version: 66.03
glider: 122
mission: 6
dive: 181
start: 3 24 108 17 21 5
data:
$ID,122
$MISSION,6
$DIVE,181
$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,-30561.76
$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,61
$R_STBD_OVSHOOT,26
$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
$GPS1,171508,1247.195,12025.632,29,1.1,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.6
$GPS2,172033,1247.212,12025.618,10,1.1,10,-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,271.1,18513,-17.4,-9.016
$D_GRID,684
$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,19,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-61.80,0.000,2,0.000,0.000,250,2102,2432
$GC,88,-1.42,-146.0,3.5,-7.8,10,126,13.70,2.55,-15.30,0.000,4,0.175,0.053,2590,3559,3276
$GC,212,-1.10,-146.0,35.2,-21.9,31,219,0.38,2.30,0.00,0.000,6,0.117,0.028,2660,2171,3277
$GC,557,-1.00,-146.0,94.1,-12.7,92,564,0.12,0.00,0.00,0.000,6,0.115,0.000,2683,2171,3279
$GC,902,-1.03,-146.0,131.6,-8.9,153,909,0.00,2.38,0.00,0.000,4,0.000,0.041,2683,3560,3281
$GC,989,-1.09,-146.0,139.3,-8.7,168,996,0.00,2.30,0.00,0.000,6,0.000,0.027,2683,2162,3281
$GC,1331,-1.19,-146.0,165.4,-7.9,229,1338,0.15,2.42,0.00,0.000,4,0.049,0.043,2631,756,3282
$GC,1395,-1.19,-146.0,171.6,-10.0,240,1401,0.00,2.33,0.00,0.000,6,0.000,0.028,2631,2156,3282
$GC,1739,-1.19,-146.0,203.8,-9.7,301,1745,0.00,2.38,0.00,0.000,4,0.000,0.044,2631,3549,3282
$GC,1808,-1.19,-146.0,210.4,-9.5,313,1814,0.00,2.33,0.00,0.000,6,0.000,0.028,2631,2143,3282
$GC,2152,-1.19,-146.0,239.5,-7.8,374,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2140,3282
$GC,2489,-1.19,-146.0,266.4,-8.6,417,2493,0.00,2.42,0.00,0.000,4,0.000,0.044,2631,3551,3281
$GC,2573,-1.19,-146.0,273.9,-9.3,424,2577,0.00,2.33,0.00,0.000,6,0.000,0.030,2631,2155,3281
$GC,2899,-1.19,-146.0,302.5,-8.8,454,2903,0.00,2.40,0.00,0.000,4,0.000,0.045,2631,3547,3280
$GC,2931,-1.19,-146.0,305.8,-10.1,456,2938,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2174,3280
$GC,3258,-1.22,-146.0,332.6,-7.9,487,3262,0.00,2.38,0.00,0.000,4,0.000,0.047,2631,3542,3278
$GC,3291,-1.22,-146.0,335.6,-7.9,489,3298,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2157,3278
$GC,3618,-1.25,-146.0,359.6,-7.6,520,3622,0.00,2.40,0.00,0.000,4,0.000,0.048,2631,3543,3276
$GC,3669,-1.29,-146.0,364.1,-8.9,524,3673,0.00,2.30,0.00,0.000,6,0.000,0.032,2631,2183,3275
$GC,3995,-1.32,-146.0,388.0,-6.7,554,3999,0.00,2.38,0.00,0.000,4,0.000,0.048,2631,3541,3273
$GC,4040,-1.35,-146.0,391.7,-8.0,557,4046,0.00,2.28,0.00,0.000,6,0.000,0.033,2631,2194,3272
$GC,4367,-1.39,-146.0,416.3,-8.1,588,4368,0.12,0.00,0.00,0.000,6,0.058,0.000,2595,2191,3270
$GC,4684,-1.34,-146.0,445.2,-8.8,618,4688,0.00,2.38,0.00,0.000,4,0.000,0.050,2595,3545,3269
$GC,4716,-1.28,-146.0,448.4,-9.5,620,4724,0.15,2.30,0.00,0.000,6,0.104,0.033,2622,2192,3269
