version: 66.03
glider: 122
mission: 6
dive: 126
start: 3 12 108 16 24 53
data:
$ID,122
$MISSION,6
$DIVE,126
$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,-29715.756
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,160301,1248.567,12027.697,42,1.4,42,-0.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.4
$GPS2,162421,1248.472,12027.548,11,1.5,11,-0.8
$SPEED_LIMITS,0.156,0.209
$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,256.5,22393,-17.4,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-79.20,0.000,2,0.000,0.000,252,2112,2610
$GC,103,-1.42,-146.0,3.9,-9.2,12,135,13.52,2.40,-11.73,0.000,4,0.170,0.053,2589,767,3276
$GC,299,-1.08,-146.0,56.0,-24.0,46,307,0.40,2.33,0.00,0.000,6,0.108,0.028,2665,2153,3277
$GC,645,-0.99,-146.0,111.8,-14.5,107,652,0.12,2.40,0.00,0.000,4,0.106,0.044,2688,3552,3277
$GC,714,-0.99,-146.0,120.7,-12.0,119,722,0.00,2.30,0.00,0.000,6,0.000,0.027,2688,2155,3277
$GC,1059,-1.04,-146.0,155.8,-9.1,180,1066,0.00,2.40,0.00,0.000,4,0.000,0.041,2688,3556,3277
$GC,1190,-1.14,-146.0,168.1,-9.3,203,1199,0.15,2.22,0.00,0.000,6,0.048,0.027,2642,2207,3278
$GC,1537,-1.14,-146.0,201.3,-8.3,264,1544,0.00,2.53,0.00,0.000,4,0.000,0.044,2642,750,3277
$GC,1568,-1.19,-146.0,204.1,-9.4,269,1576,0.00,2.42,0.00,0.000,6,0.000,0.029,2642,2196,3277
$GC,1913,-1.23,-146.0,233.7,-8.6,330,1921,0.00,2.33,0.00,0.000,4,0.000,0.047,2642,3547,3276
$GC,2023,-1.27,-146.0,243.9,-8.6,349,2031,0.00,2.22,0.00,0.000,6,0.000,0.029,2642,2206,3276
$GC,2359,-1.32,-146.0,270.8,-8.1,386,2361,0.10,0.00,0.00,0.000,6,0.061,0.000,2608,2205,3275
$GC,2679,-1.28,-146.0,300.4,-9.7,416,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2203,3273
$GC,2995,-1.28,-146.0,327.9,-8.8,446,3000,0.00,2.55,0.00,0.000,4,0.000,0.051,2608,755,3270
$GC,3050,-1.28,-146.0,333.0,-9.0,450,3058,0.00,2.45,0.00,0.000,6,0.000,0.031,2608,2189,3270
$GC,3377,-1.28,-146.0,360.0,-8.5,481,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,3267
$GC,3694,-1.28,-146.0,388.6,-9.0,511,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2189,3265
$GC,4013,-1.28,-146.0,416.7,-9.1,541,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,3263
$GC,4331,-1.28,-146.0,444.0,-8.5,571,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2190,3260
$GC,4650,-1.28,-146.0,472.1,-9.4,601,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,3258
$GC,4981,-1.28,-146.0,501.8,-8.3,631,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,3255
$GC,5288,-1.28,-146.0,527.8,-8.5,646,5292,0.00,2.40,0.00,0.000,4,0.000,0.054,2609,3552,3254
$GC,5353,-1.28,-146.0,534.0,-9.1,649,5358,0.00,2.33,0.00,0.000,6,0.000,0.034,2609,2199,3253
$GC,5683,-1.28,-146.0,560.4,-8.1,665,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,3251
$GC,5990,-1.28,-146.0,587.3,-8.7,680,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,3249
