version: 66.03
glider: 122
mission: 6
dive: 153
start: 3 18 108 11 13 43
data:
$ID,122
$MISSION,6
$DIVE,153
$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,-30137.172
$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,70
$R_STBD_OVSHOOT,23
$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
$GPS1,110726,1248.565,12031.066,41,1.7,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.5
$GPS2,111309,1248.556,12031.076,13,1.1,13,-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,263.6,28655,-17.4,-9.016
$D_GRID,837
$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,18,-1.42,-146.0,0.0,0.0,0,80,0.00,0.00,-59.45,0.000,2,0.000,0.000,249,2101,2350
$GC,83,-1.42,-146.0,3.0,-7.1,9,122,13.60,2.53,-17.50,0.000,4,0.172,0.050,2588,3570,3275
$GC,140,-0.97,-146.0,17.8,-23.0,18,148,0.55,2.33,0.00,0.000,6,0.115,0.027,2692,2171,3276
$GC,485,-0.91,-146.0,71.0,-12.6,79,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2171,3278
$GC,828,-0.91,-146.0,112.5,-11.5,140,835,0.00,2.40,0.00,0.000,4,0.000,0.041,2691,3571,3279
$GC,903,-0.91,-146.0,121.0,-10.7,153,910,0.00,2.33,0.00,0.000,6,0.000,0.027,2692,2166,3280
$GC,1250,-0.97,-146.0,155.0,-9.7,214,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2164,3281
$GC,1593,-1.09,-146.0,183.3,-7.6,275,1600,0.12,2.40,0.00,0.000,4,0.053,0.042,2651,3563,3281
$GC,1657,-1.09,-146.0,189.2,-9.2,286,1663,0.00,2.30,0.00,0.000,6,0.000,0.028,2650,2178,3282
$GC,2002,-1.12,-146.0,218.6,-8.7,347,2009,0.00,2.40,0.00,0.000,4,0.000,0.044,2650,3571,3281
$GC,2043,-1.17,-146.0,222.3,-9.0,354,2050,0.00,2.28,0.00,0.000,6,0.000,0.029,2650,2203,3282
$GC,2387,-1.21,-146.0,250.1,-8.2,415,2392,0.00,2.55,0.00,0.000,4,0.000,0.049,2650,753,3280
$GC,2420,-1.27,-146.0,252.9,-8.6,417,2427,0.00,2.47,0.00,0.000,6,0.000,0.031,2650,2218,3280
$GC,2747,-1.32,-146.0,279.8,-8.9,448,2749,0.15,0.00,0.00,0.000,6,0.052,0.000,2606,2218,3279
$GC,3064,-1.27,-146.0,311.5,-10.0,478,3069,0.10,2.60,0.00,0.000,4,0.108,0.051,2624,750,3277
$GC,3103,-1.27,-146.0,315.5,-10.1,481,3108,0.00,2.50,0.00,0.000,6,0.000,0.032,2624,2222,3277
$GC,3429,-1.27,-146.0,343.9,-8.4,511,3433,0.00,2.60,0.00,0.000,4,0.000,0.051,2625,753,3274
$GC,3473,-1.27,-146.0,347.7,-8.8,514,3479,0.00,2.45,0.00,0.000,6,0.000,0.032,2624,2195,3274
$GC,3798,-1.27,-146.0,375.8,-8.6,545,3802,0.00,2.35,0.00,0.000,4,0.000,0.049,2624,3555,3272
$GC,3836,-1.27,-146.0,379.5,-9.6,548,3844,0.00,2.35,0.00,0.000,6,0.000,0.032,2624,2182,3272
$GC,4163,-1.27,-146.0,406.9,-8.3,579,4167,0.00,2.40,0.00,0.000,4,0.000,0.050,2624,3548,3270
$GC,4203,-1.27,-146.0,410.6,-8.5,582,4207,0.00,2.33,0.00,0.000,6,0.000,0.033,2624,2179,3269
$GC,4529,-1.27,-146.0,437.3,-8.7,612,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2177,3268
$GC,4846,-1.27,-146.0,464.4,-8.6,642,4850,0.00,2.42,0.00,0.000,4,0.000,0.051,2624,3551,3266
$GC,4878,-1.27,-146.0,467.3,-8.9,644,4885,0.00,2.30,0.00,0.000,6,0.000,0.034,2624,2194,3265
$GC,5204,-1.27,-146.0,493.8,-8.3,675,5208,0.00,2.40,0.00,0.000,4,0.000,0.052,2624,3552,3263
$GC,5243,-1.27,-146.0,497.3,-8.8,678,5247,0.00,2.30,0.00,0.000,6,0.000,0.035,2624,2202,3262
$GC,5571,-1.27,-146.0,522.4,-7.6,695,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2198,3260
