version: 66.03
glider: 122
mission: 6
dive: 128
start: 3 13 108 2 13 6
data:
$ID,122
$MISSION,6
$DIVE,128
$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,-29762.129
$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,32
$R_STBD_OVSHOOT,36
$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
$GPS1,020708,1247.622,12022.839,37,1.3,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.1
$GPS2,021235,1247.593,12022.796,11,2.2,30,-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,261.8,13675,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-61.65,0.000,2,0.000,0.000,249,2157,2406
$GC,86,-1.42,-146.0,3.0,-7.0,11,125,13.68,2.40,-16.52,0.000,4,0.175,0.053,2589,3551,3275
$GC,233,-1.05,-146.0,41.3,-25.5,36,241,0.45,2.35,0.00,0.000,6,0.119,0.029,2673,2146,3276
$GC,578,-0.97,-146.0,99.9,-12.9,97,585,0.10,0.00,0.00,0.000,6,0.123,0.000,2690,2144,3278
$GC,923,-1.01,-146.0,138.7,-8.3,158,929,0.00,2.40,0.00,0.000,4,0.000,0.042,2690,3554,3280
$GC,959,-1.06,-146.0,142.0,-9.3,164,966,0.00,2.33,0.00,0.000,6,0.000,0.028,2690,2152,3280
$GC,1302,-1.16,-146.0,170.4,-8.4,225,1310,0.15,2.40,0.00,0.000,4,0.049,0.041,2637,3552,3280
$GC,1360,-1.16,-146.0,176.6,-10.9,235,1367,0.00,2.28,0.00,0.000,6,0.000,0.028,2637,2175,3280
$GC,1705,-1.16,-146.0,209.6,-8.5,296,1711,0.00,2.47,0.00,0.000,4,0.000,0.046,2637,749,3280
$GC,1735,-1.19,-146.0,212.4,-9.3,301,1741,0.00,2.40,0.00,0.000,6,0.000,0.028,2637,2186,3280
$GC,2078,-1.19,-146.0,241.8,-8.1,362,2085,0.00,2.35,0.00,0.000,4,0.000,0.046,2637,3555,3280
$GC,2148,-1.19,-146.0,248.0,-8.9,374,2154,0.00,2.25,0.00,0.000,6,0.000,0.029,2637,2198,3281
$GC,2481,-1.19,-146.0,275.2,-8.4,407,2485,0.00,2.53,0.00,0.000,4,0.000,0.049,2637,754,3280
$GC,2531,-1.26,-146.0,279.8,-9.0,411,2535,0.00,2.42,0.00,0.000,6,0.000,0.030,2637,2194,3280
$GC,2859,-1.30,-146.0,307.1,-8.1,441,2863,0.00,2.35,0.00,0.000,4,0.000,0.048,2637,3554,3279
$GC,2920,-1.34,-146.0,312.8,-9.1,446,2925,0.12,2.28,0.00,0.000,6,0.054,0.031,2597,2193,3279
$GC,3245,-1.29,-146.0,344.9,-10.5,476,3246,0.12,0.00,0.00,0.000,6,0.107,0.000,2620,2190,3277
$GC,3564,-1.29,-146.0,374.9,-9.2,506,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2190,3275
$GC,3881,-1.29,-146.0,404.8,-9.3,536,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2190,3274
$GC,4201,-1.29,-146.0,433.0,-8.2,566,4205,0.00,2.38,0.00,0.000,4,0.000,0.050,2620,3547,3271
$GC,4251,-1.29,-146.0,437.3,-8.3,570,4255,0.00,2.25,0.00,0.000,6,0.000,0.033,2620,2217,3271
$GC,4577,-1.29,-146.0,463.5,-8.5,600,4581,0.00,2.60,0.00,0.000,4,0.000,0.054,2620,753,3269
$GC,4616,-1.29,-146.0,466.9,-8.5,603,4620,0.00,2.50,0.00,0.000,6,0.000,0.034,2620,2211,3269
$GC,4942,-1.29,-146.0,492.2,-7.2,633,4946,0.00,2.60,0.00,0.000,4,0.000,0.054,2620,750,3267
$GC,4970,-1.29,-146.0,494.4,-8.2,635,4974,0.00,2.47,0.00,0.000,6,0.000,0.034,2620,2194,3267
$GC,5297,-1.29,-146.0,519.2,-7.7,654,5301,0.00,2.38,0.00,0.000,4,0.000,0.054,2620,3550,3266
$GC,5341,-1.29,-146.0,522.8,-7.8,656,5345,0.00,2.28,0.00,0.000,6,0.000,0.034,2620,2205,3265
