version: 66.03
glider: 122
mission: 6
dive: 77
start: 3 1 108 12 50 15
data:
$ID,122
$MISSION,6
$DIVE,77
$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,-28836.07
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,123608,1249.115,12026.978,33,1.0,33,-0.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.7
$GPS2,124944,1249.066,12026.910,12,1.2,18,-0.8
$SPEED_LIMITS,0.156,0.209
$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,249.4,21575,-17.4,-9.016
$D_GRID,877
$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,17,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,81,0.00,0.00,-60.25,0.000,2,0.000,0.000,252,2146,2547
$GC,83,-1.42,-146.0,3.2,-7.1,9,119,13.40,2.45,-13.40,0.000,4,0.165,0.054,2592,745,3277
$GC,209,-1.13,-146.0,35.5,-23.0,30,217,0.35,2.38,0.00,0.000,6,0.110,0.028,2657,2163,3278
$GC,555,-1.01,-146.0,91.7,-14.7,91,562,0.15,2.45,0.00,0.000,4,0.105,0.041,2690,737,3279
$GC,580,-0.96,-146.0,94.9,-13.0,95,588,0.00,2.40,0.00,0.000,6,0.000,0.028,2690,2171,3280
$GC,925,-0.96,-146.0,137.3,-12.8,156,932,0.00,2.38,0.00,0.000,4,0.000,0.045,2690,3555,3281
$GC,966,-0.99,-146.0,142.3,-11.6,163,973,0.00,2.33,0.00,0.000,6,0.000,0.028,2690,2149,3281
$GC,1312,-1.05,-146.0,176.7,-9.3,224,1319,0.00,2.40,0.00,0.000,4,0.000,0.043,2690,3549,3282
$GC,1382,-1.16,-146.0,183.2,-9.4,236,1391,0.17,2.28,0.00,0.000,6,0.046,0.028,2638,2172,3282
$GC,1728,-1.16,-146.0,219.1,-10.3,297,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2172,3281
$GC,2075,-1.16,-146.0,253.8,-10.7,356,2079,0.00,2.35,0.00,0.000,4,0.000,0.044,2638,3548,3280
$GC,2113,-1.16,-146.0,258.0,-11.4,359,2121,0.00,2.30,0.00,0.000,6,0.000,0.029,2638,2188,3280
$GC,2439,-1.16,-146.0,288.5,-8.9,390,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2188,3279
$GC,2758,-1.19,-146.0,316.8,-9.8,420,2762,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,3548,3278
$GC,2792,-1.23,-146.0,320.2,-9.7,423,2796,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2206,3277
$GC,3118,-1.28,-146.0,349.7,-9.2,453,3122,0.00,2.58,0.00,0.000,4,0.000,0.052,2638,750,3275
$GC,3184,-1.35,-146.0,355.9,-8.7,458,3192,0.12,2.45,0.00,0.000,6,0.055,0.032,2599,2203,3275
$GC,3509,-1.30,-146.0,387.4,-10.1,489,3510,0.12,0.00,0.00,0.000,6,0.106,0.000,2622,2204,3272
$GC,3829,-1.30,-146.0,414.9,-9.4,519,3833,0.00,2.58,0.00,0.000,4,0.000,0.052,2622,754,3270
$GC,3902,-1.35,-146.0,421.8,-9.5,525,3907,0.00,2.45,0.00,0.000,6,0.000,0.034,2622,2191,3270
$GC,4228,-1.35,-146.0,449.6,-8.4,555,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2192,3268
$GC,4545,-1.35,-146.0,475.4,-9.0,585,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2192,3266
$GC,4875,-1.35,-146.0,504.2,-8.5,614,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2192,3263
$GC,5183,-1.35,-146.0,529.2,-7.8,629,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2193,3261
$GC,5492,-1.38,-146.0,552.9,-7.9,644,5497,0.00,2.58,0.00,0.000,4,0.000,0.055,2622,750,3259
$GC,5525,-1.42,-146.0,555.8,-8.3,645,5534,0.12,2.47,0.00,0.000,6,0.059,0.035,2586,2187,3259
