version: 66.03
glider: 122
mission: 6
dive: 65
start: 2 27 108 17 59 29
data:
$ID,122
$MISSION,6
$DIVE,65
$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,440
$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,-28622.938
$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,34
$R_STBD_OVSHOOT,38
$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,5
$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
$GPS1,174455,1246.999,12030.935,42,1.0,42,-0.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-71.0
$GPS2,175857,1246.850,12030.856,14,0.9,14,-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,58.3,22634,-17.4,-9.016
$D_GRID,826
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,102,0.00,0.00,-81.07,0.000,2,0.000,0.000,253,2165,2601
$GC,104,-1.42,-146.0,3.6,-8.7,12,137,13.35,2.53,-12.23,0.000,4,0.166,0.052,2591,740,3277
$GC,177,-1.16,-146.0,22.4,-20.0,24,184,0.30,2.35,0.00,0.000,6,0.114,0.027,2647,2149,3278
$GC,522,-1.02,-146.0,81.5,-15.1,85,530,0.15,2.40,0.00,0.000,4,0.107,0.043,2679,3558,3279
$GC,631,-1.02,-146.0,96.4,-12.8,104,638,0.00,2.28,0.00,0.000,6,0.000,0.027,2679,2179,3279
$GC,975,-1.02,-146.0,139.0,-12.2,165,982,0.00,2.47,0.00,0.000,4,0.000,0.044,2678,744,3279
$GC,1035,-1.08,-146.0,145.5,-11.4,175,1042,0.00,2.47,0.00,0.000,6,0.000,0.028,2679,2227,3280
$GC,1380,-1.13,-146.0,185.0,-8.7,236,1387,0.00,2.25,0.00,0.000,4,0.000,0.045,2679,3549,3279
$GC,1411,-1.22,-146.0,187.8,-9.5,241,1419,0.20,2.20,0.00,0.000,6,0.043,0.027,2620,2206,3279
$GC,1757,-1.18,-146.0,225.4,-11.4,302,1764,0.12,2.53,0.00,0.000,4,0.104,0.044,2644,747,3279
$GC,1828,-1.24,-146.0,232.6,-10.0,314,1835,0.00,2.45,0.00,0.000,6,0.000,0.029,2644,2210,3279
$GC,2165,-1.27,-146.0,264.4,-9.7,361,2169,0.00,2.30,0.00,0.000,4,0.000,0.046,2644,3553,3279
$GC,2215,-1.33,-146.0,269.2,-9.2,365,2220,0.12,2.22,0.00,0.000,6,0.056,0.029,2603,2205,3279
$GC,2540,-1.28,-146.0,304.8,-10.8,395,2544,0.12,2.55,0.00,0.000,4,0.108,0.048,2626,746,3278
$GC,2594,-1.31,-146.0,310.5,-10.5,399,2602,0.00,2.50,0.00,0.000,6,0.000,0.031,2626,2226,3277
$GC,2920,-1.31,-146.0,340.8,-9.4,430,2924,0.00,2.28,0.00,0.000,4,0.000,0.048,2626,3547,3274
$GC,2963,-1.31,-146.0,345.3,-9.8,433,2971,0.00,2.22,0.00,0.000,6,0.000,0.031,2626,2233,3274
$GC,3289,-1.31,-146.0,373.5,-8.4,464,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2230,3272
$GC,3607,-1.31,-146.0,399.9,-8.6,494,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2230,3270
$GC,3927,-1.35,-146.0,425.1,-7.6,524,3931,0.00,2.62,0.00,0.000,4,0.000,0.052,2626,747,3268
$GC,4001,-1.40,-146.0,430.9,-7.4,530,4006,0.12,2.53,0.00,0.000,6,0.057,0.034,2587,2226,3268
$GC,4325,-1.34,-146.0,461.8,-10.1,560,4330,0.12,2.62,0.00,0.000,4,0.110,0.052,2610,749,3265
$GC,4388,-1.34,-146.0,468.1,-10.4,565,4393,0.00,2.50,0.00,0.000,6,0.000,0.034,2610,2213,3265
$GC,4713,-1.34,-146.0,496.0,-8.9,595,4718,0.00,2.60,0.00,0.000,4,0.000,0.053,2610,749,3262
$GC,4768,-1.34,-146.0,501.0,-8.9,599,4777,0.00,2.50,0.00,0.000,6,0.000,0.035,2610,2206,3261
$GC,5084,-1.34,-146.0,527.9,-8.7,615,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,3259
$GC,5393,-1.34,-146.0,553.6,-8.1,630,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2207,3258
