version: 66.03
glider: 122
mission: 6
dive: 79
start: 3 1 108 23 35 36
data:
$ID,122
$MISSION,6
$DIVE,79
$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,-28866.645
$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,58
$R_STBD_OVSHOOT,30
$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
$GPS1,233002,1247.571,12021.014,43,0.9,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.7
$GPS2,233503,1247.575,12021.017,16,1.2,16,-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,240.5,10602,-17.4,-9.016
$D_GRID,844
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-61.12,0.000,2,0.000,0.000,252,2118,2540
$GC,84,-1.42,-146.0,3.3,-7.1,9,116,13.38,2.55,-13.52,0.000,4,0.166,0.051,2589,3567,3276
$GC,241,-1.12,-146.0,43.9,-21.7,36,249,0.35,2.33,0.00,0.000,6,0.100,0.028,2657,2168,3277
$GC,587,-0.99,-146.0,100.9,-14.7,97,594,0.15,0.00,0.00,0.000,6,0.108,0.000,2688,2168,3278
$GC,931,-0.99,-146.0,144.9,-12.2,158,938,0.00,2.45,0.00,0.000,4,0.000,0.044,2688,749,3280
$GC,960,-0.99,-146.0,148.5,-12.0,163,968,0.00,2.38,0.00,0.000,6,0.000,0.027,2688,2174,3281
$GC,1306,-1.08,-146.0,181.8,-8.2,224,1315,0.00,2.35,0.00,0.000,4,0.000,0.044,2688,3548,3282
$GC,1365,-1.19,-146.0,186.6,-7.5,234,1372,0.20,2.28,0.00,0.000,6,0.044,0.028,2630,2172,3282
$GC,1710,-1.19,-146.0,221.3,-10.2,295,1716,0.00,2.47,0.00,0.000,4,0.000,0.045,2630,746,3282
$GC,1739,-1.19,-146.0,224.3,-10.4,300,1745,0.00,2.42,0.00,0.000,6,0.000,0.029,2630,2191,3282
$GC,2078,-1.19,-146.0,258.8,-9.9,353,2082,0.00,2.53,0.00,0.000,4,0.000,0.047,2630,747,3281
$GC,2121,-1.23,-146.0,262.9,-9.6,356,2128,0.00,2.40,0.00,0.000,6,0.000,0.031,2630,2177,3281
$GC,2447,-1.23,-146.0,294.1,-8.9,387,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2178,3280
$GC,2765,-1.23,-146.0,323.6,-8.7,417,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2178,3279
$GC,3083,-1.23,-146.0,352.2,-9.2,447,3087,0.00,2.50,0.00,0.000,4,0.000,0.050,2630,757,3277
$GC,3137,-1.29,-146.0,357.1,-8.5,451,3144,0.00,2.40,0.00,0.000,6,0.000,0.032,2630,2171,3278
$GC,3463,-1.29,-146.0,385.8,-9.4,482,3467,0.00,2.38,0.00,0.000,4,0.000,0.049,2630,3551,3274
$GC,3517,-1.33,-146.0,391.2,-9.2,486,3525,0.00,2.33,0.00,0.000,6,0.000,0.032,2630,2191,3275
$GC,3844,-1.33,-146.0,418.0,-8.0,517,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2187,3272
$GC,4162,-1.37,-146.0,444.7,-8.6,547,4164,0.12,0.00,0.00,0.000,6,0.058,0.000,2594,2187,3270
$GC,4481,-1.33,-146.0,475.4,-9.3,577,4485,0.10,2.58,0.00,0.000,4,0.116,0.054,2612,745,3269
$GC,4542,-1.33,-146.0,481.2,-8.7,582,4546,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2184,3268
$GC,4876,-1.33,-146.0,511.3,-8.6,607,4880,0.00,2.40,0.00,0.000,4,0.000,0.053,2612,3552,3267
$GC,4925,-1.33,-146.0,515.8,-8.4,609,4929,0.00,2.35,0.00,0.000,6,0.000,0.034,2612,2189,3266
$GC,5247,-1.33,-146.0,542.6,-8.3,625,5251,0.00,2.58,0.00,0.000,4,0.000,0.055,2612,743,3264
$GC,5295,-1.36,-146.0,546.9,-8.6,627,5299,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2181,3265
$GC,5616,-1.36,-146.0,573.2,-8.3,643,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2182,3262
