version: 66.03
glider: 122
mission: 6
dive: 163
start: 3 20 108 17 55 5
data:
$ID,122
$MISSION,6
$DIVE,163
$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,-30301.082
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,174901,1246.441,12021.975,37,1.4,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.7
$GPS2,175433,1246.543,12021.937,15,1.4,15,-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,87.6,38366,-17.4,-9.016
$D_GRID,737
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-69.85,0.000,2,0.000,0.000,252,2120,2642
$GC,95,-1.42,-146.0,3.7,-8.4,11,127,13.62,2.38,-11.05,0.000,4,0.173,0.054,2589,759,3276
$GC,190,-1.17,-146.0,29.4,-20.9,27,197,0.30,2.35,0.00,0.000,6,0.105,0.027,2647,2167,3277
$GC,536,-1.03,-146.0,86.2,-14.1,88,543,0.15,2.38,0.00,0.000,4,0.098,0.042,2680,3555,3278
$GC,634,-1.03,-146.0,98.0,-11.1,105,641,0.00,2.30,0.00,0.000,6,0.000,0.027,2680,2153,3279
$GC,978,-1.03,-146.0,136.0,-10.1,166,985,0.00,2.38,0.00,0.000,4,0.000,0.041,2680,3551,3280
$GC,1031,-1.06,-146.0,141.1,-9.2,175,1038,0.00,2.25,0.00,0.000,6,0.000,0.027,2680,2187,3281
$GC,1374,-1.13,-146.0,168.6,-8.0,236,1381,0.00,2.47,0.00,0.000,4,0.000,0.045,2680,756,3282
$GC,1427,-1.23,-146.0,172.7,-8.1,245,1434,0.20,2.42,0.00,0.000,6,0.043,0.028,2620,2210,3282
$GC,1772,-1.19,-146.0,207.0,-10.2,306,1779,0.12,2.30,0.00,0.000,4,0.096,0.044,2644,3553,3282
$GC,1876,-1.22,-146.0,216.9,-9.1,324,1882,0.00,2.22,0.00,0.000,6,0.000,0.029,2644,2206,3282
$GC,2221,-1.26,-146.0,245.8,-7.9,385,2227,0.00,2.33,0.00,0.000,4,0.000,0.045,2644,3557,3281
$GC,2262,-1.29,-146.0,249.0,-8.0,392,2268,0.00,2.22,0.00,0.000,6,0.000,0.030,2644,2221,3281
$GC,2595,-1.33,-146.0,274.5,-7.8,424,2600,0.12,2.58,0.00,0.000,4,0.057,0.050,2606,755,3279
$GC,2638,-1.33,-146.0,278.8,-9.2,427,2645,0.00,2.47,0.00,0.000,6,0.000,0.031,2606,2205,3279
$GC,2965,-1.29,-146.0,309.5,-9.5,458,2969,0.00,2.33,0.00,0.000,4,0.000,0.048,2606,3551,3278
$GC,2994,-1.24,-146.0,312.5,-10.3,460,2998,0.15,2.25,0.00,0.000,6,0.100,0.031,2634,2208,3277
$GC,3318,-1.24,-146.0,338.2,-7.7,490,3322,0.00,2.35,0.00,0.000,4,0.000,0.049,2634,3552,3275
$GC,3347,-1.24,-146.0,340.5,-8.7,492,3351,0.00,2.22,0.00,0.000,6,0.000,0.032,2634,2231,3275
$GC,3673,-1.28,-146.0,365.8,-7.3,522,3677,0.00,2.62,0.00,0.000,4,0.000,0.053,2634,752,3273
$GC,3713,-1.34,-146.0,369.0,-7.7,525,3717,0.00,2.50,0.00,0.000,6,0.000,0.033,2634,2216,3273
$GC,4039,-1.37,-146.0,392.4,-8.2,555,4044,0.15,2.33,0.00,0.000,4,0.054,0.049,2587,3552,3271
$GC,4112,-1.29,-146.0,399.8,-10.8,561,4117,0.17,2.25,0.00,0.000,6,0.101,0.033,2620,2219,3270
$GC,4437,-1.29,-146.0,427.2,-8.1,591,4441,0.00,2.60,0.00,0.000,4,0.000,0.054,2620,756,3269
$GC,4481,-1.32,-146.0,430.8,-8.4,594,4488,0.00,2.50,0.00,0.000,6,0.000,0.034,2620,2214,3269
$GC,4807,-1.32,-146.0,455.3,-7.7,625,4811,0.00,2.35,0.00,0.000,4,0.000,0.053,2620,3552,3267
$GC,4839,-1.32,-146.0,458.2,-8.6,627,4847,0.00,2.28,0.00,0.000,6,0.000,0.033,2620,2204,3267
$GC,5166,-1.32,-146.0,482.1,-6.7,658,5170,0.00,2.38,0.00,0.000,4,0.000,0.052,2620,3551,3264
$GC,5251,-1.32,-146.0,488.4,-7.4,665,5255,0.00,2.22,0.00,0.000,6,0.000,0.034,2620,2239,3263
