version: 66.03
glider: 122
mission: 6
dive: 158
start: 3 19 108 14 32 41
data:
$ID,122
$MISSION,6
$DIVE,158
$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,475
$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,-30211.662
$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,60
$R_STBD_OVSHOOT,25
$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
$GPS1,142638,1246.532,12019.655,41,1.7,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.5
$GPS2,143209,1246.542,12019.600,13,1.6,13,-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,263.8,7600,-17.4,-9.016
$D_GRID,854
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,88,0.00,0.00,-65.25,0.000,2,0.000,0.000,249,2114,2542
$GC,90,-1.42,-146.0,3.8,-9.6,11,123,13.50,2.55,-13.27,0.000,4,0.170,0.051,2589,3564,3277
$GC,226,-1.11,-146.0,36.8,-24.3,34,234,0.38,2.33,0.00,0.000,6,0.109,0.028,2660,2166,3278
$GC,572,-1.00,-146.0,87.6,-14.5,95,580,0.12,2.47,0.00,0.000,4,0.118,0.044,2683,740,3279
$GC,597,-0.95,-146.0,91.5,-14.4,99,605,0.00,2.42,0.00,0.000,6,0.000,0.028,2683,2188,3279
$GC,942,-0.95,-146.0,132.0,-11.3,160,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2189,3282
$GC,1286,-1.02,-146.0,165.0,-8.5,221,1294,0.00,2.35,0.00,0.000,4,0.000,0.045,2682,3558,3282
$GC,1328,-1.11,-146.0,168.9,-8.7,228,1336,0.00,2.35,0.00,0.000,6,0.000,0.028,2682,2139,3282
$GC,1674,-1.21,-146.0,195.6,-7.7,289,1680,0.17,0.00,0.00,0.000,6,0.047,0.000,2626,2137,3283
$GC,2017,-1.21,-146.0,228.4,-9.2,350,2024,0.00,2.42,0.00,0.000,4,0.000,0.044,2626,3551,3282
$GC,2131,-1.21,-146.0,239.0,-8.9,370,2138,0.00,2.30,0.00,0.000,6,0.000,0.031,2626,2173,3282
$GC,2464,-1.21,-146.0,267.2,-8.4,412,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2173,3281
$GC,2783,-1.21,-146.0,295.7,-9.2,442,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2171,3280
$GC,3101,-1.21,-146.0,324.9,-9.0,472,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2170,3278
$GC,3420,-1.21,-146.0,351.4,-8.1,502,3424,0.00,2.53,0.00,0.000,4,0.000,0.054,2625,751,3276
$GC,3449,-1.21,-146.0,353.7,-8.3,504,3453,0.00,2.45,0.00,0.000,6,0.000,0.032,2626,2191,3276
$GC,3774,-1.21,-146.0,379.6,-8.3,534,3778,0.00,2.38,0.00,0.000,4,0.000,0.049,2626,3555,3274
$GC,3818,-1.21,-146.0,383.6,-8.4,537,3825,0.00,2.30,0.00,0.000,6,0.000,0.033,2626,2196,3273
$GC,4143,-1.21,-146.0,410.6,-8.0,568,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2192,3271
$GC,4461,-1.21,-146.0,435.7,-8.0,598,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2192,3269
$GC,4779,-1.21,-146.0,461.5,-8.2,628,4784,0.00,2.40,0.00,0.000,4,0.000,0.051,2625,3557,3267
$GC,4835,-1.21,-146.0,466.3,-8.9,632,4841,0.00,2.30,0.00,0.000,6,0.000,0.035,2626,2203,3267
$GC,5161,-1.25,-146.0,492.8,-8.1,663,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2199,3266
$GC,5483,-1.28,-146.0,518.7,-7.8,683,5487,0.00,2.60,0.00,0.000,4,0.000,0.057,2626,749,3263
$GC,5522,-1.33,-146.0,521.9,-8.1,685,5526,0.00,2.53,0.00,0.000,6,0.000,0.036,2625,2214,3262
$GC,5848,-1.36,-146.0,548.4,-8.0,701,5853,0.00,2.35,0.00,0.000,4,0.000,0.056,2626,3545,3261
$GC,5882,-1.39,-146.0,551.3,-8.4,702,5889,0.12,2.25,0.00,0.000,6,0.061,0.035,2590,2218,3260
$GC,6199,-1.35,-146.0,581.9,-9.5,718,6201,0.10,0.00,0.00,0.000,6,0.117,0.000,2607,2216,3259
