version: 66.03
glider: 122
mission: 6
dive: 78
start: 3 1 108 18 21 40
data:
$ID,122
$MISSION,6
$DIVE,78
$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,-28849.672
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,181401,1248.402,12023.877,36,1.1,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.4
$GPS2,182108,1248.396,12023.871,12,1.5,12,-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,243.2,15970,-17.4,-9.016
$D_GRID,840
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-59.65,0.000,2,0.000,0.000,251,2111,2498
$GC,82,-1.42,-146.0,3.0,-6.7,11,121,13.32,2.53,-14.90,0.000,4,0.165,0.053,2590,3551,3276
$GC,150,-1.10,-146.0,20.3,-23.2,22,158,0.38,2.30,0.00,0.000,6,0.111,0.028,2660,2168,3276
$GC,495,-0.97,-146.0,80.4,-16.3,83,502,0.15,0.00,0.00,0.000,6,0.111,0.000,2692,2168,3278
$GC,839,-0.97,-146.0,124.3,-12.0,144,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2166,3279
$GC,1182,-1.02,-146.0,161.7,-9.8,205,1190,0.00,2.38,0.00,0.000,4,0.000,0.044,2692,3551,3281
$GC,1218,-1.10,-146.0,165.2,-9.5,211,1226,0.12,2.40,0.00,0.000,6,0.053,0.028,2651,2107,3281
$GC,1563,-1.10,-146.0,201.0,-11.2,272,1570,0.00,2.50,0.00,0.000,4,0.000,0.043,2651,3560,3282
$GC,1593,-1.10,-146.0,204.4,-11.2,277,1600,0.00,2.35,0.00,0.000,6,0.000,0.028,2651,2147,3281
$GC,1938,-1.10,-146.0,238.7,-9.9,338,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2146,3281
$GC,2275,-1.16,-146.0,268.9,-8.5,380,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2146,3280
$GC,2595,-1.22,-146.0,295.4,-8.2,410,2599,0.00,2.45,0.00,0.000,4,0.000,0.047,2651,3559,3279
$GC,2638,-1.30,-146.0,299.2,-8.4,413,2647,0.15,2.38,0.00,0.000,6,0.051,0.031,2605,2144,3279
$GC,2962,-1.27,-146.0,332.5,-10.2,444,2967,0.12,2.47,0.00,0.000,4,0.107,0.051,2628,746,3277
$GC,3040,-1.32,-146.0,339.6,-8.6,450,3048,0.00,2.35,0.00,0.000,6,0.000,0.032,2628,2134,3277
$GC,3366,-1.32,-146.0,365.1,-8.4,481,3370,0.00,2.47,0.00,0.000,4,0.000,0.049,2628,3555,3275
$GC,3465,-1.36,-146.0,374.1,-9.0,489,3473,0.00,2.42,0.00,0.000,6,0.000,0.033,2628,2127,3274
$GC,3791,-1.36,-146.0,401.5,-8.9,520,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2121,3272
$GC,4110,-1.39,-146.0,428.5,-8.0,550,4114,0.12,2.50,0.00,0.000,4,0.059,0.049,2592,3547,3270
$GC,4153,-1.35,-146.0,432.9,-9.3,553,4160,0.00,2.40,0.00,0.000,6,0.000,0.034,2592,2134,3270
$GC,4478,-1.30,-146.0,465.5,-10.1,584,4480,0.15,0.00,0.00,0.000,6,0.106,0.000,2619,2132,3268
$GC,4797,-1.30,-146.0,493.6,-9.0,614,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2132,3266
$GC,5118,-1.30,-146.0,522.3,-8.6,633,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2132,3264
$GC,5429,-1.30,-146.0,546.7,-7.6,648,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2132,3262
$GC,5741,-1.30,-146.0,571.5,-8.5,663,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2131,3260
$GC,6047,-1.34,-146.0,594.0,-6.8,678,6051,0.00,2.50,0.00,0.000,4,0.000,0.054,2619,3545,3258