$GC,5573,-1.32,-146.0,509.9,-6.7,688,5578,0.00,2.62,0.00,0.000,4,0.000,0.055,2620,758,3262
$GC,5622,-1.36,-146.0,513.8,-7.2,690,5626,0.00,2.50,0.00,0.000,6,0.000,0.035,2620,2211,3262
$GC,5944,-1.36,-146.0,538.0,-8.1,706,5948,0.00,2.35,0.00,0.000,4,0.000,0.054,2620,3545,3260
$GC,6009,-1.36,-146.0,543.9,-8.9,709,6014,0.00,2.25,0.00,0.000,6,0.000,0.035,2620,2218,3259
$GC,6337,-1.36,-146.0,568.6,-7.2,725,6341,0.00,2.60,0.00,0.000,4,0.000,0.057,2620,762,3258
$GC,6369,-1.39,-146.0,571.1,-7.6,726,6378,0.00,2.47,0.00,0.000,6,0.000,0.035,2620,2198,3258
$GC,6685,-1.39,-146.0,596.2,-8.2,742,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2201,3256
$GC,6996,-1.39,-146.0,621.2,-7.8,757,7000,0.00,2.40,0.00,0.000,4,0.000,0.058,2620,3557,3255
$GC,7028,-1.39,-146.0,624.1,-8.4,758,7036,0.00,2.30,0.00,0.000,6,0.000,0.036,2620,2207,3255
$GC,7345,-1.43,-146.0,649.0,-7.9,774,7350,0.12,2.40,0.00,0.000,4,0.059,0.054,2584,3558,3254
$GC,7446,-1.38,-146.0,658.2,-8.7,778,7452,0.00,2.30,0.00,0.000,6,0.000,0.037,2584,2217,3254
$GC,7762,-1.33,-146.0,684.5,-8.1,794,7767,0.15,2.62,0.00,0.000,4,0.108,0.060,2615,761,3252
$GC,7817,-1.38,-146.0,688.8,-7.6,796,7824,0.00,2.53,0.00,0.000,6,0.000,0.037,2615,2218,3252
$GC,8132,-1.38,-146.0,712.0,-7.4,812,8137,0.00,2.38,0.00,0.000,4,0.000,0.059,2616,3552,3251
$GC,8177,-1.42,-146.0,715.7,-8.8,814,8181,0.00,2.25,0.00,0.000,6,0.000,0.037,2615,2232,3250
$STATE,8474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8475,begin apogee
$GC,8480,-0.34,0.0,738.5,7.9,829,8602,1.05,0.00,118.40,1.179,6,0.095,0.000,2828,2393,2678
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8605,1.42,146.0,742.6,0.0,835,8735,1.77,2.50,121.62,1.136,4,0.054,0.060,3220,3714,2082
$GC,8858,1.19,146.0,720.7,13.4,846,8863,0.30,2.33,0.00,0.000,6,0.129,0.039,3168,2383,2080
$GC,9174,1.07,146.0,688.4,10.2,861,9179,0.15,2.55,0.00,0.000,4,0.128,0.058,3143,970,2079
$GC,9246,0.99,146.0,681.7,9.2,864,9251,0.12,2.45,0.00,0.000,6,0.127,0.039,3122,2363,2079
$GC,9568,1.03,169.2,656.4,7.8,880,9592,0.00,2.65,18.52,1.146,4,0.000,0.058,3122,971,1988
$GC,9647,1.03,169.2,649.5,9.5,883,9652,0.00,2.47,0.00,0.000,6,0.000,0.038,3122,2359,1987
$GC,9968,1.03,169.2,620.4,9.4,899,9972,0.00,2.45,0.00,0.000,4,0.000,0.060,3122,3725,1987
$GC,10030,1.00,169.2,614.5,10.1,902,10034,0.00,2.33,0.00,0.000,6,0.000,0.038,3122,2376,1987
$GC,10362,1.03,187.4,586.0,8.1,918,10385,0.00,2.58,15.20,1.127,4,0.000,0.058,3122,973,1913
$GC,10463,1.05,195.9,577.2,8.6,922,10477,0.00,2.42,7.45,1.124,6,0.000,0.038,3122,2358,1879
$GC,10784,1.05,200.9,550.1,8.8,938,10793,0.00,2.55,4.10,1.118,4,0.000,0.057,3122,971,1859
$GC,10883,1.05,200.9,540.8,9.3,942,10887,0.00,2.40,0.00,0.000,6,0.000,0.038,3122,2326,1858
$GC,11205,1.05,200.9,512.4,9.1,958,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2327,1858
$GC,11519,1.06,204.4,485.0,8.8,981,11532,0.00,2.50,3.47,1.083,4,0.000,0.056,3122,975,1843
$GC,11593,1.06,204.4,477.9,9.9,987,11600,0.00,2.35,0.00,0.000,6,0.000,0.036,3122,2323,1843
$GC,11919,1.09,205.9,449.0,8.9,1018,11923,0.00,2.50,0.00,0.000,4,0.000,0.058,3122,3726,1843
