version: 66.03
glider: 122
mission: 6
dive: 213
start: 3 31 108 12 55 19
data:
$ID,122
$MISSION,6
$DIVE,213
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31141.906
$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,14.2
$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,50
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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
$GPS1,124907,1247.521,12022.294,37,1.2,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-74.1
$GPS2,125445,1247.496,12022.249,16,1.5,16,-0.8
$SPEED_LIMITS,0.156,0.206
$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,259.8,12677,-18.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-59.10,0.000,2,0.000,0.000,250,2118,2439
$GC,85,-1.56,-146.0,3.5,-9.1,10,123,13.48,2.50,-16.70,0.000,4,0.173,0.052,2562,3565,3345
$GC,233,-1.20,-146.0,41.1,-25.3,35,240,0.43,2.33,0.00,0.000,6,0.121,0.027,2640,2163,3346
$GC,578,-1.13,-146.0,97.1,-13.0,96,585,0.00,2.40,0.00,0.000,4,0.000,0.042,2641,3561,3348
$GC,598,-1.07,-146.0,99.6,-12.7,99,605,0.10,2.33,0.00,0.000,6,0.094,0.027,2664,2160,3348
$GC,944,-1.13,-146.0,134.4,-8.8,160,951,0.00,2.40,0.00,0.000,4,0.000,0.042,2664,3556,3350
$GC,1042,-1.20,-146.0,143.6,-9.7,177,1049,0.00,2.25,0.00,0.000,6,0.000,0.026,2664,2190,3351
$GC,1387,-1.31,-146.0,173.2,-8.2,238,1395,0.17,2.50,0.00,0.000,4,0.046,0.044,2607,749,3353
$GC,1436,-1.31,-146.0,177.5,-9.5,246,1443,0.00,2.47,0.00,0.000,6,0.000,0.028,2607,2228,3352
$GC,1780,-1.31,-146.0,209.2,-9.3,307,1787,0.00,2.28,0.00,0.000,4,0.000,0.045,2607,3555,3352
$GC,1839,-1.31,-146.0,214.6,-9.3,317,1846,0.00,2.20,0.00,0.000,6,0.000,0.028,2607,2224,3352
$GC,2183,-1.31,-146.0,246.0,-9.0,378,2190,0.00,2.55,0.00,0.000,4,0.000,0.046,2608,760,3352
$GC,2214,-1.35,-146.0,248.9,-9.4,383,2221,0.00,2.47,0.00,0.000,6,0.000,0.031,2608,2227,3352
$GC,2547,-1.35,-146.0,278.3,-8.7,415,2551,0.00,2.30,0.00,0.000,4,0.000,0.046,2608,3565,3350
$GC,2580,-1.35,-146.0,281.8,-9.3,417,2587,0.00,2.25,0.00,0.000,6,0.000,0.030,2608,2213,3350
$GC,2907,-1.35,-146.0,312.1,-9.0,448,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2213,3349
$GC,3224,-1.35,-146.0,339.1,-8.8,478,3228,0.00,2.33,0.00,0.000,4,0.000,0.047,2607,3561,3347
$GC,3292,-1.35,-146.0,345.3,-8.4,484,3296,0.00,2.22,0.00,0.000,6,0.000,0.031,2607,2238,3347
$GC,3620,-1.35,-146.0,372.7,-8.2,514,3624,0.00,2.30,0.00,0.000,4,0.000,0.048,2607,3557,3346
$GC,3661,-1.35,-146.0,376.4,-8.7,517,3665,0.00,2.17,0.00,0.000,6,0.000,0.031,2607,2259,3345
$GC,3987,-1.35,-146.0,403.4,-8.2,547,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2258,3343
$GC,4305,-1.35,-146.0,430.5,-8.7,577,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2258,3342
$GC,4623,-1.35,-146.0,458.5,-8.9,607,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2258,3339
$GC,4943,-1.38,-146.0,486.0,-8.6,637,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2258,3338
$GC,5256,-1.41,-146.0,512.8,-8.3,660,5261,0.00,2.67,0.00,0.000,4,0.000,0.054,2607,758,3336
$GC,5280,-1.46,-146.0,515.0,-8.8,661,5284,0.00,2.58,0.00,0.000,6,0.000,0.035,2607,2258,3336
$GC,5605,-1.50,-146.0,541.4,-8.0,677,5610,0.12,2.28,0.00,0.000,4,0.060,0.051,2571,3555,3334
