version: 66.03
glider: 122
mission: 6
dive: 103
start: 3 7 108 15 18 36
data:
$ID,122
$MISSION,6
$DIVE,103
$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,-29290.805
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,150238,1245.329,12017.834,41,1.3,41,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.8
$GPS2,151803,1245.037,12017.767,14,1.8,14,-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,316.4,4234,-17.4,-9.016
$D_GRID,826
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-78.75,0.000,2,0.000,0.000,250,2134,2580
$GC,103,-1.42,-146.0,3.6,-7.5,12,135,13.45,2.50,-12.25,0.000,4,0.169,0.054,2591,3554,3275
$GC,208,-1.10,-146.0,32.5,-23.6,30,216,0.38,2.33,0.00,0.000,6,0.120,0.028,2660,2150,3276
$GC,553,-0.97,-146.0,89.8,-15.4,91,561,0.15,2.42,0.00,0.000,4,0.114,0.042,2691,3560,3277
$GC,601,-0.94,-146.0,96.4,-13.3,99,608,0.00,2.35,0.00,0.000,6,0.000,0.027,2691,2128,3277
$GC,945,-0.94,-146.0,135.7,-11.5,160,952,0.00,2.45,0.00,0.000,4,0.000,0.042,2691,3555,3277
$GC,1036,-0.97,-146.0,146.4,-11.3,176,1044,0.00,2.25,0.00,0.000,6,0.000,0.027,2691,2192,3277
$GC,1380,-1.07,-146.0,175.3,-7.7,237,1386,0.00,2.33,0.00,0.000,4,0.000,0.042,2691,3554,3278
$GC,1416,-1.18,-146.0,178.1,-7.6,243,1423,0.20,2.25,0.00,0.000,6,0.041,0.027,2630,2190,3278
$GC,1761,-1.18,-146.0,210.3,-9.6,304,1767,0.00,2.35,0.00,0.000,4,0.000,0.043,2630,3562,3277
$GC,1795,-1.18,-146.0,213.7,-10.0,310,1802,0.00,2.22,0.00,0.000,6,0.000,0.028,2630,2212,3277
$GC,2139,-1.18,-146.0,244.0,-7.9,371,2146,0.00,2.53,0.00,0.000,4,0.000,0.046,2629,756,3277
$GC,2231,-1.21,-146.0,252.1,-9.6,386,2235,0.00,2.38,0.00,0.000,6,0.000,0.030,2629,2173,3277
$GC,2556,-1.21,-146.0,283.0,-9.9,416,2560,0.00,2.38,0.00,0.000,4,0.000,0.048,2629,3549,3276
$GC,2617,-1.21,-146.0,289.7,-10.6,421,2621,0.00,2.28,0.00,0.000,6,0.000,0.030,2629,2182,3276
$GC,2948,-1.21,-146.0,321.8,-9.6,452,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2181,3274
$GC,3265,-1.21,-146.0,349.8,-8.2,482,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2179,3271
$GC,3586,-1.21,-146.0,373.8,-7.8,512,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2179,3269
$GC,3902,-1.21,-146.0,398.7,-7.7,542,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2179,3267
$GC,4224,-1.25,-146.0,424.1,-8.1,572,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2179,3265
$GC,4541,-1.28,-146.0,447.9,-7.5,602,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2179,3263
$GC,4858,-1.31,-146.0,472.2,-8.2,632,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2179,3260
$GC,5176,-1.35,-146.0,496.0,-7.3,662,5181,0.00,2.40,0.00,0.000,4,0.000,0.052,2630,3545,3258
$GC,5217,-1.39,-146.0,499.3,-7.8,665,5221,0.12,2.30,0.00,0.000,6,0.058,0.034,2593,2192,3258
$GC,5544,-1.35,-146.0,531.3,-10.2,681,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2189,3256
$GC,5852,-1.31,-146.0,560.0,-9.1,696,5857,0.12,2.40,0.00,0.000,4,0.110,0.052,2615,3550,3254
$GC,5912,-1.31,-146.0,565.4,-8.7,698,5920,0.00,2.33,0.00,0.000,6,0.000,0.035,2615,2200,3254
$GC,6230,-1.31,-146.0,589.6,-7.5,714,6235,0.00,2.58,0.00,0.000,4,0.000,0.055,2615,752,3252