$GC,11948,1.09,205.9,446.2,10.1,1020,11952,0.00,2.42,0.00,0.000,6,0.000,0.037,3122,2314,1843
$GC,12274,1.15,220.7,417.9,8.3,1050,12298,0.15,2.53,13.57,1.019,4,0.067,0.056,3163,970,1777
$GC,12372,1.11,221.9,408.2,9.0,1058,12379,0.00,2.33,0.00,0.000,6,0.000,0.036,3163,2309,1776
$GC,12698,1.07,221.9,377.8,9.7,1089,12700,0.12,0.00,0.00,0.000,6,0.110,0.000,3141,2309,1776
$GC,13017,1.10,243.1,349.5,7.9,1119,13037,0.00,0.00,18.55,0.953,6,0.000,0.000,3141,2309,1686
$GC,13354,1.14,243.2,318.4,9.0,1151,13358,0.00,2.40,0.00,0.000,4,0.000,0.054,3140,972,1684
$GC,13393,1.14,243.2,314.7,9.3,1154,13397,0.00,2.30,0.00,0.000,6,0.000,0.035,3141,2302,1684
$GC,13719,1.19,249.6,286.6,8.7,1184,13732,0.00,0.00,5.45,0.940,6,0.000,0.000,3141,2302,1659
$GC,14051,1.23,251.9,255.6,8.9,1215,14064,0.15,2.45,2.08,0.903,4,0.061,0.052,3182,969,1651
$GC,14092,1.18,251.9,251.0,11.4,1218,14099,0.00,2.30,0.00,0.000,6,0.000,0.035,3182,2298,1651
$GC,14434,1.14,251.9,216.6,10.4,1278,14442,0.15,2.38,0.00,0.000,4,0.105,0.051,3150,968,1651
$GC,14477,1.17,251.9,212.5,9.7,1285,14484,0.00,2.30,0.00,0.000,6,0.000,0.034,3150,2309,1651
$GC,14822,1.22,251.9,180.3,9.1,1346,14829,0.00,2.38,0.00,0.000,4,0.000,0.051,3150,972,1651
$GC,14853,1.28,260.7,177.6,8.6,1351,14869,0.15,2.28,7.68,0.843,6,0.054,0.033,3195,2301,1615
$GC,15207,1.28,261.9,144.0,9.0,1413,15214,0.00,2.50,0.00,0.000,4,0.000,0.051,3195,3732,1615
$GC,15242,1.28,261.9,140.6,9.5,1419,15250,0.00,2.45,0.00,0.000,6,0.000,0.034,3195,2290,1615
$GC,15586,1.41,320.0,115.9,6.1,1480,15642,0.00,2.65,47.35,0.705,4,0.000,0.048,3195,3732,1373
$GC,15694,1.49,332.0,107.7,8.4,1496,15710,0.15,2.42,9.65,0.726,6,0.057,0.032,3234,2311,1323
$GC,16049,1.53,354.9,77.1,7.8,1558,16077,0.00,2.47,17.80,0.670,4,0.000,0.049,3235,964,1229
$GC,16134,1.53,354.9,69.2,9.1,1572,16142,0.00,2.33,0.00,0.000,6,0.000,0.031,3235,2328,1228
$GC,16478,1.65,382.0,42.6,7.6,1633,16508,0.12,2.47,21.27,0.622,4,0.055,0.045,3271,3713,1120
$GC,16565,1.65,382.0,34.2,9.9,1648,16571,0.00,2.38,0.00,0.000,6,0.000,0.030,3272,2303,1118
$GC,16909,1.68,397.9,3.0,8.2,1709,16921,0.00,0.00,10.30,0.588,6,0.000,0.000,3272,2302,1054
$STATE,16925,end climb,SURFACE_DEPTH_REACHED
$STATE,16925,begin surface coast
$FINISH,-0.1,1.008319
$STATE,16949,end surface coast,CONTROL_FINISHED_OK
$STATE,16949,begin surface
$SM_CCo,16971,36.67,0.548,0,0,741,475.15
$SM_GC,0.66,0.00,0.00,36.67,0.000,0.000,0.548,253,2130,741,-12.20,-0.57,475.15
$IRIDIUM_FIX,1241.04,12018.41,140697,121253
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,475
$24V_AH,23.3,30.792
$10V_AH,10.2,15.329
$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,32.975,183.500,442.475,36.675,0.000,22.590,40.162,152.283,124.750,0.000,0.000,15.391,3552.030,9723.441,708.950,2871.089,487.615,0.000,2164.733,0.000,2818.707,0.000,44.447
$DEVICE_MAMPS,173.342,59.826,1178.879,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53489,1716
$CAP_FILE_SIZE,181601,0
$CFSIZE,260165632,244297728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 35.3,1
$GPS,200308,223938,1246.972,12024.039,29,1.1,29,-0.8