version: 66.03
glider: 122
mission: 6
dive: 183
start: 3 25 108 3 18 30
data:
$ID,122
$MISSION,6
$DIVE,183
$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,-30593.025
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,031208,1246.891,12022.239,25,1.7,25,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.6
$GPS2,031757,1246.916,12022.230,16,1.7,16,-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,276.2,12392,-17.4,-9.016
$D_GRID,821
$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,21,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-61.80,0.000,2,0.000,0.000,251,2168,2417
$GC,87,-1.42,-146.0,3.1,-7.3,12,126,13.70,2.50,-16.30,0.000,4,0.176,0.052,2589,730,3275
$GC,252,-1.15,-146.0,39.0,-19.6,40,259,0.32,2.38,0.00,0.000,6,0.110,0.027,2650,2153,3277
$GC,597,-1.04,-146.0,96.5,-14.0,101,604,0.12,2.40,0.00,0.000,4,0.103,0.043,2674,3558,3278
$GC,628,-0.98,-146.0,100.6,-13.3,106,635,0.00,2.35,0.00,0.000,6,0.000,0.027,2674,2137,3278
$GC,973,-0.98,-146.0,137.9,-9.9,167,980,0.00,2.42,0.00,0.000,4,0.000,0.041,2674,3555,3279
$GC,1049,-1.01,-146.0,145.1,-9.8,180,1057,0.00,2.28,0.00,0.000,6,0.000,0.027,2674,2173,3280
$GC,1392,-1.10,-146.0,171.3,-7.5,241,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2171,3281
$GC,1736,-1.19,-146.0,196.3,-6.5,302,1742,0.15,0.00,0.00,0.000,6,0.049,0.000,2623,2171,3282
$GC,2079,-1.19,-146.0,224.8,-8.0,363,2085,0.10,0.00,0.00,0.000,6,0.100,0.000,2643,2171,3282
$GC,2424,-1.24,-146.0,248.4,-7.3,424,2431,0.00,2.38,0.00,0.000,4,0.000,0.044,2642,3556,3281
$GC,2460,-1.29,-146.0,251.3,-8.0,429,2464,0.00,2.25,0.00,0.000,6,0.000,0.030,2642,2200,3281
$GC,2787,-1.34,-146.0,277.3,-7.9,459,2789,0.15,0.00,0.00,0.000,6,0.052,0.000,2598,2200,3280
$GC,3105,-1.30,-146.0,304.9,-8.8,489,3110,0.12,2.33,0.00,0.000,4,0.100,0.045,2622,3546,3279
$GC,3155,-1.30,-146.0,309.7,-9.2,493,3159,0.00,2.25,0.00,0.000,6,0.000,0.031,2622,2204,3278
$GC,3481,-1.30,-146.0,338.2,-8.6,523,3485,0.00,2.55,0.00,0.000,4,0.000,0.051,2622,756,3276
$GC,3548,-1.30,-146.0,344.3,-9.1,528,3555,0.00,2.40,0.00,0.000,6,0.000,0.031,2622,2175,3276
$GC,3874,-1.30,-146.0,371.3,-8.7,559,3878,0.00,2.38,0.00,0.000,4,0.000,0.048,2622,3549,3274
$GC,3925,-1.30,-146.0,376.1,-9.2,563,3929,0.00,2.30,0.00,0.000,6,0.000,0.032,2622,2183,3273
$GC,4251,-1.30,-146.0,402.8,-8.1,593,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2182,3271
$GC,4568,-1.30,-146.0,426.2,-7.5,623,4572,0.00,2.40,0.00,0.000,4,0.000,0.049,2622,3552,3269
$GC,4612,-1.30,-146.0,429.8,-7.8,626,4619,0.00,2.33,0.00,0.000,6,0.000,0.033,2622,2182,3269
$GC,4939,-1.30,-146.0,457.3,-8.7,657,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2180,3268
$GC,5256,-1.30,-146.0,482.7,-8.1,687,5260,0.00,2.42,0.00,0.000,4,0.000,0.051,2622,3557,3266
$GC,5284,-1.30,-146.0,484.9,-8.0,689,5288,0.00,2.33,0.00,0.000,6,0.000,0.034,2622,2191,3265
$GC,5607,-1.30,-146.0,509.4,-7.4,713,5612,0.00,2.40,0.00,0.000,4,0.000,0.051,2622,3552,3264
$GC,5652,-1.30,-146.0,513.4,-8.4,715,5656,0.00,2.28,0.00,0.000,6,0.000,0.034,2622,2215,3264
$GC,5979,-1.30,-146.0,538.5,-7.7,731,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2213,3261
$GC,6289,-1.30,-146.0,561.3,-7.3,746,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2212,3260
