version: 66.03
glider: 122
mission: 6
dive: 26
start: 2 20 108 21 34 31
data:
$ID,122
$MISSION,6
$DIVE,26
$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,330
$T_MISSION,396
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,410
$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,-27951.24
$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,28
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,212656,1248.151,12033.061,42,0.8,42,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-72.3
$GPS2,213339,1248.231,12033.055,13,1.2,13,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,2000.000
$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,76.1,18099,-23.3,-10.000
$D_GRID,1185
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.73,-86.6,0.0,0.0,0,86,0.00,0.00,-66.65,0.000,2,0.000,0.000,251,2150,2631
$GC,88,-1.78,-116.9,3.1,-7.4,13,116,13.12,2.42,-7.47,0.000,4,0.173,0.055,2511,3557,3016
$GC,245,-1.50,-116.9,41.7,-25.4,41,251,0.32,2.38,0.00,0.000,6,0.116,0.031,2571,2140,3018
$GC,588,-1.41,-116.9,105.6,-17.4,102,594,0.12,0.00,0.00,0.000,6,0.122,0.000,2593,2139,3019
$GC,930,-1.41,-116.9,150.9,-12.9,163,936,0.00,2.45,0.00,0.000,4,0.000,0.049,2593,739,3021
$GC,1060,-1.45,-116.9,167.3,-13.4,186,1066,0.00,2.38,0.00,0.000,6,0.000,0.029,2593,2164,3021
$GC,1403,-1.54,-129.9,203.5,-8.9,247,1409,0.12,2.50,0.00,0.000,4,0.057,0.049,2556,737,3022
$GC,1567,-1.54,-129.9,222.4,-11.5,276,1572,0.00,2.38,0.00,0.000,6,0.000,0.030,2556,2159,3022
$GC,1904,-1.54,-129.9,260.4,-11.5,329,1908,0.00,2.40,0.00,0.000,4,0.000,0.048,2556,3551,3021
$GC,2033,-1.54,-129.9,275.7,-12.3,340,2037,0.00,2.35,0.00,0.000,6,0.000,0.031,2556,2141,3021
$GC,2362,-1.54,-129.9,309.8,-10.3,371,2366,0.00,2.47,0.00,0.000,4,0.000,0.054,2556,741,3020
$GC,2411,-1.54,-129.9,315.0,-10.4,375,2415,0.00,2.38,0.00,0.000,6,0.000,0.031,2557,2147,3020
$GC,2735,-1.56,-137.9,346.5,-9.3,405,2739,0.00,2.47,0.00,0.000,4,0.000,0.053,2556,749,3018
$GC,2767,-1.56,-137.9,349.8,-10.1,407,2774,0.00,2.40,0.00,0.000,6,0.000,0.032,2556,2149,3018
$GC,3093,-1.57,-146.0,381.2,-8.9,438,3097,0.00,2.47,0.00,0.000,4,0.000,0.053,2556,751,3017
$GC,3136,-1.57,-146.0,385.6,-9.3,441,3142,0.00,2.40,0.00,0.000,6,0.000,0.032,2556,2151,3016
$GC,3462,-1.60,-146.0,416.4,-9.5,472,3466,0.00,2.50,0.00,0.000,4,0.000,0.054,2556,742,3015
$GC,3523,-1.60,-146.0,422.4,-9.8,477,3527,0.00,2.40,0.00,0.000,6,0.000,0.033,2556,2157,3015
$GC,3853,-1.63,-146.0,452.1,-8.1,508,3857,0.00,2.42,0.00,0.000,4,0.000,0.051,2556,3554,3013
$GC,3931,-1.67,-146.0,459.4,-9.3,514,3937,0.00,2.38,0.00,0.000,6,0.000,0.034,2556,2144,3013
$GC,4256,-1.71,-146.0,486.8,-8.7,545,4258,0.12,0.00,0.00,0.000,6,0.062,0.000,2523,2142,3010
$GC,4579,-1.68,-146.0,518.0,-9.5,567,4584,0.00,2.47,0.00,0.000,4,0.000,0.052,2523,3553,3009
$GC,4657,-1.64,-146.0,525.9,-9.8,570,4664,0.12,2.38,0.00,0.000,6,0.123,0.035,2543,2152,3009
$GC,4973,-1.64,-146.0,551.2,-7.7,586,4977,0.00,2.47,0.00,0.000,4,0.000,0.052,2544,3560,3007
$GC,5035,-1.64,-146.0,556.3,-8.1,589,5039,0.00,2.40,0.00,0.000,6,0.000,0.035,2544,2151,3007
$GC,5361,-1.64,-146.0,581.3,-7.9,605,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2150,3005