$GC,5926,-1.36,-146.0,599.0,-8.6,658,5930,0.00,2.58,0.00,0.000,4,0.000,0.057,2612,740,3261
$GC,5970,-1.40,-146.0,603.0,-9.1,660,5974,0.00,2.45,0.00,0.000,6,0.000,0.036,2612,2167,3260
$GC,6297,-1.40,-146.0,629.4,-7.9,676,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2167,3258
$GC,6606,-1.40,-146.0,654.8,-8.1,691,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2167,3257
$GC,6915,-1.40,-146.0,678.0,-7.3,706,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2167,3256
$GC,7225,-1.40,-146.0,700.1,-7.3,721,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2168,3254
$GC,7536,-1.43,-146.0,724.7,-7.9,736,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2168,3253
$GC,7844,-1.47,-146.0,746.5,-6.6,751,7845,0.12,0.00,0.00,0.000,6,0.061,0.000,2576,2169,3252
$GC,8152,-1.42,-146.0,772.7,-9.1,766,8157,0.00,2.55,0.00,0.000,4,0.000,0.059,2576,744,3250
$GC,8202,-1.38,-146.0,777.6,-9.8,768,8207,0.15,2.45,0.00,0.000,6,0.116,0.039,2602,2157,3250
$GC,8517,-1.38,-146.0,802.0,-7.7,783,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2157,3249
$GC,8827,-1.38,-146.0,826.0,-7.7,798,8831,0.00,2.47,0.00,0.000,4,0.000,0.060,2603,3556,3248
$GC,8859,-1.38,-146.0,828.7,-7.6,799,8866,0.00,2.40,0.00,0.000,6,0.000,0.038,2602,2151,3248
$STATE,9069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9069,begin apogee
$GC,9074,-0.34,0.0,844.8,7.6,810,9197,1.10,0.00,119.80,1.273,6,0.097,0.000,2826,2396,2678
$STATE,9198,end apogee,CONTROL_FINISHED_OK
$STATE,9198,begin climb
$GC,9200,1.42,146.0,848.4,0.0,816,9332,1.77,2.50,123.07,1.226,4,0.058,0.060,3215,3716,2082
$GC,9415,1.18,146.0,829.9,14.8,825,9424,0.22,2.35,0.00,0.000,6,0.115,0.039,3162,2381,2081
$GC,9731,1.07,146.0,792.9,12.2,841,9733,0.12,0.00,0.00,0.000,6,0.121,0.000,3141,2380,2079
$GC,10040,1.01,146.0,759.6,10.4,856,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2379,2078
$GC,10351,0.94,146.0,729.9,9.3,871,10353,0.17,0.00,0.00,0.000,6,0.114,0.000,3109,2379,2077
$GC,10659,0.97,163.7,705.0,8.1,886,10680,0.00,0.00,14.40,1.222,6,0.000,0.000,3109,2379,2009
$GC,10988,0.99,176.9,677.6,8.3,902,11001,0.00,0.00,11.10,1.206,6,0.000,0.000,3109,2378,1957
$GC,11298,1.03,199.3,652.1,7.9,917,11322,0.00,2.53,19.08,1.171,4,0.000,0.059,3109,3716,1865
$GC,11367,1.03,199.3,645.9,9.6,920,11371,0.00,2.33,0.00,0.000,6,0.000,0.039,3109,2383,1865
$GC,11693,1.07,199.3,616.7,9.3,936,11698,0.12,2.40,0.00,0.000,4,0.070,0.058,3138,3715,1863
$GC,11732,1.02,199.3,612.4,11.0,938,11736,0.00,2.30,0.00,0.000,6,0.000,0.038,3138,2386,1863
$GC,12058,1.02,199.3,579.7,9.8,954,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2386,1862
$GC,12369,1.02,199.3,549.3,9.8,969,12373,0.00,2.55,0.00,0.000,4,0.000,0.060,3138,969,1863
$GC,12409,1.02,199.3,545.1,10.6,971,12413,0.00,2.47,0.00,0.000,6,0.000,0.038,3138,2391,1862
$GC,12736,1.02,199.3,512.1,10.5,987,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2391,1862
$GC,13050,1.02,199.3,479.2,10.6,1011,13054,0.00,2.38,0.00,0.000,4,0.000,0.059,3138,3726,1862
$GC,13113,0.98,199.3,472.7,10.4,1016,13117,0.00,2.25,0.00,0.000,6,0.000,0.036,3138,2408,1862
