version: 66.03
glider: 122
mission: 6
dive: 216
start: 4 1 108 5 19 14
data:
$ID,122
$MISSION,6
$DIVE,216
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31186.111
$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,14.2
$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,51
$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,2748
$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
$GPS1,050808,1246.103,12016.473,26,1.7,26,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.7
$GPS2,051838,1246.017,12016.339,9,1.8,15,-0.8
$SPEED_LIMITS,0.156,0.206
$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,247.4,1685,-26.0,-9.016
$D_GRID,872
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.96,-78.2,0.0,0.0,0,84,0.00,0.00,-59.67,0.000,2,0.000,0.000,249,2113,2475
$GC,87,-2.00,-99.3,3.3,-7.3,10,119,12.95,2.42,-12.68,0.000,4,0.175,0.054,2464,754,3155
$GC,261,-1.76,-99.3,52.5,-21.4,40,269,0.30,2.35,0.00,0.000,6,0.134,0.026,2517,2167,3157
$GC,607,-1.66,-99.3,120.7,-17.1,101,614,0.12,2.38,0.00,0.000,4,0.130,0.042,2538,3554,3159
$GC,779,-1.66,-99.3,145.5,-14.4,131,786,0.00,2.22,0.00,0.000,6,0.000,0.028,2538,2208,3159
$GC,1124,-1.71,-99.3,182.2,-10.0,192,1131,0.00,2.50,0.00,0.000,4,0.000,0.043,2538,762,3160
$GC,1250,-1.77,-99.3,196.4,-11.2,214,1257,0.00,2.40,0.00,0.000,6,0.000,0.028,2538,2198,3160
$GC,1595,-1.83,-99.3,231.9,-10.1,275,1601,0.15,0.00,0.00,0.000,6,0.054,0.000,2491,2198,3160
$GC,1929,-1.80,-99.3,272.0,-12.4,319,1934,0.10,2.33,0.00,0.000,4,0.122,0.045,2508,3550,3159
$GC,1957,-1.80,-99.3,275.5,-12.5,321,1961,0.00,2.28,0.00,0.000,6,0.000,0.030,2508,2184,3160
$GC,2283,-1.80,-99.3,312.8,-11.6,351,2287,0.00,2.35,0.00,0.000,4,0.000,0.045,2508,3547,3158
$GC,2350,-1.80,-99.3,321.0,-10.7,356,2357,0.00,2.28,0.00,0.000,6,0.000,0.030,2508,2185,3158
$GC,2677,-1.80,-99.3,357.2,-11.4,387,2681,0.00,2.38,0.00,0.000,4,0.000,0.046,2508,3554,3156
$GC,2796,-1.80,-99.3,371.0,-10.9,397,2800,0.00,2.22,0.00,0.000,6,0.000,0.031,2508,2230,3156
$GC,3122,-1.80,-99.3,406.4,-11.1,427,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2227,3154
$GC,3439,-1.80,-99.3,439.2,-10.5,457,3443,0.00,2.60,0.00,0.000,4,0.000,0.051,2508,752,3152
$GC,3471,-1.80,-99.3,442.8,-10.6,459,3478,0.00,2.53,0.00,0.000,6,0.000,0.031,2508,2235,3152
$GC,3798,-1.80,-99.3,477.2,-10.5,490,3802,0.00,2.62,0.00,0.000,4,0.000,0.050,2508,751,3150
$GC,3837,-1.80,-99.3,481.6,-10.7,493,3841,0.00,2.50,0.00,0.000,6,0.000,0.033,2508,2212,3149
$GC,4159,-1.80,-99.3,515.7,-10.7,516,4163,0.00,2.33,0.00,0.000,4,0.000,0.050,2508,3546,3147
$GC,4185,-1.80,-99.3,519.1,-12.4,517,4190,0.00,2.28,0.00,0.000,6,0.000,0.032,2509,2220,3147
$GC,4508,-1.80,-99.3,552.9,-10.4,533,4512,0.00,2.60,0.00,0.000,4,0.000,0.053,2508,754,3146
