version: 66.03
glider: 122
mission: 6
dive: 100
start: 3 6 108 22 58 46
data:
$ID,122
$MISSION,6
$DIVE,100
$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,500
$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,-29245.162
$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,49
$R_STBD_OVSHOOT,34
$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,1
$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
$GPS1,225238,1248.605,12024.164,33,0.9,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.5
$GPS2,225815,1248.594,12024.084,8,1.6,8,-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,235.1,16454,-17.4,-9.016
$D_GRID,905
$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,19,-1.42,-146.0,0.0,0.0,0,91,0.00,0.00,-69.32,0.000,2,0.000,0.000,254,2114,2483
$GC,93,-1.42,-146.0,3.1,-7.1,10,132,13.48,2.42,-14.93,0.000,4,0.170,0.056,2588,760,3275
$GC,278,-1.10,-146.0,46.3,-22.7,42,286,0.40,2.35,0.00,0.000,6,0.117,0.028,2663,2163,3277
$GC,624,-0.99,-146.0,103.9,-14.9,103,631,0.12,2.42,0.00,0.000,4,0.104,0.042,2687,764,3278
$GC,665,-0.99,-146.0,109.9,-13.5,110,672,0.00,2.33,0.00,0.000,6,0.000,0.028,2687,2150,3278
$GC,1010,-1.04,-146.0,147.7,-9.3,171,1017,0.00,2.40,0.00,0.000,4,0.000,0.046,2687,3548,3280
$GC,1119,-1.10,-146.0,158.6,-10.5,190,1126,0.00,2.25,0.00,0.000,6,0.000,0.027,2687,2184,3279
$GC,1463,-1.20,-146.0,188.3,-7.8,251,1470,0.17,2.35,0.00,0.000,4,0.047,0.042,2630,3554,3280
$GC,1493,-1.20,-146.0,191.2,-9.5,256,1500,0.00,2.22,0.00,0.000,6,0.000,0.028,2630,2202,3280
$GC,1839,-1.20,-146.0,227.1,-9.1,317,1845,0.00,2.53,0.00,0.000,4,0.000,0.045,2630,747,3280
$GC,1890,-1.20,-146.0,231.8,-9.3,326,1897,0.00,2.42,0.00,0.000,6,0.000,0.029,2630,2193,3280
$GC,2232,-1.20,-146.0,264.3,-8.9,374,2236,0.00,2.33,0.00,0.000,4,0.000,0.048,2630,3545,3281
$GC,2304,-1.20,-146.0,271.1,-9.6,380,2308,0.00,2.22,0.00,0.000,6,0.000,0.029,2630,2204,3281
$GC,2629,-1.20,-146.0,299.6,-9.1,410,2634,0.00,2.53,0.00,0.000,4,0.000,0.048,2630,756,3280
$GC,2685,-1.24,-146.0,304.8,-8.7,414,2692,0.00,2.42,0.00,0.000,6,0.000,0.030,2630,2196,3280
$GC,3010,-1.24,-146.0,331.3,-8.0,445,3014,0.00,2.35,0.00,0.000,4,0.000,0.048,2630,3552,3278
$GC,3074,-1.28,-146.0,336.4,-8.0,450,3078,0.00,2.28,0.00,0.000,6,0.000,0.031,2630,2194,3278
$GC,3399,-1.28,-146.0,363.8,-8.3,480,3404,0.00,2.55,0.00,0.000,4,0.000,0.051,2630,748,3277
$GC,3462,-1.33,-146.0,369.3,-8.8,485,3466,0.00,2.45,0.00,0.000,6,0.000,0.032,2630,2188,3276
$GC,3787,-1.33,-146.0,395.8,-7.9,515,3791,0.00,2.53,0.00,0.000,4,0.000,0.050,2630,754,3274