$GC,5654,-1.46,-146.0,546.5,-9.3,679,5658,0.00,2.17,0.00,0.000,6,0.000,0.033,2571,2271,3333
$GC,5970,-1.41,-146.0,575.9,-9.5,694,5975,0.12,2.70,0.00,0.000,4,0.114,0.053,2593,758,3331
$GC,5997,-1.41,-146.0,578.5,-9.3,695,6001,0.00,2.60,0.00,0.000,6,0.000,0.035,2593,2265,3331
$GC,6319,-1.41,-146.0,606.6,-9.0,711,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2265,3329
$GC,6628,-1.41,-146.0,634.8,-8.8,726,6633,0.00,2.67,0.00,0.000,4,0.000,0.054,2593,764,3328
$GC,6669,-1.45,-146.0,638.4,-9.0,728,6673,0.00,2.58,0.00,0.000,6,0.000,0.036,2593,2255,3328
$GC,6997,-1.45,-146.0,665.9,-8.6,744,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2257,3327
$GC,7306,-1.45,-146.0,691.1,-8.1,759,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2257,3325
$GC,7614,-1.45,-146.0,715.1,-7.2,774,7618,0.00,2.30,0.00,0.000,4,0.000,0.057,2593,3558,3324
$GC,7654,-1.45,-146.0,718.3,-8.2,776,7658,0.00,2.25,0.00,0.000,6,0.000,0.036,2593,2239,3324
$GC,7982,-1.45,-146.0,742.1,-7.5,792,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2238,3323
$GC,8289,-1.45,-146.0,765.0,-7.3,807,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2237,3322
$GC,8599,-1.45,-146.0,788.5,-7.9,822,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2237,3321
$GC,8908,-1.48,-146.0,811.7,-7.2,837,8912,0.00,2.35,0.00,0.000,4,0.000,0.057,2593,3557,3320
$GC,8958,-1.48,-146.0,815.5,-7.5,839,8962,0.00,2.25,0.00,0.000,6,0.000,0.037,2593,2245,3319
$STATE,9050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9050,begin apogee
$GC,9056,-0.35,0.0,822.4,7.2,844,9180,1.15,0.00,120.15,1.250,6,0.096,0.000,2825,2393,2748
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9183,1.56,146.0,826.1,0.0,850,9316,1.90,2.50,123.70,1.209,4,0.054,0.058,3244,3716,2152
$GC,9430,1.28,146.0,807.0,12.6,861,9435,0.32,2.30,0.00,0.000,6,0.133,0.039,3188,2392,2151
$GC,9756,1.16,146.0,773.2,10.2,877,9758,0.17,0.00,0.00,0.000,6,0.123,0.000,3157,2390,2150
$GC,10066,1.10,149.5,745.7,8.9,892,10075,0.00,2.62,2.62,1.169,4,0.000,0.058,3158,976,2138
$GC,10155,1.02,149.5,737.2,9.5,896,10161,0.15,2.47,0.00,0.000,6,0.118,0.039,3131,2384,2138
$GC,10483,1.09,190.9,712.8,7.2,912,10523,0.00,0.00,35.45,1.187,6,0.000,0.000,3131,2384,1968
$GC,10832,1.18,225.8,686.2,7.5,929,10868,0.15,2.67,29.45,1.169,4,0.070,0.058,3165,978,1827
$GC,10945,1.14,226.7,675.9,9.0,934,10949,0.00,2.47,0.00,0.000,6,0.000,0.039,3164,2378,1825
$GC,11271,1.14,226.7,644.9,9.6,950,11275,0.00,2.58,0.00,0.000,4,0.000,0.059,3164,966,1824
$GC,11326,1.11,226.7,639.4,10.7,952,11333,0.00,2.42,0.00,0.000,6,0.000,0.039,3164,2344,1824
$GC,11642,1.11,226.7,609.5,9.3,968,11646,0.00,2.50,0.00,0.000,4,0.000,0.058,3164,972,1824
$GC,11703,1.11,226.7,603.3,9.2,971,11707,0.00,2.35,0.00,0.000,6,0.000,0.038,3164,2316,1823
$GC,12030,1.11,226.7,571.8,9.4,987,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2316,1823
$GC,12340,1.11,229.0,543.6,8.9,1002,12349,0.00,2.53,2.22,1.086,4,0.000,0.057,3165,962,1814
$GC,12408,1.12,229.8,537.3,9.0,1005,12412,0.00,2.30,0.00,0.000,6,0.000,0.037,3165,2292,1815
$GC,12741,1.12,232.1,508.0,8.9,1021,12746,0.00,0.00,3.15,1.098,6,0.000,0.000,3164,2293,1801
$GC,13057,1.15,251.1,481.5,8.2,1046,13081,0.00,2.45,16.67,1.061,4,0.000,0.056,3165,972,1723