$GC,6267,-1.31,-146.0,592.8,-8.0,715,6275,0.00,2.47,0.00,0.000,6,0.000,0.035,2615,2191,3252
$GC,6583,-1.31,-146.0,617.6,-8.1,731,6587,0.00,2.40,0.00,0.000,4,0.000,0.054,2615,3554,3250
$GC,6621,-1.31,-146.0,621.0,-8.6,733,6625,0.00,2.30,0.00,0.000,6,0.000,0.035,2615,2198,3250
$GC,6948,-1.31,-146.0,646.9,-7.9,749,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,3248
$GC,7257,-1.31,-146.0,672.0,-8.3,764,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,3247
$GC,7566,-1.31,-146.0,697.2,-8.2,779,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2197,3245
$GC,7875,-1.31,-146.0,721.4,-7.6,794,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2197,3245
$GC,8186,-1.31,-146.0,744.1,-7.3,809,8190,0.00,2.42,0.00,0.000,4,0.000,0.057,2615,3562,3243
$GC,8230,-1.35,-146.0,747.7,-8.2,811,8234,0.00,2.33,0.00,0.000,6,0.000,0.036,2615,2197,3243
$GC,8550,-1.35,-146.0,772.3,-7.2,827,8554,0.00,2.42,0.00,0.000,4,0.000,0.057,2615,3556,3241
$GC,8589,-1.38,-146.0,775.5,-8.7,829,8593,0.00,2.30,0.00,0.000,6,0.000,0.036,2615,2209,3241
$GC,8915,-1.38,-146.0,801.2,-8.1,845,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2209,3240
$GC,9224,-1.42,-146.0,825.1,-8.1,860,9229,0.00,2.40,0.00,0.000,4,0.000,0.058,2615,3554,3239
$STATE,9234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9234,begin apogee
$GC,9240,-0.34,0.0,826.0,7.0,860,9366,1.02,0.00,117.95,1.258,6,0.094,0.000,2826,2370,2678
$STATE,9367,end apogee,CONTROL_FINISHED_OK
$STATE,9367,begin climb
$GC,9369,1.42,146.0,830.3,0.0,867,9501,1.77,2.55,123.38,1.211,4,0.059,0.061,3215,3713,2082
$GC,9654,1.18,146.0,804.1,15.2,880,9659,0.28,2.33,0.00,0.000,6,0.119,0.040,3166,2383,2080
$GC,9980,1.07,146.0,767.2,10.9,896,9985,0.15,2.58,0.00,0.000,4,0.114,0.058,3135,963,2079
$GC,10013,1.00,146.0,763.7,11.1,897,10021,0.00,2.47,0.00,0.000,6,0.000,0.039,3135,2373,2079
$GC,10330,0.96,146.0,734.4,9.1,913,10334,0.00,2.45,0.00,0.000,4,0.000,0.064,3135,3728,2078
$GC,10384,0.88,146.0,728.9,9.4,915,10392,0.20,2.35,0.00,0.000,6,0.112,0.038,3099,2372,2078
$GC,10701,0.95,168.9,704.5,7.8,931,10722,0.00,0.00,18.60,1.206,6,0.000,0.000,3099,2371,1989
$GC,11030,1.02,182.4,677.3,8.3,947,11044,0.12,0.00,11.85,1.200,6,0.072,0.000,3127,2370,1934
$GC,11339,1.02,182.4,646.4,9.9,962,11343,0.00,2.45,0.00,0.000,4,0.000,0.061,3127,3726,1932
$GC,11378,0.99,182.4,642.4,10.2,964,11382,0.00,2.33,0.00,0.000,6,0.000,0.038,3127,2381,1932
$GC,11705,0.99,182.4,611.5,9.3,980,11709,0.00,2.55,0.00,0.000,4,0.000,0.058,3127,968,1931
$GC,11744,0.99,182.4,607.8,9.1,982,11748,0.00,2.47,0.00,0.000,6,0.000,0.041,3127,2376,1931
$GC,12071,0.99,182.4,577.0,9.8,998,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2376,1931
$GC,12379,0.99,182.4,546.8,9.7,1013,12383,0.00,2.55,0.00,0.000,4,0.000,0.057,3127,963,1931
$GC,12422,0.99,182.4,542.6,9.5,1015,12426,0.00,2.45,0.00,0.000,6,0.000,0.038,3127,2365,1931
$GC,12749,0.99,184.4,512.9,8.9,1031,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2365,1931
$GC,13063,0.99,184.8,484.1,9.0,1054,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2365,1931