$GC,6506,-1.35,-146.0,609.2,-8.9,733,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2213,3258
$GC,6816,-1.35,-146.0,636.0,-8.3,748,6820,0.00,2.35,0.00,0.000,4,0.000,0.055,2608,3545,3256
$GC,6855,-1.35,-146.0,639.7,-9.4,750,6860,0.00,2.28,0.00,0.000,6,0.000,0.037,2608,2213,3256
$GC,7187,-1.35,-146.0,668.9,-8.7,766,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2213,3255
$GC,7496,-1.35,-146.0,694.5,-8.4,781,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2213,3254
$GC,7805,-1.35,-146.0,719.6,-7.5,796,7810,0.00,2.65,0.00,0.000,4,0.000,0.062,2608,737,3252
$GC,7832,-1.35,-146.0,721.7,-7.6,797,7837,0.00,2.55,0.00,0.000,6,0.000,0.037,2608,2212,3252
$GC,8154,-1.35,-146.0,745.9,-7.4,813,8158,0.00,2.38,0.00,0.000,4,0.000,0.060,2608,3548,3250
$GC,8186,-1.35,-146.0,748.7,-8.1,814,8193,0.00,2.25,0.00,0.000,6,0.000,0.037,2608,2230,3250
$GC,8502,-1.35,-146.0,772.5,-7.8,830,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2230,3249
$GC,8813,-1.35,-146.0,798.6,-8.5,845,8817,0.00,2.67,0.00,0.000,4,0.000,0.062,2608,749,3248
$GC,8845,-1.35,-146.0,801.7,-8.6,846,8852,0.00,2.58,0.00,0.000,6,0.000,0.038,2608,2228,3248
$GC,9161,-1.35,-146.0,827.7,-8.2,862,9165,0.00,2.35,0.00,0.000,4,0.000,0.061,2608,3548,3247
$GC,9200,-1.35,-146.0,831.0,-8.1,864,9204,0.00,2.22,0.00,0.000,6,0.000,0.038,2608,2249,3247
$STATE,9503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9503,begin apogee
$GC,9508,-0.34,0.0,855.3,7.8,879,9632,1.10,0.00,119.88,1.282,6,0.096,0.000,2830,2381,2678
$STATE,9632,end apogee,CONTROL_FINISHED_OK
$STATE,9633,begin climb
$GC,9635,1.42,146.0,858.6,0.0,885,9768,1.77,2.50,124.12,1.231,4,0.057,0.062,3220,3707,2082
$GC,9945,1.17,146.0,827.9,13.5,899,9950,0.32,2.33,0.00,0.000,6,0.127,0.041,3163,2382,2080
$GC,10273,1.05,146.0,794.6,9.2,915,10275,0.15,0.00,0.00,0.000,6,0.123,0.000,3137,2381,2078
$GC,10581,0.99,146.0,768.4,9.1,930,10585,0.00,2.58,0.00,0.000,4,0.000,0.061,3137,967,2078
$GC,10658,0.92,146.0,761.0,9.1,933,10666,0.17,2.45,0.00,0.000,6,0.117,0.040,3105,2359,2077
$GC,10974,0.97,178.6,736.5,7.4,949,11006,0.00,2.55,27.00,1.221,4,0.000,0.062,3106,3726,1948
$GC,11080,0.97,178.6,727.5,9.1,954,11085,0.00,2.35,0.00,0.000,6,0.000,0.039,3105,2378,1948
$GC,11407,1.00,190.9,700.8,8.4,970,11423,0.00,2.62,10.50,1.224,4,0.000,0.060,3105,965,1899
$GC,11523,1.00,190.9,690.0,9.1,974,11527,0.00,2.45,0.00,0.000,6,0.000,0.039,3105,2354,1898
$GC,11845,1.05,201.3,661.8,8.5,990,11860,0.12,2.58,8.80,1.208,4,0.071,0.059,3134,972,1857
$GC,11893,1.01,201.3,657.0,10.6,992,11897,0.00,2.42,0.00,0.000,6,0.000,0.040,3134,2343,1857
$GC,12220,1.01,201.3,626.3,9.7,1008,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2343,1856
$GC,12529,1.01,201.3,595.1,10.3,1023,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2342,1856
$GC,12840,1.01,201.3,564.8,9.5,1038,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2342,1856
$GC,13148,1.01,201.3,536.2,9.7,1053,13152,0.00,2.47,0.00,0.000,4,0.000,0.060,3134,3729,1856
$GC,13202,1.01,201.3,530.4,10.4,1055,13209,0.00,2.45,0.00,0.000,6,0.000,0.038,3134,2326,1856
$GC,13518,1.01,201.3,498.8,10.0,1071,13522,0.00,2.45,0.00,0.000,4,0.000,0.058,3134,962,1856
