version: 66.03
glider: 122
mission: 6
dive: 211
start: 3 31 108 3 2 2
data:
$ID,122
$MISSION,6
$DIVE,211
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31112.523
$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,14.2
$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,31
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,025537,1247.714,12025.605,38,1.9,50,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.8
$GPS2,030129,1247.677,12025.602,13,3.2,32,-0.8
$SPEED_LIMITS,0.156,0.206
$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,272.9,18639,-18.6,-9.016
$D_GRID,787
$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,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,84,0.00,0.00,-60.30,0.000,2,0.000,0.000,252,2142,2486
$GC,86,-1.56,-146.0,3.7,-8.9,11,124,13.50,2.45,-15.48,0.000,4,0.174,0.054,2561,746,3347
$GC,217,-1.31,-146.0,35.5,-20.9,33,224,0.30,2.38,0.00,0.000,6,0.112,0.027,2617,2167,3348
$GC,563,-1.15,-146.0,98.4,-17.8,94,570,0.15,0.00,0.00,0.000,6,0.108,0.000,2649,2168,3350
$GC,908,-1.15,-146.0,138.7,-10.1,155,914,0.00,2.38,0.00,0.000,4,0.000,0.044,2650,3552,3352
$GC,983,-1.20,-146.0,146.5,-10.2,168,990,0.00,2.30,0.00,0.000,6,0.000,0.027,2649,2157,3352
$GC,1328,-1.29,-146.0,177.2,-8.3,229,1336,0.12,2.40,0.00,0.000,4,0.055,0.042,2610,3555,3353
$GC,1410,-1.29,-146.0,185.3,-10.1,243,1417,0.00,2.25,0.00,0.000,6,0.000,0.028,2609,2196,3353
$GC,1754,-1.29,-146.0,216.5,-9.1,304,1761,0.00,2.50,0.00,0.000,4,0.000,0.045,2609,755,3353
$GC,1790,-1.29,-146.0,220.0,-10.1,310,1797,0.00,2.45,0.00,0.000,6,0.000,0.030,2609,2214,3354
$GC,2138,-1.29,-146.0,253.1,-8.8,369,2142,0.00,2.30,0.00,0.000,4,0.000,0.046,2609,3553,3353
$GC,2178,-1.29,-146.0,256.8,-8.9,372,2182,0.00,2.28,0.00,0.000,6,0.000,0.029,2609,2187,3353
$GC,2505,-1.29,-146.0,285.5,-8.9,402,2509,0.00,2.53,0.00,0.000,4,0.000,0.048,2609,745,3351
$GC,2533,-1.33,-146.0,288.2,-9.0,404,2537,0.00,2.45,0.00,0.000,6,0.000,0.031,2609,2193,3351
$GC,2861,-1.33,-146.0,316.7,-8.4,434,2865,0.00,2.35,0.00,0.000,4,0.000,0.048,2609,3551,3349
$GC,2915,-1.33,-146.0,322.1,-9.3,438,2923,0.00,2.30,0.00,0.000,6,0.000,0.031,2609,2176,3349
$GC,3242,-1.33,-146.0,350.6,-8.7,469,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2174,3348
$GC,3559,-1.33,-146.0,379.3,-9.1,499,3563,0.00,2.40,0.00,0.000,4,0.000,0.048,2609,3549,3346
$GC,3621,-1.33,-146.0,385.3,-9.9,504,3625,0.00,2.25,0.00,0.000,6,0.000,0.032,2609,2208,3346
$GC,3953,-1.36,-146.0,414.2,-8.3,535,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2205,3344
$GC,4271,-1.40,-146.0,441.3,-8.9,565,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2204,3342
$GC,4589,-1.43,-146.0,469.2,-8.5,595,4593,0.00,2.60,0.00,0.000,4,0.000,0.053,2609,746,3340
$GC,4610,-1.48,-146.0,471.4,-9.0,596,4618,0.12,2.53,0.00,0.000,6,0.057,0.034,2572,2220,3339
$GC,4934,-1.43,-146.0,502.2,-9.6,626,4938,0.00,2.33,0.00,0.000,4,0.000,0.051,2572,3551,3338
$GC,4967,-1.39,-146.0,505.6,-9.6,627,4975,0.15,2.22,0.00,0.000,6,0.104,0.033,2599,2232,3338
$GC,5285,-1.39,-146.0,532.3,-8.7,643,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2231,3336
$GC,5592,-1.39,-146.0,559.8,-9.1,658,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2231,3334
$GC,5902,-1.39,-146.0,587.1,-8.8,673,5906,0.00,2.33,0.00,0.000,4,0.000,0.052,2599,3549,3332