$GC,5668,-1.29,-146.0,548.9,-8.0,672,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2202,3263
$GC,5977,-1.29,-146.0,572.5,-7.6,687,5982,0.00,2.38,0.00,0.000,4,0.000,0.054,2620,3549,3261
$GC,6005,-1.29,-146.0,574.9,-8.2,688,6008,0.00,2.28,0.00,0.000,6,0.000,0.035,2620,2207,3261
$GC,6326,-1.29,-146.0,598.7,-7.3,704,6330,0.00,2.60,0.00,0.000,4,0.000,0.056,2620,749,3259
$GC,6358,-1.33,-146.0,601.4,-8.0,705,6365,0.00,2.55,0.00,0.000,6,0.000,0.036,2620,2226,3258
$GC,6674,-1.33,-146.0,623.5,-6.7,721,6678,0.00,2.35,0.00,0.000,4,0.000,0.057,2620,3557,3257
$GC,6717,-1.33,-146.0,626.9,-7.3,723,6721,0.00,2.25,0.00,0.000,6,0.000,0.035,2620,2232,3257
$GC,7044,-1.33,-146.0,649.6,-6.8,739,7052,0.00,2.62,0.00,0.000,4,0.000,0.057,2620,758,3255
$GC,7108,-1.37,-146.0,654.3,-7.0,741,7114,0.00,2.50,0.00,0.000,6,0.000,0.035,2620,2208,3255
$GC,7423,-1.37,-146.0,676.8,-7.0,757,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,3254
$GC,7734,-1.37,-146.0,699.1,-7.2,772,7738,0.00,2.38,0.00,0.000,4,0.000,0.058,2620,3555,3253
$GC,7784,-1.41,-146.0,703.2,-7.9,774,7788,0.00,2.28,0.00,0.000,6,0.000,0.035,2620,2215,3253
$GC,8105,-1.41,-146.0,726.9,-7.2,790,8110,0.00,2.60,0.00,0.000,4,0.000,0.058,2620,759,3251
$GC,8138,-1.44,-146.0,729.5,-6.7,791,8146,0.15,2.47,0.00,0.000,6,0.055,0.036,2578,2198,3251
$GC,8455,-1.39,-146.0,756.9,-9.0,807,8457,0.12,0.00,0.00,0.000,6,0.112,0.000,2599,2198,3250
$GC,8763,-1.39,-146.0,782.8,-8.4,822,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2199,3249
$STATE,8926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8926,begin apogee
$GC,8931,-0.34,0.0,797.0,8.6,830,9053,1.12,0.00,119.00,1.236,6,0.099,0.000,2826,2382,2678
$STATE,9054,end apogee,CONTROL_FINISHED_OK
$STATE,9054,begin climb
$GC,9056,1.42,146.0,800.7,0.0,836,9188,1.80,2.53,122.50,1.188,4,0.061,0.061,3217,3712,2081
$GC,9279,1.19,146.0,780.3,15.7,846,9284,0.30,2.33,0.00,0.000,6,0.128,0.040,3165,2383,2081
$GC,9605,1.09,146.0,744.9,10.5,862,9610,0.12,2.55,0.00,0.000,4,0.128,0.057,3144,970,2079
$GC,9654,1.02,146.0,739.5,10.4,864,9659,0.00,2.42,0.00,0.000,6,0.000,0.038,3144,2356,2078
$GC,9976,0.97,146.0,707.0,9.8,880,9978,0.15,0.00,0.00,0.000,6,0.125,0.000,3118,2356,2078
$GC,10285,0.98,151.5,680.0,8.7,895,10291,0.00,0.00,4.12,1.192,6,0.000,0.000,3118,2356,2060
$GC,10594,1.01,169.0,654.5,8.1,910,10616,0.00,0.00,14.98,1.180,6,0.000,0.000,3118,2356,1988
$GC,10924,1.01,173.5,625.5,8.8,926,10933,0.00,2.50,4.05,1.178,4,0.000,0.061,3118,3723,1970
$GC,10961,1.01,173.5,621.8,9.7,927,10969,0.00,2.40,0.00,0.000,6,0.000,0.038,3118,2357,1970
$GC,11278,1.04,191.8,594.7,8.1,943,11299,0.00,0.00,15.45,1.144,6,0.000,0.000,3118,2355,1896
$GC,11608,1.10,201.2,567.1,8.5,959,11622,0.12,2.55,8.00,1.144,4,0.070,0.058,3147,3724,1857
$GC,11689,1.10,201.2,558.0,11.4,962,11696,0.00,2.40,0.00,0.000,6,0.000,0.038,3147,2356,1857
$GC,12005,1.10,201.2,527.0,9.4,978,12009,0.00,2.50,0.00,0.000,4,0.000,0.058,3147,969,1856
$GC,12071,1.10,201.2,520.5,10.5,981,12075,0.00,2.40,0.00,0.000,6,0.000,0.038,3148,2344,1856