$GC,5841,-1.38,-146.0,586.3,-9.6,661,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2188,3258
$GC,6150,-1.34,-146.0,614.7,-9.0,676,6152,0.15,0.00,0.00,0.000,6,0.108,0.000,2614,2188,3256
$GC,6459,-1.34,-146.0,640.9,-8.4,691,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2188,3254
$GC,6770,-1.34,-146.0,665.7,-7.9,706,6774,0.00,2.58,0.00,0.000,4,0.000,0.058,2614,753,3252
$GC,6811,-1.38,-146.0,669.0,-8.9,708,6815,0.00,2.47,0.00,0.000,6,0.000,0.038,2614,2184,3252
$GC,7137,-1.41,-146.0,695.2,-7.8,724,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3251
$GC,7447,-1.44,-146.0,718.1,-7.2,739,7451,0.12,2.42,0.00,0.000,4,0.059,0.057,2580,3557,3250
$GC,7496,-1.39,-146.0,722.6,-8.7,741,7501,0.12,2.33,0.00,0.000,6,0.114,0.036,2602,2190,3249
$GC,7811,-1.39,-146.0,745.9,-7.1,756,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2188,3248
$GC,8120,-1.39,-146.0,769.0,-7.5,771,8125,0.00,2.42,0.00,0.000,4,0.000,0.057,2602,3554,3247
$GC,8187,-1.39,-146.0,774.4,-7.8,774,8191,0.00,2.33,0.00,0.000,6,0.000,0.037,2602,2192,3247
$GC,8513,-1.39,-146.0,800.5,-7.7,790,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2192,3245
$GC,8823,-1.39,-146.0,823.3,-7.6,805,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2192,3244
$GC,9134,-1.39,-146.0,849.6,-8.9,820,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2192,3243
$GC,9441,-1.39,-146.0,876.5,-8.4,835,9445,0.00,2.42,0.00,0.000,4,0.000,0.058,2602,3554,3242
$STATE,9449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9449,begin apogee
$GC,9455,-0.34,0.0,877.3,8.3,835,9582,1.10,0.00,119.45,1.295,6,0.097,0.000,2827,2369,2677
$STATE,9583,end apogee,CONTROL_FINISHED_OK
$STATE,9583,begin climb
$GC,9585,1.42,146.0,881.7,0.0,842,9714,1.83,0.00,124.70,1.252,6,0.059,0.000,3219,2369,2081
$GC,10011,1.21,146.0,835.5,12.9,863,10013,0.28,0.00,0.00,0.000,6,0.117,0.000,3169,2369,2080
$GC,10321,1.09,146.0,800.8,10.8,878,10322,0.15,0.00,0.00,0.000,6,0.121,0.000,3144,2369,2078
$GC,10630,1.02,146.0,769.4,10.5,893,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2369,2078
$GC,10939,0.96,146.0,736.9,10.4,908,10944,0.15,2.45,0.00,0.000,4,0.128,0.059,3119,3732,2077
$GC,11023,0.91,146.0,728.4,10.3,912,11028,0.00,2.35,0.00,0.000,6,0.000,0.039,3118,2378,2077
$GC,11350,0.93,162.0,700.7,8.2,928,11373,0.00,2.67,12.60,1.231,4,0.000,0.062,3118,966,2017
$GC,11406,0.94,162.7,696.0,9.0,930,11410,0.00,2.50,0.00,0.000,6,0.000,0.040,3118,2375,2016
$GC,11727,0.94,162.7,666.6,9.7,946,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2375,2016
$GC,12037,0.96,177.9,640.0,8.2,961,12057,0.00,0.00,13.55,1.190,6,0.000,0.000,3118,2375,1951
$GC,12365,0.96,177.9,611.2,9.1,977,12369,0.00,2.55,0.00,0.000,4,0.000,0.058,3118,970,1951
$GC,12427,0.96,177.9,605.0,10.0,980,12431,0.00,2.45,0.00,0.000,6,0.000,0.038,3118,2368,1951
$GC,12753,0.96,179.8,574.3,8.9,996,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2368,1951
$GC,13062,0.99,192.7,548.0,8.4,1011,13076,0.00,0.00,12.55,1.133,6,0.000,0.000,3118,2368,1891
$GC,13371,0.99,192.7,519.9,9.4,1026,13375,0.00,2.53,0.00,0.000,4,0.000,0.057,3118,969,1891