$GC,6131,-1.37,-146.0,599.7,-6.0,682,6135,0.00,2.38,0.00,0.000,6,0.000,0.036,2619,2155,3258
$GC,6457,-1.41,-146.0,623.0,-7.5,698,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2155,3257
$GC,6766,-1.45,-146.0,646.3,-7.7,713,6768,0.15,0.00,0.00,0.000,6,0.055,0.000,2579,2154,3255
$GC,7075,-1.41,-146.0,675.9,-9.3,728,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2155,3253
$GC,7385,-1.36,-146.0,705.8,-9.8,743,7387,0.15,0.00,0.00,0.000,6,0.110,0.000,2606,2154,3252
$GC,7694,-1.36,-146.0,730.1,-7.1,758,7698,0.00,2.47,0.00,0.000,4,0.000,0.055,2606,3548,3251
$GC,7759,-1.36,-146.0,735.3,-7.5,761,7764,0.00,2.40,0.00,0.000,6,0.000,0.037,2606,2147,3251
$GC,8086,-1.36,-146.0,759.6,-7.1,777,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2147,3249
$GC,8395,-1.36,-146.0,783.4,-8.3,792,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2147,3248
$GC,8705,-1.36,-146.0,808.3,-7.6,807,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2147,3247
$GC,9015,-1.36,-146.0,831.4,-7.6,822,9019,0.00,2.50,0.00,0.000,4,0.000,0.057,2606,3550,3246
$GC,9091,-1.36,-146.0,837.6,-7.9,825,9099,0.00,2.40,0.00,0.000,6,0.000,0.038,2606,2152,3246
$STATE,9137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9137,begin apogee
$GC,9142,-0.34,0.0,841.1,7.6,828,9265,1.10,0.00,119.35,1.266,6,0.097,0.000,2829,2385,2677
$STATE,9265,end apogee,CONTROL_FINISHED_OK
$STATE,9266,begin climb
$GC,9267,1.42,146.0,844.7,0.0,834,9399,1.77,2.53,123.07,1.220,4,0.058,0.059,3215,3716,2082
$GC,9460,1.17,146.0,829.0,14.7,842,9468,0.30,2.35,0.00,0.000,6,0.120,0.038,3161,2373,2080
$GC,9776,1.06,146.0,793.7,11.2,858,9781,0.15,2.42,0.00,0.000,4,0.118,0.058,3131,3711,2079
$GC,9847,0.98,146.0,785.9,10.5,861,9852,0.00,2.35,0.00,0.000,6,0.000,0.038,3131,2380,2079
$GC,10169,0.94,146.0,756.0,9.2,877,10174,0.12,2.58,0.00,0.000,4,0.126,0.061,3110,971,2078
$GC,10235,0.94,146.0,749.7,9.5,880,10240,0.00,2.47,0.00,0.000,6,0.000,0.038,3110,2362,2077
$GC,10563,0.95,154.4,721.5,8.6,896,10571,0.00,0.00,6.47,1.235,6,0.000,0.000,3110,2362,2048
$GC,10871,0.95,154.4,692.9,9.1,911,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2362,2047
$GC,11181,0.98,174.7,667.7,8.0,926,11202,0.00,0.00,17.25,1.194,6,0.000,0.000,3110,2362,1965
$GC,11511,0.99,178.5,638.8,8.8,942,11520,0.00,2.53,3.38,1.180,4,0.000,0.060,3110,3728,1950
$GC,11548,0.99,178.5,635.0,10.0,943,11556,0.00,2.40,0.00,0.000,6,0.000,0.038,3110,2364,1950
$GC,11864,1.00,187.0,607.5,8.6,959,11874,0.00,0.00,7.70,1.176,6,0.000,0.000,3110,2363,1915
$GC,12174,1.07,206.1,581.5,8.0,974,12195,0.12,0.00,16.25,1.135,6,0.070,0.000,3140,2362,1837
$GC,12502,1.07,206.1,547.5,10.9,990,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2362,1835
$GC,12811,1.07,206.1,514.8,10.4,1005,12816,0.00,2.45,0.00,0.000,4,0.000,0.057,3140,3728,1835
$GC,12855,1.03,206.1,509.9,11.4,1007,12859,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,2359,1835
$GC,13179,1.03,206.1,476.5,9.8,1033,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2359,1835