$GC,5703,-1.34,-146.0,578.7,-8.4,645,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2207,3255
$GC,6012,-1.34,-146.0,604.3,-8.1,660,6016,0.00,2.35,0.00,0.000,4,0.000,0.054,2610,3548,3254
$GC,6043,-1.34,-146.0,607.1,-7.9,661,6048,0.00,2.30,0.00,0.000,6,0.000,0.035,2610,2206,3254
$GC,6365,-1.34,-146.0,632.6,-8.1,677,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2205,3252
$GC,6674,-1.34,-146.0,659.1,-8.7,692,6678,0.00,2.38,0.00,0.000,4,0.000,0.055,2610,3548,3250
$GC,6713,-1.34,-146.0,662.7,-8.9,693,6720,0.00,2.28,0.00,0.000,6,0.000,0.036,2609,2208,3250
$GC,7029,-1.38,-146.0,689.8,-8.4,709,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2207,3249
$GC,7338,-1.41,-146.0,714.5,-7.7,724,7342,0.00,2.38,0.00,0.000,4,0.000,0.056,2610,3546,3247
$GC,7370,-1.44,-146.0,717.3,-7.8,725,7378,0.00,2.25,0.00,0.000,6,0.000,0.036,2610,2224,3247
$GC,7687,-1.47,-146.0,740.0,-7.4,741,7691,0.12,2.35,0.00,0.000,4,0.058,0.056,2573,3546,3245
$GC,7713,-1.43,-146.0,742.5,-9.7,742,7717,0.00,2.28,0.00,0.000,6,0.000,0.037,2572,2227,3245
$GC,8035,-1.39,-146.0,769.4,-7.9,758,8037,0.15,0.00,0.00,0.000,6,0.111,0.000,2599,2227,3244
$GC,8343,-1.39,-146.0,791.5,-7.1,773,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2227,3243
$GC,8653,-1.39,-146.0,813.1,-6.8,788,8657,0.00,2.35,0.00,0.000,4,0.000,0.058,2599,3548,3242
$GC,8685,-1.39,-146.0,815.6,-7.8,789,8692,0.00,2.25,0.00,0.000,6,0.000,0.038,2599,2231,3242
$STATE,8854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8855,begin apogee
$GC,8859,-0.34,0.0,827.2,6.9,798,8980,1.12,0.00,117.68,1.262,6,0.100,0.000,2826,2378,2678
$STATE,8981,end apogee,CONTROL_FINISHED_OK
$STATE,8981,begin climb
$GC,8982,1.42,146.0,830.0,0.0,804,9114,1.80,2.53,122.47,1.220,4,0.058,0.060,3219,3711,2082
$GC,9191,1.17,146.0,810.8,15.2,813,9196,0.28,2.35,0.00,0.000,6,0.117,0.039,3160,2386,2081
$GC,9512,1.06,146.0,774.0,11.4,829,9514,0.12,0.00,0.00,0.000,6,0.127,0.000,3139,2386,2080
$GC,9822,1.01,146.0,742.2,10.4,844,9826,0.00,2.58,0.00,0.000,4,0.000,0.061,3139,970,2079
$GC,9893,0.93,146.0,734.5,10.2,847,9898,0.12,2.45,0.00,0.000,6,0.114,0.038,3112,2349,2078
$GC,10214,0.95,157.6,707.1,8.4,863,10228,0.00,2.55,9.27,1.227,4,0.000,0.061,3112,3733,2035
$GC,10257,0.91,157.6,703.1,9.5,865,10261,0.00,2.35,0.00,0.000,6,0.000,0.038,3112,2381,2035
$GC,10584,0.92,161.1,674.3,8.8,881,10593,0.00,2.62,3.08,1.188,4,0.000,0.060,3112,968,2021
$GC,10643,0.92,161.1,668.4,10.1,883,10651,0.00,2.47,0.00,0.000,6,0.000,0.038,3113,2361,2021
$GC,10959,0.92,161.1,639.6,9.1,899,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2361,2020
$GC,11268,0.92,161.1,610.4,9.5,914,11273,0.00,2.53,0.00,0.000,4,0.000,0.058,3113,963,2020
$GC,11294,0.92,161.1,607.7,10.5,915,11299,0.00,2.45,0.00,0.000,6,0.000,0.038,3112,2358,2019
$GC,11618,0.94,174.7,579.7,8.3,931,11636,0.00,0.00,11.60,1.160,6,0.000,0.000,3112,2357,1965
$GC,11945,0.94,174.7,550.9,9.2,947,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2358,1964
$GC,12254,0.97,190.1,524.2,8.2,962,12277,0.00,2.53,12.55,1.111,4,0.000,0.059,3112,3718,1904
$GC,12323,0.97,190.1,518.2,9.6,965,12327,0.00,2.38,0.00,0.000,6,0.000,0.036,3112,2345,1903
