version: 66.03
glider: 122
mission: 6
dive: 110
start: 3 9 108 3 8 42
data:
$ID,122
$MISSION,6
$DIVE,110
$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,-29411.004
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,030031,1246.808,12023.692,38,1.2,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.0
$GPS2,030809,1246.804,12023.508,11,1.5,11,-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,73.1,35490,-17.4,-9.016
$D_GRID,726
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.45,0.000,2,0.000,0.000,253,2123,2560
$GC,95,-1.42,-146.0,3.4,-7.5,11,128,13.48,2.55,-13.12,0.000,4,0.170,0.053,2591,3565,3276
$GC,168,-1.07,-146.0,23.0,-23.6,23,176,0.43,2.35,0.00,0.000,6,0.119,0.028,2669,2153,3277
$GC,514,-0.98,-146.0,73.2,-13.3,84,521,0.10,2.42,0.00,0.000,4,0.123,0.041,2687,3570,3279
$GC,567,-0.98,-146.0,80.6,-13.0,93,574,0.00,2.35,0.00,0.000,6,0.000,0.028,2687,2153,3279
$GC,911,-0.94,-146.0,124.0,-12.8,154,918,0.00,2.42,0.00,0.000,4,0.000,0.044,2687,754,3280
$GC,941,-0.94,-146.0,127.7,-12.4,159,948,0.00,2.38,0.00,0.000,6,0.000,0.028,2687,2173,3280
$GC,1287,-0.99,-146.0,162.3,-9.7,220,1294,0.00,2.35,0.00,0.000,4,0.000,0.046,2687,3552,3281
$GC,1369,-1.06,-146.0,169.7,-8.0,234,1378,0.00,2.28,0.00,0.000,6,0.000,0.028,2687,2176,3281
$GC,1710,-1.15,-146.0,194.9,-7.2,295,1717,0.15,2.38,0.00,0.000,4,0.051,0.043,2638,3557,3281
$GC,1740,-1.15,-146.0,197.7,-9.2,300,1746,0.00,2.25,0.00,0.000,6,0.000,0.028,2639,2199,3281
$GC,2083,-1.15,-146.0,233.5,-11.0,361,2089,0.00,2.53,0.00,0.000,4,0.000,0.047,2638,750,3282
$GC,2123,-1.15,-146.0,238.1,-10.9,368,2130,0.00,2.45,0.00,0.000,6,0.000,0.029,2638,2209,3282
$GC,2456,-1.15,-146.0,265.7,-7.8,411,2460,0.00,2.55,0.00,0.000,4,0.000,0.048,2638,751,3281
$GC,2506,-1.19,-146.0,269.9,-8.3,415,2510,0.00,2.47,0.00,0.000,6,0.000,0.031,2638,2214,3281
$GC,2832,-1.19,-146.0,296.5,-8.3,445,2836,0.00,2.33,0.00,0.000,4,0.000,0.048,2638,3556,3280
$GC,2917,-1.23,-146.0,306.1,-10.7,452,2921,0.00,2.22,0.00,0.000,6,0.000,0.031,2638,2228,3279
$GC,3243,-1.23,-146.0,335.4,-8.2,482,3247,0.00,2.60,0.00,0.000,4,0.000,0.051,2638,752,3277
$GC,3327,-1.29,-146.0,342.5,-7.5,489,3331,0.00,2.45,0.00,0.000,6,0.000,0.031,2638,2197,3277
$GC,3659,-1.33,-146.0,366.4,-6.7,520,3664,0.10,2.38,0.00,0.000,4,0.064,0.049,2607,3559,3275
$GC,3702,-1.30,-146.0,370.3,-8.3,523,3709,0.00,2.28,0.00,0.000,6,0.000,0.032,2607,2205,3274
$GC,4028,-1.30,-146.0,399.9,-9.2,554,4032,0.00,2.58,0.00,0.000,4,0.000,0.052,2607,750,3272
$GC,4066,-1.30,-146.0,403.6,-9.2,557,4071,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2197,3271
$GC,4391,-1.30,-146.0,434.7,-10.0,587,4395,0.00,2.55,0.00,0.000,4,0.000,0.051,2607,759,3270
$GC,4423,-1.30,-146.0,438.2,-10.3,589,4430,0.00,2.50,0.00,0.000,6,0.000,0.034,2607,2201,3270
$GC,4749,-1.30,-146.0,470.1,-9.7,620,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2201,3269
