version: 66.03
glider: 122
mission: 6
dive: 87
start: 3 3 108 16 32 35
data:
$ID,122
$MISSION,6
$DIVE,87
$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,554.62329
$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,-29012.113
$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,74
$R_STBD_OVSHOOT,38
$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,5
$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
$GPS1,161637,1247.825,12026.916,25,1.3,25,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.3
$GPS2,163203,1247.844,12026.906,16,1.3,16,-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,90.8,29096,-17.4,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,2,0.000,0.000,250,2095,2533
$GC,84,-1.42,-146.0,3.3,-7.4,9,117,13.27,2.33,-13.95,0.000,4,0.164,0.053,2591,786,3276
$GC,140,-1.05,-146.0,18.0,-22.7,18,148,0.43,2.28,0.00,0.000,6,0.107,0.027,2673,2151,3277
$GC,485,-0.96,-146.0,76.4,-15.0,79,492,0.12,0.00,0.00,0.000,6,0.107,0.000,2697,2152,3278
$GC,829,-0.96,-146.0,118.7,-11.7,140,836,0.00,2.35,0.00,0.000,4,0.000,0.042,2696,784,3279
$GC,864,-1.00,-146.0,122.9,-12.0,146,872,0.00,2.30,0.00,0.000,6,0.000,0.028,2697,2168,3279
$GC,1210,-1.08,-146.0,158.7,-8.4,207,1219,0.12,2.38,0.00,0.000,4,0.054,0.045,2656,3554,3280
$GC,1275,-1.08,-146.0,165.4,-10.3,218,1282,0.00,2.22,0.00,0.000,6,0.000,0.027,2656,2198,3280
$GC,1621,-1.13,-146.0,198.2,-8.4,279,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2198,3280
$GC,1963,-1.18,-146.0,228.5,-9.1,340,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2197,3280
$GC,2303,-1.24,-146.0,257.7,-8.8,393,2307,0.00,2.53,0.00,0.000,4,0.000,0.049,2655,752,3279
$GC,2335,-1.32,-146.0,260.6,-8.7,395,2345,0.17,2.40,0.00,0.000,6,0.046,0.031,2602,2179,3279
$GC,2660,-1.28,-146.0,293.7,-9.6,426,2665,0.12,2.38,0.00,0.000,4,0.102,0.048,2626,3552,3277
$GC,2703,-1.28,-146.0,298.2,-10.3,429,2711,0.00,2.30,0.00,0.000,6,0.000,0.031,2626,2191,3277
$GC,3031,-1.28,-146.0,325.6,-8.0,460,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2187,3274
$GC,3347,-1.28,-146.0,352.8,-8.6,490,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2187,3273
$GC,3666,-1.28,-146.0,379.9,-8.7,520,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2187,3270
$GC,3984,-1.28,-146.0,407.5,-8.9,550,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2187,3269
$GC,4304,-1.31,-146.0,436.5,-8.7,580,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2188,3267
$GC,4622,-1.35,-146.0,464.2,-8.7,610,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2187,3264
$GC,4941,-1.39,-146.0,489.9,-7.9,640,4945,0.12,2.38,0.00,0.000,4,0.059,0.051,2592,3545,3262
$GC,4974,-1.36,-146.0,493.2,-9.7,643,4978,0.00,2.28,0.00,0.000,6,0.000,0.034,2591,2207,3262
$GC,5303,-1.32,-146.0,523.2,-9.0,662,5308,0.12,2.60,0.00,0.000,4,0.108,0.054,2614,747,3259
$GC,5352,-1.36,-146.0,527.6,-8.1,664,5356,0.00,2.50,0.00,0.000,6,0.000,0.035,2614,2201,3259
$GC,5668,-1.36,-146.0,551.7,-7.4,679,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,3257