$GC,13583,1.01,201.3,491.9,10.2,1076,13590,0.00,2.35,0.00,0.000,6,0.000,0.037,3134,2323,1855
$GC,13909,1.01,201.3,461.4,9.1,1107,13911,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2323,1855
$GC,14228,1.01,201.3,431.7,9.1,1137,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2323,1855
$GC,14545,1.01,201.3,401.7,9.3,1167,14549,0.00,2.42,0.00,0.000,4,0.000,0.055,3134,970,1855
$GC,14589,1.01,201.3,397.4,9.4,1170,14596,0.00,2.33,0.00,0.000,6,0.000,0.037,3134,2315,1855
$GC,14915,1.04,219.6,370.2,8.1,1201,14935,0.00,0.00,15.12,0.991,6,0.000,0.000,3134,2314,1782
$GC,15254,1.05,223.3,340.6,8.8,1233,15266,0.00,2.47,3.30,0.992,4,0.000,0.054,3134,972,1766
$GC,15300,1.05,223.3,336.7,9.1,1237,15304,0.00,2.30,0.00,0.000,6,0.000,0.036,3134,2299,1766
$GC,15625,1.06,229.1,309.7,8.7,1267,15637,0.00,2.40,5.43,0.967,4,0.000,0.054,3134,965,1743
$GC,15698,1.08,243.4,303.1,8.3,1273,15717,0.00,2.28,11.98,0.927,6,0.000,0.035,3134,2279,1685
$GC,16034,1.14,257.3,274.6,8.3,1305,16051,0.00,2.40,11.95,0.907,4,0.000,0.052,3134,962,1627
$GC,16131,1.19,257.3,265.8,9.3,1313,16135,0.12,2.25,0.00,0.000,6,0.058,0.035,3172,2263,1626
$GC,16463,1.19,257.3,232.5,10.3,1358,16470,0.00,2.60,0.00,0.000,4,0.000,0.053,3172,3733,1626
$GC,16521,1.19,257.3,226.4,11.4,1368,16527,0.00,2.55,0.00,0.000,6,0.000,0.036,3172,2248,1626
$GC,16865,1.19,257.3,192.5,9.1,1429,16871,0.00,2.62,0.00,0.000,4,0.000,0.051,3172,3734,1626
$GC,16900,1.19,257.3,188.8,10.3,1435,16906,0.00,2.55,0.00,0.000,6,0.000,0.035,3172,2244,1626
$GC,17244,1.24,288.1,158.6,7.4,1496,17274,0.00,0.00,24.52,0.779,6,0.000,0.000,3172,2244,1503
$GC,17611,1.37,326.4,128.8,7.1,1561,17647,0.15,0.00,30.85,0.729,6,0.055,0.000,3217,2244,1347
$GC,17986,1.44,340.4,96.8,8.3,1627,18005,0.00,2.65,10.62,0.720,4,0.000,0.047,3217,3728,1290
$GC,18034,1.49,353.2,92.7,8.4,1635,18053,0.00,2.45,10.57,0.702,6,0.000,0.031,3217,2288,1237
$GC,18391,1.63,387.2,64.4,7.3,1698,18427,0.15,2.40,27.12,0.642,4,0.053,0.048,3266,971,1098
$GC,18489,1.63,387.2,54.8,10.4,1715,18496,0.00,2.28,0.00,0.000,6,0.000,0.030,3266,2312,1096
$GC,18833,1.63,387.2,21.8,9.9,1776,18839,0.00,2.38,0.00,0.000,4,0.000,0.046,3266,958,1096
$GC,18885,1.63,387.2,16.4,10.7,1785,18891,0.00,2.28,0.00,0.000,6,0.000,0.028,3266,2310,1096
$STATE,19072,end climb,SURFACE_DEPTH_REACHED
$STATE,19072,begin surface coast
$FINISH,-0.1,0.997056
$STATE,19100,end surface coast,CONTROL_FINISHED_OK
$STATE,19100,begin surface
$SM_CCo,19121,42.17,0.553,0,0,740,475.15
$SM_GC,0.83,0.00,0.00,42.17,0.000,0.000,0.553,253,2120,740,-12.19,-0.85,475.15
$IRIDIUM_FIX,1243.25,12019.52,130697,090933
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,452
$24V_AH,23.3,29.946
$10V_AH,10.1,14.864
$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,31.700,146.225,441.775,42.175,0.000,22.875,38.935,153.958,122.000,0.000,0.000,13.883,3556.831,11807.552,664.794,2981.025,488.748,0.000,2155.190,0.000,2924.714,0.000,66.209
$DEVICE_MAMPS,169.507,62.127,1282.424,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1224.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56661,1823
$CAP_FILE_SIZE,180370,0
$CFSIZE,260165632,244723712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,351.9,1
$GPS,190308,195327,1247.312,12016.833,26,5.7,45,-0.8