version: 66.03
glider: 122
mission: 6
dive: 156
start: 3 19 108 4 15 17
data:
$ID,122
$MISSION,6
$DIVE,156
$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,-30183.836
$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,60
$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
$GPS1,040907,1247.403,12024.003,39,1.5,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.5
$GPS2,041445,1247.403,12023.994,14,1.5,14,-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,261.1,15694,-17.4,-9.016
$D_GRID,768
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-65.43,0.000,2,0.000,0.000,254,2110,2550
$GC,91,-1.42,-146.0,3.8,-8.8,11,123,13.57,2.55,-12.88,0.000,4,0.172,0.052,2588,3555,3276
$GC,214,-1.06,-146.0,35.9,-24.7,32,222,0.43,2.30,0.00,0.000,6,0.110,0.027,2669,2167,3278
$GC,560,-0.97,-146.0,89.3,-14.6,93,567,0.12,2.45,0.00,0.000,4,0.115,0.042,2691,749,3279
$GC,590,-0.97,-146.0,93.3,-12.8,98,598,0.00,2.38,0.00,0.000,6,0.000,0.027,2691,2176,3279
$GC,935,-0.97,-146.0,131.5,-10.3,159,942,0.00,2.35,0.00,0.000,4,0.000,0.044,2691,3552,3281
$GC,982,-1.01,-146.0,136.4,-10.7,167,989,0.00,2.28,0.00,0.000,6,0.000,0.027,2692,2172,3280
$GC,1325,-1.10,-146.0,166.2,-8.0,228,1334,0.12,0.00,0.00,0.000,6,0.054,0.000,2651,2170,3282
$GC,1673,-1.10,-146.0,197.3,-8.8,289,1680,0.00,2.47,0.00,0.000,4,0.000,0.047,2651,751,3282
$GC,1726,-1.16,-146.0,201.8,-8.1,298,1733,0.00,2.40,0.00,0.000,6,0.000,0.029,2651,2183,3282
$GC,2071,-1.19,-146.0,229.7,-8.3,359,2078,0.00,2.35,0.00,0.000,4,0.000,0.046,2651,3552,3282
$GC,2170,-1.23,-146.0,238.5,-8.9,376,2177,0.00,2.22,0.00,0.000,6,0.000,0.030,2651,2212,3281
$GC,2504,-1.28,-146.0,267.2,-8.6,418,2509,0.12,2.55,0.00,0.000,4,0.056,0.049,2613,759,3280
$GC,2535,-1.28,-146.0,270.7,-11.0,420,2543,0.00,2.42,0.00,0.000,6,0.000,0.031,2613,2197,3280
$GC,2863,-1.24,-146.0,301.2,-9.5,451,2868,0.10,2.35,0.00,0.000,4,0.109,0.047,2631,3555,3279
$GC,2891,-1.24,-146.0,304.0,-9.9,453,2896,0.00,2.28,0.00,0.000,6,0.000,0.031,2631,2197,3278
$GC,3223,-1.24,-146.0,334.2,-8.7,484,3227,0.00,2.35,0.00,0.000,4,0.000,0.048,2631,3548,3276
$GC,3255,-1.24,-146.0,337.4,-9.1,486,3263,0.00,2.28,0.00,0.000,6,0.000,0.031,2631,2212,3276
$GC,3583,-1.24,-146.0,364.3,-7.8,517,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2207,3274
$GC,3899,-1.24,-146.0,390.7,-9.1,547,3903,0.00,2.60,0.00,0.000,4,0.000,0.054,2631,749,3272
$GC,3928,-1.28,-146.0,393.2,-9.0,549,3932,0.00,2.53,0.00,0.000,6,0.000,0.034,2631,2223,3271
$GC,4255,-1.28,-146.0,421.4,-8.5,579,4259,0.00,2.33,0.00,0.000,4,0.000,0.051,2631,3554,3269
$GC,4299,-1.28,-146.0,425.7,-9.0,582,4306,0.00,2.25,0.00,0.000,6,0.000,0.033,2631,2220,3269
$GC,4625,-1.31,-146.0,451.4,-7.7,613,4629,0.00,2.62,0.00,0.000,4,0.000,0.054,2631,749,3267
$GC,4699,-1.38,-146.0,457.8,-8.8,619,4704,0.12,2.50,0.00,0.000,6,0.058,0.035,2595,2201,3266
$GC,5024,-1.33,-146.0,488.0,-9.4,649,5028,0.00,2.35,0.00,0.000,4,0.000,0.053,2595,3549,3264