$GC,5923,-1.39,-146.0,589.2,-8.9,674,5927,0.00,2.22,0.00,0.000,6,0.000,0.034,2599,2239,3332
$GC,6250,-1.39,-146.0,616.6,-8.4,690,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2237,3330
$GC,6561,-1.39,-146.0,640.8,-7.8,705,6565,0.00,2.65,0.00,0.000,4,0.000,0.056,2599,753,3329
$GC,6600,-1.43,-146.0,644.5,-9.1,707,6605,0.00,2.60,0.00,0.000,6,0.000,0.036,2599,2259,3329
$GC,6930,-1.43,-146.0,671.5,-8.3,723,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2260,3327
$GC,7236,-1.43,-146.0,696.8,-8.3,738,7241,0.00,2.70,0.00,0.000,4,0.000,0.056,2599,751,3326
$GC,7280,-1.49,-146.0,700.8,-8.7,740,7285,0.00,2.58,0.00,0.000,6,0.000,0.037,2599,2243,3325
$GC,7602,-1.52,-146.0,725.2,-7.8,756,7604,0.12,0.00,0.00,0.000,6,0.060,0.000,2566,2244,3324
$GC,7911,-1.48,-146.0,753.3,-9.4,771,7915,0.00,2.67,0.00,0.000,4,0.000,0.057,2566,750,3323
$GC,7943,-1.45,-146.0,756.6,-9.6,772,7951,0.12,2.55,0.00,0.000,6,0.115,0.038,2588,2228,3323
$GC,8259,-1.45,-146.0,783.0,-8.7,788,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2229,3322
$STATE,8318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8318,begin apogee
$GC,8324,-0.35,0.0,788.4,8.6,791,8448,1.17,0.00,119.97,1.216,6,0.096,0.000,2825,2381,2748
$STATE,8449,end apogee,CONTROL_FINISHED_OK
$STATE,8449,begin climb
$GC,8451,1.56,146.0,792.9,0.0,797,8584,1.92,2.53,123.55,1.175,4,0.056,0.059,3248,3719,2152
$GC,8617,1.26,146.0,785.7,12.5,804,8622,0.38,2.33,0.00,0.000,6,0.134,0.039,3183,2385,2151
$GC,8933,1.14,147.9,756.5,8.9,819,8938,0.15,2.58,0.00,0.000,4,0.126,0.059,3153,969,2149
$GC,8978,1.09,162.3,752.5,8.4,821,8996,0.00,2.45,13.35,1.191,6,0.000,0.039,3153,2365,2086
$GC,9304,1.04,163.7,723.4,9.0,837,9308,0.00,2.55,0.00,0.000,4,0.000,0.058,3154,960,2085
$GC,9344,0.99,163.7,719.6,9.6,839,9349,0.17,2.50,0.00,0.000,6,0.114,0.039,3122,2384,2084
$GC,9671,1.04,193.1,693.5,7.7,855,9699,0.00,0.00,25.90,1.172,6,0.000,0.000,3122,2384,1960
$GC,10002,1.13,217.0,666.8,7.9,871,10029,0.12,2.67,20.05,1.159,4,0.075,0.058,3150,975,1863
$GC,10085,1.13,217.0,658.8,10.1,874,10092,0.00,2.47,0.00,0.000,6,0.000,0.038,3151,2385,1862
$GC,10401,1.13,217.0,627.9,10.1,890,10405,0.00,2.58,0.00,0.000,4,0.000,0.058,3151,966,1861
$GC,10434,1.13,217.0,624.4,10.3,891,10441,0.00,2.45,0.00,0.000,6,0.000,0.039,3151,2361,1861
$GC,10750,1.13,217.0,592.9,9.9,907,10754,0.00,2.53,0.00,0.000,4,0.000,0.058,3151,970,1860
$GC,10789,1.13,217.0,589.1,10.2,909,10793,0.00,2.40,0.00,0.000,6,0.000,0.038,3151,2342,1859
$GC,11116,1.13,217.0,557.9,9.3,925,11121,0.00,2.50,0.00,0.000,4,0.000,0.058,3151,966,1860
$GC,11171,1.13,217.0,552.5,10.0,927,11179,0.00,2.35,0.00,0.000,6,0.000,0.038,3151,2310,1860
$GC,11488,1.15,233.5,525.8,8.3,943,11511,0.00,2.53,13.23,1.102,4,0.000,0.058,3151,972,1796
$GC,11534,1.15,233.5,521.7,9.9,945,11538,0.00,2.33,0.00,0.000,6,0.000,0.038,3150,2296,1795
$GC,11852,1.16,236.9,493.5,8.9,963,11865,0.00,2.62,3.20,1.082,4,0.000,0.058,3150,3726,1782
$GC,11888,1.16,236.9,490.1,10.2,966,11892,0.00,2.50,0.00,0.000,6,0.000,0.038,3151,2288,1782
$GC,12216,1.26,275.9,463.5,7.3,996,12255,0.12,2.45,33.30,1.019,4,0.068,0.058,3182,969,1623
$GC,12277,1.26,275.9,457.6,10.0,1001,12284,0.00,2.30,0.00,0.000,6,0.000,0.037,3182,2278,1621
