version: 66.03
glider: 122
mission: 6
dive: 180
start: 3 24 108 12 10 30
data:
$ID,122
$MISSION,6
$DIVE,180
$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,-30550.406
$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,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,8
$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
$GPS1,120437,1248.045,12027.392,26,1.2,26,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.6
$GPS2,120957,1248.032,12027.396,11,1.5,11,-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,248.2,21948,-17.4,-9.016
$D_GRID,790
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-63.40,0.000,2,0.000,0.000,249,2116,2473
$GC,88,-1.42,-146.0,3.4,-8.3,10,127,13.68,2.53,-14.70,0.000,4,0.175,0.053,2588,3552,3277
$GC,184,-1.11,-146.0,27.8,-22.4,26,192,0.38,2.30,0.00,0.000,6,0.117,0.028,2658,2167,3278
$GC,530,-0.99,-146.0,90.1,-14.9,87,537,0.15,2.38,0.00,0.000,4,0.110,0.040,2689,3553,3279
$GC,549,-0.89,-146.0,93.0,-14.1,90,557,0.10,2.30,0.00,0.000,6,0.107,0.027,2708,2162,3279
$GC,898,-0.98,-146.0,128.6,-8.6,151,907,0.00,2.38,0.00,0.000,4,0.000,0.041,2708,3552,3282
$GC,971,-1.07,-146.0,135.5,-9.4,164,980,0.17,2.25,0.00,0.000,6,0.045,0.027,2653,2183,3282
$GC,1318,-1.11,-146.0,166.1,-8.8,225,1325,0.00,2.47,0.00,0.000,4,0.000,0.045,2653,755,3282
$GC,1384,-1.18,-146.0,171.8,-8.6,236,1392,0.00,2.35,0.00,0.000,6,0.000,0.028,2653,2165,3282
$GC,1730,-1.23,-146.0,199.1,-8.0,297,1738,0.00,2.38,0.00,0.000,4,0.000,0.044,2653,3556,3282
$GC,1812,-1.28,-146.0,206.0,-8.8,311,1820,0.12,2.30,0.00,0.000,6,0.056,0.028,2613,2164,3282
$GC,2158,-1.28,-146.0,237.2,-8.7,372,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2164,3282
$GC,2496,-1.28,-146.0,268.9,-8.6,415,2500,0.00,2.38,0.00,0.000,4,0.000,0.044,2613,3545,3282
$GC,2573,-1.28,-146.0,276.0,-8.3,421,2581,0.00,2.25,0.00,0.000,6,0.000,0.030,2613,2192,3281
$GC,2899,-1.28,-146.0,300.9,-8.3,452,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2188,3280
$GC,3217,-1.28,-146.0,331.9,-9.8,482,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2187,3279
$GC,3537,-1.28,-146.0,356.4,-6.7,512,3541,0.00,2.35,0.00,0.000,4,0.000,0.048,2612,3543,3277
$GC,3577,-1.28,-146.0,359.5,-7.5,515,3581,0.00,2.28,0.00,0.000,6,0.000,0.032,2612,2193,3276
$GC,3904,-1.28,-146.0,388.2,-8.6,545,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2191,3275
$GC,4230,-1.28,-146.0,411.8,-7.1,576,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2190,3272
$GC,4548,-1.28,-146.0,435.1,-7.8,606,4552,0.00,2.38,0.00,0.000,4,0.000,0.050,2613,3545,3270
$GC,4610,-1.28,-146.0,440.2,-8.5,611,4614,0.00,2.28,0.00,0.000,6,0.000,0.033,2612,2202,3270
$GC,4936,-1.28,-146.0,465.7,-7.4,641,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2198,3268
$GC,5254,-1.28,-146.0,490.1,-7.6,671,5258,0.00,2.38,0.00,0.000,4,0.000,0.051,2613,3551,3267
$GC,5286,-1.28,-146.0,493.0,-8.4,673,5294,0.00,2.30,0.00,0.000,6,0.000,0.034,2613,2197,3266
$GC,5616,-1.28,-146.0,518.8,-8.1,694,5620,0.00,2.38,0.00,0.000,4,0.000,0.051,2612,3545,3265
$GC,5679,-1.28,-146.0,524.4,-9.3,697,5683,0.00,2.25,0.00,0.000,6,0.000,0.034,2612,2217,3265
