version: 66.03
glider: 122
mission: 6
dive: 190
start: 3 26 108 17 16 54
data:
$ID,122
$MISSION,6
$DIVE,190
$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,-30695.836
$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,43
$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
$GPS1,171038,1246.041,12022.021,41,2.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.3
$GPS2,171621,1246.096,12022.032,16,2.0,16,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,75.5,38373,-17.4,-9.016
$D_GRID,737
$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,20,-1.42,-146.0,0.0,0.0,0,87,0.00,0.00,-64.50,0.000,2,0.000,0.000,252,2116,2479
$GC,89,-1.42,-146.0,3.2,-8.4,11,128,13.65,2.40,-15.15,0.000,4,0.173,0.055,2590,761,3276
$GC,231,-1.19,-146.0,34.7,-19.2,35,239,0.28,2.35,0.00,0.000,6,0.108,0.027,2642,2174,3277
$GC,576,-1.03,-146.0,90.1,-15.1,96,584,0.15,2.35,0.00,0.000,4,0.107,0.043,2674,3546,3278
$GC,630,-0.98,-146.0,97.9,-13.9,105,637,0.00,2.28,0.00,0.000,6,0.000,0.026,2674,2163,3278
$GC,976,-0.98,-146.0,133.7,-8.5,166,983,0.00,2.38,0.00,0.000,4,0.000,0.042,2674,3549,3281
$GC,1085,-1.02,-146.0,144.0,-9.2,185,1093,0.00,2.17,0.00,0.000,6,0.000,0.027,2674,2226,3282
$GC,1430,-1.08,-146.0,173.0,-9.2,246,1437,0.00,2.28,0.00,0.000,4,0.000,0.043,2674,3554,3282
$GC,1496,-1.17,-146.0,178.6,-8.6,257,1505,0.12,2.10,0.00,0.000,6,0.054,0.028,2636,2273,3282
$GC,1843,-1.17,-146.0,207.2,-7.5,318,1850,0.00,2.65,0.00,0.000,4,0.000,0.046,2635,751,3282
$GC,1879,-1.17,-146.0,210.1,-7.9,324,1887,0.00,2.58,0.00,0.000,6,0.000,0.031,2635,2276,3282
$GC,2225,-1.17,-146.0,237.7,-8.5,385,2232,0.00,2.20,0.00,0.000,4,0.000,0.048,2635,3555,3282
$GC,2278,-1.17,-146.0,242.4,-8.9,394,2285,0.00,2.12,0.00,0.000,6,0.000,0.030,2635,2275,3281
$GC,2610,-1.17,-146.0,268.8,-7.7,433,2614,0.00,2.67,0.00,0.000,4,0.000,0.050,2635,752,3280
$GC,2650,-1.23,-146.0,272.0,-8.6,436,2654,0.00,2.55,0.00,0.000,6,0.000,0.032,2636,2253,3279
$GC,2978,-1.23,-146.0,296.8,-7.3,466,2982,0.00,2.25,0.00,0.000,4,0.000,0.049,2635,3551,3277
$GC,3040,-1.23,-146.0,302.0,-8.2,471,3044,0.00,2.12,0.00,0.000,6,0.000,0.031,2635,2281,3277
$GC,3369,-1.26,-146.0,327.6,-8.3,501,3373,0.00,2.70,0.00,0.000,4,0.000,0.051,2635,757,3274
$GC,3424,-1.32,-146.0,332.7,-8.6,505,3432,0.00,2.58,0.00,0.000,6,0.000,0.033,2635,2265,3274
$GC,3750,-1.36,-146.0,357.4,-7.8,536,3755,0.12,2.67,0.00,0.000,4,0.058,0.051,2598,761,3272
$GC,3779,-1.36,-146.0,359.9,-9.1,538,3783,0.00,2.53,0.00,0.000,6,0.000,0.034,2598,2241,3272
$GC,4105,-1.31,-146.0,389.3,-9.1,568,4109,0.10,2.28,0.00,0.000,4,0.111,0.049,2616,3543,3269
$GC,4144,-1.31,-146.0,393.0,-9.2,571,4148,0.00,2.17,0.00,0.000,6,0.000,0.033,2616,2255,3269
$GC,4472,-1.31,-146.0,419.7,-8.3,601,4476,0.00,2.67,0.00,0.000,4,0.000,0.053,2616,752,3268
$GC,4515,-1.31,-146.0,424.0,-8.8,604,4523,0.00,2.53,0.00,0.000,6,0.000,0.033,2616,2223,3267
$GC,4843,-1.31,-146.0,451.2,-8.4,635,4847,0.00,2.33,0.00,0.000,4,0.000,0.052,2616,3546,3266
$GC,4883,-1.31,-146.0,454.7,-9.0,638,4887,0.00,2.22,0.00,0.000,6,0.000,0.034,2616,2235,3266