$GC,6299,-1.28,-146.0,613.7,-8.3,695,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,3247
$GC,6608,-1.28,-146.0,642.2,-9.7,710,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,3245
$GC,6918,-1.28,-146.0,670.0,-8.4,725,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,3243
$GC,7227,-1.28,-146.0,698.5,-9.5,740,7231,0.00,2.40,0.00,0.000,4,0.000,0.055,2608,3549,3242
$GC,7293,-1.28,-146.0,705.6,-10.8,743,7298,0.00,2.38,0.00,0.000,6,0.000,0.037,2608,2181,3242
$GC,7621,-1.28,-146.0,735.3,-8.4,759,7626,0.00,2.58,0.00,0.000,4,0.000,0.060,2608,749,3241
$GC,7654,-1.28,-146.0,738.1,-8.1,760,7662,0.00,2.47,0.00,0.000,6,0.000,0.035,2609,2181,3240
$GC,7971,-1.28,-146.0,760.8,-6.9,776,7975,0.00,2.42,0.00,0.000,4,0.000,0.058,2608,3552,3239
$GC,8037,-1.28,-146.0,765.5,-6.4,779,8041,0.00,2.33,0.00,0.000,6,0.000,0.037,2608,2196,3239
$GC,8364,-1.28,-146.0,789.6,-7.9,795,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2195,3238
$STATE,8464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8469,-0.34,0.0,798.5,8.7,800,8589,1.08,0.00,116.40,1.234,6,0.095,0.000,2825,2383,2678
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8592,1.42,146.0,802.4,0.0,806,8723,1.80,2.53,122.10,1.183,4,0.058,0.061,3218,3713,2082
$GC,8807,1.19,146.0,782.7,14.3,815,8815,0.30,2.35,0.00,0.000,6,0.117,0.039,3164,2371,2080
$GC,9123,1.08,146.0,745.8,12.0,831,9125,0.12,0.00,0.00,0.000,6,0.117,0.000,3142,2370,2079
$GC,9432,1.03,146.0,712.5,10.2,846,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2369,2078
$GC,9743,0.97,146.0,680.1,10.3,861,9748,0.12,2.55,0.00,0.000,4,0.116,0.059,3120,963,2077
$GC,9865,0.99,155.6,668.6,8.5,866,9877,0.00,2.47,7.30,1.200,6,0.000,0.039,3120,2375,2043
$GC,10199,1.04,187.9,642.6,7.4,883,10228,0.00,0.00,27.27,1.152,6,0.000,0.000,3120,2375,1911
$GC,10528,1.11,226.6,618.4,7.0,899,10571,0.12,2.67,32.42,1.121,4,0.069,0.058,3150,972,1752
$GC,10609,1.11,226.6,610.8,9.4,902,10617,0.00,2.53,0.00,0.000,6,0.000,0.041,3149,2379,1751
$GC,10926,1.11,226.6,579.5,10.0,918,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2379,1751
$GC,11234,1.11,226.6,551.1,9.3,933,11239,0.00,2.55,0.00,0.000,4,0.000,0.058,3150,971,1750
$GC,11313,1.11,226.6,543.3,9.5,936,11320,0.00,2.47,0.00,0.000,6,0.000,0.039,3150,2382,1750
$GC,11628,1.11,226.6,511.8,10.0,952,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2382,1750
$GC,11944,1.11,226.6,480.0,9.3,976,11948,0.00,2.55,0.00,0.000,4,0.000,0.057,3150,970,1749
$GC,12020,1.11,226.6,472.0,9.6,982,12028,0.00,2.47,0.00,0.000,6,0.000,0.038,3149,2373,1749
$GC,12347,1.11,226.6,439.9,9.3,1013,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2373,1749
$GC,12665,1.11,226.6,408.2,9.7,1043,12669,0.00,2.53,0.00,0.000,4,0.000,0.055,3150,969,1750
