version: 66.03
glider: 122
mission: 6
dive: 160
start: 3 20 108 2 0 18
data:
$ID,122
$MISSION,6
$DIVE,160
$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,-30239.568
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,015355,1245.300,12015.735,41,0.9,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.4
$GPS2,015945,1245.401,12015.726,10,1.8,10,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,87.8,49778,-17.4,-9.016
$D_GRID,823
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-63.00,0.000,2,0.000,0.000,250,2127,2463
$GC,87,-1.42,-146.0,3.5,-8.3,10,125,13.62,2.40,-15.02,0.000,4,0.173,0.051,2588,760,3276
$GC,188,-1.16,-146.0,28.9,-22.4,27,196,0.32,2.35,0.00,0.000,6,0.117,0.027,2649,2167,3277
$GC,534,-1.02,-146.0,89.2,-16.0,88,541,0.15,2.38,0.00,0.000,4,0.104,0.043,2681,3555,3278
$GC,648,-1.02,-146.0,104.2,-11.6,108,655,0.00,2.22,0.00,0.000,6,0.000,0.027,2681,2203,3279
$GC,992,-1.02,-146.0,142.4,-9.4,169,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2201,3281
$GC,1334,-1.09,-146.0,171.7,-7.1,230,1340,0.00,2.30,0.00,0.000,4,0.000,0.043,2681,3548,3281
$GC,1403,-1.19,-146.0,176.4,-6.6,242,1410,0.17,2.20,0.00,0.000,6,0.046,0.028,2628,2211,3282
$GC,1747,-1.19,-146.0,208.6,-9.6,303,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2209,3282
$GC,2090,-1.19,-146.0,240.7,-8.6,364,2097,0.00,2.30,0.00,0.000,4,0.000,0.045,2628,3547,3281
$GC,2125,-1.19,-146.0,244.1,-9.4,370,2132,0.00,2.20,0.00,0.000,6,0.000,0.031,2628,2226,3281
$GC,2460,-1.19,-146.0,274.2,-8.9,407,2464,0.00,2.30,0.00,0.000,4,0.000,0.047,2628,3556,3280
$GC,2487,-1.19,-146.0,276.9,-10.0,409,2491,0.00,2.22,0.00,0.000,6,0.000,0.031,2627,2224,3279
$GC,2813,-1.19,-146.0,304.8,-9.9,439,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2219,3278
$GC,3130,-1.19,-146.0,332.9,-8.4,469,3134,0.00,2.33,0.00,0.000,4,0.000,0.049,2627,3555,3276
$GC,3163,-1.19,-146.0,336.0,-8.9,471,3170,0.00,2.22,0.00,0.000,6,0.000,0.032,2628,2231,3275
$GC,3489,-1.19,-146.0,362.6,-8.0,502,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2228,3273
$GC,3806,-1.19,-146.0,387.5,-7.6,532,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2228,3271
$GC,4125,-1.19,-146.0,413.4,-7.9,562,4129,0.00,2.33,0.00,0.000,4,0.000,0.051,2627,3554,3269
$GC,4176,-1.19,-146.0,417.8,-8.8,566,4180,0.00,2.22,0.00,0.000,6,0.000,0.033,2627,2239,3269
$GC,4502,-1.19,-146.0,444.1,-8.1,596,4506,0.00,2.62,0.00,0.000,4,0.000,0.055,2627,764,3267
$GC,4545,-1.24,-146.0,448.3,-9.5,599,4552,0.00,2.50,0.00,0.000,6,0.000,0.035,2627,2224,3267
$GC,4874,-1.28,-146.0,475.1,-7.8,630,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2224,3265
$GC,5201,-1.31,-146.0,500.5,-8.0,661,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2225,3263
$GC,5508,-1.35,-146.0,525.3,-8.3,676,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2225,3260
$GC,5820,-1.39,-146.0,550.4,-8.0,691,5821,0.12,0.00,0.00,0.000,6,0.058,0.000,2592,2225,3259
$GC,6127,-1.35,-146.0,578.3,-8.7,706,6131,0.00,2.62,0.00,0.000,4,0.000,0.057,2592,755,3257
$GC,6168,-1.31,-146.0,581.8,-8.9,708,6173,0.12,2.53,0.00,0.000,6,0.114,0.036,2613,2222,3257