$GC,6014,-1.28,-146.0,551.4,-7.9,713,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2215,3262
$GC,6321,-1.28,-146.0,574.8,-7.7,728,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2215,3260
$GC,6631,-1.28,-146.0,601.3,-8.7,743,6635,0.00,2.33,0.00,0.000,4,0.000,0.052,2612,3541,3259
$GC,6668,-1.28,-146.0,605.2,-10.1,744,6676,0.00,2.28,0.00,0.000,6,0.000,0.035,2612,2222,3259
$GC,6986,-1.28,-146.0,630.8,-8.1,760,6990,0.00,2.62,0.00,0.000,4,0.000,0.058,2612,750,3257
$GC,7026,-1.28,-146.0,634.3,-8.7,762,7030,0.00,2.50,0.00,0.000,6,0.000,0.035,2613,2206,3257
$GC,7352,-1.28,-146.0,658.9,-7.3,778,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2207,3256
$GC,7661,-1.28,-146.0,682.9,-8.6,793,7665,0.00,2.35,0.00,0.000,4,0.000,0.056,2612,3551,3255
$GC,7711,-1.28,-146.0,687.4,-8.9,795,7715,0.00,2.28,0.00,0.000,6,0.000,0.035,2612,2211,3255
$GC,8033,-1.28,-146.0,714.9,-8.6,811,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2209,3254
$GC,8342,-1.28,-146.0,738.6,-7.7,826,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2209,3252
$GC,8651,-1.28,-146.0,762.2,-7.7,841,8656,0.00,2.38,0.00,0.000,4,0.000,0.055,2612,3550,3251
$GC,8695,-1.28,-146.0,765.8,-8.3,843,8699,0.00,2.28,0.00,0.000,6,0.000,0.037,2612,2215,3251
$GC,9024,-1.28,-146.0,787.5,-5.9,859,9028,0.00,2.35,0.00,0.000,4,0.000,0.055,2613,3540,3250
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9063,begin apogee
$GC,9070,-0.34,0.0,790.2,6.7,861,9194,1.05,0.00,120.00,1.225,6,0.091,0.000,2826,2373,2678
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9195,begin climb
$GC,9197,1.42,146.0,793.0,0.0,867,9328,1.77,2.55,122.82,1.180,4,0.054,0.058,3218,3716,2082
$GC,9412,1.18,146.0,775.0,13.1,876,9420,0.30,2.35,0.00,0.000,6,0.128,0.039,3165,2372,2079
$GC,9728,1.08,146.0,744.3,9.5,892,9733,0.15,2.42,0.00,0.000,4,0.123,0.058,3140,3714,2078
$GC,9772,1.00,146.0,739.7,11.1,894,9776,0.00,2.33,0.00,0.000,6,0.000,0.038,3139,2375,2078
$GC,10092,0.95,146.0,707.7,9.8,910,10097,0.15,2.55,0.00,0.000,4,0.129,0.059,3110,969,2077
$GC,10154,0.95,146.0,701.8,9.1,913,10159,0.00,2.42,0.00,0.000,6,0.000,0.039,3110,2354,2077
$GC,10481,1.00,175.6,675.5,7.5,929,10512,0.00,2.65,24.08,1.174,4,0.000,0.059,3110,966,1962
$GC,10548,1.00,175.6,669.7,9.2,932,10552,0.00,2.45,0.00,0.000,6,0.000,0.039,3110,2355,1961
$GC,10876,1.03,175.6,640.4,9.3,948,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2356,1960
$GC,11185,1.08,184.4,613.3,8.6,963,11199,0.12,2.60,7.28,1.170,4,0.072,0.058,3139,972,1926
$GC,11297,1.04,184.4,602.5,9.1,968,11301,0.00,2.38,0.00,0.000,6,0.000,0.038,3139,2331,1926
$GC,11623,1.05,190.6,573.3,8.7,984,11630,0.00,0.00,5.43,1.149,6,0.000,0.000,3139,2330,1901
$GC,11932,1.05,190.6,545.4,9.4,999,11936,0.00,2.47,0.00,0.000,4,0.000,0.058,3139,964,1901
$GC,12003,1.05,190.6,538.6,9.3,1002,12008,0.00,2.38,0.00,0.000,6,0.000,0.039,3139,2327,1901
$GC,12325,1.08,208.6,511.2,8.1,1018,12347,0.00,2.50,15.57,1.090,4,0.000,0.057,3139,969,1825
$GC,12380,1.08,208.6,506.4,9.1,1020,12384,0.00,2.35,0.00,0.000,6,0.000,0.038,3139,2298,1825
