version: 66.03
glider: 122
mission: 6
dive: 167
start: 3 21 108 9 34 29
data:
$ID,122
$MISSION,6
$DIVE,167
$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,-30360.838
$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,68
$R_STBD_OVSHOOT,30
$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
$GPS1,092856,1246.962,12027.994,7,1.5,12,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-72.3
$GPS2,093357,1246.919,12028.010,15,1.7,15,-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,85.3,27527,-17.4,-9.016
$D_GRID,635
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-64.82,0.000,2,0.000,0.000,252,2107,2512
$GC,90,-1.42,-146.0,3.6,-8.6,10,123,13.60,2.35,-14.10,0.000,4,0.173,0.053,2590,782,3276
$GC,232,-1.13,-146.0,35.3,-20.9,34,239,0.35,2.30,0.00,0.000,6,0.118,0.025,2655,2171,3278
$GC,577,-1.03,-146.0,92.7,-13.7,95,584,0.12,2.35,0.00,0.000,4,0.103,0.041,2679,3551,3279
$GC,669,-1.03,-146.0,104.1,-12.1,111,676,0.00,2.25,0.00,0.000,6,0.000,0.026,2679,2183,3280
$GC,1014,-1.07,-146.0,139.5,-9.0,172,1021,0.00,2.33,0.00,0.000,4,0.000,0.041,2679,3548,3282
$GC,1038,-1.12,-146.0,141.8,-9.4,176,1046,0.00,2.28,0.00,0.000,6,0.000,0.028,2679,2169,3282
$GC,1382,-1.21,-146.0,169.7,-6.9,237,1389,0.15,2.45,0.00,0.000,4,0.051,0.044,2628,753,3283
$GC,1407,-1.26,-146.0,171.9,-8.3,241,1414,0.00,2.40,0.00,0.000,6,0.000,0.028,2628,2194,3283
$GC,1750,-1.26,-146.0,204.5,-9.9,302,1757,0.00,2.33,0.00,0.000,4,0.000,0.045,2628,3552,3283
$GC,1785,-1.26,-146.0,208.1,-10.6,308,1792,0.00,2.25,0.00,0.000,6,0.000,0.029,2628,2193,3283
$GC,2128,-1.26,-146.0,240.6,-9.6,369,2135,0.00,2.53,0.00,0.000,4,0.000,0.049,2628,747,3282
$GC,2180,-1.26,-146.0,245.5,-10.1,378,2187,0.00,2.42,0.00,0.000,6,0.000,0.031,2628,2184,3282
$GC,2509,-1.26,-146.0,273.5,-8.6,413,2513,0.00,2.35,0.00,0.000,4,0.000,0.047,2628,3549,3280
$GC,2585,-1.26,-146.0,280.7,-9.3,419,2593,0.00,2.28,0.00,0.000,6,0.000,0.031,2628,2205,3280
$GC,2912,-1.26,-146.0,306.9,-8.0,450,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2200,3277
$GC,3230,-1.26,-146.0,333.3,-7.8,480,3234,0.00,2.35,0.00,0.000,4,0.000,0.048,2628,3555,3275
$GC,3269,-1.26,-146.0,336.7,-8.5,483,3273,0.00,2.22,0.00,0.000,6,0.000,0.032,2628,2227,3275
$GC,3595,-1.26,-146.0,361.7,-7.9,513,3599,0.00,2.60,0.00,0.000,4,0.000,0.053,2628,758,3273
$GC,3646,-1.30,-146.0,365.9,-8.7,517,3650,0.00,2.47,0.00,0.000,6,0.000,0.032,2628,2211,3272
$GC,3971,-1.30,-146.0,391.6,-7.6,547,3975,0.00,2.33,0.00,0.000,4,0.000,0.050,2628,3548,3270
$GC,4027,-1.30,-146.0,396.0,-7.6,551,4033,0.00,2.20,0.00,0.000,6,0.000,0.032,2628,2243,3270
$GC,4353,-1.30,-146.0,421.2,-7.9,582,4357,0.00,2.65,0.00,0.000,4,0.000,0.054,2628,749,3268
