version: 66.03
glider: 122
mission: 6
dive: 142
start: 3 15 108 20 43 8
data:
$ID,122
$MISSION,6
$DIVE,142
$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,-29981.555
$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,60
$R_STBD_OVSHOOT,36
$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
$GPS1,203707,1247.459,12029.899,28,1.1,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-74.3
$GPS2,204237,1247.458,12029.905,16,1.9,32,-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,88.0,23962,-17.4,-9.016
$D_GRID,827
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-62.53,0.000,2,0.000,0.000,252,2112,2432
$GC,87,-1.42,-146.0,3.2,-8.1,10,126,13.52,2.53,-15.80,0.000,4,0.171,0.052,2590,3555,3276
$GC,224,-1.10,-146.0,37.3,-23.8,33,232,0.38,2.30,0.00,0.000,6,0.114,0.027,2661,2165,3277
$GC,569,-1.00,-146.0,91.6,-13.8,94,577,0.12,2.38,0.00,0.000,4,0.119,0.040,2683,3552,3279
$GC,594,-0.93,-146.0,94.9,-12.9,98,602,0.00,2.30,0.00,0.000,6,0.000,0.026,2683,2159,3279
$GC,939,-0.93,-146.0,134.7,-10.8,159,946,0.00,2.42,0.00,0.000,4,0.000,0.044,2683,748,3281
$GC,969,-0.97,-146.0,137.9,-10.4,164,976,0.00,2.38,0.00,0.000,6,0.000,0.028,2683,2170,3281
$GC,1314,-1.03,-146.0,169.1,-8.8,225,1321,0.00,2.35,0.00,0.000,4,0.000,0.044,2683,3546,3282
$GC,1406,-1.13,-146.0,177.3,-9.2,241,1416,0.12,2.22,0.00,0.000,6,0.053,0.028,2642,2196,3282
$GC,1753,-1.13,-146.0,208.6,-8.4,302,1760,0.00,2.50,0.00,0.000,4,0.000,0.046,2642,756,3282
$GC,1791,-1.17,-146.0,211.9,-9.3,308,1798,0.00,2.45,0.00,0.000,6,0.000,0.029,2642,2217,3282
$GC,2137,-1.17,-146.0,241.9,-8.8,369,2144,0.00,2.30,0.00,0.000,4,0.000,0.047,2642,3557,3282
$GC,2206,-1.17,-146.0,248.6,-9.8,381,2213,0.00,2.22,0.00,0.000,6,0.000,0.030,2642,2219,3282
$GC,2534,-1.21,-146.0,277.0,-8.2,413,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2216,3280
$GC,2853,-1.25,-146.0,304.1,-8.2,443,2857,0.00,2.30,0.00,0.000,4,0.000,0.048,2642,3545,3279
$GC,2893,-1.29,-146.0,308.0,-9.2,446,2897,0.00,2.17,0.00,0.000,6,0.000,0.031,2642,2249,3279
$GC,3219,-1.34,-146.0,334.5,-8.2,476,3221,0.12,0.00,0.00,0.000,6,0.058,0.000,2604,2247,3277
$GC,3536,-1.30,-146.0,364.2,-9.1,506,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2247,3275
$GC,3854,-1.27,-146.0,393.4,-10.1,536,3859,0.12,2.65,0.00,0.000,4,0.104,0.052,2627,758,3273
$GC,3887,-1.31,-146.0,396.6,-9.4,538,3894,0.00,2.53,0.00,0.000,6,0.000,0.033,2627,2234,3273
$GC,4213,-1.31,-146.0,423.2,-8.1,569,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2235,3271
$GC,4532,-1.34,-146.0,448.4,-8.2,599,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2235,3269
$GC,4849,-1.38,-146.0,475.7,-9.1,629,4854,0.00,2.62,0.00,0.000,4,0.000,0.054,2627,763,3267
$GC,4900,-1.43,-146.0,480.2,-9.0,633,4905,0.17,2.53,0.00,0.000,6,0.050,0.036,2577,2230,3267
$GC,5221,-1.36,-146.0,512.5,-10.0,657,5223,0.17,0.00,0.00,0.000,6,0.106,0.000,2609,2230,3265
$GC,5530,-1.36,-146.0,539.3,-8.6,672,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2229,3263
$GC,5840,-1.36,-146.0,565.4,-8.8,687,5844,0.00,2.62,0.00,0.000,4,0.000,0.056,2609,762,3261
$GC,5883,-1.36,-146.0,569.6,-9.1,689,5888,0.00,2.55,0.00,0.000,6,0.000,0.038,2609,2222,3261