$GC,5977,-1.36,-146.0,575.5,-7.8,694,5981,0.00,2.58,0.00,0.000,4,0.000,0.055,2614,754,3255
$GC,6031,-1.39,-146.0,580.3,-8.6,696,6038,0.00,2.47,0.00,0.000,6,0.000,0.036,2614,2197,3255
$GC,6347,-1.39,-146.0,607.6,-8.7,712,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3253
$GC,6656,-1.39,-146.0,632.0,-7.6,727,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3251
$GC,6965,-1.39,-146.0,655.3,-7.3,742,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3250
$GC,7277,-1.43,-146.0,677.8,-7.2,757,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,3248
$GC,7584,-1.46,-146.0,700.2,-7.8,772,7586,0.12,0.00,0.00,0.000,6,0.061,0.000,2579,2198,3247
$GC,7894,-1.42,-146.0,727.3,-8.7,787,7898,0.00,2.58,0.00,0.000,4,0.000,0.058,2579,756,3246
$GC,7959,-1.38,-146.0,733.7,-9.2,790,7964,0.12,2.50,0.00,0.000,6,0.118,0.038,2600,2203,3246
$GC,8280,-1.38,-146.0,760.4,-8.5,806,8284,0.00,2.60,0.00,0.000,4,0.000,0.058,2601,752,3244
$GC,8319,-1.38,-146.0,763.7,-9.0,808,8323,0.00,2.47,0.00,0.000,6,0.000,0.038,2601,2184,3244
$GC,8644,-1.38,-146.0,789.6,-8.1,824,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2184,3243
$STATE,8745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8745,begin apogee
$GC,8750,-0.34,0.0,798.1,7.9,829,8871,1.12,0.00,117.53,1.231,6,0.097,0.000,2829,2390,2678
$STATE,8872,end apogee,CONTROL_FINISHED_OK
$STATE,8872,begin climb
$GC,8874,1.42,146.0,801.5,0.0,835,9005,1.75,2.53,121.85,1.184,4,0.055,0.061,3213,3722,2082
$GC,9122,1.18,146.0,777.7,14.1,846,9127,0.25,2.35,0.00,0.000,6,0.114,0.039,3165,2388,2081
$GC,9449,1.06,146.0,740.1,11.4,862,9451,0.15,0.00,0.00,0.000,6,0.120,0.000,3138,2386,2079
$GC,9758,0.99,146.0,706.9,10.3,877,9762,0.00,2.58,0.00,0.000,4,0.000,0.059,3138,966,2078
$GC,9835,0.91,146.0,698.9,10.5,880,9843,0.17,2.42,0.00,0.000,6,0.114,0.039,3107,2353,2078
$GC,10150,0.94,160.4,672.1,8.3,896,10173,0.00,2.60,11.50,1.187,4,0.000,0.061,3107,3734,2024
$GC,10227,0.94,160.4,664.7,10.1,899,10232,0.00,2.42,0.00,0.000,6,0.000,0.038,3107,2355,2024
$GC,10550,0.95,167.8,636.9,8.6,915,10558,0.00,0.00,6.50,1.182,6,0.000,0.000,3107,2355,1993
$GC,10859,0.96,173.9,609.4,8.7,930,10866,0.00,0.00,5.25,1.167,6,0.000,0.000,3107,2353,1969
$GC,11168,0.96,173.9,581.4,9.1,945,11172,0.00,2.47,0.00,0.000,4,0.000,0.058,3107,3733,1968
$GC,11210,0.96,173.9,576.9,10.5,947,11215,0.00,2.40,0.00,0.000,6,0.000,0.038,3107,2356,1968
$GC,11539,0.97,178.5,547.5,8.8,963,11545,0.00,0.00,4.12,1.134,6,0.000,0.000,3107,2355,1950
$GC,11847,0.97,182.3,519.4,8.8,978,11856,0.00,2.55,3.58,1.114,4,0.000,0.058,3107,974,1934
$GC,11901,0.98,185.0,514.3,8.9,980,11915,0.00,2.45,2.85,1.085,6,0.000,0.037,3107,2358,1923
$GC,12228,1.05,207.2,487.4,7.9,1003,12249,0.12,0.00,18.25,1.061,6,0.072,0.000,3137,2358,1833
$GC,12564,1.05,207.2,455.2,9.7,1035,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2358,1831
$GC,12883,1.05,207.2,424.2,9.9,1065,12887,0.00,2.45,0.00,0.000,4,0.000,0.058,3136,3735,1831