$GC,13424,0.99,192.7,514.4,10.1,1028,13433,0.00,2.45,0.00,0.000,6,0.000,0.037,3118,2358,1891
$GC,13745,0.99,192.7,483.9,9.5,1051,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2358,1891
$GC,14064,1.02,192.7,454.9,9.3,1081,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2359,1891
$GC,14383,1.06,198.8,427.1,8.7,1111,14396,0.00,0.00,5.38,1.064,6,0.000,0.000,3118,2359,1866
$GC,14714,1.12,208.5,398.6,8.5,1142,14729,0.15,2.53,8.38,1.027,4,0.066,0.055,3157,3725,1826
$GC,14774,1.06,208.5,392.0,11.0,1147,14779,0.12,2.38,0.00,0.000,6,0.125,0.035,3137,2348,1827
$GC,15099,1.06,211.1,361.2,8.9,1177,15111,0.00,2.53,2.33,0.996,4,0.000,0.054,3137,973,1817
$GC,15194,1.06,211.1,351.6,9.9,1185,15202,0.00,2.40,0.00,0.000,6,0.000,0.035,3137,2339,1816
$GC,15520,1.08,221.9,322.9,8.5,1216,15531,0.00,0.00,9.12,0.960,6,0.000,0.000,3137,2339,1773
$GC,15847,1.08,221.9,292.9,9.4,1247,15852,0.00,2.45,0.00,0.000,4,0.000,0.053,3137,970,1772
$GC,15898,1.08,221.9,287.9,10.0,1251,15902,0.00,2.35,0.00,0.000,6,0.000,0.035,3137,2329,1772
$GC,16223,1.12,227.1,259.0,8.8,1281,16234,0.00,0.00,4.78,0.926,6,0.000,0.000,3137,2330,1751
$GC,16564,1.18,235.5,229.3,8.6,1333,16579,0.12,0.00,7.25,0.881,6,0.067,0.000,3168,2330,1717
$GC,16916,1.20,249.7,197.5,8.3,1395,16930,0.00,0.00,11.43,0.832,6,0.000,0.000,3168,2330,1660
$GC,17267,1.24,249.7,166.5,9.1,1457,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2330,1659
$GC,17611,1.34,282.0,139.9,7.4,1518,17643,0.12,2.55,25.95,0.736,4,0.063,0.048,3202,3725,1528
$GC,17711,1.34,282.0,131.0,9.4,1534,17718,0.00,2.40,0.00,0.000,6,0.000,0.031,3202,2313,1526
$GC,18054,1.38,282.0,102.7,9.2,1595,18062,0.00,2.38,0.00,0.000,4,0.000,0.049,3202,964,1526
$GC,18130,1.41,299.5,96.1,8.1,1608,18151,0.00,2.33,13.65,0.703,6,0.000,0.030,3202,2334,1455
$GC,18489,1.48,305.5,66.0,8.7,1671,18498,0.10,0.00,4.65,0.693,6,0.061,0.000,3234,2333,1432
$GC,18835,1.50,321.4,36.1,8.2,1732,18857,0.00,2.45,12.52,0.630,4,0.000,0.045,3234,960,1366
$GC,18914,1.60,349.5,30.0,7.6,1745,18943,0.00,2.38,22.02,0.599,6,0.000,0.028,3234,2361,1252
$STATE,19261,end climb,SURFACE_DEPTH_REACHED
$STATE,19261,begin surface coast
$FINISH,0.1,1.021708
$STATE,19286,end surface coast,CONTROL_FINISHED_OK
$STATE,19286,begin surface
$SM_CCo,19306,43.20,0.550,0,0,883,440.07
$SM_GC,0.49,0.00,0.00,43.20,0.000,0.000,0.550,251,2112,883,-12.21,-1.07,440.07
$IRIDIUM_FIX,1245.46,12024.46,260597,121238
$TT8_MAMPS,0.02301
$HUMID,1812
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.70
$XPDR_PINGS,475
$ALTIM_BOTTOM_PING,561.8,8.3
$24V_AH,23.2,15.963
$10V_AH,10.2,7.332
$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,32.125,111.850,410.300,43.200,0.000,101.516,62.709,341.020,120.750,0.000,0.000,18.966,3848.626,12089.314,673.828,2822.059,733.910,0.000,2056.465,0.000,2789.936,0.000,16.261
$DEVICE_MAMPS,164.905,62.127,1294.696,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56671,1810
$CAP_FILE_SIZE,176244,0
$CFSIZE,260165632,251441152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,272.2,1
$GPS,010308,181401,1248.402,12023.877,36,1.1,41,-0.8