version: 66.03
glider: 122
mission: 6
dive: 129
start: 3 13 108 7 19 11
data:
$ID,122
$MISSION,6
$DIVE,129
$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,-29779.395
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,071256,1246.818,12020.443,40,1.2,40,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.0
$GPS2,071838,1246.841,12020.374,11,1.1,16,-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,271.9,9090,-17.4,-9.016
$D_GRID,868
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-62.62,0.000,2,0.000,0.000,251,2121,2441
$GC,86,-1.42,-146.0,3.2,-7.3,10,118,13.60,0.00,-15.40,0.000,6,0.173,0.000,2589,2121,3275
$GC,455,-1.11,-146.0,93.3,-22.0,75,463,0.35,2.38,0.00,0.000,4,0.123,0.043,2656,755,3278
$GC,548,-1.05,-146.0,107.2,-12.7,91,555,0.00,2.35,0.00,0.000,6,0.000,0.028,2657,2163,3279
$GC,892,-1.05,-146.0,149.2,-10.1,152,899,0.00,2.38,0.00,0.000,4,0.000,0.045,2657,3549,3280
$GC,962,-1.05,-146.0,156.2,-10.1,164,969,0.00,2.30,0.00,0.000,6,0.000,0.027,2657,2153,3280
$GC,1308,-1.10,-146.0,187.3,-7.9,225,1316,0.00,2.38,0.00,0.000,4,0.000,0.042,2657,3551,3281
$GC,1356,-1.16,-146.0,191.6,-8.8,233,1364,0.00,2.25,0.00,0.000,6,0.000,0.028,2657,2190,3281
$GC,1700,-1.23,-146.0,219.4,-7.1,294,1709,0.00,2.50,0.00,0.000,4,0.000,0.047,2657,753,3282
$GC,1727,-1.30,-146.0,221.6,-7.7,298,1734,0.17,2.40,0.00,0.000,6,0.046,0.029,2603,2183,3282
$GC,2067,-1.25,-146.0,258.3,-10.8,352,2072,0.15,2.35,0.00,0.000,4,0.095,0.047,2636,3548,3282
$GC,2144,-1.29,-146.0,266.5,-10.6,358,2151,0.00,2.28,0.00,0.000,6,0.000,0.030,2637,2183,3281
$GC,2471,-1.32,-146.0,294.2,-8.2,389,2475,0.00,2.50,0.00,0.000,4,0.000,0.049,2636,753,3280
$GC,2492,-1.37,-146.0,296.2,-8.5,390,2499,0.15,2.40,0.00,0.000,6,0.049,0.030,2590,2179,3280
$GC,2817,-1.30,-146.0,327.8,-9.5,421,2821,0.15,2.53,0.00,0.000,4,0.097,0.049,2622,746,3279
$GC,2844,-1.30,-146.0,330.5,-9.5,423,2848,0.00,2.40,0.00,0.000,6,0.000,0.032,2622,2164,3279
$GC,3175,-1.30,-146.0,358.8,-8.4,454,3179,0.00,2.42,0.00,0.000,4,0.000,0.049,2622,3557,3277
$GC,3263,-1.30,-146.0,366.8,-8.6,461,3270,0.00,2.33,0.00,0.000,6,0.000,0.032,2622,2180,3277
$GC,3590,-1.30,-146.0,392.5,-7.8,492,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2176,3275
$GC,3907,-1.30,-146.0,416.8,-7.6,522,3911,0.00,2.40,0.00,0.000,4,0.000,0.049,2622,3548,3273
$GC,4071,-1.30,-146.0,430.3,-7.5,536,4075,0.00,2.33,0.00,0.000,6,0.000,0.033,2622,2178,3272
$GC,4396,-1.30,-146.0,457.5,-8.9,566,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2176,3270
$GC,4714,-1.30,-146.0,485.6,-8.8,596,4719,0.00,2.42,0.00,0.000,4,0.000,0.051,2622,3557,3268
$GC,4747,-1.30,-146.0,488.8,-9.1,598,4754,0.00,2.35,0.00,0.000,6,0.000,0.034,2622,2193,3268
$GC,5078,-1.30,-146.0,515.5,-7.9,621,5083,0.00,2.40,0.00,0.000,4,0.000,0.051,2622,3554,3266
$GC,5118,-1.30,-146.0,518.7,-7.9,623,5122,0.00,2.33,0.00,0.000,6,0.000,0.034,2622,2188,3266
$GC,5445,-1.30,-146.0,546.0,-8.8,639,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2185,3264
