version: 66.03
glider: 122
mission: 6
dive: 134
start: 3 14 108 7 35 12
data:
$ID,122
$MISSION,6
$DIVE,134
$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,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,-29850.613
$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,27
$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,9
$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
$GPS1,072932,1245.815,12015.443,37,1.5,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.9
$GPS2,073439,1245.807,12015.415,10,1.7,10,-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,68.2,50186,-17.4,-9.016
$D_GRID,823
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-64.68,0.000,2,0.000,0.000,248,2168,2521
$GC,88,-1.42,-146.0,3.6,-7.6,10,121,13.60,2.58,-13.38,0.000,4,0.173,0.055,2588,732,3275
$GC,262,-1.12,-146.0,48.5,-22.2,40,270,0.38,2.38,0.00,0.000,6,0.114,0.028,2659,2152,3277
$GC,608,-1.01,-146.0,104.3,-14.6,101,616,0.12,2.35,0.00,0.000,4,0.105,0.044,2683,3561,3278
$GC,633,-0.94,-146.0,107.9,-14.0,105,641,0.00,2.38,0.00,0.000,6,0.000,0.028,2683,2130,3278
$GC,979,-0.97,-146.0,147.5,-9.7,166,986,0.00,2.40,0.00,0.000,4,0.000,0.044,2683,746,3279
$GC,1015,-1.04,-146.0,150.9,-9.5,172,1023,0.00,2.33,0.00,0.000,6,0.000,0.027,2682,2141,3280
$GC,1359,-1.14,-146.0,177.4,-7.9,233,1366,0.12,2.42,0.00,0.000,4,0.053,0.044,2642,3555,3281
$GC,1525,-1.14,-146.0,192.6,-9.1,262,1532,0.00,2.33,0.00,0.000,6,0.000,0.028,2641,2147,3281
$GC,1870,-1.17,-146.0,223.6,-9.0,323,1876,0.00,2.40,0.00,0.000,4,0.000,0.042,2641,3546,3281
$GC,1916,-1.21,-146.0,227.9,-9.1,331,1923,0.00,2.33,0.00,0.000,6,0.000,0.028,2642,2145,3281
$GC,2257,-1.25,-146.0,255.3,-8.2,386,2261,0.00,2.42,0.00,0.000,4,0.000,0.044,2641,3554,3281
$GC,2285,-1.30,-146.0,257.9,-8.5,388,2289,0.00,2.33,0.00,0.000,6,0.000,0.029,2641,2155,3280
$GC,2611,-1.35,-146.0,284.4,-8.0,418,2616,0.15,2.40,0.00,0.000,4,0.051,0.044,2592,3555,3280
$GC,2695,-1.28,-146.0,292.7,-9.7,425,2700,0.15,2.30,0.00,0.000,6,0.097,0.031,2621,2180,3279
$GC,3020,-1.28,-146.0,321.4,-8.8,455,3024,0.00,2.53,0.00,0.000,4,0.000,0.051,2621,746,3278
$GC,3052,-1.28,-146.0,324.5,-8.7,457,3060,0.00,2.42,0.00,0.000,6,0.000,0.031,2621,2174,3278
$GC,3378,-1.28,-146.0,353.7,-9.4,488,3382,0.00,2.40,0.00,0.000,4,0.000,0.048,2621,3557,3276
$GC,3451,-1.28,-146.0,360.5,-9.5,494,3455,0.00,2.30,0.00,0.000,6,0.000,0.031,2621,2192,3276
$GC,3776,-1.28,-146.0,387.6,-8.3,524,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2188,3274
$GC,4095,-1.28,-146.0,413.2,-8.2,554,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2188,3271
$GC,4412,-1.28,-146.0,439.3,-7.6,584,4416,0.00,2.38,0.00,0.000,4,0.000,0.050,2621,3548,3269
$GC,4451,-1.28,-146.0,442.6,-8.1,587,4458,0.00,2.28,0.00,0.000,6,0.000,0.033,2621,2202,3269
$GC,4777,-1.28,-146.0,468.8,-8.4,618,4781,0.00,2.38,0.00,0.000,4,0.000,0.051,2621,3552,3268
$GC,4816,-1.28,-146.0,472.4,-8.9,621,4820,0.00,2.25,0.00,0.000,6,0.000,0.033,2621,2225,3268
$GC,5143,-1.28,-146.0,497.9,-7.9,651,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2223,3266
$GC,5461,-1.28,-146.0,524.3,-8.1,668,5465,0.00,2.62,0.00,0.000,4,0.000,0.055,2621,752,3263
$GC,5493,-1.32,-146.0,526.9,-8.2,669,5501,0.00,2.53,0.00,0.000,6,0.000,0.035,2621,2224,3263