$GC,12709,1.08,208.6,477.8,9.1,1047,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2298,1824
$GC,13027,1.08,208.6,449.2,9.3,1077,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2299,1824
$GC,13347,1.08,210.3,420.9,8.9,1107,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2299,1824
$GC,13665,1.11,224.4,393.6,8.3,1137,13688,0.00,2.50,12.75,1.012,4,0.000,0.056,3139,970,1762
$GC,13726,1.11,224.4,387.7,9.7,1142,13733,0.00,2.33,0.00,0.000,6,0.000,0.037,3139,2300,1762
$GC,14053,1.18,247.9,360.4,7.8,1173,14075,0.10,0.00,19.75,0.963,6,0.077,0.000,3164,2300,1667
$GC,14389,1.19,252.2,330.5,8.8,1205,14401,0.00,2.45,3.80,0.973,4,0.000,0.056,3164,973,1649
$GC,14451,1.19,252.2,324.4,9.3,1210,14458,0.00,2.30,0.00,0.000,6,0.000,0.036,3164,2283,1649
$GC,14777,1.19,252.2,292.9,9.4,1241,14782,0.00,2.58,0.00,0.000,4,0.000,0.057,3164,3732,1649
$GC,14810,1.19,252.2,289.6,10.2,1243,14817,0.00,2.50,0.00,0.000,6,0.000,0.037,3164,2279,1649
$GC,15137,1.22,271.4,263.7,8.0,1274,15160,0.00,2.38,16.38,0.890,4,0.000,0.055,3164,970,1569
$GC,15210,1.23,273.8,257.2,8.9,1280,15217,0.00,2.28,0.00,0.000,6,0.000,0.035,3164,2280,1569
$GC,15548,1.28,273.8,226.0,10.0,1333,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2280,1568
$GC,15892,1.36,282.0,193.8,8.6,1394,15906,0.15,2.45,8.27,0.852,4,0.060,0.053,3204,961,1527
$GC,15962,1.36,282.0,187.3,9.6,1406,15969,0.00,2.25,0.00,0.000,6,0.000,0.035,3204,2263,1526
$GC,16306,1.36,282.0,156.9,9.3,1467,16313,0.00,2.60,0.00,0.000,4,0.000,0.053,3204,3734,1526
$GC,16336,1.36,282.0,154.0,9.8,1472,16342,0.00,2.53,0.00,0.000,6,0.000,0.035,3204,2259,1526
$GC,16680,1.51,344.3,129.4,5.8,1533,16739,0.12,2.35,50.72,0.720,4,0.065,0.052,3237,969,1272
$GC,16975,1.60,375.6,104.5,7.4,1585,17005,0.00,2.17,24.62,0.700,6,0.000,0.033,3237,2242,1145
$GC,17344,1.80,426.4,77.3,6.4,1650,17392,0.22,0.00,40.95,0.649,6,0.048,0.000,3300,2243,938
$GC,17730,1.80,426.4,41.9,9.3,1718,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2243,934
$GC,18073,1.84,426.4,9.4,9.6,1779,18080,0.00,2.25,0.00,0.000,4,0.000,0.046,3300,955,934
$GC,18137,1.88,426.4,3.1,10.5,1790,18144,0.00,2.15,0.00,0.000,6,0.000,0.028,3300,2239,933
$STATE,18148,end climb,SURFACE_DEPTH_REACHED
$STATE,18148,begin surface coast
$FINISH,0.4,1.021306
$STATE,18166,end surface coast,CONTROL_FINISHED_OK
$STATE,18166,begin surface
$SM_CCo,18188,24.00,0.569,0,0,740,475.15
$SM_GC,1.07,0.00,0.00,24.00,0.000,0.000,0.569,250,2102,740,-12.21,-1.36,475.15
$IRIDIUM_FIX,1241.04,12029.39,180697,070719
$TT8_MAMPS,0.023777
$HUMID,1937
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.50
$XPDR_PINGS,406
$24V_AH,23.3,33.692
$10V_AH,10.1,16.909
$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,32.175,142.825,472.425,24.000,0.000,22.400,37.398,149.428,109.000,0.000,0.000,11.318,3630.410,10826.127,681.434,2912.215,487.720,0.000,2146.623,0.000,2867.704,0.000,55.326
$DEVICE_MAMPS,174.876,59.059,1224.899,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56529,1795
$CAP_FILE_SIZE,175575,0
$CFSIZE,260165632,242868224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,139.1,1
$GPS,240308,171508,1247.195,12025.632,29,1.1,29,-0.8