$GC,5753,-1.30,-146.0,573.4,-8.6,654,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2185,3262
$GC,6063,-1.30,-146.0,600.1,-9.1,669,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2184,3260
$GC,6373,-1.30,-146.0,626.3,-8.1,684,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2184,3259
$GC,6683,-1.34,-146.0,650.4,-8.3,699,6688,0.00,2.40,0.00,0.000,4,0.000,0.054,2622,3546,3257
$GC,6739,-1.38,-146.0,655.4,-8.6,701,6746,0.00,2.28,0.00,0.000,6,0.000,0.036,2622,2210,3257
$GC,7055,-1.42,-146.0,679.8,-7.7,717,7057,0.12,0.00,0.00,0.000,6,0.059,0.000,2587,2209,3256
$GC,7364,-1.38,-146.0,709.6,-9.6,732,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2208,3255
$GC,7673,-1.34,-146.0,738.3,-9.0,747,7675,0.12,0.00,0.00,0.000,6,0.110,0.000,2609,2208,3254
$GC,7984,-1.34,-146.0,764.0,-8.3,762,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2207,3252
$GC,8291,-1.34,-146.0,788.9,-8.4,777,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2207,3251
$GC,8601,-1.34,-146.0,815.3,-8.4,792,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2207,3249
$GC,8911,-1.34,-146.0,841.5,-8.4,807,8915,0.00,2.38,0.00,0.000,4,0.000,0.058,2609,3552,3248
$GC,8943,-1.34,-146.0,844.7,-9.5,808,8950,0.00,2.30,0.00,0.000,6,0.000,0.037,2610,2225,3248
$STATE,9236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9236,begin apogee
$GC,9241,-0.34,0.0,868.4,8.0,823,9365,1.08,0.00,120.25,1.292,6,0.095,0.000,2827,2384,2678
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9366,begin climb
$GC,9367,1.42,146.0,871.7,0.0,829,9499,1.77,2.53,123.85,1.245,4,0.058,0.061,3216,3712,2082
$GC,9613,1.18,146.0,849.0,14.1,840,9618,0.30,2.33,0.00,0.000,6,0.117,0.041,3162,2383,2080
$GC,9939,1.07,146.0,814.3,10.3,856,9941,0.12,0.00,0.00,0.000,6,0.123,0.000,3141,2383,2078
$GC,10248,1.01,146.0,784.7,9.7,871,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2382,2078
$GC,10558,0.97,154.4,756.8,8.6,886,10572,0.12,2.67,6.47,1.264,4,0.121,0.061,3119,969,2048
$GC,10624,1.00,169.7,751.6,8.2,889,10647,0.00,2.50,13.35,1.243,6,0.000,0.041,3119,2384,1985
$GC,10955,1.02,180.5,725.1,8.5,905,10969,0.00,2.65,9.40,1.246,4,0.000,0.060,3119,970,1942
$GC,10999,1.02,180.5,721.0,10.3,907,11003,0.00,2.50,0.00,0.000,6,0.000,0.041,3119,2375,1941
$GC,11324,1.02,180.5,690.2,9.4,923,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2376,1941
$GC,11634,1.02,183.1,662.1,8.9,938,11638,0.00,0.00,2.40,1.174,6,0.000,0.000,3119,2377,1931
$GC,11943,1.02,183.1,634.0,9.1,953,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2376,1931
$GC,12253,1.03,188.4,606.1,8.7,968,12263,0.00,2.60,5.15,1.192,4,0.000,0.058,3119,962,1909
$GC,12337,1.03,191.7,598.4,8.8,972,12346,0.00,2.47,3.15,1.164,6,0.000,0.040,3119,2365,1896
$GC,12669,1.09,200.7,571.3,8.6,988,12679,0.10,0.00,7.90,1.167,6,0.075,0.000,3142,2366,1859
$GC,12978,1.09,200.7,540.9,9.6,1003,12982,0.00,2.55,0.00,0.000,4,0.000,0.058,3143,962,1858
$GC,13043,1.09,200.7,534.1,10.1,1006,13047,0.00,2.47,0.00,0.000,6,0.000,0.039,3143,2355,1858
$GC,13370,1.09,200.7,502.6,9.4,1022,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2356,1858