$GC,5810,-1.32,-146.0,551.2,-7.7,685,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2225,3261
$GC,6118,-1.32,-146.0,575.6,-7.5,700,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2225,3259
$GC,6427,-1.32,-146.0,598.8,-7.7,715,6432,0.00,2.62,0.00,0.000,4,0.000,0.056,2621,749,3258
$GC,6471,-1.36,-146.0,602.5,-9.2,717,6475,0.00,2.50,0.00,0.000,6,0.000,0.035,2621,2203,3257
$GC,6793,-1.39,-146.0,627.6,-7.4,733,6797,0.00,2.38,0.00,0.000,4,0.000,0.057,2621,3549,3257
$GC,6837,-1.43,-146.0,631.7,-8.7,735,6841,0.12,2.28,0.00,0.000,6,0.061,0.035,2586,2212,3256
$GC,7160,-1.38,-146.0,660.1,-8.5,751,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,3255
$GC,7467,-1.33,-146.0,687.6,-8.6,766,7472,0.15,2.62,0.00,0.000,4,0.112,0.058,2614,748,3253
$GC,7529,-1.37,-146.0,692.3,-7.3,769,7534,0.00,2.50,0.00,0.000,6,0.000,0.038,2614,2195,3253
$GC,7856,-1.37,-146.0,715.7,-6.8,785,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2195,3252
$GC,8166,-1.37,-146.0,738.1,-7.4,800,8170,0.00,2.60,0.00,0.000,4,0.000,0.058,2614,748,3251
$GC,8195,-1.40,-146.0,740.3,-7.8,801,8199,0.00,2.47,0.00,0.000,6,0.000,0.038,2614,2181,3251
$GC,8511,-1.40,-146.0,763.1,-7.2,816,8516,0.00,2.45,0.00,0.000,4,0.000,0.060,2614,3558,3249
$GC,8556,-1.43,-146.0,767.0,-8.1,818,8560,0.00,2.35,0.00,0.000,6,0.000,0.037,2614,2182,3249
$GC,8877,-1.43,-146.0,792.6,-8.0,834,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2181,3248
$GC,9187,-1.43,-146.0,817.7,-8.0,849,9191,0.00,2.45,0.00,0.000,4,0.000,0.058,2614,3553,3247
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9250,begin apogee
$GC,9257,-0.34,0.0,823.5,8.5,852,9380,1.02,0.00,119.28,1.253,6,0.094,0.000,2825,2372,2678
$STATE,9380,end apogee,CONTROL_FINISHED_OK
$STATE,9380,begin climb
$GC,9382,1.42,146.0,827.6,0.0,858,9513,1.80,2.58,122.95,1.203,4,0.058,0.061,3218,3720,2082
$GC,9591,1.18,146.0,810.9,13.6,867,9596,0.30,2.35,0.00,0.000,6,0.119,0.038,3164,2374,2081
$GC,9913,1.08,146.0,778.1,10.3,883,9915,0.15,0.00,0.00,0.000,6,0.122,0.000,3138,2373,2079
$GC,10222,1.03,146.0,749.8,9.3,898,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2373,2078
$GC,10533,0.99,157.1,722.7,8.5,913,10547,0.00,2.62,8.90,1.225,4,0.000,0.060,3138,962,2037
$GC,10649,0.94,159.9,712.4,8.9,918,10659,0.15,2.50,2.83,1.197,6,0.119,0.041,3112,2383,2025
$GC,10976,0.98,182.5,687.3,7.9,934,11000,0.00,2.70,19.15,1.188,4,0.000,0.058,3112,968,1934
$GC,11028,0.98,182.5,682.6,9.7,936,11032,0.00,2.50,0.00,0.000,6,0.000,0.041,3112,2378,1932
$GC,11355,1.01,182.5,652.2,9.3,952,11359,0.00,2.58,0.00,0.000,4,0.000,0.059,3112,963,1931
$GC,11426,1.01,182.5,645.3,9.2,955,11431,0.00,2.45,0.00,0.000,6,0.000,0.039,3112,2342,1931
$GC,11749,1.06,192.7,617.9,8.5,971,11764,0.12,2.58,8.55,1.177,4,0.068,0.058,3144,975,1892
$GC,11785,1.03,192.7,614.0,10.6,972,11792,0.00,2.42,0.00,0.000,6,0.000,0.039,3144,2344,1892
$GC,12103,1.03,192.7,581.8,10.4,988,12107,0.00,2.50,0.00,0.000,4,0.000,0.064,3144,3732,1891
$GC,12134,0.99,192.7,578.0,11.4,989,12142,0.12,2.40,0.00,0.000,6,0.131,0.038,3124,2345,1891
$GC,12450,1.01,202.9,550.3,8.5,1005,12465,0.00,2.58,8.82,1.135,4,0.000,0.059,3124,972,1850
$GC,12521,1.01,202.9,543.7,9.4,1008,12525,0.00,2.45,0.00,0.000,6,0.000,0.039,3124,2344,1849
