version: 66.03
glider: 122
mission: 6
dive: 136
start: 3 14 108 18 51 12
data:
$ID,122
$MISSION,6
$DIVE,136
$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,-29877.773
$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,58
$R_STBD_OVSHOOT,27
$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
$GPS1,184125,1246.618,12019.421,25,1.5,42,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.3
$GPS2,185039,1246.602,12019.312,13,1.5,13,-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,86.4,43000,-17.4,-9.016
$D_GRID,868
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-60.33,0.000,2,0.000,0.000,252,2104,2390
$GC,84,-1.42,-146.0,3.1,-6.8,9,123,13.62,2.53,-16.55,0.000,4,0.173,0.051,2591,3570,3275
$GC,157,-1.06,-146.0,22.6,-25.2,21,165,0.43,2.35,0.00,0.000,6,0.116,0.028,2671,2160,3276
$GC,503,-0.95,-146.0,80.3,-13.5,82,510,0.12,2.45,0.00,0.000,4,0.111,0.044,2693,749,3277
$GC,539,-0.95,-146.0,85.0,-12.8,88,547,0.00,2.33,0.00,0.000,6,0.000,0.026,2693,2144,3277
$GC,884,-0.95,-146.0,123.5,-11.0,149,891,0.00,2.40,0.00,0.000,4,0.000,0.044,2693,3546,3279
$GC,965,-0.99,-146.0,132.2,-10.3,163,972,0.00,2.38,0.00,0.000,6,0.000,0.027,2693,2115,3279
$GC,1306,-1.09,-146.0,163.1,-7.9,224,1313,0.12,2.47,0.00,0.000,4,0.054,0.041,2652,3555,3280
$GC,1336,-1.13,-146.0,165.9,-9.3,229,1343,0.00,2.35,0.00,0.000,6,0.000,0.027,2652,2135,3279
$GC,1681,-1.18,-146.0,195.4,-7.9,290,1688,0.00,2.42,0.00,0.000,4,0.000,0.041,2652,3551,3280
$GC,1739,-1.22,-146.0,200.5,-9.0,300,1746,0.00,2.30,0.00,0.000,6,0.000,0.028,2652,2159,3280
$GC,2084,-1.28,-146.0,227.8,-8.1,361,2091,0.12,2.45,0.00,0.000,4,0.056,0.046,2613,752,3279
$GC,2119,-1.28,-146.0,231.2,-9.7,367,2126,0.00,2.35,0.00,0.000,6,0.000,0.028,2613,2157,3280
$GC,2456,-1.28,-146.0,262.4,-8.2,415,2460,0.00,2.45,0.00,0.000,4,0.000,0.048,2613,756,3279
$GC,2484,-1.28,-146.0,264.8,-8.7,417,2488,0.00,2.35,0.00,0.000,6,0.000,0.031,2613,2153,3279
$GC,2809,-1.28,-146.0,295.5,-10.2,447,2813,0.00,2.40,0.00,0.000,4,0.000,0.047,2613,3551,3277
$GC,2912,-1.25,-146.0,306.3,-11.2,456,2916,0.00,2.30,0.00,0.000,6,0.000,0.031,2612,2175,3277
$GC,3237,-1.25,-146.0,339.5,-10.1,486,3242,0.00,2.50,0.00,0.000,4,0.000,0.050,2613,752,3275
$GC,3265,-1.25,-146.0,342.3,-10.8,488,3269,0.00,2.38,0.00,0.000,6,0.000,0.031,2613,2162,3275
$GC,3597,-1.25,-146.0,372.3,-8.4,519,3601,0.00,2.40,0.00,0.000,4,0.000,0.048,2613,3548,3273
$GC,3636,-1.25,-146.0,375.8,-9.0,522,3640,0.00,2.33,0.00,0.000,6,0.000,0.032,2613,2166,3272
$GC,3961,-1.25,-146.0,403.5,-8.7,552,3966,0.00,2.50,0.00,0.000,4,0.000,0.052,2613,752,3270
$GC,3994,-1.25,-146.0,406.7,-8.4,554,4001,0.00,2.42,0.00,0.000,6,0.000,0.032,2613,2173,3270
$GC,4320,-1.25,-146.0,433.8,-8.5,585,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2173,3268
$GC,4638,-1.25,-146.0,461.8,-8.9,615,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2173,3266
$GC,4956,-1.25,-146.0,489.0,-8.3,645,4960,0.00,2.42,0.00,0.000,4,0.000,0.051,2613,3552,3264
$GC,5019,-1.25,-146.0,494.6,-9.0,650,5023,0.00,2.35,0.00,0.000,6,0.000,0.034,2612,2168,3264
$GC,5339,-1.25,-146.0,520.6,-8.5,668,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2165,3262
$GC,5645,-1.25,-146.0,547.3,-8.7,683,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2165,3259