$GC,4580,-1.80,-99.3,560.7,-10.8,536,4584,0.00,2.45,0.00,0.000,6,0.000,0.033,2508,2187,3145
$GC,4896,-1.80,-99.3,592.0,-9.9,551,4900,0.00,2.40,0.00,0.000,4,0.000,0.051,2508,3559,3143
$GC,4936,-1.80,-99.3,596.3,-11.2,553,4940,0.00,2.33,0.00,0.000,6,0.000,0.034,2508,2194,3143
$GC,5262,-1.80,-99.3,628.1,-10.0,569,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2193,3140
$GC,5571,-1.80,-99.3,659.2,-9.7,584,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2193,3139
$GC,5882,-1.80,-99.3,690.2,-10.3,599,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2190,3138
$GC,6190,-1.84,-99.3,723.7,-11.1,614,6194,0.00,2.40,0.00,0.000,4,0.000,0.053,2508,3551,3136
$GC,6262,-1.84,-99.3,732.4,-12.2,617,6266,0.00,2.35,0.00,0.000,6,0.000,0.036,2508,2193,3136
$GC,6584,-1.87,-99.3,766.7,-10.2,633,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2193,3134
$GC,6894,-2.38,-146.0,781.8,0.4,648,6899,0.52,2.42,0.00,0.000,4,0.039,0.054,2377,3555,3133
$STATE,6947,end dive,NO_VERTICAL_VELOCITY
$STATE,6947,begin apogee
$GC,6954,-0.35,0.0,781.6,0.0,650,7041,2.10,0.00,80.28,1.209,6,0.081,0.000,2824,2355,2748
$STATE,7042,end apogee,CONTROL_FINISHED_OK
$STATE,7042,begin climb
$GC,7044,2.08,146.0,781.3,0.0,655,7177,2.45,2.62,123.03,1.166,4,0.063,0.058,3356,976,2152
$GC,7403,1.86,146.0,742.0,15.2,671,7408,0.25,2.42,0.00,0.000,6,0.143,0.038,3314,2366,2149
$GC,7730,1.73,146.0,700.0,12.6,687,7735,0.15,2.45,0.00,0.000,4,0.153,0.057,3286,3735,2149
$GC,7779,1.61,146.0,693.3,13.1,689,7784,0.17,2.30,0.00,0.000,6,0.155,0.038,3259,2407,2148
$GC,8095,1.61,146.0,657.4,11.3,704,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2406,2147
$GC,8405,1.61,146.0,623.1,10.8,719,8409,0.00,2.60,0.00,0.000,4,0.000,0.058,3259,968,2146
$GC,8534,1.56,146.0,608.1,12.2,725,8538,0.00,2.47,0.00,0.000,6,0.000,0.038,3259,2385,2146
$GC,8862,1.56,146.0,573.1,10.5,741,8866,0.00,2.55,0.00,0.000,4,0.000,0.057,3259,971,2145
$GC,8905,1.51,146.0,568.2,10.4,743,8910,0.15,2.45,0.00,0.000,6,0.140,0.038,3234,2379,2145
$GC,9227,1.51,146.0,538.7,9.2,759,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2379,2144
$GC,9536,1.52,148.3,510.9,8.8,774,9540,0.00,2.55,0.00,0.000,4,0.000,0.056,3234,963,2144
$GC,9629,1.52,148.3,501.9,10.6,778,9634,0.00,2.47,0.00,0.000,6,0.000,0.038,3234,2388,2143
$GC,9962,1.55,148.3,473.0,9.0,808,9966,0.00,2.55,0.00,0.000,4,0.000,0.055,3234,963,2143
$GC,10029,1.56,152.0,466.9,8.7,814,10042,0.00,2.45,3.62,1.068,6,0.000,0.038,3234,2373,2127
$GC,10360,1.61,159.5,438.6,8.4,845,10373,0.00,2.62,6.45,1.063,4,0.000,0.054,3234,966,2096
$GC,10400,1.61,159.5,434.6,9.8,848,10408,0.00,2.42,0.00,0.000,6,0.000,0.037,3234,2353,2096
$GC,10727,1.66,159.5,405.8,9.0,879,10732,0.15,2.50,0.00,0.000,4,0.074,0.054,3271,964,2096
$GC,10801,1.62,159.5,398.2,10.2,885,10805,0.00,2.35,0.00,0.000,6,0.000,0.037,3271,2315,2096
