0.037,2613,2196,3253
$GC,7675,-1.33,-146.0,673.9,-7.7,787,7679,0.00,2.60,0.00,0.000,4,0.000,0.060,2613,750,3252
$GC,7715,-1.36,-146.0,677.0,-8.4,789,7719,0.00,2.47,0.00,0.000,6,0.000,0.037,2613,2181,3252
$STATE,7812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7812,begin apogee
$GC,7817,-0.34,0.0,684.6,7.3,794,7938,1.05,0.00,117.70,1.135,6,0.092,0.000,2827,2391,2678
$STATE,7939,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7941,1.42,146.0,688.2,0.0,800,8071,1.77,2.50,120.40,1.091,4,0.055,0.059,3220,3716,2082
$GC,8132,1.18,146.0,674.6,12.9,808,8140,0.32,2.35,0.00,0.000,6,0.128,0.038,3163,2367,2080
$GC,8448,1.07,146.0,644.5,9.4,824,8453,0.15,2.53,0.00,0.000,4,0.120,0.058,3133,970,2079
$GC,8525,1.01,146.0,636.8,9.7,827,8532,0.00,2.42,0.00,0.000,6,0.000,0.038,3133,2352,2079
$GC,8841,0.98,154.6,608.9,8.6,843,8854,0.00,2.55,6.62,1.125,4,0.000,0.058,3133,3724,2046
$GC,8878,0.92,154.6,605.5,10.1,844,8885,0.15,2.38,0.00,0.000,6,0.123,0.038,3108,2358,2046
$GC,9195,0.98,191.9,582.3,7.1,860,9231,0.00,2.58,30.83,1.081,4,0.000,0.058,3108,970,1895
$GC,9323,1.03,200.7,571.9,8.6,865,9337,0.00,2.42,7.22,1.098,6,0.000,0.038,3108,2351,1859
$GC,9654,1.07,202.2,542.6,8.9,881,9659,0.15,2.50,0.00,0.000,4,0.066,0.057,3142,973,1858
$GC,9726,1.04,202.2,534.8,11.6,884,9730,0.00,2.38,0.00,0.000,6,0.000,0.038,3142,2334,1857
$GC,10041,1.04,202.2,503.5,9.4,899,10045,0.00,2.50,0.00,0.000,4,0.000,0.060,3142,3731,1858
$GC,10084,1.00,202.2,498.9,11.4,901,10091,0.00,2.40,0.00,0.000,6,0.000,0.038,3142,2337,1857
$GC,10410,1.00,202.2,467.5,9.1,932,10415,0.00,2.45,0.00,0.000,4,0.000,0.057,3142,969,1857
$GC,10543,1.00,202.2,454.1,10.2,943,10550,0.00,2.38,0.00,0.000,6,0.000,0.037,3142,2317,1857
$GC,10870,1.00,202.2,424.3,9.0,974,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2317,1856
$GC,11189,1.01,208.6,396.8,8.7,1004,11201,0.00,2.45,6.30,1.028,4,0.000,0.054,3142,970,1826
$GC,11240,1.01,208.6,391.9,9.1,1008,11247,0.00,2.38,0.00,0.000,6,0.000,0.036,3142,2333,1826
$GC,11566,1.01,211.8,362.8,8.9,1039,11575,0.00,0.00,2.90,1.004,6,0.000,0.000,3142,2333,1814
$GC,11895,1.06,237.4,335.1,7.7,1070,11921,0.00,2.53,21.30,0.933,4,0.000,0.054,3142,966,1709
$GC,12000,1.08,249.7,325.8,8.4,1079,12015,0.00,2.33,10.12,0.940,6,0.000,0.036,3142,2307,1660
$GC,12341,1.11,250.5,295.6,9.0,1111,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2306,1658
$GC,12660,1.11,250.5,265.4,9.7,1141,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2306,1658
$GC,12986,1.16,250.5,234.2,9.1,1186,12993,0.00,2.40,0.00,0.000,4,0.000,0.052,3142,959,1658
$GC,13022,1.20,250.5,230.8,9.8,1192,13029,0.10,2.30,0.00,0.000,6,0.065,0.034,3175,2298,1658
$GC,13367,1.20,250.5,197.0,9.5,1253,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2298,1658
$GC,13710,1.22,264.8,166.0,8.3,1314,13727,0.00,0.00,12.65,0.811,6,0.000,0.000,3175,2299,1597
$GC,14065,1.33,300.4,139.9,7.2,1377,14095,0.00,0.00,28.02,0.745,6,0.000,0.000,3175,2298,1453
$GC,14432,1.50,340.3,113.6,7.0,1442,14468,0.22,0.00,31.90,0.700,6,0.046,0.000,3236,2298,1290
$GC,14805,1.50,340.3,78.4,9.1,1508,14812,0.00,2.35,0.00,0.000,4,0.000,0.047,3236,962,1286
$GC,14864,1.56,347.5,73.4,8.6,1518,14876,0.00,2.30,5.12,0.706,6,0.000,0.030,3236,2323,1261
$GC,15214,1.71,404.2,49.5,6.1,1580,15267,0.15,2.47,45.47,0.607,4,0.054,0.045,3281,3728,1028
$GC,15301,1.71,404.2,42.2,9.3,1595,15308,0.00,2.35,0.00,0.000,6,0.000,0.029,3281,2330,1026
$GC,15646,1.71,404.2,9.5,10.2,1656,15653,0.00,2.38,0.00,0.000,4,0.000,0.047,3281,969,1024
$STATE,15719,end climb,SURFACE_DEPTH_REACHED
$STATE,15719,begin surface coast
$FINISH,-0.1,1.021290
$STATE,15737,end surface coast,CONTROL_FINISHED_OK
$STATE,15737,begin surface
$SM_CCo,15760,34.08,0.551,0,0,740,475.15
$SM_GC,0.51,0.00,0.00,34.08,0.000,0.000,0.551,250,2174,740,-12.21,0.68,475.15
$IRIDIUM_FIX,1243.25,12023.34,140697,181829
$TT8_MAMPS,0.023777
$HUMID,1876
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.80
$XPDR_PINGS,462
$24V_AH,23.4,30.947
$10V_AH,10.2,15.412
$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,32.050,129.800,446.575,34.075,0.000,27.693,37.674,148.451,120.250,0.000,0.000,14.218,3167.333,9153.292,640.867,2708.165,453.939,0.000,1999.959,0.000,2664.375,0.000,35.380
$DEVICE_MAMPS,173.342,59.826,1135.160,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50343,1672
$CAP_FILE_SIZE,160553,0
$CFSIZE,260165632,244244480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,217.8,1
$GPS,210308,031007,1246.481,12026.030,38,1.1,43,-0.8