$GC,3819,-1.37,-146.0,398.7,-8.5,517,3827,0.08,2.42,0.00,0.000,6,0.045,0.031,2595,2182,3274
$GC,4144,-1.33,-146.0,430.3,-9.7,548,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2183,3272
$GC,4464,-1.28,-146.0,459.7,-9.7,578,4465,0.15,0.00,0.00,0.000,6,0.101,0.000,2624,2183,3270
$GC,4782,-1.28,-146.0,486.6,-8.5,608,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2183,3268
$GC,5098,-1.28,-146.0,511.4,-7.9,631,5102,0.00,2.55,0.00,0.000,4,0.000,0.053,2624,750,3266
$GC,5141,-1.32,-146.0,515.2,-7.9,633,5146,0.00,2.47,0.00,0.000,6,0.000,0.035,2624,2192,3266
$GC,5463,-1.32,-146.0,535.8,-6.1,649,5467,0.00,2.40,0.00,0.000,4,0.000,0.054,2623,3557,3264
$GC,5506,-1.37,-146.0,539.0,-6.7,651,5510,0.00,2.33,0.00,0.000,6,0.000,0.034,2623,2187,3264
$GC,5835,-1.40,-146.0,560.9,-7.4,667,5837,0.12,0.00,0.00,0.000,6,0.059,0.000,2588,2185,3261
$GC,6142,-1.35,-146.0,589.8,-9.6,682,6144,0.12,0.00,0.00,0.000,6,0.109,0.000,2611,2185,3260
$GC,6452,-1.35,-146.0,614.7,-7.8,697,6456,0.00,2.58,0.00,0.000,4,0.000,0.056,2611,742,3258
$GC,6490,-1.35,-146.0,617.8,-8.2,699,6495,0.00,2.50,0.00,0.000,6,0.000,0.037,2611,2190,3258
$GC,6822,-1.35,-146.0,641.1,-7.0,715,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2190,3257
$GC,7126,-1.35,-146.0,662.3,-6.8,730,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2190,3256
$GC,7435,-1.35,-146.0,683.7,-7.1,745,7439,0.00,2.58,0.00,0.000,4,0.000,0.057,2611,752,3254
$GC,7484,-1.35,-146.0,687.6,-7.7,747,7488,0.00,2.47,0.00,0.000,6,0.000,0.037,2611,2187,3254
$GC,7806,-1.35,-146.0,711.7,-7.5,763,7810,0.00,2.42,0.00,0.000,4,0.000,0.058,2611,3558,3252
$GC,7845,-1.35,-146.0,714.8,-8.0,765,7849,0.00,2.35,0.00,0.000,6,0.000,0.037,2611,2182,3252
$GC,8170,-1.35,-146.0,741.9,-9.0,781,8175,0.00,2.58,0.00,0.000,4,0.000,0.059,2610,743,3251
$GC,8203,-1.35,-146.0,745.0,-8.9,782,8210,0.00,2.47,0.00,0.000,6,0.000,0.036,2611,2183,3251
$GC,8520,-1.35,-146.0,770.6,-7.9,798,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2184,3250
$GC,8828,-1.35,-146.0,794.7,-7.9,813,8832,0.00,2.42,0.00,0.000,4,0.000,0.060,2611,3553,3249
$GC,8871,-1.35,-146.0,798.5,-8.8,815,8875,0.00,2.33,0.00,0.000,6,0.000,0.037,2611,2188,3248
$GC,9198,-1.35,-146.0,825.1,-7.6,831,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2188,3247
$GC,9508,-1.38,-146.0,848.7,-7.4,846,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2188,3247
$GC,9817,-1.41,-146.0,870.1,-7.0,861,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2188,3246
$GC,10126,-1.44,-146.0,891.4,-6.6,876,10130,0.00,2.45,0.00,0.000,4,0.000,0.059,2611,3558,3245