$GC,5041,-1.28,-146.0,475.6,-8.5,651,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2189,3267
$GC,5371,-1.28,-146.0,503.3,-7.8,680,5374,0.00,2.38,0.00,0.000,4,0.000,0.051,2622,3551,3266
$GC,5403,-1.28,-146.0,506.2,-8.4,681,5407,0.00,2.30,0.00,0.000,6,0.000,0.033,2622,2199,3265
$GC,5725,-1.28,-146.0,531.7,-8.2,697,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2197,3263
$GC,6034,-1.28,-146.0,556.8,-7.8,712,6038,0.00,2.38,0.00,0.000,4,0.000,0.051,2623,3543,3261
$GC,6078,-1.28,-146.0,560.7,-8.7,714,6082,0.00,2.28,0.00,0.000,6,0.000,0.035,2622,2207,3261
$GC,6405,-1.28,-146.0,584.2,-6.9,730,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2206,3259
$GC,6714,-1.28,-146.0,604.1,-6.1,745,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,3258
$GC,7024,-1.32,-146.0,624.3,-7.0,760,7028,0.00,2.38,0.00,0.000,4,0.000,0.054,2622,3548,3256
$GC,7051,-1.35,-146.0,626.6,-8.3,761,7055,0.00,2.25,0.00,0.000,6,0.000,0.035,2622,2225,3256
$GC,7370,-1.39,-146.0,651.4,-8.0,776,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2223,3256
$GC,7676,-1.43,-146.0,674.2,-7.0,791,7681,0.15,2.33,0.00,0.000,4,0.058,0.053,2582,3542,3254
$GC,7709,-1.37,-146.0,677.0,-8.5,792,7714,0.12,2.20,0.00,0.000,6,0.110,0.035,2604,2248,3254
$STATE,7816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7816,begin apogee
$GC,7821,-0.34,0.0,685.4,7.6,797,7943,1.12,0.00,118.32,1.132,6,0.099,0.000,2830,2374,2678
$STATE,7944,end apogee,CONTROL_FINISHED_OK
$STATE,7944,begin climb
$GC,7947,1.42,146.0,688.4,0.0,803,8077,1.80,2.47,120.93,1.088,4,0.055,0.058,3222,3702,2082
$GC,8121,1.16,146.0,676.2,12.8,811,8126,0.35,2.30,0.00,0.000,6,0.126,0.038,3161,2382,2081
$GC,8438,1.07,147.6,646.7,8.9,826,8443,0.12,2.58,0.00,0.000,4,0.122,0.058,3139,962,2078
$GC,8470,1.03,158.7,643.7,8.5,827,8486,0.00,2.42,10.27,1.115,6,0.000,0.037,3139,2349,2030
$GC,8811,1.03,184.2,616.8,7.7,844,8834,0.00,0.00,21.25,1.097,6,0.000,0.000,3139,2349,1927
$GC,9138,1.06,202.9,590.1,8.1,860,9162,0.00,2.58,15.70,1.098,4,0.000,0.058,3139,966,1849
$GC,9252,1.07,209.8,580.3,8.7,865,9263,0.00,2.42,5.65,1.100,6,0.000,0.037,3139,2350,1822
$GC,9579,1.09,218.8,552.0,8.6,881,9593,0.00,2.58,7.82,1.096,4,0.000,0.057,3139,978,1784
$GC,9655,1.09,218.8,544.9,9.2,884,9659,0.00,2.38,0.00,0.000,6,0.000,0.037,3139,2339,1784
$GC,9977,1.09,221.5,515.9,8.9,900,9986,0.00,2.55,2.35,1.056,4,0.000,0.057,3139,3728,1774
$GC,10014,1.09,221.5,512.1,10.7,901,10022,0.00,2.40,0.00,0.000,6,0.000,0.037,3139,2339,1774
$GC,10336,1.09,221.5,481.6,10.1,926,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2339,1774
$GC,10655,1.09,221.5,451.0,9.7,956,10659,0.00,2.47,0.00,0.000,4,0.000,0.058,3139,962,1773
$GC,10716,1.09,221.5,444.8,10.2,961,10720,0.00,2.40,0.00,0.000,6,0.000,0.037,3139,2348,1772
$GC,11048,1.10,225.4,414.2,8.8,992,11057,0.00,0.00,3.42,1.029,6,0.000,0.000,3139,2347,1758