$GC,13437,0.98,199.3,442.0,9.3,1046,13441,0.00,2.58,0.00,0.000,4,0.000,0.056,3138,964,1862
$GC,13479,0.98,199.3,437.5,10.1,1049,13487,0.00,2.55,0.00,0.000,6,0.000,0.037,3138,2418,1862
$GC,13805,0.99,203.4,407.6,8.8,1080,13816,0.00,0.00,3.42,1.042,6,0.000,0.000,3138,2418,1848
$GC,14134,0.99,203.4,376.1,9.5,1111,14138,0.00,2.58,0.00,0.000,4,0.000,0.054,3138,966,1848
$GC,14165,0.99,203.4,372.7,10.0,1113,14173,0.00,2.55,0.00,0.000,6,0.000,0.037,3138,2420,1848
$GC,14492,0.99,203.4,342.0,9.1,1144,14496,0.00,2.58,0.00,0.000,4,0.000,0.053,3138,973,1848
$GC,14579,1.00,211.2,333.8,8.6,1151,14591,0.00,2.47,6.70,0.985,6,0.000,0.036,3138,2394,1816
$GC,14916,1.00,211.2,304.0,9.3,1183,14920,0.00,2.35,0.00,0.000,4,0.000,0.054,3139,3726,1815
$GC,14958,1.00,211.2,299.6,10.0,1186,14966,0.00,2.28,0.00,0.000,6,0.000,0.034,3139,2401,1816
$GC,15285,1.01,214.9,268.6,8.8,1217,15297,0.00,2.58,3.47,0.939,4,0.000,0.052,3138,980,1800
$GC,15369,1.02,221.8,260.7,8.7,1224,15380,0.00,2.45,5.85,0.916,6,0.000,0.035,3138,2385,1772
$GC,15712,1.07,229.2,230.6,8.6,1275,15725,0.00,2.55,6.47,0.892,4,0.000,0.051,3138,973,1742
$GC,15748,1.08,235.5,227.6,8.7,1281,15761,0.00,2.42,5.45,0.873,6,0.000,0.034,3138,2379,1717
$GC,16100,1.15,244.9,197.8,8.5,1343,16113,0.00,2.60,7.57,0.849,4,0.000,0.051,3138,969,1678
$GC,16148,1.20,246.1,193.2,9.0,1351,16155,0.12,2.40,0.00,0.000,6,0.064,0.034,3171,2361,1679
$GC,16493,1.23,263.5,161.9,8.1,1412,16517,0.00,2.55,15.25,0.786,4,0.000,0.051,3171,975,1602
$GC,16557,1.28,292.5,156.8,7.5,1423,16587,0.00,2.38,23.10,0.752,6,0.000,0.032,3171,2354,1485
$GC,16926,1.45,348.0,128.0,6.2,1488,16973,0.20,0.00,44.17,0.704,6,0.051,0.000,3226,2355,1258
$GC,17311,1.45,348.0,88.4,10.6,1556,17317,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2355,1254
$GC,17654,1.48,348.0,53.7,9.2,1617,17660,0.00,2.42,0.00,0.000,4,0.000,0.044,3226,967,1254
$GC,17784,1.55,348.0,41.3,10.8,1640,17791,0.00,2.30,0.00,0.000,6,0.000,0.028,3226,2335,1253
$GC,18129,1.66,357.2,9.9,8.5,1701,18142,0.15,0.00,6.65,0.617,6,0.053,0.000,3274,2336,1220
$STATE,18208,end climb,SURFACE_DEPTH_REACHED
$STATE,18208,begin surface coast
$FINISH,-0.0,1.021446
$STATE,18226,end surface coast,CONTROL_FINISHED_OK
$STATE,18226,begin surface
$SM_CCo,18247,40.12,0.556,0,0,883,440.07
$SM_GC,0.63,0.00,0.00,40.12,0.000,0.000,0.556,249,2124,883,-12.22,-0.74,440.07
$IRIDIUM_FIX,1243.25,12021.43,260597,181822
$TT8_MAMPS,0.023777
$HUMID,1817
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,438
$ALTIM_BOTTOM_PING,530.4,7.9
$24V_AH,23.3,16.284
$10V_AH,10.1,7.509
$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,31.925,132.875,415.575,40.125,0.000,25.356,16.262,156.858,110.750,0.000,0.000,16.343,3377.189,11430.988,639.555,2737.937,410.094,0.000,2017.804,0.000,2712.743,0.000,12.177
$DEVICE_MAMPS,166.439,59.826,1273.220,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53534,1718
$CAP_FILE_SIZE,167925,0
$CFSIZE,260165632,251289600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,261.3,1
$GPS,020308,044138,1246.311,12018.430,40,1.4,40,-0.8