$GC,6209,-1.36,-146.0,598.2,-9.1,705,6213,0.00,2.33,0.00,0.000,4,0.000,0.057,2609,3543,3259
$GC,6255,-1.36,-146.0,602.3,-9.8,707,6259,0.00,2.22,0.00,0.000,6,0.000,0.035,2608,2234,3258
$GC,6581,-1.36,-146.0,629.8,-8.7,723,6586,0.00,2.65,0.00,0.000,4,0.000,0.058,2609,747,3257
$GC,6619,-1.36,-146.0,633.2,-9.0,724,6626,0.00,2.53,0.00,0.000,6,0.000,0.038,2609,2213,3257
$GC,6935,-1.36,-146.0,658.3,-7.8,740,6939,0.00,2.35,0.00,0.000,4,0.000,0.057,2609,3544,3256
$GC,6978,-1.36,-146.0,662.0,-8.1,742,6982,0.00,2.22,0.00,0.000,6,0.000,0.036,2609,2235,3256
$GC,7306,-1.36,-146.0,687.2,-7.7,758,7310,0.00,2.65,0.00,0.000,4,0.000,0.059,2609,758,3253
$GC,7339,-1.36,-146.0,690.0,-8.5,759,7346,0.00,2.50,0.00,0.000,6,0.000,0.036,2610,2209,3254
$GC,7654,-1.36,-146.0,713.2,-7.4,775,7658,0.00,2.35,0.00,0.000,4,0.000,0.058,2609,3542,3253
$GC,7687,-1.36,-146.0,715.9,-7.6,776,7695,0.00,2.25,0.00,0.000,6,0.000,0.036,2609,2222,3252
$GC,8003,-1.36,-146.0,738.8,-7.6,792,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2221,3251
$GC,8312,-1.36,-146.0,763.7,-8.3,807,8316,0.00,2.35,0.00,0.000,4,0.000,0.058,2609,3541,3250
$GC,8362,-1.36,-146.0,768.2,-9.4,809,8366,0.00,2.22,0.00,0.000,6,0.000,0.037,2609,2241,3250
$GC,8683,-1.36,-146.0,794.1,-7.8,825,8688,0.00,2.65,0.00,0.000,4,0.000,0.061,2609,764,3248
$GC,8710,-1.36,-146.0,796.3,-7.9,826,8714,0.00,2.53,0.00,0.000,6,0.000,0.038,2609,2219,3248
$GC,9025,-1.36,-146.0,818.8,-7.1,841,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2220,3247
$STATE,9147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9147,begin apogee
$GC,9152,-0.34,0.0,828.1,7.8,847,9275,1.10,0.00,119.60,1.254,6,0.101,0.000,2829,2369,2678
$STATE,9276,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9278,1.42,146.0,832.2,0.0,853,9416,1.80,2.58,123.65,1.206,4,0.058,0.063,3219,3721,2082
$GC,9455,1.16,146.0,820.9,13.3,861,9463,0.35,2.33,0.00,0.000,6,0.127,0.041,3158,2396,2081
$GC,9771,1.05,146.0,789.3,10.0,877,9773,0.12,0.00,0.00,0.000,6,0.123,0.000,3137,2395,2079
$GC,10080,1.00,146.2,761.3,9.0,892,10085,0.00,2.60,0.00,0.000,4,0.000,0.060,3137,962,2079
$GC,10175,0.92,146.2,752.5,9.3,896,10180,0.17,2.50,0.00,0.000,6,0.120,0.040,3105,2383,2078
$GC,10491,0.94,158.0,726.1,8.4,911,10503,0.00,0.00,9.88,1.233,6,0.000,0.000,3105,2383,2033
$GC,10800,0.95,159.0,698.6,9.0,926,10804,0.00,2.58,0.00,0.000,4,0.000,0.059,3106,966,2032
$GC,10871,0.95,159.0,692.0,9.2,929,10875,0.00,2.45,0.00,0.000,6,0.000,0.040,3105,2364,2031
$GC,11192,0.97,170.9,664.2,8.4,945,11205,0.00,0.00,10.73,1.208,6,0.000,0.000,3105,2365,1981
$GC,11502,0.98,179.9,637.9,8.6,960,11516,0.00,2.62,7.95,1.194,4,0.000,0.058,3105,969,1944
$GC,11578,0.98,179.9,631.1,9.2,963,11582,0.00,2.45,0.00,0.000,6,0.000,0.039,3105,2359,1944
$GC,11894,1.03,191.8,604.0,8.4,978,11906,0.12,0.00,10.25,1.170,6,0.071,0.000,3135,2359,1896
$GC,12203,1.03,191.8,575.4,9.0,993,12207,0.00,2.53,0.00,0.000,4,0.000,0.058,3135,967,1894
$GC,12242,1.03,191.8,571.6,10.0,995,12246,0.00,2.45,0.00,0.000,6,0.000,0.039,3135,2368,1894
$GC,12568,1.04,196.4,542.4,8.8,1011,12574,0.00,0.00,4.22,1.142,6,0.000,0.000,3135,2368,1877
$GC,12877,1.04,196.4,513.7,9.3,1026,12881,0.00,2.53,0.00,0.000,4,0.000,0.057,3135,967,1876