$GC,12749,1.11,226.6,399.6,10.5,1050,12753,0.00,2.42,0.00,0.000,6,0.000,0.038,3150,2359,1749
$GC,13073,1.11,226.6,368.5,9.2,1080,13077,0.00,2.50,0.00,0.000,4,0.000,0.055,3149,968,1749
$GC,13134,1.11,226.6,362.6,9.3,1085,13138,0.00,2.35,0.00,0.000,6,0.000,0.038,3150,2329,1749
$GC,13465,1.12,234.4,333.6,8.6,1116,13475,0.00,0.00,5.95,0.996,6,0.000,0.000,3150,2329,1722
$GC,13794,1.16,239.6,305.0,8.7,1147,13806,0.00,2.50,4.57,0.978,4,0.000,0.055,3150,960,1701
$GC,13844,1.16,239.6,300.2,9.1,1151,13852,0.00,2.40,0.00,0.000,6,0.000,0.038,3150,2318,1700
$GC,14171,1.20,239.6,272.0,9.1,1182,14175,0.00,2.42,0.00,0.000,4,0.000,0.054,3150,965,1700
$GC,14222,1.24,239.6,267.2,9.4,1186,14227,0.12,2.33,0.00,0.000,6,0.060,0.036,3181,2306,1700
$GC,14554,1.24,239.6,234.3,10.0,1230,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2306,1700
$GC,14898,1.27,261.1,202.5,7.9,1291,14922,0.00,2.58,17.88,0.838,4,0.000,0.054,3182,3726,1612
$GC,14951,1.28,263.5,197.9,8.9,1300,14958,0.00,2.50,0.00,0.000,6,0.000,0.035,3182,2282,1613
$GC,15296,1.38,291.6,169.0,7.6,1361,15327,0.10,2.45,24.23,0.784,4,0.064,0.052,3211,967,1487
$GC,15433,1.38,291.6,157.2,9.4,1385,15440,0.00,2.30,0.00,0.000,6,0.000,0.035,3211,2293,1485
$GC,15778,1.47,321.5,128.9,7.5,1446,15808,0.00,2.60,23.70,0.737,4,0.000,0.051,3211,3736,1365
$GC,15882,1.54,322.7,120.2,9.0,1464,15889,0.12,2.45,0.00,0.000,6,0.059,0.033,3246,2305,1364
$GC,16226,1.55,333.1,89.7,8.5,1525,16240,0.00,2.45,8.80,0.717,4,0.000,0.050,3247,969,1319
$GC,16268,1.55,333.1,85.8,9.8,1532,16275,0.00,2.33,0.00,0.000,6,0.000,0.031,3246,2322,1317
$GC,16612,1.71,391.3,60.4,6.1,1593,16665,0.15,0.00,46.35,0.630,6,0.057,0.000,3290,2322,1080
$GC,17003,1.73,401.1,25.0,8.5,1662,17016,0.00,2.42,6.97,0.630,4,0.000,0.047,3291,961,1041
$GC,17135,1.73,401.1,12.1,9.5,1685,17141,0.00,2.28,0.00,0.000,6,0.000,0.029,3291,2310,1039
$STATE,17252,end climb,SURFACE_DEPTH_REACHED
$STATE,17252,begin surface coast
$FINISH,-0.1,1.021491
$STATE,17279,end surface coast,CONTROL_FINISHED_OK
$STATE,17279,begin surface
$SM_CCo,17300,35.55,0.558,0,0,740,475.15
$SM_GC,0.48,0.00,0.00,35.55,0.000,0.000,0.558,253,2096,740,-12.19,-1.53,475.15
$IRIDIUM_FIX,1243.25,12024.46,060697,161627
$TT8_MAMPS,0.023777
$HUMID,1901
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.50
$XPDR_PINGS,410
$24V_AH,23.3,24.668
$10V_AH,10.1,11.969
$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,31.700,117.425,443.950,35.550,0.000,127.549,198.072,581.564,110.000,0.000,0.000,11.701,3418.055,10646.109,656.912,2735.300,1159.181,0.000,2019.363,0.000,2695.363,0.000,55.330
$DEVICE_MAMPS,170.274,60.593,1234.103,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53407,1710
$CAP_FILE_SIZE,173341,0
$CFSIZE,260165632,247365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,275.3,1
$GPS,120308,211507,1248.299,12025.068,38,1.7,43,-0.8