version: 66.03
glider: 122
mission: 6
dive: 80
start: 3 2 108 4 47 0
data:
$ID,122
$MISSION,6
$DIVE,80
$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,440
$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,-28880.732
$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,35
$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,5
$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
$GPS1,044138,1246.311,12018.430,40,1.4,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.3
$GPS2,044627,1246.318,12018.408,13,1.8,13,-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,256.1,5410,-17.4,-9.016
$D_GRID,871
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,89,0.00,0.00,-68.53,0.000,2,0.000,0.000,249,2124,2797
$GC,91,-1.42,-146.0,4.0,-7.5,10,120,13.48,2.45,-7.78,0.000,4,0.168,0.051,2588,3554,3275
$GC,212,-1.12,-146.0,40.5,-21.5,30,220,0.35,2.33,0.00,0.000,6,0.105,0.027,2656,2152,3276
$GC,557,-0.98,-146.0,98.2,-16.0,91,565,0.15,2.42,0.00,0.000,4,0.110,0.043,2687,753,3278
$GC,621,-0.98,-146.0,107.2,-13.2,102,628,0.00,2.30,0.00,0.000,6,0.000,0.026,2686,2139,3278
$GC,966,-0.98,-146.0,149.3,-10.4,163,972,0.00,2.38,0.00,0.000,4,0.000,0.043,2687,3543,3280
$GC,1040,-1.02,-146.0,157.2,-10.8,176,1047,0.00,2.30,0.00,0.000,6,0.000,0.028,2687,2152,3280
$GC,1382,-1.12,-146.0,187.8,-8.1,237,1388,0.12,0.00,0.00,0.000,6,0.055,0.000,2647,2150,3281
$GC,1725,-1.12,-146.0,221.2,-9.4,298,1732,0.00,2.45,0.00,0.000,4,0.000,0.047,2647,745,3282
$GC,1805,-1.17,-146.0,229.2,-10.0,312,1812,0.00,2.33,0.00,0.000,6,0.000,0.030,2647,2134,3281
$GC,2151,-1.22,-146.0,260.8,-8.6,363,2155,0.00,2.45,0.00,0.000,4,0.000,0.047,2647,3555,3280
$GC,2184,-1.27,-146.0,263.9,-8.8,365,2190,0.00,2.38,0.00,0.000,6,0.000,0.031,2648,2129,3281
$GC,2509,-1.32,-146.0,290.1,-8.4,396,2514,0.15,2.47,0.00,0.000,4,0.052,0.046,2598,3554,3280
$GC,2537,-1.29,-146.0,293.1,-10.8,398,2542,0.12,2.40,0.00,0.000,6,0.101,0.031,2621,2127,3280
$GC,2866,-1.29,-146.0,326.3,-10.5,429,2870,0.00,2.42,0.00,0.000,4,0.000,0.051,2621,750,3278
$GC,2916,-1.29,-146.0,331.4,-9.6,433,2920,0.00,2.35,0.00,0.000,6,0.000,0.031,2621,2138,3278
$GC,3241,-1.29,-146.0,362.4,-9.5,463,3245,0.00,2.42,0.00,0.000,4,0.000,0.048,2621,3548,3276
$GC,3336,-1.29,-146.0,371.0,-8.2,471,3340,0.00,2.38,0.00,0.000,6,0.000,0.033,2621,2140,3275
$GC,3661,-1.29,-146.0,398.1,-8.0,501,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2138,3273
$GC,3979,-1.29,-146.0,422.5,-7.5,531,3983,0.00,2.47,0.00,0.000,4,0.000,0.054,2622,745,3271
$GC,4022,-1.32,-146.0,426.0,-7.4,534,4029,0.00,2.40,0.00,0.000,6,0.000,0.034,2621,2149,3271
$GC,4348,-1.32,-146.0,452.0,-8.4,565,4352,0.00,2.45,0.00,0.000,4,0.000,0.052,2621,3549,3269
$GC,4391,-1.36,-146.0,456.1,-8.8,568,4398,0.00,2.38,0.00,0.000,6,0.000,0.034,2622,2149,3269
