version: 66.03
glider: 122
mission: 6
dive: 191
start: 3 26 108 22 11 43
data:
$ID,122
$MISSION,6
$DIVE,191
$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,-30712.24
$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,23
$R_STBD_OVSHOOT,25
$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,8
$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
$GPS1,220437,1246.498,12023.939,27,1.3,27,-0.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.4
$GPS2,221109,1246.504,12023.895,15,1.7,15,-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,79.7,34926,-17.4,-9.016
$D_GRID,636
$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,19,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-63.55,0.000,2,0.000,0.000,250,2170,2461
$GC,88,-1.42,-146.0,3.2,-7.2,10,126,13.68,2.55,-15.45,0.000,4,0.174,0.053,2589,716,3276
$GC,156,-1.17,-146.0,18.9,-19.3,21,163,0.32,2.42,0.00,0.000,6,0.109,0.027,2650,2165,3276
$GC,501,-1.02,-146.0,76.6,-14.8,82,509,0.15,2.38,0.00,0.000,4,0.100,0.042,2683,3554,3278
$GC,566,-0.99,-146.0,84.5,-11.2,93,573,0.00,2.30,0.00,0.000,6,0.000,0.027,2683,2162,3279
$GC,910,-1.02,-146.0,122.3,-9.9,154,918,0.00,2.38,0.00,0.000,4,0.000,0.041,2682,3549,3281
$GC,983,-1.07,-146.0,128.4,-8.2,166,990,0.00,2.17,0.00,0.000,6,0.000,0.026,2683,2225,3281
$GC,1327,-1.16,-146.0,155.4,-8.1,227,1334,0.15,2.55,0.00,0.000,4,0.049,0.044,2631,754,3282
$GC,1346,-1.22,-146.0,157.4,-9.4,230,1353,0.00,2.50,0.00,0.000,6,0.000,0.029,2631,2243,3282
$GC,1690,-1.22,-146.0,187.8,-8.6,291,1697,0.00,2.25,0.00,0.000,4,0.000,0.046,2631,3554,3282
$GC,1725,-1.22,-146.0,191.2,-9.8,297,1732,0.00,2.15,0.00,0.000,6,0.000,0.028,2631,2250,3282
$GC,2070,-1.22,-146.0,219.8,-8.8,358,2077,0.00,2.62,0.00,0.000,4,0.000,0.048,2631,750,3282
$GC,2099,-1.22,-146.0,222.5,-9.1,363,2106,0.00,2.53,0.00,0.000,6,0.000,0.031,2631,2240,3282
$GC,2444,-1.22,-146.0,250.1,-7.4,424,2448,0.00,2.25,0.00,0.000,4,0.000,0.048,2631,3548,3280
$GC,2472,-1.22,-146.0,252.5,-7.8,426,2476,0.00,2.20,0.00,0.000,6,0.000,0.031,2631,2231,3280
$GC,2798,-1.22,-146.0,277.3,-8.0,456,2803,0.00,2.60,0.00,0.000,4,0.000,0.051,2631,752,3278
$GC,2822,-1.26,-146.0,279.4,-8.1,457,2828,0.00,2.53,0.00,0.000,6,0.000,0.033,2632,2235,3278
$GC,3148,-1.26,-146.0,304.3,-8.1,488,3152,0.00,2.28,0.00,0.000,4,0.000,0.048,2632,3548,3276
$GC,3203,-1.26,-146.0,309.3,-8.7,492,3209,0.00,2.17,0.00,0.000,6,0.000,0.031,2631,2252,3276
$GC,3529,-1.26,-146.0,336.1,-8.2,523,3533,0.00,2.65,0.00,0.000,4,0.000,0.052,2631,755,3273
$GC,3557,-1.29,-146.0,338.6,-8.4,525,3562,0.00,2.55,0.00,0.000,6,0.000,0.033,2631,2246,3273
$GC,3883,-1.29,-146.0,362.6,-6.9,555,3887,0.00,2.28,0.00,0.000,4,0.000,0.050,2631,3552,3271
$GC,3916,-1.29,-146.0,365.4,-8.0,557,3922,0.00,2.17,0.00,0.000,6,0.000,0.032,2631,2255,3271