$GC,12605,1.26,275.9,427.3,9.8,1032,12609,0.00,2.38,0.00,0.000,4,0.000,0.058,3182,966,1619
$GC,12660,1.26,275.9,421.5,10.1,1036,12667,0.00,2.22,0.00,0.000,6,0.000,0.037,3181,2248,1619
$GC,12986,1.26,275.9,390.0,9.6,1067,12991,0.00,2.65,0.00,0.000,4,0.000,0.057,3182,3732,1618
$GC,13026,1.26,275.9,385.6,9.9,1070,13030,0.00,2.60,0.00,0.000,6,0.000,0.038,3182,2233,1618
$GC,13350,1.26,275.9,353.4,10.2,1100,13354,0.00,2.28,0.00,0.000,4,0.000,0.057,3182,961,1618
$GC,13390,1.26,275.9,349.3,10.4,1103,13394,0.00,2.20,0.00,0.000,6,0.000,0.037,3182,2230,1618
$GC,13714,1.26,275.9,318.1,9.2,1133,13719,0.00,2.65,0.00,0.000,4,0.000,0.054,3182,3726,1618
$GC,13742,1.26,275.9,315.4,9.6,1135,13746,0.00,2.60,0.00,0.000,6,0.000,0.038,3182,2223,1618
$GC,14066,1.26,275.9,285.2,9.2,1165,14070,0.00,2.25,0.00,0.000,4,0.000,0.057,3182,962,1618
$GC,14099,1.26,275.9,282.1,9.6,1167,14106,0.00,2.22,0.00,0.000,6,0.000,0.035,3182,2237,1618
$GC,14426,1.27,284.9,253.1,8.6,1198,14439,0.00,2.38,7.10,0.912,4,0.000,0.054,3182,962,1585
$GC,14468,1.27,284.9,249.0,9.8,1202,14475,0.00,2.17,0.00,0.000,6,0.000,0.035,3182,2215,1585
$GC,14813,1.33,291.4,219.1,8.7,1263,14827,0.00,2.72,5.70,0.883,4,0.000,0.054,3182,3729,1560
$GC,14890,1.36,291.4,211.8,9.6,1276,14897,0.00,2.62,0.00,0.000,6,0.000,0.037,3182,2213,1559
$GC,15235,1.43,295.9,181.7,8.8,1337,15250,0.15,2.30,4.00,0.853,4,0.061,0.054,3222,963,1540
$GC,15262,1.43,295.9,179.1,9.8,1341,15269,0.00,2.25,0.00,0.000,6,0.000,0.035,3223,2263,1540
$GC,15608,1.50,336.8,149.2,7.2,1402,15647,0.00,0.00,33.47,0.755,6,0.000,0.000,3222,2264,1374
$GC,15984,1.60,351.4,120.4,8.4,1468,16005,0.15,2.65,11.43,0.752,4,0.061,0.050,3264,3720,1315
$GC,16157,1.60,351.4,103.6,9.3,1498,16165,0.00,2.55,0.00,0.000,6,0.000,0.034,3265,2234,1313
$GC,16503,1.73,388.9,79.8,7.3,1559,16537,0.00,0.00,30.15,0.668,6,0.000,0.000,3264,2232,1161
$GC,16874,1.86,425.7,50.6,7.4,1624,16910,0.17,2.35,29.73,0.626,4,0.055,0.049,3317,957,1011
$GC,16967,1.86,425.7,42.0,9.6,1639,16974,0.00,2.33,0.00,0.000,6,0.000,0.031,3317,2319,1009
$GC,17312,1.92,437.5,12.5,8.5,1700,17326,0.00,2.47,8.77,0.604,4,0.000,0.045,3317,960,964
$GC,17418,1.96,437.5,2.8,9.1,1718,17425,0.00,2.17,0.00,0.000,6,0.000,0.028,3317,2251,962
$STATE,17429,end climb,SURFACE_DEPTH_REACHED
$STATE,17429,begin surface coast
$FINISH,0.0,1.021182
$STATE,17453,end surface coast,CONTROL_FINISHED_OK
$STATE,17453,begin surface
$SM_CCo,17475,18.73,0.572,0,0,811,475.15
$SM_GC,0.62,0.00,0.00,18.73,0.000,0.000,0.572,251,2106,811,-12.21,-1.22,475.15
$IRIDIUM_FIX,1243.25,12026.36,240697,222226
$TT8_MAMPS,0.02301
$HUMID,1970
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.70
$XPDR_PINGS,382
$24V_AH,23.3,39.004
$10V_AH,10.1,19.740
$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,32.600,171.000,482.900,18.725,0.000,29.398,36.388,148.888,102.750,0.000,0.000,33.555,3583.647,10242.876,692.647,2815.583,516.981,0.000,2122.183,0.000,2746.310,0.000,53.512
$DEVICE_MAMPS,174.109,59.059,1216.462,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1156.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53547,1724
$CAP_FILE_SIZE,176536,0
$CFSIZE,260165632,240287744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,174.6,1
$GPS,310308,075455,1247.457,12023.900,24,1.0,42,-0.8