$GC,4717,-1.36,-146.0,485.1,-9.0,599,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2146,3267
$GC,5041,-1.36,-146.0,512.6,-8.5,623,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2146,3265
$GC,5350,-1.40,-146.0,537.4,-8.0,638,5354,0.00,2.47,0.00,0.000,4,0.000,0.053,2621,3552,3263
$GC,5383,-1.44,-146.0,540.2,-8.2,639,5390,0.15,2.38,0.00,0.000,6,0.055,0.035,2580,2151,3263
$GC,5699,-1.39,-146.0,571.3,-9.8,655,5700,0.12,0.00,0.00,0.000,6,0.118,0.000,2602,2149,3261
$GC,6007,-1.39,-146.0,598.9,-9.1,670,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,3259
$GC,6317,-1.39,-146.0,626.6,-8.7,685,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,3259
$GC,6626,-1.39,-146.0,651.1,-7.6,700,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,3257
$GC,6937,-1.39,-146.0,674.9,-7.5,715,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,3256
$GC,7245,-1.39,-146.0,699.8,-8.5,730,7249,0.00,2.47,0.00,0.000,4,0.000,0.057,2602,3548,3254
$GC,7283,-1.39,-146.0,703.3,-9.2,732,7288,0.00,2.38,0.00,0.000,6,0.000,0.038,2602,2162,3254
$GC,7610,-1.39,-146.0,729.7,-8.3,748,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2162,3252
$GC,7919,-1.39,-146.0,752.6,-7.3,763,7923,0.00,2.55,0.00,0.000,4,0.000,0.061,2602,743,3251
$GC,7962,-1.39,-146.0,756.0,-7.3,765,7966,0.00,2.47,0.00,0.000,6,0.000,0.038,2602,2173,3251
$GC,8289,-1.39,-146.0,780.1,-7.5,781,8293,0.00,2.45,0.00,0.000,4,0.000,0.059,2602,3557,3250
$GC,8343,-1.39,-146.0,784.7,-8.2,783,8350,0.00,2.35,0.00,0.000,6,0.000,0.038,2602,2180,3250
$GC,8660,-1.39,-146.0,810.6,-8.4,799,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2180,3248
$GC,8968,-1.39,-146.0,834.6,-7.5,814,8972,0.00,2.45,0.00,0.000,4,0.000,0.058,2602,3555,3248
$GC,9008,-1.39,-146.0,837.2,-7.0,816,9012,0.00,2.35,0.00,0.000,6,0.000,0.038,2602,2184,3247
$GC,9334,-1.39,-146.0,862.2,-7.3,832,9338,0.00,2.60,0.00,0.000,4,0.000,0.062,2602,740,3247
$GC,9382,-1.39,-146.0,865.4,-6.9,834,9386,0.00,2.50,0.00,0.000,6,0.000,0.038,2602,2186,3246
$STATE,9495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9495,begin apogee
$GC,9500,-0.34,0.0,871.8,5.2,840,9624,1.12,0.00,119.97,1.290,6,0.099,0.000,2829,2380,2678
$STATE,9625,end apogee,CONTROL_FINISHED_OK
$STATE,9625,begin climb
$GC,9626,1.42,146.0,872.4,0.0,846,9755,1.80,0.00,124.40,1.243,6,0.058,0.000,3216,2380,2082
$GC,10051,1.20,146.0,827.0,13.0,867,10053,0.28,0.00,0.00,0.000,6,0.120,0.000,3167,2380,2079
$GC,10361,1.08,146.0,793.0,11.1,882,10366,0.15,2.42,0.00,0.000,4,0.120,0.063,3137,3717,2079
$GC,10438,0.98,146.0,784.5,10.5,885,10445,0.00,2.33,0.00,0.000,6,0.000,0.038,3138,2392,2079
$GC,10754,0.93,146.0,752.6,11.0,901,10756,0.17,0.00,0.00,0.000,6,0.122,0.000,3106,2390,2078
$GC,11063,0.93,146.7,722.9,9.0,916,11067,0.00,2.40,0.00,0.000,4,0.000,0.061,3106,3722,2077
$GC,11133,0.93,146.7,715.9,10.4,919,11138,0.00,2.33,0.00,0.000,6,0.000,0.038,3106,2394,2077