$GC,5879,-1.27,-146.0,546.6,-8.2,710,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2198,3258
$GC,6191,-1.30,-146.0,570.9,-7.7,725,6195,0.00,2.38,0.00,0.000,4,0.000,0.054,2624,3545,3257
$GC,6258,-1.34,-146.0,576.6,-8.6,728,6262,0.00,2.28,0.00,0.000,6,0.000,0.035,2624,2210,3256
$GC,6579,-1.37,-146.0,599.3,-7.0,744,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2209,3256
$GC,6889,-1.40,-146.0,620.8,-7.1,759,6891,0.12,0.00,0.00,0.000,6,0.061,0.000,2590,2209,3254
$GC,7198,-1.36,-146.0,646.5,-8.5,774,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2208,3252
$GC,7507,-1.32,-146.0,671.8,-8.1,789,7508,0.15,0.00,0.00,0.000,6,0.106,0.000,2618,2207,3251
$GC,7817,-1.32,-146.0,694.4,-7.0,804,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,3249
$GC,8125,-1.32,-146.0,716.9,-7.5,819,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,3248
$GC,8435,-1.32,-146.0,740.0,-7.7,834,8439,0.00,2.38,0.00,0.000,4,0.000,0.058,2618,3544,3247
$GC,8473,-1.32,-146.0,743.4,-8.8,835,8480,0.00,2.30,0.00,0.000,6,0.000,0.037,2618,2204,3247
$GC,8789,-1.35,-146.0,768.1,-7.6,851,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,3246
$GC,9098,-1.38,-146.0,791.7,-7.7,866,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,3245
$GC,9409,-1.42,-146.0,816.5,-7.8,881,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,3245
$STATE,9673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9673,begin apogee
$GC,9678,-0.34,0.0,838.6,8.4,894,9801,1.02,0.00,119.68,1.269,6,0.095,0.000,2825,2376,2678
$STATE,9802,end apogee,CONTROL_FINISHED_OK
$STATE,9802,begin climb
$GC,9804,1.42,146.0,842.8,0.0,900,9936,1.80,2.50,124.45,1.220,4,0.061,0.062,3216,3712,2082
$GC,9981,1.18,146.0,831.1,13.2,908,9985,0.28,2.35,0.00,0.000,6,0.127,0.041,3168,2380,2081
$GC,10308,1.07,146.0,797.9,9.9,924,10313,0.15,2.58,0.00,0.000,4,0.124,0.060,3138,970,2080
$GC,10357,1.00,146.0,793.0,9.5,926,10361,0.00,2.47,0.00,0.000,6,0.000,0.041,3138,2367,2080
$GC,10679,0.94,146.0,763.7,9.2,942,10684,0.15,2.55,0.00,0.000,4,0.120,0.058,3108,970,2079
$GC,10722,0.96,158.6,759.7,8.4,944,10740,0.00,2.47,10.45,1.244,6,0.000,0.040,3108,2372,2031
$GC,11049,0.98,167.7,732.0,8.6,960,11058,0.00,0.00,7.90,1.240,6,0.000,0.000,3108,2371,1993
$GC,11357,1.01,184.7,705.8,8.2,975,11379,0.00,2.65,14.52,1.216,4,0.000,0.060,3108,962,1925
$GC,11412,1.01,184.7,701.0,9.1,977,11417,0.00,2.50,0.00,0.000,6,0.000,0.041,3108,2349,1924
$GC,11735,1.06,194.8,673.6,8.5,993,11746,0.12,0.00,8.98,1.216,6,0.072,0.000,3137,2350,1883
$GC,12043,1.06,194.8,643.6,9.2,1008,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2350,1883
$GC,12352,1.06,194.8,614.7,9.4,1023,12356,0.00,2.53,0.00,0.000,4,0.000,0.059,3137,960,1882
$GC,12396,1.06,194.8,610.3,10.2,1025,12400,0.00,2.45,0.00,0.000,6,0.000,0.039,3137,2358,1882
$GC,12723,1.06,194.8,580.7,9.1,1041,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2358,1882
$GC,13032,1.06,194.8,552.4,9.1,1056,13036,0.00,2.53,0.00,0.000,4,0.000,0.058,3138,961,1882
$GC,13081,1.06,194.8,547.5,9.8,1058,13085,0.00,2.42,0.00,0.000,6,0.000,0.038,3137,2352,1881
$GC,13402,1.07,200.7,518.6,8.7,1074,13412,0.00,2.55,4.88,1.130,4,0.000,0.057,3137,966,1859
$GC,13440,1.07,200.7,514.9,10.0,1076,13444,0.00,2.42,0.00,0.000,6,0.000,0.038,3137,2347,1858