$GC,5669,-1.64,-146.0,608.2,-9.0,620,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2150,3004
$GC,5979,-1.68,-146.0,635.6,-9.4,635,5983,0.00,2.47,0.00,0.000,4,0.000,0.054,2544,3554,3003
$GC,6033,-1.68,-146.0,640.4,-8.8,637,6039,0.00,2.42,0.00,0.000,6,0.000,0.037,2543,2150,3002
$GC,6349,-1.72,-146.0,666.6,-8.5,653,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2148,3001
$GC,6660,-1.75,-146.0,691.0,-7.3,668,6664,0.00,2.47,0.00,0.000,4,0.000,0.054,2543,3548,3000
$GC,6708,-1.75,-146.0,695.1,-7.7,670,6713,0.00,2.42,0.00,0.000,6,0.000,0.038,2544,2148,3000
$GC,7031,-1.79,-146.0,718.3,-6.7,686,7036,0.15,2.47,0.00,0.000,4,0.062,0.054,2507,3548,2998
$GC,7086,-1.74,-146.0,722.9,-8.6,688,7092,0.00,2.40,0.00,0.000,6,0.000,0.038,2507,2142,2998
$GC,7402,-1.70,-146.0,749.3,-9.2,704,7407,0.15,2.50,0.00,0.000,4,0.124,0.054,2536,3551,2996
$GC,7463,-1.70,-146.0,755.2,-9.3,707,7467,0.00,2.40,0.00,0.000,6,0.000,0.038,2536,2150,2996
$GC,7789,-1.73,-146.0,786.3,-9.7,723,7794,0.00,2.53,0.00,0.000,4,0.000,0.064,2536,747,2995
$GC,7861,-1.73,-146.0,793.5,-9.6,726,7865,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2141,2994
$GC,8182,-1.77,-146.0,818.3,-6.9,742,8186,0.00,2.50,0.00,0.000,4,0.000,0.058,2536,3554,2993
$GC,8231,-1.77,-146.0,822.1,-7.9,744,8236,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2153,2994
$GC,8554,-1.80,-146.0,840.9,-5.5,760,8558,0.00,2.50,0.00,0.000,4,0.000,0.058,2537,3560,2994
$GC,8596,-1.80,-146.0,843.4,-5.2,762,8601,0.05,2.45,0.00,0.000,6,0.067,0.038,2511,2148,2993
$GC,8923,-1.80,-146.0,861.9,-6.4,778,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2148,2992
$GC,9232,-1.80,-146.0,883.8,-7.8,793,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2148,2991
$GC,9543,-1.80,-146.0,904.9,-6.8,808,9547,0.00,2.50,0.00,0.000,4,0.000,0.058,2511,3552,2990
$GC,9597,-1.76,-146.0,909.2,-7.7,810,9604,0.00,2.40,0.00,0.000,6,0.000,0.039,2511,2152,2989
$GC,9912,-1.76,-146.0,931.8,-7.2,826,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2152,2989
$GC,10221,-1.76,-146.0,957.2,-8.2,841,10226,0.00,2.55,0.00,0.000,4,0.000,0.066,2511,748,2989
$GC,10278,-1.76,-146.0,962.3,-9.8,843,10284,0.00,2.42,0.00,0.000,6,0.000,0.039,2511,2152,2988
$GC,10593,-1.76,-146.0,987.0,-7.1,859,10597,0.00,2.50,0.00,0.000,4,0.000,0.061,2511,3558,2987
$STATE,10633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10633,begin apogee
$GC,10639,-0.34,0.0,990.2,8.5,861,10739,1.62,0.00,96.05,1.407,6,0.117,0.000,2827,2361,2539
$STATE,10740,end apogee,CONTROL_FINISHED_OK
$STATE,10740,begin climb
$GC,10741,1.83,146.0,991.2,0.0,866,10874,2.22,0.00,127.47,1.358,6,0.059,0.000,3303,2361,1943
$GC,11182,1.64,146.0,914.1,20.3,888,11184,0.22,0.00,0.00,0.000,6,0.138,0.000,3265,2361,1939
$GC,11491,1.52,146.0,856.5,18.7,903,11496,0.17,2.55,0.00,0.000,4,0.136,0.063,3232,969,1938
$GC,11523,1.44,146.0,850.4,18.3,904,11530,0.00,2.50,0.00,0.000,6,0.000,0.041,3232,2367,1938
$GC,11839,1.38,146.0,797.6,16.3,920,11840,0.15,0.00,0.00,0.000,6,0.133,0.000,3208,2367,1937
$GC,12147,1.38,146.0,752.9,13.9,935,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2367,1937
$GC,12457,1.38,146.0,711.2,13.4,950,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2367,1936