$GC,12849,1.06,219.6,515.8,8.2,1024,12871,0.00,2.55,14.23,1.093,4,0.000,0.057,3124,970,1782
$GC,12904,1.12,232.6,511.0,8.4,1026,12921,0.12,2.40,11.40,1.077,6,0.067,0.038,3160,2336,1729
$GC,13238,1.12,232.6,475.9,10.6,1053,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2334,1727
$GC,13557,1.12,232.6,442.1,10.2,1083,13561,0.00,2.47,0.00,0.000,4,0.000,0.056,3160,963,1727
$GC,13611,1.12,232.6,436.1,10.8,1087,13618,0.00,2.38,0.00,0.000,6,0.000,0.037,3160,2313,1726
$GC,13937,1.12,232.6,402.4,10.2,1118,13941,0.00,2.53,0.00,0.000,4,0.000,0.058,3160,3733,1727
$GC,13993,1.09,232.6,396.0,11.8,1123,13998,0.00,2.40,0.00,0.000,6,0.000,0.038,3160,2336,1726
$GC,14317,1.09,232.6,362.0,10.1,1153,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2335,1726
$GC,14636,1.09,232.6,331.0,9.6,1183,14637,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2335,1726
$GC,14954,1.09,232.6,300.5,9.3,1213,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2335,1727
$GC,15273,1.09,232.6,269.9,9.3,1243,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2335,1726
$GC,15596,1.09,232.6,239.8,9.7,1282,15603,0.00,2.45,0.00,0.000,4,0.000,0.054,3160,3723,1727
$GC,15637,1.09,232.6,235.7,9.3,1289,15643,0.00,2.40,0.00,0.000,6,0.000,0.037,3160,2319,1727
$GC,15981,1.16,257.5,207.0,7.7,1350,16011,0.00,2.53,20.23,0.838,4,0.000,0.054,3159,966,1627
$GC,16074,1.22,258.3,198.8,9.0,1366,16080,0.00,2.38,0.00,0.000,6,0.000,0.035,3160,2330,1626
$GC,16418,1.33,282.4,171.7,7.8,1427,16448,0.15,2.58,19.90,0.794,4,0.060,0.054,3200,3723,1526
$GC,16487,1.33,282.4,164.8,10.1,1439,16494,0.00,2.42,0.00,0.000,6,0.000,0.035,3200,2315,1525
$GC,16832,1.40,302.0,137.4,8.0,1500,16856,0.00,2.47,15.40,0.763,4,0.000,0.051,3200,970,1446
$GC,16925,1.51,332.0,130.5,7.5,1516,16955,0.15,2.30,24.50,0.730,6,0.061,0.034,3238,2305,1324
$GC,17295,1.57,348.1,100.9,8.2,1581,17313,0.00,2.42,12.77,0.717,4,0.000,0.049,3237,962,1256
$GC,17382,1.61,348.1,93.1,9.3,1596,17388,0.00,2.30,0.00,0.000,6,0.000,0.031,3238,2302,1254
$GC,17725,1.72,379.1,63.9,7.4,1657,17755,0.15,0.00,24.40,0.650,6,0.058,0.000,3283,2302,1131
$GC,18094,1.76,383.0,29.6,8.8,1722,18101,0.00,2.42,2.55,0.660,4,0.000,0.047,3283,963,1116
$GC,18170,1.81,389.0,22.8,8.7,1735,18183,0.00,2.28,4.78,0.644,6,0.000,0.029,3283,2310,1091
$STATE,18417,end climb,SURFACE_DEPTH_REACHED
$STATE,18417,begin surface coast
$FINISH,0.2,1.021181
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18441,begin surface
$SM_CCo,18463,42.72,0.556,0,0,741,475.15
$SM_GC,0.58,0.00,0.00,42.72,0.000,0.000,0.556,252,2113,741,-12.20,-1.05,475.15
$IRIDIUM_FIX,1241.04,12018.41,080697,020202
$TT8_MAMPS,0.023777
$HUMID,1931
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.40
$XPDR_PINGS,417
$24V_AH,23.3,25.917
$10V_AH,10.1,12.666
$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,32.450,165.825,440.625,42.725,0.000,24.064,37.012,142.860,112.500,0.000,0.000,10.885,3531.900,11250.462,658.189,2918.760,460.967,0.000,2132.873,0.000,2868.037,0.000,60.752
$DEVICE_MAMPS,172.575,63.661,1252.511,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56620,1783
$CAP_FILE_SIZE,182232,0
$CFSIZE,260165632,246718464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,312.4,1
$GPS,140308,124455,1246.938,12017.093,41,1.3,41,-0.8