version: 66.03
glider: 122
mission: 6
dive: 157
start: 3 19 108 9 13 11
data:
$ID,122
$MISSION,6
$DIVE,157
$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,-30197.15
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,090707,1247.141,12021.920,35,1.0,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.3
$GPS2,091239,1247.108,12021.906,12,1.4,12,-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,256.7,11895,-17.4,-9.016
$D_GRID,821
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-63.83,0.000,2,0.000,0.000,252,2092,2486
$GC,89,-1.42,-146.0,3.4,-7.5,10,127,13.52,2.55,-14.85,0.000,4,0.170,0.053,2588,3552,3276
$GC,230,-1.09,-146.0,36.1,-22.1,34,238,0.40,2.35,0.00,0.000,6,0.118,0.028,2663,2135,3277
$GC,576,-0.99,-146.0,87.1,-13.4,95,582,0.12,0.00,0.00,0.000,6,0.119,0.000,2684,2134,3279
$GC,920,-0.99,-146.0,128.5,-11.9,156,927,0.00,2.45,0.00,0.000,4,0.000,0.042,2684,3565,3281
$GC,966,-0.99,-146.0,133.8,-11.2,164,974,0.00,2.33,0.00,0.000,6,0.000,0.028,2684,2161,3281
$GC,1311,-1.08,-146.0,165.6,-8.6,225,1320,0.00,2.40,0.00,0.000,4,0.000,0.042,2684,3561,3282
$GC,1355,-1.17,-146.0,169.1,-7.7,232,1362,0.15,2.25,0.00,0.000,6,0.048,0.028,2636,2197,3282
$GC,1699,-1.17,-146.0,201.3,-10.0,293,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2197,3282
$GC,2043,-1.17,-146.0,232.3,-8.2,354,2050,0.00,2.35,0.00,0.000,4,0.000,0.044,2636,3561,3282
$GC,2106,-1.17,-146.0,237.9,-9.1,365,2112,0.00,2.22,0.00,0.000,6,0.000,0.030,2636,2225,3282
$GC,2439,-1.17,-146.0,266.5,-8.2,408,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2224,3280
$GC,2759,-1.17,-146.0,292.8,-8.1,438,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2221,3279
$GC,3076,-1.17,-146.0,320.2,-8.6,468,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2221,3277
$GC,3395,-1.17,-146.0,345.0,-6.8,498,3399,0.00,2.60,0.00,0.000,4,0.000,0.054,2636,762,3275
$GC,3450,-1.23,-146.0,349.1,-6.9,502,3456,0.00,2.47,0.00,0.000,6,0.000,0.033,2636,2215,3274
$GC,3776,-1.26,-146.0,372.7,-7.4,533,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2215,3272
$GC,4095,-1.30,-146.0,397.5,-7.6,563,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2215,3270
$GC,4413,-1.34,-146.0,421.2,-7.4,593,4415,0.10,0.00,0.00,0.000,6,0.065,0.000,2605,2216,3269
$GC,4731,-1.34,-146.0,448.2,-8.4,623,4735,0.00,2.60,0.00,0.000,4,0.000,0.054,2605,755,3267
$GC,4770,-1.34,-146.0,451.7,-9.1,626,4774,0.00,2.50,0.00,0.000,6,0.000,0.035,2605,2213,3266
$GC,5096,-1.34,-146.0,478.0,-8.2,656,5100,0.00,2.35,0.00,0.000,4,0.000,0.053,2605,3553,3264
$GC,5169,-1.34,-146.0,484.4,-8.9,662,5173,0.00,2.28,0.00,0.000,6,0.000,0.035,2605,2213,3263
$GC,5494,-1.34,-146.0,510.7,-8.5,686,5498,0.00,2.60,0.00,0.000,4,0.000,0.056,2605,753,3261
$GC,5537,-1.34,-146.0,514.9,-8.6,688,5541,0.00,2.50,0.00,0.000,6,0.000,0.035,2605,2210,3262
$GC,5865,-1.34,-146.0,541.7,-8.4,704,5869,0.00,2.58,0.00,0.000,4,0.000,0.055,2605,764,3259
$GC,5897,-1.34,-146.0,544.7,-8.8,705,5904,0.00,2.45,0.00,0.000,6,0.000,0.037,2605,2186,3259
$GC,6213,-1.34,-146.0,574.3,-9.6,721,6217,0.00,2.40,0.00,0.000,4,0.000,0.055,2605,3552,3257