$GC,5092,-1.28,-146.0,494.6,-9.7,655,5097,0.15,2.28,0.00,0.000,6,0.101,0.035,2623,2211,3264
$GC,5413,-1.28,-146.0,520.2,-7.8,673,5417,0.00,2.60,0.00,0.000,4,0.000,0.056,2623,752,3262
$GC,5462,-1.32,-146.0,524.6,-7.9,675,5467,0.00,2.47,0.00,0.000,6,0.000,0.035,2623,2192,3262
$GC,5778,-1.32,-146.0,546.4,-7.1,690,5783,0.00,2.40,0.00,0.000,4,0.000,0.055,2623,3552,3260
$GC,5834,-1.36,-146.0,550.8,-7.6,692,5842,0.00,2.30,0.00,0.000,6,0.000,0.035,2622,2200,3259
$GC,6150,-1.36,-146.0,573.2,-7.7,708,6154,0.00,2.60,0.00,0.000,4,0.000,0.057,2623,746,3257
$GC,6190,-1.41,-146.0,576.6,-8.4,710,6195,0.12,2.53,0.00,0.000,6,0.059,0.036,2587,2210,3258
$GC,6519,-1.35,-146.0,606.4,-9.0,726,6524,0.12,2.38,0.00,0.000,4,0.110,0.055,2610,3554,3256
$GC,6590,-1.35,-146.0,612.7,-8.1,729,6595,0.00,2.30,0.00,0.000,6,0.000,0.035,2610,2203,3255
$GC,6912,-1.35,-146.0,635.7,-7.5,745,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3254
$GC,7222,-1.35,-146.0,661.6,-8.9,760,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3253
$GC,7530,-1.35,-146.0,687.8,-8.1,775,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3251
$GC,7840,-1.35,-146.0,711.7,-7.6,790,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3250
$GC,8150,-1.35,-146.0,735.9,-8.1,805,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3249
$GC,8461,-1.35,-146.0,760.2,-7.2,820,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,3248
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8585,-0.34,0.0,769.2,7.4,826,8707,1.08,0.00,118.68,1.207,6,0.094,0.000,2827,2381,2678
$STATE,8708,end apogee,CONTROL_FINISHED_OK
$STATE,8708,begin climb
$GC,8710,1.42,146.0,772.5,0.0,832,8841,1.77,2.53,122.32,1.160,4,0.059,0.060,3215,3713,2081
$GC,8869,1.17,146.0,761.7,14.4,839,8874,0.30,2.33,0.00,0.000,6,0.127,0.038,3164,2383,2081
$GC,9196,1.06,146.0,726.9,9.9,855,9201,0.15,2.58,0.00,0.000,4,0.123,0.058,3138,968,2080
$GC,9263,0.99,147.6,720.8,8.9,858,9267,0.00,2.42,0.00,0.000,6,0.000,0.039,3138,2348,2079
$GC,9584,0.94,150.9,691.8,8.8,874,9590,0.15,0.00,3.72,1.177,6,0.120,0.000,3112,2349,2063
$GC,9893,0.97,171.2,666.7,8.0,889,9917,0.00,2.65,17.23,1.167,4,0.000,0.059,3112,962,1979
$GC,9962,0.97,171.2,660.8,9.2,892,9967,0.00,2.45,0.00,0.000,6,0.000,0.039,3112,2348,1979
$GC,10289,0.98,173.8,633.2,8.9,908,10293,0.00,0.00,2.15,1.116,6,0.000,0.000,3111,2348,1969
$GC,10599,0.99,178.9,605.9,8.8,923,10608,0.00,2.55,4.78,1.158,4,0.000,0.058,3112,967,1947
$GC,10660,0.99,178.9,600.0,9.8,926,10664,0.00,2.40,0.00,0.000,6,0.000,0.039,3112,2335,1947
$GC,10992,1.02,196.7,571.8,8.1,942,11013,0.00,0.00,15.05,1.123,6,0.000,0.000,3112,2335,1875
$GC,11322,1.09,215.9,545.1,8.0,958,11344,0.15,0.00,16.20,1.103,6,0.067,0.000,3146,2335,1797
$GC,11650,1.09,215.9,514.1,9.5,974,11654,0.00,2.47,0.00,0.000,4,0.000,0.058,3147,969,1795
$GC,11716,1.09,215.9,507.5,9.8,977,11721,0.00,2.38,0.00,0.000,6,0.000,0.038,3146,2331,1795
$GC,12041,1.09,215.9,477.4,9.4,1003,12046,0.00,2.47,0.00,0.000,4,0.000,0.056,3147,960,1795