$GC,5209,-1.31,-146.0,481.3,-7.8,668,5213,0.00,2.62,0.00,0.000,4,0.000,0.054,2616,763,3263
$GC,5237,-1.31,-146.0,483.8,-8.5,670,5241,0.00,2.53,0.00,0.000,6,0.000,0.035,2616,2226,3263
$GC,5561,-1.31,-146.0,511.4,-8.5,694,5565,0.00,2.33,0.00,0.000,4,0.000,0.054,2616,3543,3261
$GC,5605,-1.31,-146.0,515.6,-8.6,696,5609,0.00,2.22,0.00,0.000,6,0.000,0.035,2616,2233,3261
$GC,5935,-1.31,-146.0,541.0,-7.0,712,5939,0.00,2.62,0.00,0.000,4,0.000,0.055,2616,762,3258
$GC,5961,-1.31,-146.0,543.5,-7.6,713,5966,0.00,2.53,0.00,0.000,6,0.000,0.036,2616,2231,3259
$GC,6277,-1.31,-146.0,565.1,-7.1,728,6281,0.00,2.30,0.00,0.000,4,0.000,0.055,2616,3542,3257
$GC,6332,-1.31,-146.0,569.8,-9.2,730,6338,0.00,2.17,0.00,0.000,6,0.000,0.035,2616,2257,3257
$GC,6654,-1.31,-146.0,595.3,-8.1,746,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2255,3256
$GC,6963,-1.31,-146.0,618.7,-7.1,761,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2255,3255
$GC,7275,-1.31,-146.0,640.8,-7.0,776,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2255,3253
$GC,7582,-1.31,-146.0,659.3,-5.6,791,7586,0.00,2.70,0.00,0.000,4,0.000,0.059,2616,759,3252
$GC,7631,-1.35,-146.0,662.9,-7.9,793,7636,0.00,2.53,0.00,0.000,6,0.000,0.036,2616,2230,3251
$GC,7947,-1.35,-146.0,684.8,-8.7,808,7951,0.00,2.33,0.00,0.000,4,0.000,0.058,2616,3541,3250
$GC,8030,-1.38,-146.0,692.8,-9.0,811,8038,0.00,2.15,0.00,0.000,6,0.000,0.036,2616,2275,3249
$GC,8346,-1.38,-146.0,718.0,-8.2,827,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2274,3248
$STATE,8612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8612,begin apogee
$GC,8617,-0.34,0.0,737.5,6.9,840,8740,1.05,0.00,118.75,1.183,6,0.094,0.000,2830,2378,2677
$STATE,8740,end apogee,CONTROL_FINISHED_OK
$STATE,8741,begin climb
$GC,8743,1.42,146.0,741.7,0.0,846,8875,1.75,2.53,122.28,1.143,4,0.054,0.059,3217,3713,2082
$GC,8953,1.17,146.0,727.1,11.7,855,8961,0.30,2.33,0.00,0.000,6,0.125,0.040,3165,2387,2081
$GC,9270,1.07,146.0,697.8,9.1,871,9275,0.15,2.60,0.00,0.000,4,0.123,0.059,3139,959,2080
$GC,9319,0.99,146.0,693.4,9.1,873,9323,0.00,2.47,0.00,0.000,6,0.000,0.038,3139,2366,2079
$GC,9642,0.94,157.9,667.9,8.4,889,9657,0.15,2.62,9.62,1.167,4,0.115,0.058,3108,960,2034
$GC,9690,0.94,157.9,663.3,10.2,890,9694,0.00,2.50,0.00,0.000,6,0.000,0.039,3108,2371,2034
$GC,10012,0.98,179.0,636.3,7.9,906,10036,0.00,2.65,17.77,1.142,4,0.000,0.058,3108,973,1948
$GC,10064,0.98,179.0,631.7,9.1,908,10068,0.00,2.45,0.00,0.000,6,0.000,0.039,3108,2355,1947
$GC,10385,1.01,196.3,604.6,8.1,924,10407,0.00,2.60,14.75,1.129,4,0.000,0.058,3109,963,1876
$GC,10498,1.03,209.1,595.0,8.4,929,10514,0.00,2.38,10.80,1.123,6,0.000,0.038,3108,2316,1825
$GC,10824,1.11,226.0,568.3,8.2,944,10844,0.17,0.00,14.43,1.117,6,0.064,0.000,3149,2316,1756
$GC,11152,1.11,226.0,536.8,9.6,960,11157,0.00,2.45,0.00,0.000,4,0.000,0.058,3148,969,1755
$GC,11192,1.11,226.0,532.9,10.4,962,11196,0.00,2.35,0.00,0.000,6,0.000,0.038,3149,2311,1755
$GC,11518,1.11,226.0,501.5,10.2,978,11522,0.00,2.42,0.00,0.000,4,0.000,0.057,3149,966,1755