$GC,12931,1.04,196.4,508.3,10.2,1028,12939,0.00,2.42,0.00,0.000,6,0.000,0.038,3135,2345,1877
$GC,13255,1.05,199.6,478.8,8.9,1054,13264,0.00,0.00,3.05,1.093,6,0.000,0.000,3135,2344,1863
$GC,13583,1.07,215.8,450.2,8.2,1085,13607,0.00,2.58,13.55,1.052,4,0.000,0.055,3135,972,1797
$GC,13634,1.07,215.8,445.5,9.2,1089,13642,0.00,2.40,0.00,0.000,6,0.000,0.037,3135,2322,1797
$GC,13961,1.07,215.8,415.5,9.4,1120,13965,0.00,2.50,0.00,0.000,4,0.000,0.058,3135,3723,1797
$GC,13988,1.07,215.8,412.7,10.9,1122,13992,0.00,2.40,0.00,0.000,6,0.000,0.037,3135,2325,1797
$GC,14318,1.07,215.8,382.3,9.1,1153,14322,0.00,2.42,0.00,0.000,4,0.000,0.057,3135,972,1796
$GC,14390,1.07,215.8,375.3,9.4,1159,14394,0.00,2.33,0.00,0.000,6,0.000,0.036,3135,2314,1796
$GC,14717,1.09,226.4,346.3,8.5,1189,14728,0.00,0.00,9.27,0.988,6,0.000,0.000,3135,2314,1754
$GC,15043,1.09,226.4,315.1,9.2,1220,15044,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2314,1753
$GC,15364,1.14,230.5,286.5,8.8,1250,15372,0.00,0.00,3.55,0.957,6,0.000,0.000,3135,2314,1738
$GC,15692,1.18,234.7,258.1,8.8,1281,15703,0.12,0.00,3.80,0.940,6,0.060,0.000,3174,2314,1721
$GC,16033,1.15,234.7,225.1,9.4,1335,16040,0.00,2.50,0.00,0.000,4,0.000,0.054,3174,3734,1721
$GC,16086,1.09,234.7,220.0,9.8,1344,16094,0.17,2.47,0.00,0.000,6,0.120,0.035,3144,2288,1721
$GC,16432,1.17,255.7,192.8,7.9,1405,16454,0.00,2.45,17.40,0.821,4,0.000,0.051,3144,966,1635
$GC,16547,1.27,281.8,183.6,7.7,1424,16577,0.17,2.30,21.12,0.795,6,0.055,0.034,3193,2299,1528
$GC,16915,1.29,294.4,149.5,8.4,1488,16929,0.00,2.47,10.00,0.787,4,0.000,0.050,3193,960,1476
$GC,17004,1.29,295.0,141.5,9.0,1503,17011,0.00,2.30,0.00,0.000,6,0.000,0.033,3194,2297,1474
$GC,17347,1.42,342.4,115.3,6.6,1564,17390,0.00,0.00,38.72,0.700,6,0.000,0.000,3194,2297,1280
$GC,17725,1.58,376.6,85.7,7.3,1629,17761,0.22,2.42,26.67,0.669,4,0.046,0.047,3259,976,1141
$GC,17790,1.58,376.6,78.8,12.0,1640,17796,0.00,2.25,0.00,0.000,6,0.000,0.031,3259,2288,1140
$GC,18134,1.58,376.6,45.1,9.3,1701,18141,0.00,2.33,0.00,0.000,4,0.000,0.045,3259,962,1139
$GC,18220,1.61,392.1,37.7,8.2,1716,18238,0.00,2.22,11.80,0.637,6,0.000,0.029,3259,2284,1079
$GC,18576,1.68,396.1,7.8,8.8,1779,18584,0.00,2.38,2.78,0.628,4,0.000,0.044,3259,960,1063
$STATE,18644,end climb,SURFACE_DEPTH_REACHED
$STATE,18644,begin surface coast
$FINISH,-0.2,1.021185
$STATE,18668,end surface coast,CONTROL_FINISHED_OK
$STATE,18668,begin surface
$SM_CCo,18691,38.55,0.556,0,0,740,475.15
$SM_GC,0.56,0.00,0.00,38.55,0.000,0.000,0.556,251,2180,740,-12.20,0.85,475.15
$IRIDIUM_FIX,1241.04,12026.36,090697,161642
$TT8_MAMPS,0.023777
$HUMID,1892
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,462
$24V_AH,23.3,27.203
$10V_AH,10.2,13.346
$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,32.325,155.200,448.000,38.550,0.000,26.134,37.916,143.414,123.750,0.000,0.000,32.071,3756.228,11240.777,714.093,2875.678,481.914,0.000,2144.494,0.000,2816.912,0.000,62.333
$DEVICE_MAMPS,171.041,62.894,1254.045,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56636,1795
$CAP_FILE_SIZE,178574,0
$CFSIZE,260165632,246099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026, 89.3,1
$GPS,160308,015632,1247.391,12032.257,39,1.2,39,-0.8