version: 66.03
glider: 122
mission: 6
dive: 179
start: 3 24 108 7 1 1
data:
$ID,122
$MISSION,6
$DIVE,179
$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,-30538.459
$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,54
$R_STBD_OVSHOOT,24
$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
$GPS1,065438,1247.809,12029.533,26,1.4,26,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.3
$GPS2,070027,1247.803,12029.542,12,1.5,12,-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,262.8,25683,-17.4,-9.016
$D_GRID,807
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-61.92,0.000,2,0.000,0.000,253,2108,2435
$GC,86,-1.42,-146.0,3.3,-7.4,9,118,13.73,0.00,-15.40,0.000,6,0.176,0.000,2590,2109,3277
$GC,455,-1.15,-146.0,87.4,-18.1,74,462,0.28,0.00,0.00,0.000,6,0.113,0.000,2647,2109,3279
$GC,799,-1.09,-146.0,131.2,-13.3,135,806,0.00,2.50,0.00,0.000,4,0.000,0.043,2647,3567,3282
$GC,942,-1.09,-146.0,147.7,-9.7,160,949,0.00,2.30,0.00,0.000,6,0.000,0.028,2647,2166,3282
$GC,1288,-1.12,-146.0,179.7,-8.4,221,1296,0.00,2.40,0.00,0.000,4,0.000,0.044,2647,3565,3283
$GC,1348,-1.17,-146.0,185.3,-9.8,231,1355,0.00,2.30,0.00,0.000,6,0.000,0.028,2647,2176,3282
$GC,1693,-1.22,-146.0,212.7,-7.6,292,1702,0.00,2.38,0.00,0.000,4,0.000,0.044,2648,3560,3283
$GC,1756,-1.26,-146.0,217.6,-8.6,302,1763,0.00,2.28,0.00,0.000,6,0.000,0.029,2647,2191,3283
$GC,2099,-1.32,-146.0,244.9,-8.3,363,2106,0.15,2.53,0.00,0.000,4,0.051,0.047,2596,746,3283
$GC,2130,-1.32,-146.0,247.9,-10.1,368,2137,0.00,2.47,0.00,0.000,6,0.000,0.031,2597,2215,3282
$GC,2464,-1.27,-146.0,279.1,-9.5,401,2466,0.15,0.00,0.00,0.000,6,0.098,0.000,2625,2215,3281
$GC,2782,-1.27,-146.0,306.0,-8.1,431,2786,0.00,2.33,0.00,0.000,4,0.000,0.050,2625,3558,3280
$GC,2826,-1.27,-146.0,310.1,-9.1,434,2833,0.00,2.25,0.00,0.000,6,0.000,0.031,2625,2209,3280
$GC,3152,-1.27,-146.0,335.9,-8.6,465,3156,0.00,2.58,0.00,0.000,4,0.000,0.051,2625,750,3278
$GC,3185,-1.31,-146.0,339.0,-8.9,467,3192,0.00,2.50,0.00,0.000,6,0.000,0.032,2626,2229,3278
$GC,3512,-1.31,-146.0,366.7,-8.3,498,3516,0.00,2.30,0.00,0.000,4,0.000,0.048,2626,3559,3276
$GC,3579,-1.31,-146.0,373.0,-9.0,503,3586,0.00,2.22,0.00,0.000,6,0.000,0.031,2625,2235,3275
$GC,3905,-1.31,-146.0,397.1,-7.8,534,3910,0.00,2.62,0.00,0.000,4,0.000,0.052,2625,752,3273
$GC,3991,-1.35,-146.0,404.4,-8.3,541,3996,0.00,2.50,0.00,0.000,6,0.000,0.034,2626,2216,3273
$GC,4318,-1.35,-146.0,430.6,-8.2,571,4322,0.00,2.35,0.00,0.000,4,0.000,0.051,2625,3564,3270
$GC,4346,-1.35,-146.0,433.1,-8.8,573,4350,0.00,2.30,0.00,0.000,6,0.000,0.033,2626,2201,3271
$GC,4674,-1.35,-146.0,459.5,-8.4,603,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2199,3269
$GC,4999,-1.35,-146.0,485.0,-7.8,634,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2199,3267
$GC,5324,-1.35,-146.0,512.3,-8.4,658,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2199,3266
$GC,5633,-1.35,-146.0,535.6,-7.1,673,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2199,3264
$GC,5942,-1.35,-146.0,558.0,-7.6,688,5946,0.00,2.40,0.00,0.000,4,0.000,0.053,2625,3560,3261
$GC,6004,-1.35,-146.0,563.3,-9.1,691,6008,0.00,2.30,0.00,0.000,6,0.000,0.035,2625,2209,3261