$GC,12766,1.38,146.0,670.4,13.2,965,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2367,1936
$GC,13077,1.38,146.0,629.3,13.2,980,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2367,1936
$GC,13385,1.38,146.0,588.3,13.2,995,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2367,1936
$GC,13694,1.38,146.0,550.0,12.3,1010,13698,0.00,2.53,0.00,0.000,4,0.000,0.060,3207,969,1936
$GC,13736,1.38,146.0,544.5,13.3,1012,13741,0.00,2.47,0.00,0.000,6,0.000,0.038,3207,2381,1936
$GC,14063,1.38,146.0,505.8,12.0,1028,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2381,1936
$GC,14380,1.38,146.0,467.2,11.9,1055,14381,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2381,1935
$GC,14698,1.38,146.0,429.7,12.2,1085,14703,0.00,2.53,0.00,0.000,4,0.000,0.057,3208,976,1936
$GC,14761,1.38,146.0,422.1,12.1,1090,14765,0.00,2.42,0.00,0.000,6,0.000,0.038,3207,2379,1935
$GC,15084,1.38,146.0,384.0,12.0,1120,15088,0.00,2.53,0.00,0.000,4,0.000,0.056,3207,969,1936
$GC,15127,1.38,146.0,378.6,11.3,1123,15134,0.00,2.45,0.00,0.000,6,0.000,0.037,3208,2373,1936
$GC,15452,1.38,146.0,342.0,10.5,1154,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2373,1936
$GC,15770,1.38,146.0,305.4,11.3,1184,15775,0.00,2.50,0.00,0.000,4,0.000,0.054,3207,969,1936
$GC,15847,1.38,146.0,296.3,12.1,1190,15855,0.00,2.45,0.00,0.000,6,0.000,0.035,3207,2378,1936
$GC,16173,1.38,146.0,259.5,11.4,1221,16177,0.00,2.38,0.00,0.000,4,0.000,0.054,3207,3732,1937
$GC,16278,1.38,146.0,246.0,13.9,1232,16284,0.00,2.30,0.00,0.000,6,0.000,0.034,3207,2365,1938
$GC,16621,1.41,146.0,211.0,10.2,1293,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2364,1938
$GC,16963,1.49,165.4,176.5,8.3,1354,16980,0.00,0.00,14.62,0.809,6,0.000,0.000,3207,2363,1864
$GC,17317,1.58,174.4,142.4,9.2,1417,17329,0.15,2.55,7.12,0.810,4,0.066,0.051,3250,973,1827
$GC,17430,1.58,174.4,129.6,11.4,1437,17436,0.00,2.40,0.00,0.000,6,0.000,0.033,3250,2382,1826
$GC,17773,1.67,195.6,98.1,8.2,1498,17795,0.00,2.60,16.90,0.733,4,0.000,0.048,3250,967,1740
$GC,17975,1.73,210.8,80.1,8.7,1534,17993,0.15,2.40,11.80,0.722,6,0.061,0.031,3287,2380,1679
$GC,18329,1.83,267.9,50.0,5.0,1597,18381,0.00,2.40,44.38,0.642,4,0.000,0.048,3287,3729,1446
$GC,18550,1.88,275.5,29.3,9.3,1637,18562,0.12,2.28,5.60,0.660,6,0.068,0.028,3317,2361,1414
$STATE,18790,end climb,SURFACE_DEPTH_REACHED
$STATE,18790,begin surface coast
$FINISH,0.3,1.021669
$STATE,18803,end surface coast,CONTROL_FINISHED_OK
$STATE,18803,begin surface
$SM_CCo,18824,64.72,0.561,0,0,866,410.14
$SM_GC,0.68,0.00,0.00,64.72,0.000,0.000,0.561,253,2133,866,-12.19,-0.48,410.14
$IRIDIUM_FIX,1243.25,12031.29,160597,212103
$TT8_MAMPS,0.023777
$HUMID,1829
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.10
$XPDR_PINGS,442
$24V_AH,23.1,8.846
$10V_AH,10.1,3.177
$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,32.775,146.700,323.950,64.725,0.000,54.431,55.986,139.959,123.000,0.000,0.000,13.364,2701.906,12852.538,574.482,2779.628,413.371,0.000,1933.482,0.000,2704.897,0.000,91.581
$DEVICE_MAMPS,172.575,65.962,1406.678,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53507,1682
$CAP_FILE_SIZE,172180,0
$CFSIZE,260165632,255213568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,025032,1248.853,12035.426,39,1.3,39,-0.8