version: 66.03
glider: 122
mission: 6
dive: 114
start: 3 9 108 20 12 42
data:
$ID,122
$MISSION,6
$DIVE,114
$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,450
$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,-29485.33
$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,41
$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,9
$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
$GPS1,195807,1248.006,12030.280,37,1.3,42,-0.8
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-71.3
$GPS2,201211,1247.947,12030.196,11,3.2,30,-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,77.4,23238,-17.4,-9.016
$D_GRID,837
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-84.85,0.000,2,0.000,0.000,251,2144,2729
$GC,107,-1.42,-146.0,4.2,-9.2,13,139,13.52,2.42,-9.35,0.000,4,0.171,0.054,2591,755,3276
$GC,186,-1.11,-146.0,28.1,-24.0,26,194,0.38,2.35,0.00,0.000,6,0.120,0.027,2660,2164,3277
$GC,532,-0.99,-146.0,87.4,-14.4,87,539,0.15,2.38,0.00,0.000,4,0.106,0.042,2692,3554,3278
$GC,619,-0.99,-146.0,97.9,-11.4,102,626,0.00,2.33,0.00,0.000,6,0.000,0.027,2692,2144,3278
$GC,963,-0.99,-146.0,137.8,-12.2,163,970,0.00,2.40,0.00,0.000,4,0.000,0.043,2692,752,3279
$GC,999,-1.03,-146.0,141.9,-11.5,169,1007,0.00,2.35,0.00,0.000,6,0.000,0.028,2692,2161,3279
$GC,1345,-1.12,-146.0,174.3,-7.9,230,1352,0.15,2.38,0.00,0.000,4,0.050,0.043,2641,3552,3279
$GC,1442,-1.12,-146.0,185.0,-11.9,247,1449,0.10,2.33,0.00,0.000,6,0.100,0.028,2659,2142,3279
$GC,1787,-1.17,-146.0,217.0,-8.2,308,1794,0.00,2.40,0.00,0.000,4,0.000,0.045,2660,755,3280
$GC,1834,-1.26,-146.0,221.1,-8.9,316,1841,0.15,2.30,0.00,0.000,6,0.049,0.029,2611,2131,3280
$GC,2181,-1.22,-146.0,257.8,-11.5,372,2186,0.15,2.42,0.00,0.000,4,0.095,0.046,2644,3545,3278
$GC,2247,-1.25,-146.0,264.8,-10.0,377,2254,0.00,2.35,0.00,0.000,6,0.000,0.030,2644,2134,3279
$GC,2573,-1.29,-146.0,294.3,-8.9,408,2577,0.00,2.45,0.00,0.000,4,0.000,0.046,2645,3548,3277
$GC,2624,-1.34,-146.0,298.7,-8.7,412,2629,0.15,2.35,0.00,0.000,6,0.054,0.031,2601,2144,3276
$GC,2948,-1.29,-146.0,331.9,-10.3,442,2953,0.12,2.45,0.00,0.000,4,0.105,0.047,2624,3553,3273
$GC,2988,-1.29,-146.0,335.9,-10.2,445,2992,0.00,2.33,0.00,0.000,6,0.000,0.031,2624,2169,3273
$GC,3313,-1.29,-146.0,365.2,-9.2,475,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2168,3271
$GC,3631,-1.29,-146.0,395.2,-10.2,505,3635,0.00,2.42,0.00,0.000,4,0.000,0.049,2624,3554,3268
$GC,3681,-1.29,-146.0,400.5,-10.7,509,3685,0.00,2.33,0.00,0.000,6,0.000,0.033,2624,2181,3268
$GC,4007,-1.29,-146.0,429.2,-8.0,539,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2177,3266
$GC,4324,-1.29,-146.0,453.8,-7.3,569,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2177,3264
$GC,4643,-1.29,-146.0,480.0,-9.1,599,4647,0.00,2.40,0.00,0.000,4,0.000,0.051,2624,3551,3261
$GC,4682,-1.33,-146.0,483.7,-9.6,602,4686,0.00,2.33,0.00,0.000,6,0.000,0.034,2624,2185,3261
$GC,5005,-1.36,-146.0,510.0,-7.9,626,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2182,3259
$GC,5313,-1.39,-146.0,534.7,-8.3,641,5318,0.10,2.40,0.00,0.000,4,0.065,0.052,2595,3542,3256
$GC,5362,-1.36,-146.0,539.7,-9.8,643,5367,0.00,2.30,0.00,0.000,6,0.000,0.035,2595,2192,3256