$GC,6332,-1.39,-146.0,589.9,-8.3,707,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2207,3260
$GC,6641,-1.42,-146.0,615.1,-8.0,722,6645,0.15,2.40,0.00,0.000,4,0.057,0.053,2581,3568,3258
$GC,6673,-1.35,-146.0,618.5,-10.0,723,6682,0.15,2.30,0.00,0.000,6,0.104,0.035,2608,2216,3257
$GC,6991,-1.35,-146.0,645.1,-8.6,739,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2215,3257
$GC,7299,-1.35,-146.0,671.5,-8.2,754,7303,0.00,2.38,0.00,0.000,4,0.000,0.055,2608,3556,3255
$GC,7331,-1.35,-146.0,674.4,-8.6,755,7335,0.00,2.28,0.00,0.000,6,0.000,0.035,2608,2224,3256
$GC,7656,-1.35,-146.0,700.2,-8.0,771,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2223,3255
$GC,7962,-1.35,-146.0,726.1,-8.4,786,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2223,3253
$GC,8272,-1.35,-146.0,749.6,-7.4,801,8279,0.00,2.38,0.00,0.000,4,0.000,0.055,2608,3561,3252
$GC,8307,-1.35,-146.0,752.5,-6.8,802,8311,0.00,2.30,0.00,0.000,6,0.000,0.037,2608,2214,3252
$GC,8628,-1.35,-146.0,777.1,-8.4,818,8633,0.00,2.62,0.00,0.000,4,0.000,0.060,2609,753,3251
$GC,8690,-1.38,-146.0,782.6,-9.3,821,8695,0.00,2.53,0.00,0.000,6,0.000,0.036,2609,2214,3250
$STATE,9015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9015,begin apogee
$GC,9021,-0.34,0.0,807.2,6.5,837,9144,1.08,0.00,119.82,1.223,6,0.094,0.000,2828,2399,2678
$STATE,9145,end apogee,CONTROL_FINISHED_OK
$STATE,9145,begin climb
$GC,9147,1.42,146.0,809.2,0.0,843,9279,1.80,2.45,124.18,1.207,4,0.054,0.058,3218,3720,2082
$GC,9310,1.17,146.0,798.0,13.5,851,9315,0.32,2.33,0.00,0.000,6,0.127,0.038,3162,2386,2081
$GC,9637,1.07,146.0,765.2,10.2,867,9642,0.12,2.58,0.00,0.000,4,0.130,0.058,3141,967,2078
$GC,9721,1.00,146.0,756.9,10.0,871,9726,0.00,2.42,0.00,0.000,6,0.000,0.039,3141,2345,2078
$GC,10049,0.99,172.5,728.8,7.7,887,10076,0.00,2.53,22.02,1.200,4,0.000,0.059,3141,3725,1973
$GC,10148,0.93,172.5,720.5,9.1,891,10157,0.17,2.35,0.00,0.000,6,0.126,0.038,3111,2373,1973
$GC,10466,1.03,213.3,699.1,6.9,907,10512,0.00,2.67,34.28,1.178,4,0.000,0.059,3110,969,1806
$GC,10545,1.08,215.9,692.7,8.9,910,10560,0.15,2.47,2.45,1.142,6,0.065,0.038,3150,2373,1797
$GC,10866,1.08,215.9,661.5,10.2,926,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2373,1796
$GC,11174,1.08,215.9,631.6,9.5,941,11179,0.00,2.55,0.00,0.000,4,0.000,0.058,3150,970,1795
$GC,11223,1.05,215.9,626.9,9.6,943,11227,0.00,2.42,0.00,0.000,6,0.000,0.039,3150,2358,1795
$GC,11545,1.05,215.9,596.6,9.4,959,11549,0.00,2.50,0.00,0.000,4,0.000,0.058,3150,974,1794
$GC,11588,1.05,215.9,592.1,10.7,961,11592,0.00,2.40,0.00,0.000,6,0.000,0.038,3150,2333,1794
$GC,11916,1.08,233.4,563.0,8.1,977,11939,0.00,2.58,14.80,1.122,4,0.000,0.059,3150,3727,1726
$GC,11963,1.08,233.4,558.9,9.6,979,11967,0.00,2.42,0.00,0.000,6,0.000,0.038,3150,2339,1726
$GC,12289,1.08,233.4,529.5,9.6,995,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2339,1724
$GC,12598,1.08,233.4,500.2,9.3,1010,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2338,1724
$GC,12917,1.08,233.8,471.3,9.0,1039,12921,0.00,2.45,0.00,0.000,4,0.000,0.058,3150,970,1725
$GC,12964,1.08,233.8,467.1,9.0,1043,12968,0.00,2.42,0.00,0.000,6,0.000,0.038,3150,2363,1724