$GC,13383,1.03,206.4,457.4,7.9,1084,13404,0.00,0.00,19.52,1.047,6,0.000,0.000,3127,2365,1836
$GC,13721,1.10,220.4,428.1,8.3,1116,13735,0.00,0.00,11.68,1.034,6,0.000,0.000,3127,2365,1779
$GC,14049,1.15,228.0,399.2,8.6,1147,14063,0.12,2.60,6.72,1.022,4,0.067,0.054,3159,970,1748
$GC,14142,1.15,228.0,389.4,10.6,1155,14147,0.00,2.42,0.00,0.000,6,0.000,0.037,3159,2358,1747
$GC,14467,1.15,228.0,358.0,10.5,1185,14471,0.00,2.42,0.00,0.000,4,0.000,0.059,3159,3722,1747
$GC,14527,1.12,228.0,351.0,11.4,1190,14535,0.00,2.33,0.00,0.000,6,0.000,0.036,3159,2362,1747
$GC,14853,1.12,228.0,316.8,10.5,1221,14857,0.00,2.47,0.00,0.000,4,0.000,0.054,3159,967,1746
$GC,14899,1.12,228.0,311.8,10.7,1225,14903,0.00,2.42,0.00,0.000,6,0.000,0.036,3159,2365,1747
$GC,15223,1.12,228.0,279.1,10.1,1255,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2365,1747
$GC,15543,1.15,242.3,249.6,8.3,1285,15562,0.00,2.55,11.80,0.891,4,0.000,0.053,3159,973,1689
$GC,15613,1.15,242.3,242.6,10.8,1297,15621,0.00,2.42,0.00,0.000,6,0.000,0.035,3159,2365,1689
$GC,15960,1.17,257.6,214.3,8.2,1358,15981,0.00,2.55,12.95,0.851,4,0.000,0.051,3159,966,1626
$GC,16015,1.22,257.6,209.2,9.5,1367,16023,0.00,2.40,0.00,0.000,6,0.000,0.035,3159,2343,1625
$GC,16354,1.35,297.3,181.7,7.0,1428,16390,0.15,0.00,31.85,0.780,6,0.059,0.000,3201,2343,1465
$GC,16729,1.42,316.5,146.4,8.0,1493,16750,0.00,2.55,15.32,0.763,4,0.000,0.051,3201,973,1386
$GC,16791,1.50,340.5,141.3,7.8,1503,16820,0.15,2.33,19.15,0.739,6,0.061,0.033,3239,2315,1289
$GC,17159,1.55,368.6,107.6,7.6,1567,17188,0.00,2.60,22.27,0.703,4,0.000,0.051,3239,3732,1174
$GC,17235,1.55,368.6,100.2,10.0,1579,17242,0.00,2.40,0.00,0.000,6,0.000,0.032,3239,2316,1172
$GC,17582,1.63,387.6,66.5,8.0,1640,17604,0.00,2.47,15.05,0.662,4,0.000,0.049,3239,968,1096
$GC,17672,1.68,387.6,57.8,9.4,1655,17680,0.15,2.33,0.00,0.000,6,0.053,0.031,3280,2331,1094
$GC,18017,1.68,387.6,25.4,9.4,1716,18024,0.00,2.42,0.00,0.000,4,0.000,0.048,3281,3724,1094
$GC,18047,1.68,387.6,22.0,11.2,1721,18054,0.00,2.38,0.00,0.000,6,0.000,0.030,3280,2312,1094
$STATE,18239,end climb,SURFACE_DEPTH_REACHED
$STATE,18239,begin surface coast
$FINISH,-0.1,1.021582
$STATE,18261,end surface coast,CONTROL_FINISHED_OK
$STATE,18261,begin surface
$SM_CCo,18282,54.40,0.556,0,0,638,500.17
$SM_GC,0.69,0.00,0.00,54.40,0.000,0.000,0.556,252,2122,638,-12.20,-0.79,500.17
$IRIDIUM_FIX,1241.04,12018.41,010697,151511
$TT8_MAMPS,0.023777
$HUMID,1899
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.60
$XPDR_PINGS,451
$ALTIM_BOTTOM_PING,660.1,4.2
$24V_AH,23.3,20.633
$10V_AH,10.1,9.820
$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,31.950,139.975,438.100,54.400,0.000,99.660,53.812,466.485,117.500,0.000,0.000,14.884,3606.948,11307.629,687.211,2804.497,860.959,0.000,2091.178,0.000,2760.048,0.000,38.236
$DEVICE_MAMPS,168.740,63.661,1257.880,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53464,1759
$CAP_FILE_SIZE,181061,0
$CFSIZE,260165632,249237504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 58.3,1
$GPS,070308,202537,1246.853,12016.405,38,1.1,49,-0.8