$GC,10170,-1.48,-146.0,894.5,-6.8,878,10175,0.12,2.35,0.00,0.000,6,0.064,0.038,2578,2188,3245
$STATE,10323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10323,begin apogee
$GC,10328,-0.34,0.0,906.5,7.9,886,10453,1.23,0.00,121.12,1.327,6,0.099,0.000,2825,2390,2678
$STATE,10453,end apogee,CONTROL_FINISHED_OK
$STATE,10453,begin climb
$GC,10455,1.42,146.0,909.6,0.0,892,10590,1.80,2.50,125.22,1.276,4,0.059,0.062,3219,3710,2082
$GC,10699,1.17,146.0,884.9,16.4,903,10704,0.32,2.35,0.00,0.000,6,0.118,0.039,3160,2367,2080
$GC,11026,1.06,146.0,846.3,10.9,919,11028,0.12,0.00,0.00,0.000,6,0.123,0.000,3139,2367,2079
$GC,11336,1.00,146.0,816.3,10.2,934,11340,0.00,2.45,0.00,0.000,4,0.000,0.061,3139,3716,2078
$GC,11397,0.92,146.0,809.3,11.2,937,11402,0.17,2.33,0.00,0.000,6,0.119,0.039,3108,2378,2078
$GC,11724,0.93,153.8,780.0,8.6,953,11737,0.00,2.60,6.40,1.281,4,0.000,0.059,3108,968,2049
$GC,11759,0.93,153.8,776.4,9.7,954,11768,0.00,2.53,0.00,0.000,6,0.000,0.040,3108,2373,2049
$GC,12075,0.93,153.8,746.0,9.6,970,12079,0.00,2.45,0.00,0.000,4,0.000,0.063,3108,3729,2048
$GC,12141,0.93,153.8,739.3,10.9,973,12145,0.00,2.35,0.00,0.000,6,0.000,0.038,3108,2385,2048
$GC,12469,0.94,162.5,711.2,8.6,989,12478,0.00,0.00,7.53,1.258,6,0.000,0.000,3108,2384,2015
$GC,12778,1.03,197.7,687.5,7.2,1004,12811,0.10,0.00,30.15,1.202,6,0.079,0.000,3131,2383,1871
$GC,13106,1.03,197.7,658.3,9.4,1020,13110,0.00,2.58,0.00,0.000,4,0.000,0.060,3131,969,1869
$GC,13145,1.03,197.7,654.6,9.3,1022,13149,0.00,2.53,0.00,0.000,6,0.000,0.041,3131,2401,1869
$GC,13471,1.03,197.7,623.0,9.8,1038,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2402,1869
$GC,13779,1.03,197.7,590.1,11.0,1053,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2402,1869
$GC,14090,1.03,197.7,556.5,10.8,1068,14095,0.00,2.60,0.00,0.000,4,0.000,0.058,3131,964,1868
$GC,14139,1.03,197.7,550.9,10.6,1070,14144,0.00,2.53,0.00,0.000,6,0.000,0.039,3131,2391,1868
$GC,14462,1.03,197.7,518.6,9.5,1086,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2391,1868
$GC,14774,1.04,201.4,489.4,8.8,1106,14783,0.00,0.00,2.85,1.091,6,0.000,0.000,3131,2391,1857
$GC,15102,1.08,223.5,460.7,7.9,1137,15127,0.00,2.70,19.08,1.052,4,0.000,0.055,3130,965,1765
$GC,15177,1.12,230.6,454.2,8.7,1143,15189,0.00,2.53,6.38,1.058,6,0.000,0.038,3130,2401,1737
$GC,15515,1.17,230.6,426.0,9.2,1175,15517,0.12,0.00,0.00,0.000,6,0.064,0.000,3166,2401,1736
$GC,15834,1.17,230.6,390.6,10.6,1205,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2401,1736
$GC,16151,1.17,230.6,357.4,10.2,1235,16156,0.00,2.58,0.00,0.000,4,0.000,0.054,3166,966,1736