$GC,11127,1.63,167.0,370.8,8.4,915,11140,0.00,2.45,6.38,1.013,4,0.000,0.054,3271,970,2066
$GC,11243,1.59,167.0,360.2,9.5,925,11247,0.00,2.33,0.00,0.000,6,0.000,0.036,3271,2309,2066
$GC,11570,1.61,178.0,331.7,8.1,955,11585,0.00,2.58,9.02,0.972,4,0.000,0.054,3271,3717,2022
$GC,11671,1.61,178.0,321.8,9.8,964,11676,0.00,2.42,0.00,0.000,6,0.000,0.037,3271,2311,2022
$GC,11998,1.61,178.0,290.6,9.6,994,12002,0.00,2.50,0.00,0.000,4,0.000,0.052,3271,3723,2022
$GC,12063,1.61,178.0,283.7,9.9,999,12071,0.00,2.45,0.00,0.000,6,0.000,0.037,3271,2315,2022
$GC,12390,1.61,178.0,253.9,9.6,1030,12394,0.00,2.50,0.00,0.000,4,0.000,0.051,3271,3730,2022
$GC,12497,1.61,178.0,243.4,9.8,1045,12504,0.00,2.38,0.00,0.000,6,0.000,0.036,3271,2345,2022
$GC,12843,1.63,190.9,213.3,8.0,1106,12862,0.00,2.53,10.65,0.867,4,0.000,0.054,3271,976,1969
$GC,12942,1.63,190.9,204.3,9.2,1123,12949,0.00,2.38,0.00,0.000,6,0.000,0.035,3271,2342,1968
$GC,13287,1.71,219.7,177.0,6.7,1184,13319,0.00,2.55,23.08,0.797,4,0.000,0.052,3271,975,1851
$GC,13446,1.75,219.7,163.1,9.1,1211,13453,0.00,2.35,0.00,0.000,6,0.000,0.035,3271,2327,1850
$GC,13791,1.93,263.8,136.5,5.5,1272,13832,0.22,2.55,34.92,0.741,4,0.059,0.051,3327,965,1671
$GC,14086,1.97,287.2,112.3,7.1,1323,14112,0.00,2.25,18.70,0.727,6,0.000,0.033,3327,2274,1576
$GC,14452,2.16,337.9,88.3,5.0,1387,14498,0.17,0.00,39.83,0.673,6,0.063,0.000,3373,2274,1369
$GC,14837,2.20,340.2,52.7,8.8,1454,14845,0.00,2.55,0.00,0.000,4,0.000,0.048,3373,3736,1366
$GC,14913,2.23,340.2,44.3,11.8,1467,14921,0.00,2.53,0.00,0.000,6,0.000,0.031,3373,2242,1366
$GC,15259,2.36,364.0,14.7,7.1,1528,15287,0.17,2.62,20.25,0.593,4,0.060,0.042,3419,3730,1263
$GC,15338,2.36,364.0,6.9,10.4,1541,15346,0.00,2.38,0.00,0.000,6,0.000,0.030,3419,2313,1262
$STATE,15390,end climb,SURFACE_DEPTH_REACHED
$STATE,15390,begin surface coast
$FINISH,-0.1,1.021150
$STATE,15410,end surface coast,CONTROL_FINISHED_OK
$STATE,15410,begin surface
$SM_CCo,15434,54.58,0.555,0,0,810,475.15
$SM_GC,0.74,0.00,0.00,54.58,0.000,0.000,0.555,253,2113,810,-12.20,-1.05,475.15
$IRIDIUM_FIX,1243.25,12014.59,260697,050547
$TT8_MAMPS,0.023777
$HUMID,1953
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,388
$ALTIM_BOTTOM_PING,760.4,29.3
$24V_AH,23.3,39.873
$10V_AH,10.1,20.203
$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,34.200,146.325,376.200,54.575,0.000,50.714,74.422,312.985,104.250,0.000,0.000,15.969,3232.421,8936.391,597.401,2621.815,736.882,0.000,1911.451,0.000,2572.317,0.000,55.526
$DEVICE_MAMPS,174.876,58.292,1208.792,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50352,1553
$CAP_FILE_SIZE,158805,0
$CFSIZE,260165632,239890432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,216.6,1
$GPS,010408,093837,1245.554,12015.077,38,1.2,38,-0.8