$GC,4241,-1.29,-146.0,390.4,-7.9,588,4246,0.00,2.67,0.00,0.000,4,0.000,0.053,2631,752,3269
$GC,4293,-1.34,-146.0,394.7,-8.3,592,4297,0.00,2.55,0.00,0.000,6,0.000,0.035,2631,2235,3269
$GC,4619,-1.37,-146.0,419.1,-7.3,622,4624,0.12,2.30,0.00,0.000,4,0.059,0.050,2595,3548,3266
$GC,4658,-1.33,-146.0,422.9,-9.3,625,4662,0.00,2.20,0.00,0.000,6,0.000,0.033,2595,2248,3266
$GC,4985,-1.28,-146.0,452.2,-9.7,655,4987,0.15,0.00,0.00,0.000,6,0.104,0.000,2623,2246,3265
$GC,5302,-1.28,-146.0,479.8,-8.3,685,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2247,3262
$GC,5619,-1.28,-146.0,503.7,-7.4,713,5623,0.00,2.30,0.00,0.000,4,0.000,0.052,2623,3549,3261
$GC,5651,-1.28,-146.0,506.4,-7.8,714,5658,0.00,2.20,0.00,0.000,6,0.000,0.034,2623,2256,3260
$GC,5967,-1.28,-146.0,527.7,-6.7,730,5972,0.00,2.67,0.00,0.000,4,0.000,0.055,2623,758,3258
$GC,6001,-1.32,-146.0,530.1,-7.6,731,6007,0.00,2.60,0.00,0.000,6,0.000,0.035,2623,2264,3259
$GC,6316,-1.32,-146.0,551.8,-6.9,747,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2264,3256
$GC,6626,-1.35,-146.0,573.8,-7.5,762,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2264,3256
$GC,6935,-1.38,-146.0,597.4,-7.9,777,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2264,3255
$GC,7246,-1.42,-146.0,621.1,-7.6,792,7248,0.12,0.00,0.00,0.000,6,0.061,0.000,2589,2263,3253
$STATE,7427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7427,begin apogee
$GC,7433,-0.34,0.0,637.0,8.7,801,7554,1.17,0.00,117.62,1.096,6,0.095,0.000,2827,2376,2678
$STATE,7555,end apogee,CONTROL_FINISHED_OK
$STATE,7555,begin climb
$GC,7557,1.42,146.0,641.9,0.0,807,7687,1.77,2.47,120.07,1.058,4,0.056,0.059,3218,3720,2081
$GC,7735,1.17,146.0,632.2,11.6,815,7740,0.32,2.33,0.00,0.000,6,0.127,0.038,3162,2387,2080
$GC,8062,1.10,157.7,603.2,8.4,831,8076,0.00,2.62,9.27,1.085,4,0.000,0.058,3162,970,2035
$GC,8099,0.99,157.7,599.7,9.7,832,8107,0.22,2.45,0.00,0.000,6,0.108,0.038,3120,2360,2035
$GC,8414,1.00,165.6,575.3,8.6,848,8428,0.00,2.62,6.53,1.089,4,0.000,0.057,3120,967,2002
$GC,8445,1.00,165.6,572.6,9.5,849,8449,0.00,2.45,0.00,0.000,6,0.000,0.038,3120,2359,2002
$GC,8767,1.08,209.6,548.8,6.8,865,8808,0.00,0.00,36.45,1.045,6,0.000,0.000,3120,2359,1823
$GC,9117,1.12,214.7,520.7,8.8,882,9127,0.12,2.55,4.15,1.062,4,0.071,0.057,3149,971,1802
$GC,9234,1.08,214.7,508.9,10.5,887,9238,0.00,2.45,0.00,0.000,6,0.000,0.038,3149,2371,1801
$GC,9561,1.08,214.7,478.4,9.6,913,9565,0.00,2.55,0.00,0.000,4,0.000,0.056,3149,960,1801
$GC,9615,1.04,214.7,472.7,9.5,917,9622,0.00,2.47,0.00,0.000,6,0.000,0.037,3150,2379,1800
$GC,9941,1.04,214.7,440.6,10.3,948,9945,0.00,2.55,0.00,0.000,4,0.000,0.055,3149,962,1800
$GC,9973,1.04,214.7,436.9,10.6,950,9980,0.00,2.45,0.00,0.000,6,0.000,0.038,3149,2369,1800
$GC,10299,1.04,214.7,405.4,9.1,981,10304,0.00,2.53,0.00,0.000,4,0.000,0.055,3149,964,1800