$GC,6496,-1.31,-146.0,607.1,-7.9,724,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2223,3256
$GC,6803,-1.31,-146.0,632.3,-8.1,739,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2224,3255
$GC,7114,-1.31,-146.0,656.6,-8.1,754,7118,0.00,2.62,0.00,0.000,4,0.000,0.058,2614,757,3253
$GC,7135,-1.31,-146.0,658.6,-8.7,755,7139,0.00,2.55,0.00,0.000,6,0.000,0.037,2614,2233,3253
$GC,7455,-1.31,-146.0,682.6,-7.1,771,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2234,3252
$GC,7765,-1.31,-146.0,706.8,-7.8,786,7769,0.00,2.65,0.00,0.000,4,0.000,0.058,2614,758,3251
$GC,7814,-1.35,-146.0,711.2,-8.8,788,7819,0.00,2.53,0.00,0.000,6,0.000,0.037,2614,2226,3250
$GC,8130,-1.35,-146.0,736.3,-7.7,803,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2227,3249
$GC,8440,-1.35,-146.0,760.3,-7.7,818,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2227,3248
$GC,8748,-1.35,-146.0,782.4,-6.8,833,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2228,3247
$GC,9059,-1.35,-146.0,803.1,-6.3,848,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2228,3246
$STATE,9364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9364,begin apogee
$GC,9370,-0.34,0.0,824.5,7.8,863,9493,1.08,0.00,119.55,1.256,6,0.098,0.000,2831,2377,2678
$STATE,9494,end apogee,CONTROL_FINISHED_OK
$STATE,9494,begin climb
$GC,9496,1.42,146.0,828.6,0.0,869,9627,1.77,2.55,123.43,1.209,4,0.057,0.062,3220,3720,2082
$GC,9659,1.16,146.0,817.3,13.0,876,9664,0.32,2.33,0.00,0.000,6,0.130,0.038,3163,2390,2081
$GC,9981,1.05,148.2,786.7,8.9,892,9986,0.15,2.58,0.00,0.000,4,0.121,0.060,3137,972,2080
$GC,10014,0.99,156.6,783.6,8.6,893,10029,0.00,2.45,8.82,1.230,6,0.000,0.039,3137,2372,2039
$GC,10352,0.94,156.6,753.8,9.4,910,10357,0.15,2.55,0.00,0.000,4,0.120,0.058,3106,972,2038
$GC,10402,0.97,173.7,749.4,8.1,912,10423,0.00,2.42,14.65,1.223,6,0.000,0.039,3107,2353,1969
$GC,10745,1.01,199.7,723.1,7.7,929,10772,0.00,2.60,21.98,1.201,4,0.000,0.060,3106,972,1863
$GC,10794,1.04,199.7,719.0,9.1,931,10799,0.12,2.45,0.00,0.000,6,0.064,0.040,3141,2348,1862
$GC,11117,1.01,199.7,688.8,9.3,947,11121,0.00,2.53,0.00,0.000,4,0.000,0.060,3141,963,1861
$GC,11166,0.97,201.8,684.0,8.9,949,11171,0.15,2.42,0.00,0.000,6,0.110,0.039,3115,2344,1861
$GC,11482,0.97,201.8,655.4,9.4,964,11486,0.00,2.50,0.00,0.000,4,0.000,0.059,3115,971,1860
$GC,11536,0.97,201.8,650.2,9.4,966,11543,0.00,2.38,0.00,0.000,6,0.000,0.039,3115,2309,1861
$GC,11852,1.00,218.7,623.7,8.2,982,11872,0.00,0.00,16.00,1.167,6,0.000,0.000,3115,2309,1786
$GC,12182,1.06,232.3,595.8,8.3,998,12204,0.00,2.55,12.07,1.151,4,0.000,0.058,3115,969,1729
$GC,12243,1.12,241.5,590.2,8.6,1000,12258,0.15,2.35,8.12,1.144,6,0.064,0.038,3156,2310,1693
$GC,12581,1.09,241.5,552.5,11.8,1017,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2309,1691
$GC,12888,1.09,241.5,517.5,10.5,1032,12892,0.00,2.42,0.00,0.000,4,0.000,0.058,3156,963,1691
$GC,12927,1.05,241.5,513.4,10.5,1033,12934,0.12,2.33,0.00,0.000,6,0.114,0.037,3134,2301,1690
$GC,13250,1.07,251.8,485.1,8.5,1057,13260,0.00,0.00,8.65,1.091,6,0.000,0.000,3134,2302,1651