$GC,11556,1.11,226.0,497.2,11.5,980,11563,0.00,2.33,0.00,0.000,6,0.000,0.037,3149,2283,1755
$GC,11881,1.11,226.7,465.5,9.0,1011,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2284,1755
$GC,12199,1.11,226.7,436.0,9.6,1041,12203,0.00,2.38,0.00,0.000,4,0.000,0.056,3149,964,1754
$GC,12232,1.08,226.7,432.9,9.5,1043,12239,0.00,2.28,0.00,0.000,6,0.000,0.036,3149,2277,1754
$GC,12558,1.08,226.7,401.7,9.6,1074,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2277,1754
$GC,12877,1.10,239.2,373.5,8.4,1104,12890,0.00,0.00,10.88,1.001,6,0.000,0.000,3148,2277,1702
$GC,13205,1.11,247.8,344.2,8.6,1135,13215,0.00,0.00,7.50,0.983,6,0.000,0.000,3149,2277,1667
$GC,13534,1.13,256.3,317.4,8.6,1166,13547,0.00,2.45,7.55,0.959,4,0.000,0.055,3149,967,1631
$GC,13605,1.13,256.3,310.9,9.2,1172,13609,0.00,2.25,0.00,0.000,6,0.000,0.035,3149,2261,1631
$GC,13931,1.13,256.3,279.9,9.8,1202,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2261,1631
$GC,14249,1.13,259.9,250.8,8.8,1232,14258,0.00,0.00,3.28,0.916,6,0.000,0.000,3148,2261,1617
$GC,14594,1.20,276.9,222.6,8.2,1292,14613,0.00,2.42,13.77,0.857,4,0.000,0.053,3149,963,1548
$GC,14659,1.24,276.9,216.7,9.5,1303,14666,0.12,2.28,0.00,0.000,6,0.064,0.034,3182,2275,1548
$GC,15004,1.24,276.9,180.5,9.9,1364,15011,0.00,2.35,0.00,0.000,4,0.000,0.052,3182,959,1547
$GC,15028,1.24,276.9,178.1,9.9,1368,15035,0.00,2.25,0.00,0.000,6,0.000,0.033,3182,2272,1547
$GC,15373,1.29,305.2,147.1,7.6,1429,15402,0.00,0.00,23.25,0.769,6,0.000,0.000,3182,2273,1431
$GC,15741,1.40,333.9,117.7,7.6,1494,15771,0.12,2.60,22.95,0.729,4,0.061,0.048,3215,3726,1316
$GC,15884,1.48,364.8,105.6,7.4,1519,15914,0.00,2.53,25.00,0.703,6,0.000,0.032,3215,2246,1189
$GC,16253,1.63,400.9,77.5,7.2,1584,16290,0.17,2.33,28.80,0.661,4,0.052,0.050,3269,957,1041
$GC,16396,1.63,400.9,64.2,9.4,1609,16403,0.00,2.15,0.00,0.000,6,0.000,0.030,3269,2225,1039
$GC,16741,1.67,400.9,34.1,9.1,1670,16748,0.00,2.60,0.00,0.000,4,0.000,0.044,3269,3730,1039
$GC,16782,1.71,400.9,29.9,10.4,1677,16789,0.00,2.62,0.00,0.000,6,0.000,0.030,3269,2176,1038
$STATE,17118,end climb,SURFACE_DEPTH_REACHED
$STATE,17118,begin surface coast
$FINISH,-0.1,1.021450
$STATE,17142,end surface coast,CONTROL_FINISHED_OK
$STATE,17142,begin surface
$SM_CCo,17163,35.65,0.552,0,0,740,475.15
$SM_GC,0.65,0.00,0.00,35.65,0.000,0.000,0.552,250,2171,740,-12.21,0.59,475.15
$IRIDIUM_FIX,1245.46,12019.52,200697,111117
$TT8_MAMPS,0.023777
$HUMID,1918
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,427
$24V_AH,23.3,35.403
$10V_AH,10.1,17.842
$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,31.600,159.475,451.375,35.650,0.000,23.070,37.377,159.993,112.750,0.000,0.000,16.191,3521.059,10025.574,673.376,2824.710,500.692,0.000,2096.544,0.000,2775.678,0.000,44.446
$DEVICE_MAMPS,173.342,59.059,1182.714,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53490,1741
$CAP_FILE_SIZE,171823,0
$CFSIZE,260165632,242020352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012, 45.7,1
$GPS,260308,220437,1246.498,12023.939,27,1.3,27,-0.8