$GC,4415,-1.35,-146.0,426.2,-7.4,587,4419,0.00,2.55,0.00,0.000,6,0.000,0.034,2628,2237,3268
$GC,4741,-1.39,-146.0,450.2,-7.7,617,4746,0.12,2.30,0.00,0.000,4,0.057,0.051,2592,3551,3266
$GC,4792,-1.33,-146.0,455.2,-9.5,621,4797,0.12,2.22,0.00,0.000,6,0.104,0.033,2615,2238,3266
$GC,5117,-1.33,-146.0,481.3,-7.6,651,5121,0.00,2.62,0.00,0.000,4,0.000,0.054,2615,759,3263
$GC,5180,-1.33,-146.0,486.4,-8.2,656,5184,0.00,2.50,0.00,0.000,6,0.000,0.035,2615,2211,3263
$GC,5501,-1.33,-146.0,513.2,-8.4,679,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2212,3261
$GC,5810,-1.33,-146.0,537.7,-7.8,694,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2212,3260
$GC,6119,-1.33,-146.0,563.6,-8.2,709,6123,0.00,2.60,0.00,0.000,4,0.000,0.056,2615,755,3258
$GC,6146,-1.36,-146.0,566.2,-9.3,710,6150,0.00,2.45,0.00,0.000,6,0.000,0.035,2615,2184,3257
$GC,6468,-1.36,-146.0,591.8,-8.3,726,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2185,3256
$GC,6777,-1.36,-146.0,617.8,-8.2,741,6781,0.00,2.40,0.00,0.000,4,0.000,0.057,2615,3551,3255
$GC,6820,-1.36,-146.0,621.5,-8.2,743,6824,0.00,2.33,0.00,0.000,6,0.000,0.035,2615,2184,3255
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7006,-0.34,0.0,635.8,8.1,752,7127,1.05,0.00,116.88,1.088,6,0.094,0.000,2829,2394,2678
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7129,1.42,146.0,640.1,0.0,758,7258,1.75,0.00,119.28,1.045,6,0.056,0.000,3216,2393,2081
$GC,7566,1.22,146.0,598.1,12.5,779,7571,0.20,2.58,0.00,0.000,4,0.116,0.056,3177,976,2079
$GC,7639,1.08,146.0,589.7,10.7,782,7644,0.20,2.40,0.00,0.000,6,0.114,0.038,3141,2349,2079
$GC,7955,1.03,149.2,561.7,8.9,797,7964,0.00,2.55,2.10,1.033,4,0.000,0.056,3141,977,2069
$GC,8014,0.97,149.2,555.9,10.2,799,8022,0.12,2.40,0.00,0.000,6,0.118,0.037,3119,2359,2069
$GC,8330,1.01,171.3,529.9,7.9,815,8354,0.00,2.62,18.15,1.049,4,0.000,0.055,3119,967,1979
$GC,8400,1.02,176.9,523.9,8.7,818,8409,0.00,2.40,4.72,1.059,6,0.000,0.037,3119,2338,1956
$GC,8721,1.03,186.5,496.7,8.5,835,8735,0.00,2.58,8.05,1.059,4,0.000,0.058,3119,3726,1917
$GC,8758,1.03,186.5,493.3,10.4,838,8763,0.00,2.42,0.00,0.000,6,0.000,0.037,3119,2326,1917
$GC,9084,1.04,192.5,464.0,8.7,868,9096,0.00,2.47,4.80,1.050,4,0.000,0.056,3119,965,1893
$GC,9187,1.04,192.5,454.3,9.2,877,9191,0.00,2.35,0.00,0.000,6,0.000,0.036,3119,2315,1892
$GC,9513,1.09,197.3,425.4,8.8,907,9523,0.10,0.00,4.28,1.042,6,0.074,0.000,3143,2315,1873
$GC,9842,1.09,199.1,395.6,8.9,938,9846,0.00,2.50,0.00,0.000,4,0.000,0.056,3143,3726,1872
$GC,9870,1.09,199.1,392.6,10.1,940,9874,0.00,2.45,0.00,0.000,6,0.000,0.037,3143,2293,1872
$GC,10201,1.09,199.1,361.6,9.9,971,10205,0.00,2.38,0.00,0.000,4,0.000,0.056,3143,962,1872
$GC,10245,1.09,199.1,356.9,10.4,974,10253,0.00,2.35,0.00,0.000,6,0.000,0.037,3143,2304,1872