$GC,12642,1.01,213.7,491.0,7.8,985,12667,0.00,2.60,19.90,1.065,4,0.000,0.056,3112,3728,1806
$GC,12701,1.01,213.7,485.5,9.9,990,12705,0.00,2.38,0.00,0.000,6,0.000,0.036,3112,2361,1806
$GC,13027,1.06,216.4,457.3,8.9,1020,13041,0.12,2.58,2.28,1.039,4,0.069,0.056,3142,964,1795
$GC,13056,1.06,216.4,454.1,10.0,1022,13064,0.00,2.47,0.00,0.000,6,0.000,0.036,3142,2366,1794
$GC,13382,1.06,216.4,420.5,10.4,1053,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2367,1794
$GC,13700,1.06,216.4,389.0,10.0,1083,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2367,1795
$GC,14019,1.06,216.4,357.1,10.0,1113,14023,0.00,2.40,0.00,0.000,4,0.000,0.056,3142,3723,1794
$GC,14129,1.06,216.4,344.7,11.1,1122,14137,0.00,2.38,0.00,0.000,6,0.000,0.035,3142,2347,1795
$GC,14455,1.06,216.4,312.2,10.1,1153,14459,0.00,2.42,0.00,0.000,4,0.000,0.052,3142,974,1795
$GC,14494,1.06,216.4,308.2,9.9,1156,14498,0.00,2.38,0.00,0.000,6,0.000,0.035,3142,2351,1795
$GC,14819,1.06,216.4,276.4,9.9,1186,14823,0.00,2.42,0.00,0.000,4,0.000,0.054,3142,3727,1795
$GC,14850,1.06,216.4,272.8,11.8,1188,14857,0.00,2.35,0.00,0.000,6,0.000,0.033,3142,2356,1795
$GC,15181,1.06,216.4,239.7,9.5,1228,15187,0.00,2.45,0.00,0.000,4,0.000,0.051,3142,966,1795
$GC,15238,1.06,216.4,234.2,9.5,1238,15245,0.00,2.38,0.00,0.000,6,0.000,0.034,3142,2355,1795
$GC,15582,1.08,223.4,204.8,8.7,1299,15595,0.00,2.42,6.28,0.861,4,0.000,0.051,3142,3724,1766
$GC,15618,1.11,223.4,201.2,10.8,1305,15625,0.00,2.33,0.00,0.000,6,0.000,0.032,3142,2353,1766
$GC,15963,1.23,258.6,171.9,7.2,1366,15994,0.12,0.00,28.23,0.780,6,0.063,0.000,3176,2351,1623
$GC,16332,1.29,273.2,144.0,8.3,1431,16351,0.00,2.47,11.77,0.771,4,0.000,0.049,3176,972,1562
$GC,16425,1.34,278.5,135.9,8.7,1447,16437,0.00,2.38,3.95,0.786,6,0.000,0.032,3176,2356,1542
$GC,16775,1.45,307.8,107.4,7.5,1509,16806,0.15,2.50,23.30,0.698,4,0.056,0.047,3222,969,1421
$GC,16969,1.45,307.8,88.5,10.2,1543,16976,0.00,2.28,0.00,0.000,6,0.000,0.030,3222,2308,1420
$GC,17313,1.46,313.6,59.1,8.7,1604,17326,0.00,2.50,4.07,0.684,4,0.000,0.047,3222,3717,1399
$GC,17405,1.46,313.6,50.0,10.2,1620,17411,0.00,2.38,0.00,0.000,6,0.000,0.028,3222,2298,1399
$GC,17749,1.63,378.0,20.5,5.7,1681,17807,0.15,0.00,50.45,0.581,6,0.052,0.000,3273,2298,1136
$STATE,17929,end climb,SURFACE_DEPTH_REACHED
$STATE,17929,begin surface coast
$FINISH,-0.1,1.021693
$STATE,17947,end surface coast,CONTROL_FINISHED_OK
$STATE,17947,begin surface
$SM_CCo,17968,29.42,0.558,0,0,883,440.07
$SM_GC,0.90,0.00,0.00,29.42,0.000,0.000,0.558,251,2128,883,-12.21,-0.62,440.07
$IRIDIUM_FIX,1241.04,12031.29,230597,181859
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.40
$XPDR_PINGS,469
$ALTIM_BOTTOM_PING,650.1,8.6
$24V_AH,23.3,13.928
$10V_AH,10.2,6.211
$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,32.325,155.250,426.875,29.425,0.000,99.924,212.567,245.618,121.500,0.000,0.000,14.467,3421.467,11212.746,672.621,2753.760,788.500,0.000,2079.134,0.000,2726.396,0.000,32.582
$DEVICE_MAMPS,166.439,61.360,1262.482,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53477,1716
$CAP_FILE_SIZE,175351,0
$CFSIZE,260165632,252440576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,192.4,1
$GPS,270208,230037,1247.686,12032.633,36,1.2,36,-0.8