$GC,5954,-1.25,-146.0,573.8,-8.9,698,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2165,3258
$GC,6264,-1.25,-146.0,599.4,-7.8,713,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2165,3256
$GC,6572,-1.25,-146.0,624.0,-8.0,728,6577,0.00,2.45,0.00,0.000,4,0.000,0.054,2613,3549,3255
$GC,6605,-1.25,-146.0,626.6,-7.3,729,6612,0.00,2.35,0.00,0.000,6,0.000,0.035,2612,2169,3255
$GC,6922,-1.25,-146.0,650.8,-8.0,745,6926,0.00,2.45,0.00,0.000,4,0.000,0.054,2613,3548,3253
$GC,6965,-1.25,-146.0,654.6,-8.4,747,6969,0.00,2.33,0.00,0.000,6,0.000,0.035,2613,2187,3253
$GC,7293,-1.25,-146.0,681.4,-8.4,763,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2185,3251
$GC,7602,-1.25,-146.0,706.9,-8.1,778,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2185,3250
$GC,7912,-1.25,-146.0,731.4,-7.7,793,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2185,3248
$GC,8222,-1.25,-146.0,756.9,-8.5,808,8226,0.00,2.42,0.00,0.000,4,0.000,0.057,2613,3552,3247
$GC,8276,-1.25,-146.0,762.2,-9.0,810,8283,0.00,2.35,0.00,0.000,6,0.000,0.037,2613,2196,3247
$GC,8592,-1.25,-146.0,789.3,-8.6,826,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2196,3246
$GC,8902,-1.25,-146.0,814.3,-8.5,841,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,3245
$GC,9211,-1.25,-146.0,832.9,-5.3,856,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,3244
$GC,9521,-1.30,-146.0,854.8,-7.5,871,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2196,3243
$STATE,9703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9703,begin apogee
$GC,9708,-0.34,0.0,868.6,8.0,880,9831,1.05,0.00,119.47,1.289,6,0.092,0.000,2826,2385,2678
$STATE,9832,end apogee,CONTROL_FINISHED_OK
$STATE,9832,begin climb
$GC,9834,1.42,146.0,871.8,0.0,886,9967,1.80,2.50,124.38,1.238,4,0.058,0.061,3218,3710,2082
$GC,10039,1.17,146.0,854.7,15.7,895,10044,0.32,2.35,0.00,0.000,6,0.120,0.040,3161,2372,2080
$GC,10361,1.07,146.0,818.1,11.4,911,10366,0.12,2.55,0.00,0.000,4,0.120,0.059,3139,969,2079
$GC,10423,0.99,146.0,811.3,11.1,914,10427,0.00,2.45,0.00,0.000,6,0.000,0.041,3139,2356,2078
$GC,10749,0.93,147.6,781.2,8.9,930,10754,0.17,2.50,0.00,0.000,4,0.112,0.064,3104,3733,2077
$GC,10793,0.95,155.0,777.4,8.6,932,10810,0.00,2.35,7.25,1.261,6,0.000,0.038,3105,2376,2045
$GC,11118,0.98,176.0,752.5,7.9,948,11143,0.00,2.67,18.08,1.238,4,0.000,0.060,3104,969,1960
$GC,11177,1.01,176.0,747.2,10.0,950,11183,0.00,2.50,0.00,0.000,6,0.000,0.041,3104,2380,1959
$GC,11492,1.07,189.7,720.8,8.3,966,11507,0.15,0.00,11.93,1.237,6,0.064,0.000,3140,2381,1904
$GC,11801,1.07,189.7,691.5,9.9,981,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2380,1903
$GC,12111,1.07,189.7,661.2,10.2,996,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2380,1902
$GC,12420,1.07,189.7,629.8,10.0,1011,12425,0.00,2.58,0.00,0.000,4,0.000,0.059,3140,963,1902
$GC,12464,1.04,189.7,625.1,10.9,1013,12468,0.00,2.50,0.00,0.000,6,0.000,0.040,3140,2390,1901
$GC,12791,1.04,189.7,593.4,9.7,1029,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2390,1901
$GC,13100,1.04,189.7,563.3,9.3,1044,13104,0.00,2.58,0.00,0.000,4,0.000,0.058,3140,965,1901
$GC,13154,1.04,189.7,558.2,9.2,1046,13161,0.00,2.53,0.00,0.000,6,0.000,0.040,3140,2392,1901
$GC,13470,1.04,190.9,530.9,9.0,1062,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2392,1901