$GC,12108,1.09,215.9,470.5,10.1,1008,12115,0.00,2.38,0.00,0.000,6,0.000,0.037,3146,2323,1795
$GC,12434,1.09,215.9,440.6,9.1,1039,12438,0.00,2.50,0.00,0.000,4,0.000,0.056,3146,3732,1795
$GC,12497,1.09,215.9,434.5,9.9,1044,12501,0.00,2.42,0.00,0.000,6,0.000,0.038,3146,2324,1795
$GC,12821,1.09,215.9,404.3,9.1,1074,12825,0.00,2.42,0.00,0.000,4,0.000,0.057,3146,969,1795
$GC,12887,1.09,215.9,397.8,9.4,1079,12894,0.00,2.38,0.00,0.000,6,0.000,0.036,3147,2335,1795
$GC,13213,1.09,215.9,367.6,9.4,1110,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2335,1795
$GC,13531,1.09,216.2,338.7,9.0,1140,13536,0.00,2.45,0.00,0.000,4,0.000,0.054,3147,967,1795
$GC,13605,1.09,216.2,331.4,10.1,1146,13609,0.00,2.35,0.00,0.000,6,0.000,0.036,3146,2328,1795
$GC,13930,1.11,229.1,302.7,8.4,1176,13943,0.00,0.00,11.10,0.940,6,0.000,0.000,3147,2328,1742
$GC,14258,1.12,232.5,273.4,8.8,1207,14263,0.00,0.00,2.85,0.939,6,0.000,0.000,3147,2328,1730
$GC,14580,1.13,240.4,245.1,8.6,1242,14594,0.00,2.47,6.90,0.904,4,0.000,0.052,3146,960,1697
$GC,14651,1.13,240.8,238.4,9.0,1254,14658,0.00,2.38,0.00,0.000,6,0.000,0.035,3147,2332,1696
$GC,14997,1.20,260.1,209.0,8.0,1315,15020,0.00,2.55,16.30,0.834,4,0.000,0.052,3146,3719,1617
$GC,15038,1.25,263.9,205.5,8.8,1321,15047,0.15,2.42,3.12,0.853,6,0.061,0.034,3185,2311,1602
$GC,15384,1.25,263.9,170.8,9.9,1382,15390,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2311,1601
$GC,15727,1.29,287.0,140.8,7.8,1443,15751,0.00,2.50,18.48,0.763,4,0.000,0.051,3185,959,1508
$GC,15808,1.33,312.0,135.0,7.7,1456,15837,0.00,2.30,20.42,0.742,6,0.000,0.033,3185,2295,1404
$GC,16174,1.48,345.0,109.0,7.3,1520,16204,0.17,0.00,26.00,0.701,6,0.053,0.000,3235,2295,1271
$GC,16542,1.49,353.7,75.1,8.6,1585,16555,0.00,0.00,6.62,0.700,6,0.000,0.000,3235,2295,1235
$GC,16893,1.62,391.7,45.7,7.1,1647,16929,0.00,2.45,30.12,0.620,4,0.000,0.046,3235,961,1080
$GC,17044,1.74,407.2,33.9,8.2,1673,17064,0.22,2.28,12.18,0.626,6,0.044,0.029,3298,2312,1016
$STATE,17360,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
$FINISH,-0.1,1.006150
$STATE,17385,end surface coast,CONTROL_FINISHED_OK
$STATE,17385,begin surface
$SM_CCo,17406,32.80,0.558,0,0,740,475.15
$SM_GC,0.62,0.00,0.00,32.80,0.000,0.000,0.558,252,2091,740,-12.20,-1.67,475.15
$IRIDIUM_FIX,1243.25,12024.46,120697,222226
$TT8_MAMPS,0.023777
$HUMID,1901
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,464
$24V_AH,23.3,29.607
$10V_AH,10.2,14.679
$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,32.525,141.075,454.225,32.800,0.000,25.845,41.244,155.823,122.750,0.000,0.000,14.695,3633.447,10195.850,666.550,2793.805,491.002,0.000,2064.464,0.000,2748.317,0.000,49.882
$DEVICE_MAMPS,171.808,59.826,1207.258,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.857,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53498,1733
$CAP_FILE_SIZE,172106,0
$CFSIZE,260165632,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,266.0,1
$GPS,190308,090707,1247.141,12021.920,35,1.0,35,-0.8