version: 66.03
glider: 122
mission: 6
dive: 165
start: 3 21 108 3 15 59
data:
$ID,122
$MISSION,6
$DIVE,165
$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,-30328.902
$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,42
$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
$GPS1,031007,1246.481,12026.030,38,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.5
$GPS2,031527,1246.465,12026.010,12,1.3,12,-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,72.2,31233,-17.4,-9.016
$D_GRID,497
$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,20,-1.42,-146.0,0.0,0.0,0,88,0.00,0.00,-65.47,0.000,2,0.000,0.000,251,2175,2513
$GC,91,-1.42,-146.0,3.3,-7.4,11,129,13.57,2.53,-14.48,0.000,4,0.172,0.054,2588,750,3277
$GC,209,-1.13,-146.0,30.8,-21.5,31,217,0.35,2.35,0.00,0.000,6,0.110,0.027,2655,2156,3278
$GC,555,-1.03,-146.0,90.3,-13.2,92,562,0.12,2.38,0.00,0.000,4,0.100,0.043,2679,3548,3279
$GC,597,-0.99,-146.0,95.8,-12.6,99,604,0.00,2.30,0.00,0.000,6,0.000,0.027,2679,2146,3279
$GC,941,-0.99,-146.0,136.1,-10.7,160,948,0.00,2.40,0.00,0.000,4,0.000,0.042,2679,3549,3281
$GC,977,-0.99,-146.0,140.3,-11.7,166,984,0.00,2.30,0.00,0.000,6,0.000,0.028,2679,2156,3281
$GC,1319,-1.07,-146.0,170.5,-8.3,227,1326,0.00,2.40,0.00,0.000,4,0.000,0.043,2679,3558,3282
$GC,1399,-1.16,-146.0,176.7,-7.6,241,1406,0.12,2.30,0.00,0.000,6,0.054,0.028,2637,2167,3282
$GC,1744,-1.16,-146.0,206.7,-8.9,302,1751,0.00,2.47,0.00,0.000,4,0.000,0.048,2637,746,3283
$GC,1797,-1.20,-146.0,211.1,-8.4,311,1804,0.00,2.38,0.00,0.000,6,0.000,0.031,2637,2166,3282
$GC,2141,-1.20,-146.0,242.9,-9.0,372,2148,0.00,2.38,0.00,0.000,4,0.000,0.047,2637,3547,3282
$GC,2216,-1.20,-146.0,249.9,-8.9,385,2223,0.00,2.30,0.00,0.000,6,0.000,0.031,2637,2169,3281
$GC,2542,-1.20,-146.0,276.1,-7.7,416,2546,0.00,2.40,0.00,0.000,4,0.000,0.046,2637,3557,3280
$GC,2606,-1.23,-146.0,281.2,-8.1,421,2610,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2197,3279
$GC,2932,-1.26,-146.0,307.4,-7.9,451,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,3278
$GC,3251,-1.30,-146.0,333.7,-8.2,481,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2195,3276
$GC,3569,-1.34,-146.0,359.9,-8.1,511,3574,0.12,2.38,0.00,0.000,4,0.057,0.048,2599,3554,3274
$GC,3624,-1.30,-146.0,365.6,-10.1,515,3631,0.12,2.25,0.00,0.000,6,0.103,0.033,2623,2221,3273
$GC,3950,-1.30,-146.0,394.4,-8.8,546,3954,0.00,2.60,0.00,0.000,4,0.000,0.054,2622,755,3270
$GC,3993,-1.34,-146.0,398.5,-8.5,549,4000,0.00,2.47,0.00,0.000,6,0.000,0.034,2623,2208,3271
$GC,4319,-1.34,-146.0,425.5,-8.0,580,4323,0.00,2.35,0.00,0.000,4,0.000,0.051,2623,3554,3269
$GC,4353,-1.34,-146.0,428.4,-8.5,582,4359,0.00,2.28,0.00,0.000,6,0.000,0.034,2623,2206,3269
$GC,4678,-1.34,-146.0,453.6,-7.7,613,4683,0.00,2.60,0.00,0.000,4,0.000,0.055,2622,748,3266
$GC,4711,-1.38,-146.0,456.7,-8.4,615,4718,0.00,2.45,0.00,0.000,6,0.000,0.035,2623,2177,3266
$GC,5037,-1.38,-146.0,483.4,-8.4,646,5041,0.00,2.42,0.00,0.000,4,0.000,0.054,2623,3557,3264
$GC,5065,-1.38,-146.0,486.1,-8.9,648,5069,0.00,2.33,0.00,0.000,6,0.000,0.034,2623,2190,3264
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5212,-0.34,0.0,497.7,8.0,661,5332,1.00,0.00,115.78,0.967,6,0.090,0.000,2830,2387,2678
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5332,begin climb