$GC,5069,-1.30,-146.0,500.3,-8.9,650,5073,0.00,2.58,0.00,0.000,4,0.000,0.053,2607,750,3266
$GC,5112,-1.30,-146.0,504.7,-8.8,652,5116,0.00,2.53,0.00,0.000,6,0.000,0.035,2607,2203,3266
$GC,5439,-1.30,-146.0,534.4,-8.9,668,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2204,3263
$GC,5748,-1.30,-146.0,562.3,-8.8,683,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2204,3262
$GC,6059,-1.30,-146.0,589.6,-8.5,698,6065,0.00,2.38,0.00,0.000,4,0.000,0.057,2607,3551,3260
$GC,6115,-1.30,-146.0,594.6,-8.0,700,6119,0.00,2.28,0.00,0.000,6,0.000,0.035,2607,2208,3259
$GC,6437,-1.30,-146.0,620.4,-8.0,716,6442,0.00,2.58,0.00,0.000,4,0.000,0.057,2607,756,3257
$GC,6481,-1.30,-146.0,624.3,-8.2,718,6486,0.00,2.50,0.00,0.000,6,0.000,0.036,2607,2193,3257
$GC,6809,-1.30,-146.0,649.0,-8.0,734,6813,0.00,2.40,0.00,0.000,4,0.000,0.055,2607,3554,3256
$GC,6926,-1.30,-146.0,659.2,-8.4,739,6930,0.00,2.30,0.00,0.000,6,0.000,0.036,2607,2224,3255
$GC,7248,-1.30,-146.0,685.5,-7.4,755,7252,0.00,2.62,0.00,0.000,4,0.000,0.057,2607,755,3254
$GC,7286,-1.30,-146.0,688.4,-7.8,757,7291,0.00,2.53,0.00,0.000,6,0.000,0.035,2607,2217,3254
$GC,7613,-1.30,-146.0,712.1,-7.7,773,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2217,3252
$STATE,7775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7776,begin apogee
$GC,7781,-0.34,0.0,726.2,8.8,781,7903,1.10,0.00,118.60,1.172,6,0.096,0.000,2830,2385,2678
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7904,begin climb
$GC,7905,1.42,146.0,730.1,0.0,787,8035,1.75,2.53,121.10,1.125,4,0.056,0.060,3215,3720,2082
$GC,8090,1.19,146.0,716.7,14.2,795,8096,0.25,2.35,0.00,0.000,6,0.112,0.038,3166,2389,2081
$GC,8412,1.08,146.0,683.7,9.9,811,8414,0.15,0.00,0.00,0.000,6,0.115,0.000,3139,2388,2080
$GC,8722,1.03,148.4,656.2,8.9,826,8726,0.00,2.58,0.00,0.000,4,0.000,0.058,3139,969,2079
$GC,8754,0.96,148.4,653.0,9.5,827,8762,0.12,2.47,0.00,0.000,6,0.117,0.040,3117,2377,2079
$GC,9070,0.99,166.5,626.7,8.1,843,9093,0.00,2.62,16.45,1.141,4,0.000,0.056,3117,966,1998
$GC,9131,0.99,166.5,621.0,9.1,845,9139,0.00,2.50,0.00,0.000,6,0.000,0.039,3117,2385,1998
$GC,9447,0.99,166.5,592.4,9.3,861,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2385,1997
$GC,9756,1.03,185.7,566.3,8.0,876,9777,0.00,0.00,15.62,1.114,6,0.000,0.000,3117,2385,1921
$GC,10086,1.03,188.2,536.3,8.9,892,10090,0.00,0.00,2.58,1.087,6,0.000,0.000,3117,2385,1909
$GC,10395,1.03,190.4,508.0,8.9,907,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2385,1909
$GC,10711,1.10,211.6,481.5,7.9,932,10733,0.12,0.00,19.17,1.052,6,0.072,0.000,3145,2385,1814
$GC,11048,1.10,211.6,449.5,9.2,964,11053,0.00,2.55,0.00,0.000,4,0.000,0.054,3146,966,1813
$GC,11099,1.10,211.6,444.9,9.3,968,11103,0.00,2.47,0.00,0.000,6,0.000,0.038,3146,2385,1813
$GC,11424,1.10,211.6,414.2,9.3,998,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2385,1813