$GC,6599,-1.30,-146.0,583.3,-7.4,761,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2212,3258
$GC,6907,-1.33,-146.0,607.3,-7.9,776,6911,0.00,2.38,0.00,0.000,4,0.000,0.054,2622,3557,3257
$GC,6947,-1.33,-146.0,610.9,-8.8,778,6951,0.00,2.28,0.00,0.000,6,0.000,0.035,2622,2224,3256
$GC,7274,-1.33,-146.0,636.9,-8.0,794,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2223,3255
$GC,7583,-1.33,-146.0,661.0,-7.7,809,7588,0.00,2.65,0.00,0.000,4,0.000,0.059,2621,748,3254
$GC,7611,-1.37,-146.0,663.4,-8.1,810,7615,0.00,2.55,0.00,0.000,6,0.000,0.036,2622,2230,3254
$GC,7927,-1.40,-146.0,686.4,-7.3,825,7932,0.12,2.33,0.00,0.000,4,0.061,0.056,2587,3546,3252
$GC,7967,-1.35,-146.0,689.8,-9.0,827,7972,0.12,2.25,0.00,0.000,6,0.107,0.035,2610,2227,3252
$GC,8301,-1.35,-146.0,716.5,-7.8,843,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2226,3251
$GC,8608,-1.35,-146.0,742.0,-8.5,858,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2226,3250
$GC,8918,-1.35,-146.0,770.3,-9.2,873,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2226,3249
$GC,9227,-1.35,-146.0,798.4,-8.5,888,9231,0.00,2.65,0.00,0.000,4,0.000,0.061,2610,753,3248
$GC,9266,-1.38,-146.0,801.8,-8.9,890,9270,0.00,2.55,0.00,0.000,6,0.000,0.038,2610,2222,3248
$STATE,9510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9510,begin apogee
$GC,9515,-0.34,0.0,821.3,8.1,902,9639,1.08,0.00,119.95,1.253,6,0.094,0.000,2828,2372,2678
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9640,begin climb
$GC,9641,1.42,146.0,825.9,0.0,908,9773,1.77,2.55,123.50,1.205,4,0.058,0.061,3216,3716,2082
$GC,9835,1.18,146.0,811.3,13.4,916,9842,0.30,2.33,0.00,0.000,6,0.130,0.039,3164,2383,2080
$GC,10151,1.07,146.0,777.9,10.8,932,10156,0.15,2.58,0.00,0.000,4,0.128,0.058,3139,967,2078
$GC,10196,1.00,146.0,773.1,10.9,934,10200,0.00,2.45,0.00,0.000,6,0.000,0.039,3139,2362,2078
$GC,10517,0.94,146.0,741.0,9.7,950,10521,0.15,2.45,0.00,0.000,4,0.120,0.059,3109,3726,2077
$GC,10560,0.94,146.0,736.6,10.0,952,10564,0.00,2.38,0.00,0.000,6,0.000,0.038,3109,2355,2077
$GC,10888,0.99,175.2,711.4,7.5,968,10919,0.00,2.58,24.10,1.205,4,0.000,0.060,3109,970,1963
$GC,10942,1.03,197.1,707.2,7.9,970,10967,0.00,2.50,18.83,1.177,6,0.000,0.039,3109,2383,1874
$GC,11286,1.09,205.3,677.6,8.6,987,11301,0.15,2.67,7.10,1.197,4,0.066,0.059,3148,970,1839
$GC,11330,1.04,205.3,672.8,10.7,989,11335,0.00,2.47,0.00,0.000,6,0.000,0.039,3148,2372,1839
$GC,11657,1.04,205.3,638.4,10.7,1005,11661,0.00,2.42,0.00,0.000,4,0.000,0.060,3148,3726,1838
$GC,11696,1.00,205.3,634.0,10.7,1007,11701,0.15,2.35,0.00,0.000,6,0.123,0.038,3122,2367,1838
$GC,12023,1.00,205.3,603.2,9.1,1023,12027,0.00,2.53,0.00,0.000,4,0.000,0.061,3122,971,1838
$GC,12101,1.00,207.4,595.9,8.9,1026,12108,0.00,2.45,0.00,0.000,6,0.000,0.040,3122,2370,1837
$GC,12417,1.05,221.8,569.5,8.3,1042,12437,0.00,0.00,13.85,1.137,6,0.000,0.000,3122,2370,1772
$GC,12746,1.13,237.2,540.7,8.2,1058,12769,0.12,2.65,13.43,1.110,4,0.071,0.058,3153,969,1709
$GC,12837,1.13,237.2,531.7,11.1,1062,12842,0.00,2.45,0.00,0.000,6,0.000,0.039,3153,2359,1708
$GC,13163,1.13,237.2,499.5,9.7,1078,13167,0.00,2.53,0.00,0.000,4,0.000,0.058,3153,963,1708
$GC,13189,1.13,237.2,496.6,10.3,1080,13196,0.00,2.45,0.00,0.000,6,0.000,0.038,3153,2365,1708