$GC,13288,1.08,233.8,438.2,9.0,1073,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2363,1723
$GC,13607,1.08,233.8,409.9,9.1,1103,13611,0.00,2.50,0.00,0.000,4,0.000,0.055,3150,970,1724
$GC,13696,1.09,242.1,401.8,8.6,1110,13708,0.00,2.42,7.03,1.029,6,0.000,0.037,3150,2374,1691
$GC,14027,1.09,242.1,371.8,9.2,1141,14032,0.00,2.53,0.00,0.000,4,0.000,0.054,3150,968,1690
$GC,14117,1.09,242.1,362.8,10.1,1148,14124,0.00,2.35,0.00,0.000,6,0.000,0.037,3150,2329,1690
$GC,14442,1.13,242.1,333.7,9.3,1179,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2329,1690
$GC,14762,1.20,260.5,306.8,8.1,1209,14781,0.00,0.00,15.80,0.928,6,0.000,0.000,3150,2328,1616
$GC,15101,1.31,295.3,278.8,7.2,1241,15138,0.15,2.53,28.52,0.876,4,0.058,0.054,3193,962,1473
$GC,15161,1.31,295.3,273.4,9.5,1246,15165,0.00,2.38,0.00,0.000,6,0.000,0.037,3193,2317,1472
$GC,15491,1.31,295.3,238.1,10.6,1285,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2317,1471
$GC,15834,1.31,295.3,201.5,10.9,1346,15840,0.00,2.42,0.00,0.000,4,0.000,0.053,3193,963,1470
$GC,15869,1.31,295.3,197.9,10.9,1352,15876,0.00,2.35,0.00,0.000,6,0.000,0.036,3193,2323,1470
$GC,16213,1.31,295.3,165.0,9.2,1413,16220,0.00,2.47,0.00,0.000,4,0.000,0.053,3193,3730,1470
$GC,16254,1.31,295.3,161.1,9.5,1420,16261,0.00,2.40,0.00,0.000,6,0.000,0.035,3193,2326,1470
$GC,16599,1.41,321.4,134.1,7.7,1481,16629,0.00,2.50,20.92,0.758,4,0.000,0.052,3193,970,1366
$GC,16652,1.58,364.4,130.4,6.8,1490,16695,0.25,2.40,35.28,0.720,6,0.051,0.035,3253,2351,1191
$GC,17032,1.65,385.8,97.0,7.9,1557,17057,0.00,2.53,16.75,0.706,4,0.000,0.051,3253,969,1104
$GC,17075,1.71,385.8,93.1,9.3,1564,17082,0.10,2.35,0.00,0.000,6,0.064,0.034,3281,2323,1103
$GC,17420,1.79,408.6,63.0,7.9,1625,17445,0.00,2.50,18.10,0.662,4,0.000,0.050,3281,3733,1012
$GC,17519,1.87,408.6,53.8,9.7,1642,17526,0.12,2.33,0.00,0.000,6,0.058,0.031,3316,2359,1010
$GC,17864,1.83,408.6,22.1,10.0,1703,17871,0.00,2.42,0.00,0.000,4,0.000,0.048,3317,976,1009
$GC,17944,1.83,408.6,14.4,9.7,1717,17951,0.00,2.33,0.00,0.000,6,0.000,0.030,3317,2350,1009
$STATE,18073,end climb,SURFACE_DEPTH_REACHED
$STATE,18073,begin surface coast
$FINISH,-0.0,1.021369
$STATE,18098,end surface coast,CONTROL_FINISHED_OK
$STATE,18099,begin surface
$SM_CCo,18121,32.67,0.567,0,0,740,475.15
$SM_GC,0.78,0.00,0.00,32.67,0.000,0.000,0.567,249,2117,740,-12.21,-0.93,475.15
$IRIDIUM_FIX,1243.25,12029.39,180697,010133
$TT8_MAMPS,0.023777
$HUMID,1962
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.50
$XPDR_PINGS,444
$24V_AH,23.2,33.526
$10V_AH,10.1,16.817
$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,32.375,150.875,459.950,32.675,0.000,25.711,42.892,162.214,119.250,0.000,0.000,12.437,3623.082,10845.773,691.236,2833.938,511.072,0.000,2118.879,0.000,2782.681,0.000,63.122
$DEVICE_MAMPS,176.410,59.826,1223.365,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1170.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53507,1744
$CAP_FILE_SIZE,175403,0
$CFSIZE,260165632,242950144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,332.6,1
$GPS,240308,120437,1248.045,12027.392,26,1.2,26,-0.8