$GC,16224,1.17,230.6,349.5,10.1,1241,16229,0.00,2.45,0.00,0.000,6,0.000,0.037,3166,2377,1736
$GC,16549,1.17,230.6,315.8,10.1,1271,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2376,1736
$GC,16868,1.17,230.6,285.2,9.5,1301,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2377,1736
$GC,17186,1.17,230.6,254.8,9.7,1331,17190,0.00,2.53,0.00,0.000,4,0.000,0.052,3166,959,1737
$GC,17242,1.17,230.6,249.4,9.9,1336,17249,0.00,2.42,0.00,0.000,6,0.000,0.035,3166,2361,1737
$GC,17586,1.17,231.3,219.7,9.0,1397,17593,0.00,2.40,0.00,0.000,4,0.000,0.056,3166,3722,1738
$GC,17661,1.17,235.1,212.5,8.8,1410,17675,0.00,2.30,4.25,0.886,6,0.000,0.035,3166,2369,1718
$GC,18012,1.31,282.5,185.6,6.6,1472,18060,0.10,2.58,38.22,0.785,4,0.068,0.051,3194,978,1524
$GC,18145,1.34,304.3,175.1,7.9,1495,18170,0.00,2.40,17.55,0.782,6,0.000,0.034,3194,2363,1436
$GC,18509,1.45,326.0,145.1,7.9,1559,18533,0.12,0.00,16.92,0.752,6,0.063,0.000,3227,2364,1348
$GC,18871,1.53,343.4,112.9,8.1,1623,18891,0.00,2.58,14.12,0.721,4,0.000,0.049,3227,970,1276
$GC,18920,1.61,362.1,108.9,8.1,1631,18945,0.12,2.40,14.73,0.701,6,0.062,0.032,3260,2360,1201
$GC,19283,1.61,362.1,72.3,9.5,1695,19290,0.00,2.38,0.00,0.000,4,0.000,0.049,3260,3718,1200
$GC,19329,1.61,362.1,67.4,10.4,1703,19336,0.00,2.33,0.00,0.000,6,0.000,0.031,3260,2337,1200
$GC,19673,1.61,362.1,36.6,9.8,1764,19680,0.00,2.38,0.00,0.000,4,0.000,0.048,3260,976,1199
$GC,19720,1.64,362.1,32.3,9.0,1772,19727,0.00,2.30,0.00,0.000,6,0.000,0.029,3260,2337,1199
$GC,20064,1.71,362.4,3.9,9.0,1833,20071,0.00,2.40,0.00,0.000,4,0.000,0.047,3260,3725,1200
$STATE,20086,end climb,SURFACE_DEPTH_REACHED
$STATE,20086,begin surface coast
$FINISH,0.8,1.021856
$STATE,20098,end surface coast,CONTROL_FINISHED_OK
$STATE,20098,begin surface
$SM_CCo,20122,67.18,0.553,0,0,638,500.17
$SM_GC,0.81,0.00,0.00,67.18,0.000,0.000,0.553,250,2148,638,-12.21,-0.03,500.17
$IRIDIUM_FIX,1243.25,12024.46,310597,171701
$TT8_MAMPS,0.02301
$HUMID,1885
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.20
$XPDR_PINGS,458
$ALTIM_BOTTOM_PING,641.1,4.3
$24V_AH,23.2,20.090
$10V_AH,10.1,9.540
$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,32.375,161.475,424.525,67.175,0.000,22.338,13.287,201.324,119.000,0.000,0.000,8.993,3706.698,12681.257,695.419,2972.656,475.320,0.000,2190.255,0.000,2931.621,0.000,36.381
$DEVICE_MAMPS,170.274,62.894,1326.910,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56539,1839
$CAP_FILE_SIZE,186821,0
$CFSIZE,260165632,249483264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,161.5,1
$GPS,070308,043632,1246.619,12022.147,42,1.2,42,-0.8