$GC,13576,1.07,251.8,455.5,9.2,1088,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2301,1650
$GC,13896,1.10,253.0,425.8,9.0,1118,13900,0.00,2.40,0.00,0.000,4,0.000,0.056,3134,960,1650
$GC,13923,1.14,253.0,423.0,9.8,1120,13930,0.00,2.33,0.00,0.000,6,0.000,0.036,3134,2303,1650
$GC,14250,1.21,270.4,395.6,8.1,1151,14274,0.15,2.47,16.00,0.999,4,0.061,0.055,3179,961,1574
$GC,14320,1.16,270.4,388.1,11.0,1157,14324,0.00,2.30,0.00,0.000,6,0.000,0.036,3179,2282,1573
$GC,14646,1.12,270.4,355.2,10.4,1187,14651,0.15,2.58,0.00,0.000,4,0.107,0.055,3148,3732,1573
$GC,14689,1.12,270.4,350.6,9.6,1190,14697,0.00,2.55,0.00,0.000,6,0.000,0.037,3147,2252,1573
$GC,15016,1.12,270.4,317.6,10.1,1221,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2252,1573
$GC,15334,1.15,270.4,285.1,10.5,1251,15338,0.00,2.62,0.00,0.000,4,0.000,0.053,3147,3736,1573
$GC,15373,1.15,270.4,280.5,12.6,1254,15377,0.00,2.47,0.00,0.000,6,0.000,0.036,3147,2291,1573
$GC,15698,1.20,270.4,247.4,9.8,1286,15704,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2290,1573
$GC,16042,1.25,278.8,215.7,8.6,1347,16056,0.15,0.00,6.90,0.884,6,0.063,0.000,3189,2291,1541
$GC,16394,1.25,278.8,177.6,10.5,1409,16401,0.00,2.55,0.00,0.000,4,0.000,0.051,3189,3737,1540
$GC,16424,1.22,278.8,174.4,11.1,1414,16431,0.00,2.47,0.00,0.000,6,0.000,0.035,3189,2288,1541
$GC,16769,1.25,293.3,142.3,8.3,1475,16791,0.00,2.42,11.73,0.796,4,0.000,0.051,3189,967,1481
$GC,16832,1.31,312.2,137.5,8.1,1485,16854,0.00,2.33,15.43,0.765,6,0.000,0.033,3189,2318,1405
$GC,17187,1.46,354.2,110.7,6.9,1548,17229,0.15,2.45,34.33,0.704,4,0.055,0.048,3233,967,1231
$GC,17322,1.46,354.2,97.8,10.0,1571,17329,0.00,2.33,0.00,0.000,6,0.000,0.032,3233,2326,1228
$GC,17666,1.56,387.4,67.3,7.3,1632,17702,0.00,2.50,25.95,0.650,4,0.000,0.046,3233,3719,1097
$GC,17736,1.65,409.0,61.8,7.9,1644,17761,0.15,2.38,17.58,0.644,6,0.055,0.030,3274,2313,1010
$GC,18098,1.65,409.0,26.7,9.7,1708,18105,0.00,2.45,0.00,0.000,4,0.000,0.043,3273,3730,1006
$GC,18122,1.65,409.0,24.3,10.3,1712,18129,0.00,2.45,0.00,0.000,6,0.000,0.029,3274,2269,1005
$STATE,18352,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
$FINISH,-0.2,1.021000
$STATE,18376,end surface coast,CONTROL_FINISHED_OK
$STATE,18376,begin surface
$SM_CCo,18398,32.03,0.563,0,0,740,475.15
$SM_GC,0.80,0.00,0.00,32.03,0.000,0.000,0.563,254,2100,740,-12.19,-1.41,475.15
$IRIDIUM_FIX,1241.04,12018.41,130697,202058
$TT8_MAMPS,0.023777
$HUMID,1891
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,435
$24V_AH,23.3,30.296
$10V_AH,10.1,15.054
$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,32.550,136.500,461.175,32.025,0.000,28.988,47.815,159.668,117.000,0.000,0.000,10.943,3459.507,11349.386,671.331,2796.360,506.057,0.000,2081.328,0.000,2749.439,0.000,60.749
$DEVICE_MAMPS,172.575,62.127,1255.579,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53472,1757
$CAP_FILE_SIZE,173517,0
$CFSIZE,260165632,244555776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,340.5,1
$GPS,200308,070838,1246.079,12017.973,34,1.4,34,-0.8