$GC,12389,1.11,211.5,492.3,8.5,1000,12404,0.00,2.55,8.77,1.098,4,0.000,0.061,3147,3720,1815
$GC,12468,1.11,211.5,484.8,9.9,1007,12472,0.00,2.38,0.00,0.000,6,0.000,0.037,3147,2349,1815
$GC,12792,1.11,211.5,454.2,9.9,1037,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2348,1814
$GC,13112,1.12,214.9,424.0,8.8,1067,13121,0.00,0.00,2.88,1.054,6,0.000,0.000,3147,2347,1802
$GC,13440,1.12,216.3,395.0,8.9,1098,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2347,1802
$GC,13759,1.16,238.7,368.2,7.9,1128,13781,0.00,0.00,20.08,0.974,6,0.000,0.000,3147,2347,1705
$GC,14096,1.20,238.7,337.7,9.4,1160,14100,0.00,2.47,0.00,0.000,4,0.000,0.056,3147,969,1704
$GC,14136,1.23,238.7,333.9,9.5,1163,14141,0.12,2.45,0.00,0.000,6,0.068,0.038,3178,2380,1703
$GC,14460,1.23,238.7,298.8,10.5,1193,14461,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2381,1703
$GC,14778,1.23,238.7,266.8,9.4,1223,14782,0.00,2.53,0.00,0.000,4,0.000,0.054,3179,969,1703
$GC,14829,1.23,238.7,262.0,9.7,1227,14833,0.00,2.38,0.00,0.000,6,0.000,0.037,3179,2340,1703
$GC,15164,1.24,243.8,232.1,8.8,1275,15177,0.00,2.50,4.38,0.910,4,0.000,0.053,3179,976,1684
$GC,15228,1.24,243.8,226.1,9.8,1286,15234,0.00,2.30,0.00,0.000,6,0.000,0.035,3178,2309,1684
$GC,15571,1.25,251.1,197.5,8.6,1347,15583,0.00,0.00,6.57,0.867,6,0.000,0.000,3178,2309,1653
$GC,15921,1.27,263.3,168.7,8.4,1409,15934,0.00,0.00,10.23,0.817,6,0.000,0.000,3179,2309,1604
$GC,16271,1.44,317.5,143.1,6.2,1471,16319,0.15,0.00,43.22,0.735,6,0.057,0.000,3221,2309,1382
$GC,16657,1.54,338.4,112.3,7.9,1539,16682,0.00,2.47,16.10,0.722,4,0.000,0.051,3222,968,1297
$GC,16734,1.62,347.8,105.7,8.5,1552,16748,0.17,2.35,7.18,0.738,6,0.054,0.032,3266,2334,1261
$GC,17087,1.62,347.8,71.9,9.6,1614,17093,0.00,2.42,0.00,0.000,4,0.000,0.051,3266,3718,1260
$GC,17138,1.62,347.8,66.7,9.9,1623,17145,0.00,2.35,0.00,0.000,6,0.000,0.031,3266,2326,1260
$GC,17482,1.72,408.9,38.2,5.9,1684,17536,0.00,2.50,48.67,0.609,4,0.000,0.048,3266,970,1010
$GC,17588,1.81,419.8,30.0,8.5,1702,17602,0.15,2.33,8.57,0.630,6,0.054,0.030,3308,2331,965
$STATE,17848,end climb,SURFACE_DEPTH_REACHED
$STATE,17848,begin surface coast
$FINISH,0.1,1.021082
$STATE,17866,end surface coast,CONTROL_FINISHED_OK
$STATE,17866,begin surface
$SM_CCo,17888,27.05,0.569,0,0,741,475.15
$SM_GC,1.08,0.00,0.00,27.05,0.000,0.000,0.569,250,2121,741,-12.21,-0.82,475.15
$IRIDIUM_FIX,1243.25,12024.46,060697,212133
$TT8_MAMPS,0.023777
$HUMID,1932
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.20
$XPDR_PINGS,419
$24V_AH,23.3,24.997
$10V_AH,10.1,12.143
$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,32.600,141.075,464.750,27.050,0.000,25.785,37.645,140.223,112.250,0.000,0.000,31.563,3390.244,10911.639,657.214,2835.364,453.020,0.000,2074.693,0.000,2771.709,0.000,55.330
$DEVICE_MAMPS,174.876,61.360,1236.404,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53519,1751
$CAP_FILE_SIZE,173497,0
$CFSIZE,260165632,247209984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,165.4,1
$GPS,130308,071256,1246.818,12020.443,40,1.2,40,-0.8