$GC,13497,1.03,206.1,444.9,10.2,1063,13501,0.00,2.45,0.00,0.000,4,0.000,0.056,3140,3729,1835
$GC,13529,1.00,206.1,441.4,10.6,1065,13537,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,2372,1835
$GC,13854,1.00,206.1,409.4,9.7,1096,13858,0.00,2.50,0.00,0.000,4,0.000,0.055,3140,973,1835
$GC,13894,1.00,206.1,405.5,9.5,1099,13898,0.00,2.40,0.00,0.000,6,0.000,0.036,3140,2356,1835
$GC,14218,1.00,206.1,375.1,9.5,1129,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2357,1835
$GC,14537,1.00,206.1,345.6,9.7,1159,14542,0.00,2.42,0.00,0.000,4,0.000,0.055,3140,3728,1835
$GC,14599,1.00,206.1,339.4,9.1,1164,14603,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,2365,1835
$GC,14930,1.00,206.1,308.9,9.2,1195,14934,0.00,2.47,0.00,0.000,4,0.000,0.053,3140,969,1835
$GC,14991,1.00,206.1,302.7,10.6,1200,14995,0.00,2.42,0.00,0.000,6,0.000,0.035,3140,2374,1835
$GC,15321,1.01,211.6,273.5,8.7,1231,15332,0.00,0.00,4.68,0.938,6,0.000,0.000,3140,2374,1814
$GC,15654,1.03,224.2,242.8,8.4,1269,15669,0.00,0.00,10.12,0.889,6,0.000,0.000,3140,2374,1764
$GC,16007,1.13,257.6,215.2,7.3,1331,16044,0.00,2.58,27.60,0.816,4,0.000,0.051,3140,967,1625
$GC,16107,1.23,278.3,207.2,8.0,1347,16129,0.15,2.42,16.35,0.814,6,0.060,0.033,3178,2366,1543
$GC,16467,1.25,293.1,170.9,8.3,1410,16488,0.00,2.55,11.73,0.795,4,0.000,0.049,3178,976,1482
$GC,16523,1.29,293.1,165.8,9.1,1419,16530,0.00,2.38,0.00,0.000,6,0.000,0.032,3178,2350,1481
$GC,16867,1.39,324.3,135.1,7.4,1480,16899,0.12,0.00,25.30,0.727,6,0.061,0.000,3210,2351,1354
$GC,17235,1.39,324.3,101.5,10.3,1544,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2351,1352
$GC,17580,1.46,336.6,70.3,8.4,1605,17595,0.00,2.53,9.32,0.683,4,0.000,0.044,3211,960,1304
$GC,17737,1.53,336.6,55.6,10.2,1632,17745,0.12,2.30,0.00,0.000,6,0.058,0.029,3246,2319,1303
$GC,18083,1.59,345.4,23.5,8.6,1693,18098,0.00,2.45,6.80,0.634,4,0.000,0.045,3246,3723,1269
$GC,18127,1.63,345.4,19.4,9.9,1700,18134,0.00,2.35,0.00,0.000,6,0.000,0.028,3246,2316,1269
$STATE,18329,end climb,SURFACE_DEPTH_REACHED
$STATE,18329,begin surface coast
$FINISH,-0.0,1.021705
$STATE,18359,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18380,45.40,0.553,0,0,883,440.07
$SM_GC,0.84,0.00,0.00,45.40,0.000,0.000,0.553,252,2118,883,-12.20,-0.88,440.07
$IRIDIUM_FIX,1243.25,12021.43,260597,181822
$TT8_MAMPS,0.023777
$HUMID,1810
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,458
$ALTIM_BOTTOM_PING,571.5,8.2
$24V_AH,23.3,16.124
$10V_AH,10.1,7.422
$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,32.025,112.525,405.375,45.400,0.000,51.117,49.457,161.790,116.750,0.000,0.000,12.974,3655.010,11322.763,641.664,2754.408,483.680,0.000,2016.396,0.000,2736.524,0.000,18.074
$DEVICE_MAMPS,164.905,61.360,1265.550,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53433,1741
$CAP_FILE_SIZE,166733,0
$CFSIZE,260165632,251363328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,277.7,1
$GPS,010308,233002,1247.571,12021.014,43,0.9,43,-0.8