$GC,13761,1.08,208.4,486.4,8.6,1098,13771,0.00,0.00,6.95,1.105,6,0.000,0.000,3138,2347,1828
$GC,14092,1.10,215.7,457.0,8.6,1129,14100,0.00,0.00,6.40,1.085,6,0.000,0.000,3138,2346,1798
$GC,14418,1.12,228.9,428.4,8.3,1160,14439,0.00,2.58,11.68,1.040,4,0.000,0.056,3137,974,1743
$GC,14462,1.12,228.9,424.3,10.0,1164,14466,0.00,2.42,0.00,0.000,6,0.000,0.038,3137,2352,1742
$GC,14786,1.12,228.9,395.2,9.2,1194,14790,0.00,2.50,0.00,0.000,4,0.000,0.055,3137,962,1743
$GC,14825,1.12,228.9,391.2,10.4,1197,14830,0.00,2.38,0.00,0.000,6,0.000,0.037,3138,2330,1742
$GC,15149,1.12,228.9,361.2,9.3,1227,15154,0.00,2.45,0.00,0.000,4,0.000,0.055,3137,966,1742
$GC,15189,1.12,228.9,357.6,9.7,1230,15193,0.00,2.33,0.00,0.000,6,0.000,0.036,3137,2310,1742
$GC,15513,1.14,239.1,330.4,8.5,1260,15528,0.00,2.60,8.50,0.976,4,0.000,0.057,3138,3723,1703
$GC,15557,1.14,239.1,326.3,9.7,1264,15561,0.00,2.42,0.00,0.000,6,0.000,0.036,3138,2317,1703
$GC,15883,1.20,253.4,299.3,8.3,1294,15905,0.12,2.53,12.25,0.930,4,0.063,0.055,3174,964,1643
$GC,15967,1.17,253.4,290.7,10.7,1301,15973,0.00,2.35,0.00,0.000,6,0.000,0.035,3174,2320,1643
$GC,16293,1.17,253.4,258.7,9.7,1332,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2320,1643
$GC,16622,1.17,253.4,226.0,10.1,1383,16629,0.00,2.42,0.00,0.000,4,0.000,0.052,3174,958,1643
$GC,16697,1.17,253.4,218.4,9.5,1396,16704,0.00,2.33,0.00,0.000,6,0.000,0.035,3174,2311,1643
$GC,17042,1.18,262.3,185.7,8.6,1457,17054,0.00,0.00,7.47,0.854,6,0.000,0.000,3174,2311,1608
$GC,17392,1.27,285.7,157.1,7.8,1519,17417,0.00,2.60,18.77,0.782,4,0.000,0.051,3174,3727,1513
$GC,17457,1.33,300.8,151.8,8.2,1530,17477,0.00,2.42,12.25,0.775,6,0.000,0.034,3174,2308,1451
$GC,17815,1.49,345.9,125.6,6.7,1593,17858,0.22,2.50,36.42,0.713,4,0.044,0.051,3239,960,1266
$GC,17903,1.49,345.9,116.9,10.0,1608,17910,0.00,2.30,0.00,0.000,6,0.000,0.031,3239,2298,1263
$GC,18247,1.49,345.9,83.0,9.5,1669,18253,0.00,2.50,0.00,0.000,4,0.000,0.048,3239,3730,1262
$GC,18310,1.49,345.9,76.7,9.1,1680,18317,0.00,2.42,0.00,0.000,6,0.000,0.031,3239,2292,1262
$GC,18655,1.55,349.3,47.3,8.8,1741,18661,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2292,1262
$GC,18999,1.69,387.4,20.5,7.1,1802,19035,0.15,0.00,32.33,0.588,6,0.050,0.000,3289,2292,1098
$STATE,19208,end climb,SURFACE_DEPTH_REACHED
$STATE,19208,begin surface coast
$FINISH,0.0,1.012345
$STATE,19232,end surface coast,CONTROL_FINISHED_OK
$STATE,19232,begin surface
$SM_CCo,19253,42.20,0.549,0,0,741,475.15
$SM_GC,0.72,0.00,0.00,42.20,0.000,0.000,0.549,250,2100,741,-12.21,-1.41,475.15
$IRIDIUM_FIX,1247.67,12034.32,120697,040430
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.50
$XPDR_PINGS,438
$24V_AH,23.3,29.088
$10V_AH,10.1,14.395
$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,32.175,141.875,443.875,42.200,0.000,25.155,38.841,161.509,118.000,0.000,0.000,13.203,3553.969,11999.547,656.735,2936.140,494.822,0.000,2125.680,0.000,2884.676,0.000,62.563
$DEVICE_MAMPS,171.808,62.127,1269.385,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56593,1843
$CAP_FILE_SIZE,181199,0
$CFSIZE,260165632,245149696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 26.2,1
$GPS,180308,163637,1248.802,12028.466,36,1.1,42,-0.8