$GC,13779,1.04,192.5,502.2,8.9,1077,13783,0.00,2.58,0.00,0.000,4,0.000,0.057,3140,961,1901
$GC,13845,1.05,199.5,496.0,8.7,1081,13862,0.00,2.47,8.00,1.115,6,0.000,0.038,3140,2386,1864
$GC,14180,1.06,201.3,465.6,8.9,1113,14184,0.00,2.55,0.00,0.000,4,0.000,0.056,3140,970,1863
$GC,14234,1.06,201.3,460.2,9.7,1117,14241,0.00,2.47,0.00,0.000,6,0.000,0.038,3140,2373,1864
$GC,14560,1.06,201.3,429.4,9.6,1148,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2373,1863
$GC,14879,1.07,210.8,399.4,8.5,1178,14894,0.00,2.60,9.55,1.032,4,0.000,0.055,3140,976,1818
$GC,14991,1.10,226.7,389.9,8.2,1188,15013,0.00,2.45,13.80,1.000,6,0.000,0.038,3140,2376,1752
$GC,15331,1.13,247.5,362.0,8.0,1220,15354,0.00,2.65,17.25,0.966,4,0.000,0.054,3140,970,1667
$GC,15400,1.18,247.8,356.0,9.0,1226,15404,0.00,2.42,0.00,0.000,6,0.000,0.038,3140,2349,1667
$GC,15726,1.22,250.2,327.9,8.9,1256,15728,0.15,0.00,0.00,0.000,6,0.061,0.000,3178,2349,1666
$GC,16043,1.22,250.2,294.1,10.4,1286,16047,0.00,2.45,0.00,0.000,4,0.000,0.057,3178,3726,1667
$GC,16063,1.22,250.2,291.8,10.1,1287,16072,0.00,2.45,2.22,0.934,6,0.000,0.036,3178,2317,1658
$GC,16388,1.22,250.2,259.4,10.0,1318,16389,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2317,1658
$GC,16719,1.23,256.0,229.0,8.7,1368,16732,0.00,2.45,5.30,0.900,4,0.000,0.054,3178,963,1633
$GC,16755,1.23,256.0,225.8,9.3,1374,16761,0.00,2.40,0.00,0.000,6,0.000,0.036,3178,2340,1633
$GC,17098,1.25,267.4,195.7,8.4,1435,17117,0.00,2.53,9.93,0.850,4,0.000,0.053,3178,974,1586
$GC,17168,1.28,267.4,189.4,9.0,1447,17175,0.00,2.33,0.00,0.000,6,0.000,0.035,3178,2312,1585
$GC,17512,1.36,283.5,159.7,8.2,1508,17532,0.10,2.50,12.73,0.798,4,0.069,0.052,3205,969,1521
$GC,17572,1.36,283.5,153.9,9.5,1518,17578,0.00,2.28,0.00,0.000,6,0.000,0.034,3204,2281,1520
$GC,17916,1.50,334.5,127.8,6.4,1579,17963,0.12,0.00,40.95,0.715,6,0.061,0.000,3239,2281,1313
$GC,18302,1.57,357.6,96.8,7.8,1647,18325,0.00,0.00,18.05,0.697,6,0.000,0.000,3238,2281,1219
$GC,18663,1.71,395.1,67.1,7.1,1711,18700,0.15,2.45,29.85,0.643,4,0.053,0.049,3284,960,1065
$GC,18807,1.71,395.1,53.0,10.8,1736,18813,0.00,2.22,0.00,0.000,6,0.000,0.031,3284,2265,1063
$GC,19151,1.76,395.1,20.5,9.3,1797,19157,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2266,1062
$STATE,19363,end climb,SURFACE_DEPTH_REACHED
$STATE,19363,begin surface coast
$FINISH,-0.2,1.021358
$STATE,19387,end surface coast,CONTROL_FINISHED_OK
$STATE,19387,begin surface
$SM_CCo,19408,38.78,0.557,0,0,740,475.15
$SM_GC,0.65,0.00,0.00,38.78,0.000,0.000,0.557,249,2108,740,-12.22,-1.19,475.15
$IRIDIUM_FIX,1238.83,12018.41,080697,181858
$TT8_MAMPS,0.023777
$HUMID,1928
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.40
$XPDR_PINGS,401
$ALTIM_BOTTOM_PING,862.0,51.5
$24V_AH,23.3,26.274
$10V_AH,10.1,12.858
$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,31.950,146.775,448.725,38.775,0.000,57.620,73.501,243.584,109.750,0.000,0.000,13.226,3514.934,12226.693,666.727,2954.784,641.921,0.000,2147.028,0.000,2898.719,0.000,70.772
$DEVICE_MAMPS,173.342,63.661,1289.327,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56638,1839
$CAP_FILE_SIZE,183718,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,274.3,1
$GPS,150308,001632,1246.588,12021.684,38,1.6,38,-0.8