$GC,12916,1.02,207.2,420.7,10.5,1067,12923,0.00,2.40,0.00,0.000,6,0.000,0.035,3136,2349,1832
$GC,13241,1.02,207.2,388.8,9.7,1098,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2348,1831
$GC,13559,1.02,207.2,358.1,9.3,1128,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2348,1831
$GC,13879,1.02,207.7,328.2,9.0,1158,13883,0.00,2.45,0.00,0.000,4,0.000,0.054,3136,3733,1832
$GC,13929,1.02,207.7,323.1,9.2,1162,13933,0.00,2.35,0.00,0.000,6,0.000,0.035,3136,2352,1832
$GC,14253,1.05,228.8,295.4,7.9,1192,14278,0.00,2.50,17.60,0.912,4,0.000,0.052,3136,3726,1745
$GC,14312,1.05,228.8,290.0,9.3,1197,14316,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,2374,1744
$GC,14638,1.07,239.6,262.9,8.5,1227,14653,0.00,2.58,8.90,0.901,4,0.000,0.051,3137,968,1700
$GC,14687,1.12,250.8,258.5,8.4,1231,14707,0.00,2.42,9.30,0.879,6,0.000,0.035,3136,2368,1655
$GC,15037,1.20,271.9,227.4,7.9,1285,15059,0.15,0.00,17.45,0.835,6,0.061,0.000,3180,2367,1569
$GC,15396,1.20,271.9,189.6,10.2,1348,15403,0.00,2.47,0.00,0.000,4,0.000,0.050,3181,966,1566
$GC,15465,1.20,271.9,182.5,10.1,1360,15472,0.00,2.40,0.00,0.000,6,0.000,0.034,3181,2358,1566
$GC,15809,1.23,288.2,150.4,8.2,1421,15830,0.00,2.45,12.57,0.777,4,0.000,0.050,3181,3729,1503
$GC,15858,1.23,288.2,145.9,9.3,1429,15865,0.00,2.38,0.00,0.000,6,0.000,0.032,3181,2338,1502
$GC,16200,1.38,335.3,119.3,6.6,1490,16247,0.12,2.50,37.53,0.700,4,0.061,0.048,3214,972,1309
$GC,16270,1.38,335.3,113.0,9.6,1502,16277,0.00,2.38,0.00,0.000,6,0.000,0.031,3214,2355,1308
$GC,16614,1.42,335.3,80.2,9.3,1563,16621,0.00,2.42,0.00,0.000,4,0.000,0.045,3214,971,1307
$GC,16689,1.47,335.3,73.0,9.8,1576,16696,0.00,2.30,0.00,0.000,6,0.000,0.030,3214,2331,1306
$GC,17034,1.58,362.1,43.9,7.6,1637,17064,0.15,2.47,20.88,0.624,4,0.054,0.045,3262,3713,1200
$GC,17087,1.58,362.1,38.4,11.1,1646,17093,0.00,2.35,0.00,0.000,6,0.000,0.029,3262,2315,1199
$GC,17430,1.58,362.1,4.5,10.7,1707,17437,0.00,2.35,0.00,0.000,4,0.000,0.044,3262,961,1198
$STATE,17458,end climb,SURFACE_DEPTH_REACHED
$STATE,17458,begin surface coast
$FINISH,-0.1,1.021625
$STATE,17476,end surface coast,CONTROL_FINISHED_OK
$STATE,17476,begin surface
$SM_CCo,17499,91.50,0.541,0,0,416,554.62
$SM_GC,0.75,0.00,0.00,91.50,0.000,0.000,0.541,250,2165,416,-12.21,0.42,554.62
$IRIDIUM_FIX,1243.25,12026.36,280597,161632
$TT8_MAMPS,0.023777
$HUMID,1830
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,453
$ALTIM_BOTTOM_PING,570.8,8.3
$24V_AH,23.3,17.605
$10V_AH,10.2,8.219
$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,31.800,121.500,415.650,91.500,0.000,121.978,117.406,326.005,115.500,0.000,0.000,16.307,3512.405,10805.760,692.888,2715.259,799.776,0.000,2055.936,0.000,2690.885,0.000,18.079
$DEVICE_MAMPS,164.138,61.360,1231.035,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53503,1715
$CAP_FILE_SIZE,169390,0
$CFSIZE,260165632,250646528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,329.7,1
$GPS,030308,212701,1248.350,12028.827,41,1.8,41,-0.8