$GC,5334,1.42,146.0,501.4,0.0,670,5459,1.75,2.40,116.57,0.931,4,0.051,0.054,3219,3707,2082
$GC,5583,1.19,146.0,482.2,11.5,687,5588,0.30,2.30,0.00,0.000,6,0.127,0.036,3167,2370,2081
$GC,5908,1.09,148.7,452.4,8.9,717,5913,0.12,2.50,0.00,0.000,4,0.125,0.055,3145,975,2079
$GC,5996,1.06,168.1,444.8,8.0,724,6018,0.00,2.40,17.12,0.950,6,0.000,0.036,3145,2357,1992
$GC,6345,1.07,175.5,415.5,8.6,757,6358,0.00,2.47,5.88,0.971,4,0.000,0.055,3145,3732,1962
$GC,6385,1.02,175.5,411.7,9.8,760,6392,0.00,2.33,0.00,0.000,6,0.000,0.035,3145,2378,1961
$GC,6712,0.99,180.7,383.5,8.7,791,6724,0.12,2.55,4.07,0.963,4,0.120,0.054,3124,972,1940
$GC,6774,1.00,184.6,378.1,8.8,796,6784,0.00,2.42,3.42,0.965,6,0.000,0.037,3124,2364,1925
$GC,7101,1.03,203.1,351.3,8.1,827,7120,0.00,0.00,14.77,0.926,6,0.000,0.000,3124,2363,1849
$GC,7440,1.12,231.9,323.6,7.5,859,7469,0.12,2.58,23.08,0.889,4,0.067,0.054,3155,964,1731
$GC,7515,1.12,233.9,316.7,8.9,865,7519,0.00,2.45,0.00,0.000,6,0.000,0.035,3155,2370,1730
$GC,7841,1.13,239.4,288.1,8.7,895,7850,0.00,0.00,5.70,0.911,6,0.000,0.000,3155,2370,1702
$GC,8169,1.14,247.8,259.4,8.6,926,8182,0.00,0.00,7.03,0.886,6,0.000,0.000,3155,2370,1667
$GC,8510,1.14,247.8,229.4,9.3,977,8518,0.00,2.50,0.00,0.000,4,0.000,0.051,3155,967,1666
$GC,8571,1.14,247.8,223.7,10.1,987,8577,0.00,2.42,0.00,0.000,6,0.000,0.035,3155,2375,1666
$GC,8916,1.17,247.8,191.9,9.2,1048,8924,0.00,2.50,0.00,0.000,4,0.000,0.051,3155,966,1666
$GC,9015,1.20,264.0,183.2,8.2,1065,9035,0.00,2.35,12.98,0.808,6,0.000,0.034,3155,2336,1601
$GC,9373,1.33,296.8,154.6,7.3,1128,9406,0.15,2.55,25.92,0.753,4,0.055,0.051,3199,967,1466
$GC,9453,1.33,296.8,147.5,9.1,1140,9461,0.00,2.35,0.00,0.000,6,0.000,0.034,3199,2326,1465
$GC,9799,1.40,314.8,118.4,8.1,1201,9820,0.00,2.55,13.95,0.730,4,0.000,0.049,3199,3728,1394
$GC,9877,1.46,318.7,111.3,8.8,1214,9886,0.10,2.33,3.25,0.770,6,0.066,0.031,3226,2356,1378
$GC,10224,1.49,336.7,82.5,8.1,1275,10245,0.00,2.53,14.15,0.684,4,0.000,0.048,3226,972,1304
$GC,10365,1.62,379.4,71.2,6.8,1299,10405,0.15,2.38,34.10,0.636,6,0.054,0.030,3268,2368,1131
$GC,10745,1.62,381.1,38.3,8.9,1364,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2369,1127
$GC,11090,1.69,401.0,8.6,8.0,1425,11111,0.00,2.53,16.38,0.581,4,0.000,0.043,3268,970,1043
$STATE,11166,end climb,SURFACE_DEPTH_REACHED
$STATE,11166,begin surface coast
$FINISH,-0.1,1.021077
$STATE,11190,end surface coast,CONTROL_FINISHED_OK
$STATE,11190,begin surface
$SM_CCo,11213,35.83,0.548,0,0,740,475.15
$SM_GC,0.62,0.00,0.00,35.83,0.000,0.000,0.548,249,2165,740,-12.22,0.42,475.15
$IRIDIUM_FIX,1241.04,12021.43,140697,222207
$TT8_MAMPS,0.023777
$HUMID,1883
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,508
$24V_AH,23.5,31.086
$10V_AH,10.2,15.484
$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,31.475,111.000,434.150,35.825,0.000,24.392,36.565,151.061,127.000,0.000,0.000,12.344,2901.032,5399.797,623.171,2239.666,412.340,0.000,1756.469,0.000,2219.962,0.000,0.932
$DEVICE_MAMPS,171.808,55.224,971.022,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44104,1442
$CAP_FILE_SIZE,129001,0
$CFSIZE,260165632,244207616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,296.5,1
$GPS,210308,062438,1246.800,12027.043,34,0.9,34,-0.8