$GC,13131,1.16,258.6,474.7,8.7,1052,13142,0.00,2.28,6.57,1.067,6,0.000,0.037,3164,2273,1692
$GC,13463,1.20,259.2,445.2,9.0,1083,13467,0.00,2.60,0.00,0.000,4,0.000,0.057,3164,3727,1691
$GC,13502,1.20,259.2,441.5,10.1,1086,13506,0.00,2.53,0.00,0.000,6,0.000,0.038,3165,2272,1692
$GC,13828,1.23,261.7,412.4,8.9,1116,13841,0.00,2.40,2.75,1.023,4,0.000,0.057,3165,970,1681
$GC,13868,1.24,264.9,408.6,8.9,1119,13877,0.00,2.30,3.03,1.025,6,0.000,0.037,3164,2287,1668
$GC,14194,1.27,266.9,379.8,8.9,1150,14198,0.00,2.58,0.00,0.000,4,0.000,0.057,3164,3730,1667
$GC,14233,1.27,266.9,375.9,10.0,1153,14237,0.00,2.47,0.00,0.000,6,0.000,0.038,3165,2298,1668
$GC,14560,1.32,270.0,347.1,8.9,1183,14569,0.12,0.00,4.72,1.002,6,0.069,0.000,3196,2297,1647
$GC,14886,1.32,270.0,315.5,9.1,1214,14890,0.00,2.55,0.00,0.000,4,0.000,0.054,3195,3728,1647
$GC,14960,1.29,270.0,307.7,10.3,1220,14964,0.00,2.42,0.00,0.000,6,0.000,0.037,3196,2315,1647
$GC,15291,1.29,270.0,276.3,9.2,1251,15295,0.00,2.40,0.00,0.000,4,0.000,0.055,3195,970,1646
$GC,15319,1.29,270.0,273.4,9.4,1253,15323,0.00,2.35,0.00,0.000,6,0.000,0.036,3195,2328,1647
$GC,15647,1.30,279.6,245.0,8.6,1288,15661,0.00,2.53,8.55,0.896,4,0.000,0.053,3196,971,1607
$GC,15696,1.30,279.6,240.5,9.2,1296,15703,0.00,2.35,0.00,0.000,6,0.000,0.036,3196,2317,1607
$GC,16041,1.32,292.2,210.5,8.5,1357,16061,0.00,2.50,10.57,0.855,4,0.000,0.052,3196,970,1555
$GC,16146,1.34,299.3,201.1,8.7,1375,16160,0.00,2.28,5.85,0.854,6,0.000,0.035,3196,2282,1527
$GC,16499,1.42,324.6,171.0,7.9,1437,16525,0.00,0.00,20.85,0.783,6,0.000,0.000,3196,2282,1423
$GC,16863,1.57,356.9,141.6,7.6,1501,16897,0.20,0.00,26.05,0.744,6,0.055,0.000,3250,2281,1293
$GC,17236,1.65,376.4,108.9,8.1,1566,17258,0.00,2.45,15.68,0.723,4,0.000,0.051,3250,967,1212
$GC,17400,1.71,376.4,92.8,9.9,1594,17408,0.12,2.22,0.00,0.000,6,0.063,0.033,3284,2264,1210
$GC,17747,1.73,387.1,65.7,8.5,1655,17761,0.00,2.65,8.10,0.690,4,0.000,0.050,3284,3725,1170
$GC,17853,1.76,387.1,56.0,9.1,1673,17861,0.00,2.42,0.00,0.000,6,0.000,0.031,3284,2295,1169
$GC,18199,1.94,447.2,29.0,6.3,1734,18253,0.15,2.45,48.95,0.591,4,0.052,0.048,3334,960,923
$GC,18334,1.94,447.2,16.6,9.4,1756,18341,0.00,2.30,0.00,0.000,6,0.000,0.029,3334,2311,920
$STATE,18480,end climb,SURFACE_DEPTH_REACHED
$STATE,18480,begin surface coast
$FINISH,-0.0,1.021232
$STATE,18498,end surface coast,CONTROL_FINISHED_OK
$STATE,18498,begin surface
$SM_CCo,18521,13.93,0.584,0,0,810,475.15
$SM_GC,0.45,0.00,0.00,13.93,0.000,0.000,0.584,253,2107,810,-12.20,-1.22,475.15
$IRIDIUM_FIX,1243.25,12021.43,250697,080830
$TT8_MAMPS,0.023777
$HUMID,1974
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,420
$24V_AH,23.3,39.352
$10V_AH,10.1,19.924
$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,32.500,155.400,495.100,13.925,0.000,30.383,37.199,151.488,113.250,0.000,0.000,16.063,3729.667,11032.900,678.696,2910.414,528.285,0.000,2140.864,0.000,2850.898,0.000,60.761
$DEVICE_MAMPS,173.342,59.059,1250.210,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56682,1785
$CAP_FILE_SIZE,180609,0
$CFSIZE,260165632,240119808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 10.9,1
$GPS,310308,180532,1247.529,12020.509,41,1.5,41,-0.8