$GC,11742,1.10,211.6,384.5,10.1,1028,11746,0.00,2.55,0.00,0.000,4,0.000,0.053,3146,961,1813
$GC,11795,1.10,211.6,378.6,10.9,1032,11804,0.00,2.45,0.00,0.000,6,0.000,0.037,3146,2357,1813
$GC,12122,1.10,211.6,346.2,9.6,1063,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2358,1813
$GC,12439,1.10,211.6,317.0,9.5,1093,12441,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2358,1813
$GC,12758,1.10,211.6,286.6,9.2,1123,12762,0.00,2.47,0.00,0.000,4,0.000,0.052,3146,969,1813
$GC,12821,1.13,229.0,281.0,8.1,1128,12846,0.00,2.42,14.27,0.909,6,0.000,0.035,3146,2374,1743
$GC,13162,1.14,236.1,252.3,8.7,1160,13173,0.00,0.00,5.85,0.909,6,0.000,0.000,3146,2374,1715
$GC,13508,1.22,253.6,222.5,8.1,1219,13531,0.10,2.55,14.32,0.850,4,0.073,0.050,3172,969,1643
$GC,13661,1.22,253.6,207.5,10.2,1245,13668,0.00,2.45,0.00,0.000,6,0.000,0.035,3172,2385,1642
$GC,14006,1.22,253.6,174.2,9.6,1306,14014,0.00,2.53,0.00,0.000,4,0.000,0.049,3172,962,1642
$GC,14081,1.22,253.6,166.8,9.2,1319,14089,0.00,2.40,0.00,0.000,6,0.000,0.034,3171,2362,1642
$GC,14428,1.29,269.2,138.3,8.2,1380,14449,0.00,2.53,12.57,0.767,4,0.000,0.048,3171,967,1579
$GC,14479,1.38,291.0,134.4,7.9,1388,14505,0.15,2.42,17.45,0.737,6,0.057,0.033,3214,2373,1491
$GC,14843,1.42,310.6,105.4,8.0,1451,14865,0.00,2.45,15.20,0.706,4,0.000,0.048,3214,3721,1411
$GC,14894,1.42,310.6,100.9,9.3,1459,14901,0.00,2.33,0.00,0.000,6,0.000,0.030,3214,2349,1410
$GC,15239,1.44,322.8,72.7,8.4,1520,15254,0.00,2.50,9.62,0.680,4,0.000,0.046,3214,970,1360
$GC,15397,1.54,352.3,59.3,7.5,1547,15428,0.12,2.30,23.33,0.634,6,0.054,0.030,3255,2330,1241
$GC,15766,1.55,360.6,27.6,8.6,1611,15781,0.00,2.45,6.10,0.634,4,0.000,0.046,3255,3727,1206
$GC,15943,1.55,360.6,10.5,9.5,1642,15950,0.00,2.35,0.00,0.000,6,0.000,0.028,3255,2319,1206
$STATE,16045,end climb,SURFACE_DEPTH_REACHED
$STATE,16045,begin surface coast
$FINISH,-0.2,1.008417
$STATE,16072,end surface coast,CONTROL_FINISHED_OK
$STATE,16073,begin surface
$SM_CCo,16094,66.75,0.535,0,0,638,500.17
$SM_GC,0.77,0.00,0.00,66.75,0.000,0.000,0.535,253,2128,638,-12.19,-0.65,500.17
$IRIDIUM_FIX,1241.04,12024.46,030697,030349
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,462
$ALTIM_BOTTOM_PING,640.9,4.3
$24V_AH,23.4,21.836
$10V_AH,10.2,10.466
$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,31.325,142.525,412.250,66.750,0.000,46.666,32.198,210.952,120.000,0.000,0.000,11.738,3387.769,9378.578,680.205,2664.843,515.317,0.000,2017.497,0.000,2623.891,0.000,36.403
$DEVICE_MAMPS,169.507,59.826,1171.976,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1115.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50274,1665
$CAP_FILE_SIZE,161208,0
$CFSIZE,260165632,248700928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003, 62.4,1
$GPS,090308,073907,1247.344,12025.349,29,1.1,29,-0.8