$GC,11376,1.15,234.5,385.1,8.6,1023,11390,0.00,2.58,7.95,1.006,4,0.000,0.055,3139,970,1722
$GC,11458,1.17,247.2,377.9,8.4,1030,11475,0.00,2.38,10.90,0.977,6,0.000,0.037,3139,2335,1669
$GC,11802,1.28,278.7,351.1,7.4,1062,11838,0.17,2.58,26.20,0.932,4,0.058,0.055,3186,3724,1541
$GC,11865,1.28,278.7,344.8,11.0,1067,11872,0.00,2.40,0.00,0.000,6,0.000,0.037,3186,2341,1540
$GC,12191,1.28,278.7,313.2,10.0,1098,12195,0.00,2.47,0.00,0.000,4,0.000,0.057,3186,962,1538
$GC,12240,1.28,278.7,308.0,9.5,1102,12245,0.00,2.40,0.00,0.000,6,0.000,0.036,3186,2343,1537
$GC,12565,1.28,278.7,274.1,10.7,1132,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,1537
$GC,12888,1.28,281.3,241.2,8.9,1170,12894,0.00,2.47,0.00,0.000,4,0.000,0.054,3186,963,1537
$GC,12956,1.28,281.3,234.2,9.7,1182,12963,0.00,2.38,0.00,0.000,6,0.000,0.036,3186,2334,1536
$GC,13300,1.32,305.5,202.6,7.8,1243,13324,0.00,0.00,21.38,0.822,6,0.000,0.000,3187,2334,1431
$GC,13662,1.36,305.5,169.1,9.4,1307,13668,0.00,2.45,0.00,0.000,4,0.000,0.052,3187,967,1429
$GC,13759,1.36,305.5,159.9,9.3,1324,13766,0.00,2.38,0.00,0.000,6,0.000,0.035,3187,2339,1428
$GC,14104,1.44,323.7,130.7,8.1,1385,14124,0.15,2.55,14.38,0.762,4,0.062,0.051,3229,969,1357
$GC,14209,1.47,323.7,120.3,9.6,1403,14216,0.00,2.30,0.00,0.000,6,0.000,0.034,3229,2301,1355
$GC,14554,1.57,347.8,94.7,7.8,1464,14578,0.00,2.47,19.35,0.709,4,0.000,0.050,3229,969,1259
$GC,14647,1.68,373.6,87.5,7.7,1480,14673,0.20,2.22,21.05,0.688,6,0.049,0.032,3280,2266,1154
$GC,15012,1.75,412.2,57.0,7.0,1544,15048,0.00,2.67,30.80,0.637,4,0.000,0.049,3280,3729,996
$GC,15134,1.81,412.2,47.1,9.2,1565,15141,0.00,2.50,0.00,0.000,6,0.000,0.031,3280,2259,993
$GC,15479,1.86,412.2,15.6,9.5,1626,15486,0.15,2.28,0.00,0.000,4,0.054,0.047,3326,961,992
$GC,15509,1.86,412.2,12.2,11.3,1631,15516,0.00,2.20,0.00,0.000,6,0.000,0.028,3326,2274,992
$STATE,15610,end climb,SURFACE_DEPTH_REACHED
$STATE,15610,begin surface coast
$FINISH,0.3,1.021368
$STATE,15628,end surface coast,CONTROL_FINISHED_OK
$STATE,15630,begin surface
$SM_CCo,15652,30.75,0.565,0,0,740,475.15
$SM_GC,0.93,0.00,0.00,30.75,0.000,0.000,0.565,252,2107,740,-12.20,-1.22,475.15
$IRIDIUM_FIX,1243.25,12026.36,180697,121203
$TT8_MAMPS,0.023777
$HUMID,1950
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,419
$24V_AH,23.4,33.851
$10V_AH,10.2,16.992
$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,32.575,139.300,457.725,30.750,0.000,23.689,36.139,152.396,109.500,0.000,0.000,10.724,3237.222,8999.506,650.600,2644.202,480.337,0.000,1989.671,0.000,2611.361,0.000,35.383
$DEVICE_MAMPS,174.876,57.525,1132.092,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50380,1652
$CAP_FILE_SIZE,162229,0
$CFSIZE,260165632,242802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041, 80.9,1
$GPS,240308,214338,1247.583,12023.987,34,0.9,34,-0.8