$GC,13688,1.10,206.6,473.6,8.7,1050,13698,0.00,0.00,5.43,1.102,6,0.000,0.000,3142,2355,1834
$GC,14017,1.10,208.8,445.0,8.9,1081,14022,0.00,2.50,0.00,0.000,4,0.000,0.057,3143,968,1834
$GC,14050,1.11,212.9,441.9,8.8,1083,14062,0.00,2.42,5.43,1.077,6,0.000,0.038,3143,2358,1809
$GC,14388,1.12,222.7,412.8,8.5,1115,14401,0.00,2.62,8.38,1.043,4,0.000,0.056,3142,960,1769
$GC,14459,1.12,222.7,406.4,9.2,1121,14464,0.00,2.40,0.00,0.000,6,0.000,0.038,3143,2332,1769
$GC,14784,1.15,235.0,377.6,8.4,1151,14797,0.00,0.00,10.95,1.005,6,0.000,0.000,3143,2332,1719
$GC,15112,1.19,237.8,349.1,8.9,1182,15122,0.00,0.00,2.60,0.997,6,0.000,0.000,3142,2332,1708
$GC,15441,1.23,237.8,319.3,9.3,1213,15443,0.12,0.00,0.00,0.000,6,0.068,0.000,3173,2332,1708
$GC,15759,1.23,237.8,286.8,9.8,1243,15763,0.00,2.45,0.00,0.000,4,0.000,0.055,3173,967,1708
$GC,15847,1.23,237.8,277.8,9.2,1250,15855,0.00,2.38,0.00,0.000,6,0.000,0.037,3173,2335,1707
$GC,16173,1.23,237.8,248.0,9.1,1283,16180,0.00,2.45,0.00,0.000,4,0.000,0.054,3173,964,1707
$GC,16219,1.23,237.8,243.5,9.6,1291,16227,0.00,2.33,0.00,0.000,6,0.000,0.036,3173,2311,1708
$GC,16564,1.25,249.0,212.6,8.4,1352,16578,0.00,0.00,9.52,0.875,6,0.000,0.000,3173,2311,1663
$GC,16915,1.31,263.0,182.5,8.3,1414,16929,0.00,0.00,11.62,0.830,6,0.000,0.000,3173,2310,1605
$GC,17265,1.45,314.7,156.2,6.4,1476,17312,0.20,0.00,41.33,0.753,6,0.051,0.000,3228,2311,1394
$GC,17651,1.51,347.9,123.1,7.3,1544,17687,0.00,2.58,26.55,0.723,4,0.000,0.051,3228,3717,1258
$GC,17749,1.57,347.9,113.9,9.2,1561,17756,0.00,2.38,0.00,0.000,6,0.000,0.033,3228,2327,1256
$GC,18095,1.68,367.2,86.3,8.0,1622,18119,0.15,2.50,14.55,0.693,4,0.057,0.051,3272,975,1179
$GC,18233,1.68,367.2,72.3,10.6,1646,18240,0.00,2.35,0.00,0.000,6,0.000,0.032,3273,2344,1178
$GC,18577,1.72,370.6,40.4,8.8,1707,18585,0.00,2.50,2.12,0.686,4,0.000,0.048,3272,970,1167
$GC,18631,1.77,381.0,35.9,8.5,1716,18645,0.00,2.33,8.75,0.648,6,0.000,0.031,3273,2336,1124
$GC,18983,1.89,408.9,8.0,7.6,1778,19013,0.15,2.45,22.35,0.585,4,0.054,0.047,3319,976,1009
$STATE,19046,end climb,SURFACE_DEPTH_REACHED
$STATE,19046,begin surface coast
$FINISH,-0.1,1.021362
$STATE,19064,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19088,32.10,0.559,0,0,740,475.15
$SM_GC,0.85,0.00,0.00,32.10,0.000,0.000,0.559,251,2148,740,-12.21,-0.06,475.15
$IRIDIUM_FIX,1243.25,12016.50,070697,020229
$TT8_MAMPS,0.023777
$HUMID,1916
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.30
$XPDR_PINGS,427
$24V_AH,23.3,25.170
$10V_AH,10.1,12.235
$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,32.500,125.900,461.500,32.100,0.000,28.098,39.542,164.897,116.000,0.000,0.000,16.637,3620.759,11813.395,662.853,2890.092,482.179,0.000,2099.756,0.000,2831.904,0.000,68.000
$DEVICE_MAMPS,172.575,61.360,1291.628,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56560,1792
$CAP_FILE_SIZE,176507,0
$CFSIZE,260165632,247123968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,325.3,1
$GPS,130308,123907,1247.604,12017.704,40,0.9,40,-0.8