$GC,6256,-1.34,-146.0,578.6,-9.8,723,6260,0.00,2.33,0.00,0.000,6,0.000,0.035,2605,2200,3257
$GC,6584,-1.34,-146.0,607.8,-8.3,739,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2197,3256
$GC,6893,-1.34,-146.0,634.0,-8.7,754,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2195,3254
$GC,7202,-1.34,-146.0,658.8,-7.5,769,7206,0.00,2.40,0.00,0.000,4,0.000,0.056,2605,3552,3253
$GC,7251,-1.34,-146.0,662.9,-8.2,771,7255,0.00,2.35,0.00,0.000,6,0.000,0.037,2605,2178,3253
$GC,7573,-1.34,-146.0,689.0,-7.8,787,7577,0.00,2.58,0.00,0.000,4,0.000,0.061,2605,739,3251
$GC,7605,-1.34,-146.0,691.7,-7.9,788,7612,0.00,2.47,0.00,0.000,6,0.000,0.036,2606,2175,3251
$GC,7922,-1.34,-146.0,715.6,-8.3,804,7926,0.00,2.45,0.00,0.000,4,0.000,0.058,2605,3555,3250
$GC,7963,-1.34,-146.0,719.0,-8.4,806,7967,0.00,2.35,0.00,0.000,6,0.000,0.037,2605,2182,3250
$GC,8290,-1.34,-146.0,743.2,-6.9,822,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2181,3248
$GC,8598,-1.34,-146.0,768.0,-9.4,837,8602,0.00,2.45,0.00,0.000,4,0.000,0.057,2605,3557,3247
$GC,8637,-1.34,-146.0,772.2,-11.4,839,8641,0.00,2.35,0.00,0.000,6,0.000,0.038,2605,2189,3247
$GC,8963,-1.34,-146.0,799.2,-6.9,855,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2188,3247
$GC,9273,-1.34,-146.0,820.6,-5.8,870,9277,0.00,2.17,0.00,0.000,3,0.000,0.057,2605,3415,3246
$STATE,9278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9278,begin apogee
$GC,9284,-0.34,0.0,821.2,5.9,870,9407,1.08,0.00,119.05,1.253,6,0.099,0.000,2823,2365,2678
$STATE,9408,end apogee,CONTROL_FINISHED_OK
$STATE,9408,begin climb
$GC,9410,1.42,146.0,824.5,0.0,876,9541,1.80,2.60,123.12,1.206,4,0.058,0.061,3217,3724,2082
$GC,9597,1.17,146.0,812.2,12.6,884,9602,0.30,2.35,0.00,0.000,6,0.118,0.040,3163,2381,2081
$GC,9913,1.06,146.0,778.9,10.6,899,9918,0.15,2.55,0.00,0.000,4,0.122,0.060,3133,970,2080
$GC,9958,1.00,146.0,774.2,10.8,901,9962,0.00,2.45,0.00,0.000,6,0.000,0.040,3133,2366,2079
$GC,10279,0.95,153.0,745.9,8.7,917,10286,0.00,0.00,5.55,1.230,6,0.000,0.000,3133,2366,2054
$GC,10588,0.92,156.0,717.5,8.9,932,10598,0.15,2.50,2.67,1.176,4,0.118,0.061,3103,3724,2042
$GC,10620,0.92,157.3,714.7,9.0,933,10624,0.00,2.42,0.00,0.000,6,0.000,0.038,3103,2333,2042
$GC,10942,0.95,174.3,689.2,8.1,949,10963,0.00,0.00,16.05,1.204,6,0.000,0.000,3103,2333,1967
$GC,11271,1.01,192.3,661.8,8.1,965,11294,0.10,2.55,15.25,1.189,4,0.079,0.059,3126,962,1893
$GC,11332,1.01,192.3,656.1,10.0,967,11340,0.00,2.47,0.00,0.000,6,0.000,0.038,3125,2347,1892
$GC,11649,1.01,192.3,626.4,9.4,983,11653,0.00,2.50,0.00,0.000,4,0.000,0.058,3126,970,1892
$GC,11680,1.01,192.3,623.0,10.2,984,11688,0.00,2.40,0.00,0.000,6,0.000,0.038,3126,2329,1892
$GC,11997,1.02,197.2,594.2,8.8,1000,12003,0.00,0.00,4.20,1.170,6,0.000,0.000,3126,2330,1874
$GC,12306,1.03,204.4,567.5,8.6,1015,12314,0.00,0.00,6.57,1.160,6,0.000,0.000,3126,2329,1844
$GC,12615,1.04,210.5,540.0,8.7,1030,12625,0.00,2.50,5.53,1.142,4,0.000,0.058,3126,967,1818
$GC,12676,1.04,210.5,534.4,9.4,1033,12680,0.00,2.40,0.00,0.000,6,0.000,0.038,3126,2337,1818
$GC,13002,1.04,210.5,504.4,9.5,1049,13006,0.00,2.47,0.00,0.000,4,0.000,0.058,3126,3726,1818