$GC,5684,-1.32,-146.0,568.7,-9.0,659,5689,0.10,2.38,0.00,0.000,4,0.117,0.053,2612,3542,3255
$GC,5709,-1.32,-146.0,571.4,-9.7,660,5714,0.00,2.30,0.00,0.000,6,0.000,0.035,2612,2212,3255
$GC,6031,-1.32,-146.0,596.9,-8.1,676,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2208,3253
$GC,6342,-1.32,-146.0,621.4,-7.8,691,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2207,3251
$GC,6650,-1.32,-146.0,645.3,-7.8,706,6654,0.00,2.35,0.00,0.000,4,0.000,0.056,2613,3543,3249
$GC,6693,-1.32,-146.0,648.9,-7.9,708,6697,0.00,2.28,0.00,0.000,6,0.000,0.036,2612,2208,3249
$GC,7020,-1.32,-146.0,673.6,-7.4,724,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2206,3247
$GC,7329,-1.32,-146.0,695.5,-7.2,739,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2205,3247
$GC,7639,-1.32,-146.0,719.1,-7.4,754,7643,0.00,2.38,0.00,0.000,4,0.000,0.056,2612,3543,3245
$GC,7683,-1.36,-146.0,722.6,-7.4,756,7686,0.00,2.28,0.00,0.000,6,0.000,0.037,2612,2211,3245
$GC,8010,-1.36,-146.0,748.5,-8.0,772,8014,0.00,2.60,0.00,0.000,4,0.000,0.059,2613,753,3243
$GC,8041,-1.39,-146.0,751.5,-9.5,773,8049,0.00,2.53,0.00,0.000,6,0.000,0.037,2613,2211,3243
$GC,8359,-1.39,-146.0,778.4,-8.6,789,8363,0.00,2.62,0.00,0.000,4,0.000,0.059,2613,752,3242
$GC,8391,-1.42,-146.0,781.4,-9.0,790,8398,0.00,2.50,0.00,0.000,6,0.000,0.038,2613,2197,3242
$GC,8707,-1.46,-146.0,806.5,-7.6,806,8712,0.12,2.42,0.00,0.000,4,0.061,0.058,2578,3562,3241
$GC,8747,-1.41,-146.0,810.2,-9.6,808,8751,0.00,2.30,0.00,0.000,6,0.000,0.037,2577,2215,3241
$STATE,9030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9030,begin apogee
$GC,9034,-0.34,0.0,837.1,9.7,822,9156,1.25,0.00,117.88,1.266,6,0.100,0.000,2828,2388,2678
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9157,begin climb
$GC,9158,1.42,146.0,841.3,0.0,828,9291,1.77,2.53,123.10,1.216,4,0.058,0.061,3218,3717,2082
$GC,9448,1.17,146.0,811.6,14.9,841,9453,0.30,2.33,0.00,0.000,6,0.120,0.039,3164,2382,2081
$GC,9775,1.06,146.0,774.6,11.5,857,9777,0.15,0.00,0.00,0.000,6,0.120,0.000,3138,2382,2079
$GC,10084,1.00,146.0,744.5,9.2,872,10088,0.00,2.58,0.00,0.000,4,0.000,0.059,3138,960,2079
$GC,10155,0.92,146.0,737.5,9.9,875,10160,0.17,2.47,0.00,0.000,6,0.115,0.040,3106,2370,2078
$GC,10471,0.94,153.9,711.0,8.6,890,10479,0.00,0.00,6.12,1.230,6,0.000,0.000,3107,2369,2050
$GC,10780,0.96,169.0,684.9,8.2,905,10803,0.00,2.55,12.82,1.207,4,0.000,0.061,3106,3726,1989
$GC,10819,0.96,169.0,681.3,9.9,906,10828,0.00,2.38,0.00,0.000,6,0.000,0.038,3106,2362,1988
$GC,11137,0.98,178.6,653.7,8.5,922,11147,0.00,0.00,8.52,1.200,6,0.000,0.000,3106,2362,1949
$GC,11445,1.02,187.7,626.1,8.5,937,11459,0.00,2.60,7.93,1.183,4,0.000,0.058,3106,972,1911
$GC,11489,1.02,187.7,622.1,9.3,939,11494,0.00,2.47,0.00,0.000,6,0.000,0.040,3106,2372,1911
$GC,11816,1.09,202.5,594.9,8.3,955,11831,0.17,0.00,12.45,1.154,6,0.064,0.000,3147,2372,1852
$GC,12126,1.05,202.5,564.2,9.8,970,12131,0.00,2.42,0.00,0.000,4,0.000,0.060,3147,3724,1851
$GC,12153,0.99,202.5,561.3,10.7,971,12158,0.15,2.33,0.00,0.000,6,0.117,0.037,3121,2376,1851
$GC,12476,1.01,214.0,533.5,8.4,987,12490,0.00,2.58,9.73,1.120,4,0.000,0.057,3121,973,1804