$GC,10572,1.11,212.4,327.9,8.3,1005,10594,0.00,2.58,12.12,0.946,4,0.000,0.054,3143,3729,1811
$GC,10641,1.12,215.7,321.8,8.9,1011,10653,0.00,2.45,2.97,0.954,6,0.000,0.036,3143,2309,1797
$GC,10970,1.12,217.8,293.7,8.9,1042,10974,0.00,2.40,0.00,0.000,4,0.000,0.054,3143,963,1797
$GC,11044,1.12,217.8,286.8,9.6,1048,11048,0.00,2.33,0.00,0.000,6,0.000,0.035,3143,2310,1796
$GC,11370,1.15,237.2,258.7,8.0,1078,11394,0.00,2.55,17.80,0.871,4,0.000,0.054,3143,3724,1709
$GC,11422,1.15,237.2,253.8,9.4,1082,11429,0.00,2.45,0.00,0.000,6,0.000,0.035,3143,2300,1708
$GC,11764,1.19,237.2,224.4,9.1,1139,11771,0.00,2.35,0.00,0.000,4,0.000,0.052,3143,970,1707
$GC,11817,1.19,237.2,219.4,9.5,1148,11823,0.00,2.30,0.00,0.000,6,0.000,0.035,3143,2305,1707
$GC,12162,1.27,259.3,189.4,7.9,1209,12191,0.15,2.62,17.62,0.808,4,0.064,0.052,3184,3733,1620
$GC,12214,1.23,259.3,184.0,11.1,1217,12221,0.00,2.53,0.00,0.000,6,0.000,0.035,3184,2268,1620
$GC,12559,1.24,265.9,151.1,8.7,1278,12573,0.00,2.62,5.15,0.814,4,0.000,0.049,3184,3721,1593
$GC,12607,1.24,265.9,146.7,9.1,1286,12614,0.00,2.42,0.00,0.000,6,0.000,0.033,3184,2300,1593
$GC,12946,1.39,322.4,123.6,6.1,1347,12999,0.12,2.58,44.97,0.706,4,0.061,0.048,3219,3732,1362
$GC,13051,1.39,322.4,115.2,9.1,1365,13057,0.00,2.40,0.00,0.000,6,0.000,0.032,3219,2325,1360
$GC,13396,1.47,345.0,87.8,7.9,1426,13420,0.00,2.42,17.50,0.681,4,0.000,0.048,3220,973,1269
$GC,13500,1.60,383.7,79.8,7.0,1444,13537,0.15,2.33,30.92,0.648,6,0.054,0.031,3261,2339,1113
$GC,13875,1.63,383.7,47.2,9.1,1510,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2339,1109
$GC,14219,1.68,383.7,16.3,9.2,1571,14225,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2339,1109
$STATE,14392,end climb,SURFACE_DEPTH_REACHED
$STATE,14392,begin surface coast
$FINISH,-0.1,1.008995
$STATE,14422,end surface coast,CONTROL_FINISHED_OK
$STATE,14422,begin surface
$SM_CCo,14444,43.70,0.546,0,0,741,475.15
$SM_GC,0.78,0.00,0.00,43.70,0.000,0.000,0.546,253,2121,741,-12.19,-0.82,475.15
$IRIDIUM_FIX,1243.25,12026.36,150697,060658
$TT8_MAMPS,0.023777
$HUMID,1897
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,517
$24V_AH,23.5,31.370
$10V_AH,10.2,15.633
$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,31.550,146.100,427.325,43.700,0.000,28.100,37.400,131.711,132.750,0.000,0.000,15.075,3187.908,7931.679,653.230,2579.415,449.676,0.000,1963.609,0.000,2545.129,0.000,26.311
$DEVICE_MAMPS,173.342,57.525,1087.606,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50339,1607
$CAP_FILE_SIZE,154609,0
$CFSIZE,260165632,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,143.5,1
$GPS,210308,133708,1246.840,12029.832,35,1.0,35,-0.8