$GC,10367,1.00,214.9,399.1,9.0,986,10374,0.12,2.40,0.00,0.000,6,0.112,0.037,3128,2346,1799
$GC,10692,1.07,236.2,374.0,7.9,1017,10712,0.00,0.00,17.62,0.967,6,0.000,0.000,3128,2345,1715
$GC,11032,1.14,245.5,345.3,8.5,1049,11045,0.12,2.58,7.43,0.969,4,0.070,0.054,3159,967,1677
$GC,11136,1.14,245.5,335.1,9.5,1058,11140,0.00,2.42,0.00,0.000,6,0.000,0.036,3160,2355,1676
$GC,11462,1.14,245.5,305.5,9.6,1088,11466,0.00,2.50,0.00,0.000,4,0.000,0.054,3160,960,1676
$GC,11545,1.14,245.5,297.6,9.6,1095,11550,0.00,2.38,0.00,0.000,6,0.000,0.036,3160,2329,1676
$GC,11870,1.15,251.1,269.9,8.7,1125,11882,0.00,2.47,4.80,0.920,4,0.000,0.053,3160,966,1654
$GC,11927,1.15,251.1,264.9,9.4,1130,11931,0.00,2.30,0.00,0.000,6,0.000,0.035,3160,2291,1654
$GC,12260,1.18,272.5,237.7,7.9,1174,12284,0.00,2.42,18.00,0.852,4,0.000,0.052,3160,966,1566
$GC,12308,1.20,281.9,233.8,8.5,1182,12321,0.00,2.28,7.68,0.853,6,0.000,0.035,3160,2272,1528
$GC,12658,1.20,282.5,202.8,9.0,1244,12665,0.00,2.33,0.00,0.000,4,0.000,0.052,3160,969,1525
$GC,12687,1.20,282.5,199.9,9.8,1249,12694,0.00,2.20,0.00,0.000,6,0.000,0.035,3160,2246,1525
$GC,13032,1.29,309.8,167.6,7.6,1310,13062,0.12,2.67,22.23,0.779,4,0.060,0.051,3194,3727,1415
$GC,13108,1.29,309.8,159.9,10.5,1323,13114,0.00,2.58,0.00,0.000,6,0.000,0.034,3194,2234,1413
$GC,13452,1.33,336.4,129.2,7.7,1384,13482,0.00,2.72,21.30,0.741,4,0.000,0.048,3194,3740,1306
$GC,13533,1.40,336.4,121.9,9.2,1398,13540,0.00,2.55,0.00,0.000,6,0.000,0.033,3194,2253,1305
$GC,13878,1.59,395.2,98.0,6.0,1459,13931,0.22,2.38,47.05,0.678,4,0.048,0.050,3258,968,1067
$GC,13983,1.59,395.2,88.3,9.6,1477,13990,0.00,2.35,0.00,0.000,6,0.000,0.032,3258,2332,1064
$GC,14329,1.69,422.6,58.4,7.6,1538,14353,0.00,0.00,21.55,0.639,6,0.000,0.000,3258,2332,955
$GC,14690,1.80,439.7,29.1,8.1,1602,14709,0.15,0.00,13.25,0.607,6,0.051,0.000,3305,2332,885
$STATE,14954,end climb,SURFACE_DEPTH_REACHED
$STATE,14954,begin surface coast
$FINISH,-0.0,1.009963
$STATE,14978,end surface coast,CONTROL_FINISHED_OK
$STATE,14978,begin surface
$SM_CCo,15000,17.75,0.565,0,0,739,475.15
$SM_GC,0.91,0.00,0.00,17.75,0.000,0.000,0.565,252,2119,739,-12.20,-0.88,475.15
$IRIDIUM_FIX,1238.83,12021.43,200697,171711
$TT8_MAMPS,0.023777
$HUMID,1937
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.90
$XPDR_PINGS,467
$24V_AH,23.4,35.564
$10V_AH,10.2,17.925
$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,32.475,146.500,475.000,17.750,0.000,22.480,37.400,212.994,120.250,0.000,0.000,15.776,3132.220,8452.220,662.679,2631.232,538.375,0.000,1996.847,0.000,2594.934,0.000,26.651
$DEVICE_MAMPS,174.109,59.059,1096.043,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50260,1653
$CAP_FILE_SIZE,160603,0
$CFSIZE,260165632,241946624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,153.5,1
$GPS,270308,022307,1246.331,12025.968,30,1.0,30,-0.8