$GC,12518,1.03,223.1,529.8,8.6,988,12536,0.00,2.47,8.02,1.095,6,0.000,0.038,3121,2377,1768
$GC,12844,1.06,223.1,501.0,9.3,1004,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2377,1767
$GC,13163,1.10,223.1,469.5,10.0,1033,13165,0.12,0.00,0.00,0.000,6,0.071,0.000,3150,2377,1767
$GC,13480,1.10,223.1,434.2,11.4,1063,13484,0.00,2.50,0.00,0.000,4,0.000,0.054,3150,971,1767
$GC,13541,1.10,223.1,427.1,11.3,1068,13549,0.00,2.42,0.00,0.000,6,0.000,0.037,3150,2364,1767
$GC,13867,1.10,223.1,393.2,10.8,1099,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2364,1767
$GC,14185,1.10,223.1,361.6,9.7,1129,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2364,1767
$GC,14503,1.10,223.1,329.6,10.8,1159,14507,0.00,2.50,0.00,0.000,4,0.000,0.053,3150,963,1767
$GC,14530,1.10,223.1,326.7,11.1,1161,14535,0.00,2.45,0.00,0.000,6,0.000,0.036,3150,2382,1767
$GC,14854,1.10,223.1,293.7,10.2,1191,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2382,1767
$GC,15174,1.12,235.9,264.1,8.4,1221,15190,0.00,2.58,10.75,0.910,4,0.000,0.051,3150,966,1716
$GC,15212,1.12,235.9,260.3,9.8,1224,15220,0.00,2.45,0.00,0.000,6,0.000,0.035,3150,2382,1715
$GC,15550,1.13,242.3,228.3,8.7,1275,15565,0.00,2.58,5.40,0.893,4,0.000,0.051,3150,970,1689
$GC,15616,1.13,242.3,222.0,9.0,1286,15623,0.00,2.40,0.00,0.000,6,0.000,0.035,3150,2358,1689
$GC,15963,1.18,250.5,191.6,8.6,1347,15978,0.00,2.50,6.95,0.850,4,0.000,0.050,3150,970,1656
$GC,16092,1.26,268.3,180.9,8.1,1369,16116,0.12,2.35,14.70,0.805,6,0.058,0.035,3183,2333,1584
$GC,16453,1.26,268.3,147.3,9.9,1432,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,1583
$GC,16795,1.39,316.5,122.1,6.6,1493,16842,0.12,2.47,38.40,0.707,4,0.063,0.048,3216,969,1385
$GC,16854,1.41,328.2,117.7,8.4,1501,16869,0.00,2.40,9.00,0.713,6,0.000,0.032,3217,2355,1340
$GC,17207,1.41,328.2,85.7,9.7,1563,17214,0.00,2.45,0.00,0.000,4,0.000,0.046,3217,961,1336
$GC,17311,1.47,328.2,76.1,9.5,1581,17318,0.00,2.30,0.00,0.000,6,0.000,0.030,3217,2324,1336
$GC,17656,1.63,373.3,50.9,6.7,1642,17698,0.15,2.47,35.35,0.616,4,0.054,0.046,3264,3721,1155
$GC,17800,1.63,373.3,36.2,10.5,1667,17807,0.00,2.33,0.00,0.000,6,0.000,0.028,3264,2333,1153
$STATE,18143,end climb,SURFACE_DEPTH_REACHED
$STATE,18143,begin surface coast
$FINISH,-0.1,1.021615
$STATE,18162,end surface coast,CONTROL_FINISHED_OK
$STATE,18162,begin surface
$SM_CCo,18183,36.30,0.549,0,0,842,450.13
$SM_GC,0.58,0.00,0.00,36.30,0.000,0.000,0.549,250,2127,842,-12.21,-0.65,450.13
$IRIDIUM_FIX,1243.25,12027.48,030697,202041
$TT8_MAMPS,0.023777
$HUMID,1881
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,451
$24V_AH,23.3,22.476
$10V_AH,10.2,10.799
$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,32.950,150.525,427.125,36.300,0.000,133.874,167.591,176.486,121.250,0.000,0.000,31.519,3578.831,11284.953,669.751,2826.073,712.794,0.000,2076.708,0.000,2750.988,0.000,62.582
$DEVICE_MAMPS,171.041,61.360,1266.317,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53461,1731
$CAP_FILE_SIZE,178153,0
$CFSIZE,260165632,248377344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,136.7,1
$GPS,100308,011737,1247.943,12032.618,40,0.8,40,-0.8