$GC,13045,1.04,210.5,499.9,10.6,1051,13049,0.00,2.42,0.00,0.000,6,0.000,0.038,3126,2339,1818
$GC,13372,1.05,217.1,470.4,8.7,1081,13385,0.00,2.50,5.57,1.093,4,0.000,0.058,3126,966,1792
$GC,13464,1.05,217.1,461.6,9.7,1089,13468,0.00,2.38,0.00,0.000,6,0.000,0.037,3126,2329,1792
$GC,13788,1.06,220.7,433.4,8.8,1119,13800,0.00,2.55,3.47,1.062,4,0.000,0.058,3126,3723,1778
$GC,13845,1.06,220.7,427.9,9.6,1124,13849,0.00,2.40,0.00,0.000,6,0.000,0.037,3126,2334,1778
$GC,14170,1.09,220.7,399.4,9.0,1154,14174,0.00,2.45,0.00,0.000,4,0.000,0.057,3126,966,1778
$GC,14258,1.09,220.7,391.1,9.2,1161,14265,0.00,2.38,0.00,0.000,6,0.000,0.036,3126,2321,1778
$GC,14585,1.16,236.9,365.3,8.2,1192,14604,0.15,0.00,14.00,0.988,6,0.064,0.000,3163,2320,1712
$GC,14921,1.16,236.9,333.5,10.1,1224,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2320,1711
$GC,15242,1.14,242.2,302.9,8.7,1254,15254,0.00,2.45,4.72,0.968,4,0.000,0.054,3163,972,1690
$GC,15322,1.14,242.2,294.8,9.9,1261,15326,0.00,2.33,0.00,0.000,6,0.000,0.035,3163,2312,1690
$GC,15646,1.14,242.2,263.7,9.9,1291,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2312,1690
$GC,15975,1.15,251.1,233.6,8.6,1337,15988,0.00,2.50,7.43,0.898,4,0.000,0.052,3163,963,1653
$GC,16073,1.15,251.1,224.6,9.0,1354,16080,0.00,2.33,0.00,0.000,6,0.000,0.035,3163,2316,1653
$GC,16417,1.17,261.5,193.8,8.5,1415,16431,0.00,2.58,8.82,0.854,4,0.000,0.052,3163,3727,1612
$GC,16448,1.17,261.5,190.8,9.3,1420,16455,0.00,2.45,0.00,0.000,6,0.000,0.034,3163,2299,1612
$GC,16792,1.25,283.5,161.2,7.9,1481,16812,0.00,0.00,17.73,0.787,6,0.000,0.000,3163,2298,1521
$GC,17150,1.43,330.3,134.8,6.6,1544,17192,0.20,0.00,37.70,0.728,6,0.051,0.000,3217,2297,1330
$GC,17531,1.49,349.7,103.6,8.0,1611,17556,0.00,2.42,15.05,0.710,4,0.000,0.048,3217,970,1250
$GC,17636,1.56,356.8,94.3,8.7,1629,17649,0.12,2.28,5.38,0.733,6,0.060,0.031,3252,2304,1223
$GC,17987,1.56,356.8,59.5,9.3,1691,17993,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2305,1222
$GC,18331,1.64,382.8,29.0,7.7,1752,18361,0.00,2.42,20.85,0.611,4,0.000,0.046,3252,972,1116
$GC,18454,1.72,395.6,19.2,8.4,1773,18473,0.12,2.22,9.77,0.612,6,0.054,0.028,3290,2293,1063
$STATE,18646,end climb,SURFACE_DEPTH_REACHED
$STATE,18646,begin surface coast
$FINISH,-0.1,1.021193
$STATE,18670,end surface coast,CONTROL_FINISHED_OK
$STATE,18670,begin surface
$SM_CCo,18692,38.60,0.551,0,0,740,475.15
$SM_GC,0.65,0.00,0.00,38.60,0.000,0.000,0.551,249,2115,740,-12.22,-0.99,475.15
$IRIDIUM_FIX,1243.25,12024.46,130697,040441
$TT8_MAMPS,0.023777
$HUMID,1881
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,457
$24V_AH,23.3,29.776
$10V_AH,10.1,14.770
$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,31.875,145.425,448.500,38.600,0.000,22.325,49.436,150.257,122.500,0.000,0.000,12.688,3507.549,11479.880,666.962,2927.987,485.486,0.000,2130.800,0.000,2872.746,0.000,60.756
$DEVICE_MAMPS,170.274,61.360,1253.278,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56652,1811
$CAP_FILE_SIZE,178783,0
$CFSIZE,260165632,244813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,123.4,1
$GPS,190308,142638,1246.532,12019.655,41,1.7,41,-0.8