$GC,13515,1.13,237.2,466.5,9.1,1111,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2365,1708
$GC,13834,1.14,245.2,438.8,8.6,1141,13847,0.00,2.62,6.53,1.066,4,0.000,0.057,3153,964,1678
$GC,13908,1.14,245.2,431.7,9.7,1147,13915,0.00,2.42,0.00,0.000,6,0.000,0.038,3153,2346,1677
$GC,14234,1.14,245.2,401.1,9.6,1178,14238,0.00,2.47,0.00,0.000,4,0.000,0.058,3153,3735,1677
$GC,14266,1.14,245.2,397.3,11.1,1180,14274,0.00,2.42,0.00,0.000,6,0.000,0.037,3153,2324,1678
$GC,14593,1.14,245.2,365.3,9.5,1211,14597,0.00,2.42,0.00,0.000,4,0.000,0.057,3153,969,1678
$GC,14632,1.14,245.2,361.3,10.2,1214,14636,0.00,2.42,0.00,0.000,6,0.000,0.038,3153,2361,1678
$GC,14957,1.16,257.9,332.5,8.4,1244,14977,0.00,2.55,11.12,0.968,4,0.000,0.055,3153,969,1624
$GC,15005,1.17,261.8,328.3,8.8,1248,15015,0.00,2.42,3.83,0.962,6,0.000,0.037,3153,2352,1609
$GC,15341,1.24,279.3,301.7,8.1,1280,15364,0.00,2.58,14.55,0.921,4,0.000,0.055,3153,962,1538
$GC,15399,1.29,283.3,296.6,8.8,1285,15411,0.15,2.40,3.47,0.938,6,0.058,0.036,3196,2331,1522
$GC,15730,1.29,283.3,262.0,9.8,1316,15734,0.00,2.45,0.00,0.000,4,0.000,0.054,3196,968,1522
$GC,15774,1.24,283.3,257.2,10.8,1319,15780,0.00,2.30,0.00,0.000,6,0.000,0.036,3196,2298,1521
$GC,16112,1.21,283.3,224.5,9.7,1373,16119,0.15,0.00,0.00,0.000,6,0.107,0.000,3166,2297,1521
$GC,16457,1.30,300.5,196.2,8.1,1434,16476,0.00,2.50,14.35,0.837,4,0.000,0.054,3165,963,1451
$GC,16522,1.36,300.5,190.5,9.5,1445,16529,0.17,2.30,0.00,0.000,6,0.058,0.035,3211,2284,1450
$GC,16867,1.36,300.5,154.2,9.1,1506,16874,0.00,2.35,0.00,0.000,4,0.000,0.053,3211,967,1450
$GC,16897,1.36,300.5,151.4,9.4,1511,16903,0.00,2.22,0.00,0.000,6,0.000,0.035,3211,2260,1449
$GC,17241,1.47,344.2,123.6,6.8,1572,17283,0.00,2.42,35.70,0.727,4,0.000,0.052,3211,966,1272
$GC,17301,1.58,363.2,119.0,8.0,1582,17326,0.17,2.15,15.32,0.723,6,0.058,0.033,3254,2210,1195
$GC,17665,1.66,375.3,87.6,8.4,1646,17683,0.00,2.75,8.98,0.721,4,0.000,0.049,3254,3732,1148
$GC,17822,1.79,410.6,75.9,7.2,1673,17859,0.17,2.58,29.08,0.665,6,0.054,0.032,3301,2223,1004
$GC,18197,1.79,410.6,42.1,9.1,1739,18204,0.00,2.22,0.00,0.000,4,0.000,0.050,3301,960,999
$GC,18266,1.79,410.6,35.3,10.0,1751,18273,0.00,2.12,0.00,0.000,6,0.000,0.029,3301,2219,999
$GC,18610,1.81,422.5,3.7,8.4,1812,18623,0.00,2.28,8.75,0.602,4,0.000,0.045,3301,966,955
$STATE,18628,end climb,SURFACE_DEPTH_REACHED
$STATE,18628,begin surface coast
$FINISH,-0.2,1.007706
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18651,begin surface
$SM_CCo,18676,25.85,0.562,0,0,740,475.15
$SM_GC,1.02,0.00,0.00,25.85,0.000,0.000,0.562,247,2174,740,-12.23,0.68,475.15
$IRIDIUM_FIX,1243.25,12026.36,180697,212104
$TT8_MAMPS,0.023777
$HUMID,1958
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,423
$24V_AH,23.3,34.197
$10V_AH,10.1,17.179
$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,33.050,169.425,472.425,25.850,0.000,29.255,44.939,155.125,114.000,0.000,0.000,16.121,3532.183,11336.145,689.284,2975.362,521.138,0.000,2196.043,0.000,2911.488,0.000,60.776
$DEVICE_MAMPS,175.643,60.593,1252.511,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56607,1819
$CAP_FILE_SIZE,186941,0
$CFSIZE,260165632,242606080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 48.1,1
$GPS,250308,083131,1247.396,12019.978,38,1.5,43,-0.8