$GC,11457,0.95,157.2,687.7,8.5,935,11471,0.00,2.67,8.57,1.233,4,0.000,0.061,3106,973,2037
$GC,11505,0.95,157.2,683.2,9.2,937,11510,0.00,2.55,0.00,0.000,6,0.000,0.040,3106,2395,2036
$GC,11833,0.97,172.8,655.4,8.2,953,11853,0.00,0.00,13.45,1.198,6,0.000,0.000,3106,2395,1973
$GC,12161,0.97,172.8,625.7,9.3,969,12166,0.00,2.60,0.00,0.000,4,0.000,0.059,3106,963,1973
$GC,12200,0.97,172.8,622.1,9.2,971,12205,0.00,2.50,0.00,0.000,6,0.000,0.039,3106,2392,1972
$GC,12527,1.02,177.5,592.7,8.8,987,12536,0.00,2.42,4.22,1.171,4,0.000,0.061,3106,3723,1954
$GC,12572,1.02,177.5,588.2,10.2,989,12576,0.00,2.33,0.00,0.000,6,0.000,0.038,3106,2381,1954
$GC,12898,1.06,182.0,559.4,8.8,1005,12905,0.12,0.00,4.12,1.161,6,0.071,0.000,3136,2379,1936
$GC,13207,1.06,182.0,528.9,10.0,1020,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2379,1936
$GC,13517,1.06,182.9,500.9,9.0,1035,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2380,1936
$GC,13834,1.06,182.9,472.5,9.0,1064,13835,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2379,1936
$GC,14153,1.06,182.9,443.8,9.1,1094,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2379,1936
$GC,14472,1.06,182.9,414.8,9.0,1124,14476,0.00,2.53,0.00,0.000,4,0.000,0.055,3136,965,1936
$GC,14537,1.06,182.9,408.3,9.8,1129,14546,0.00,2.45,0.00,0.000,6,0.000,0.036,3136,2382,1936
$GC,14864,1.07,186.0,379.4,8.9,1160,14874,0.00,0.00,3.95,1.027,6,0.000,0.000,3136,2382,1918
$GC,15192,1.07,186.0,347.2,10.1,1191,15196,0.00,2.53,0.00,0.000,4,0.000,0.053,3136,966,1918
$GC,15223,1.07,186.0,343.5,9.9,1193,15231,0.00,2.47,0.00,0.000,6,0.000,0.036,3136,2379,1918
$GC,15550,1.10,204.6,317.0,8.1,1224,15574,0.00,2.58,15.45,0.940,4,0.000,0.052,3136,970,1842
$GC,15612,1.10,204.6,311.0,9.1,1229,15620,0.00,2.47,0.00,0.000,6,0.000,0.035,3136,2375,1842
$GC,15939,1.13,221.5,282.1,8.2,1260,15957,0.00,2.42,13.68,0.907,4,0.000,0.053,3136,3721,1773
$GC,15984,1.13,221.5,278.1,9.2,1263,15992,0.00,2.35,0.00,0.000,6,0.000,0.033,3136,2369,1773
$GC,16310,1.14,226.9,251.2,8.7,1294,16323,0.00,2.53,4.43,0.917,4,0.000,0.052,3135,968,1753
$GC,16352,1.17,226.9,247.5,9.0,1299,16359,0.12,2.47,0.00,0.000,6,0.059,0.035,3168,2396,1752
$GC,16697,1.17,226.9,213.8,9.6,1360,16704,0.00,2.53,0.00,0.000,4,0.000,0.051,3169,977,1752
$GC,16760,1.17,226.9,207.8,9.1,1371,16767,0.00,2.40,0.00,0.000,6,0.000,0.034,3168,2376,1752
$GC,17104,1.17,226.9,173.6,9.7,1432,17110,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2376,1753
$GC,17447,1.30,307.8,149.0,4.9,1493,17518,0.00,2.60,64.90,0.732,4,0.000,0.050,3169,977,1422
$GC,17558,1.40,307.8,140.1,9.3,1512,17566,0.20,2.45,0.00,0.000,6,0.048,0.033,3223,2394,1419
$GC,17903,1.44,326.6,104.4,8.1,1573,17921,0.00,0.00,14.20,0.713,6,0.000,0.000,3222,2396,1345
$GC,18258,1.44,326.6,69.6,9.5,1636,18265,0.00,2.50,0.00,0.000,4,0.000,0.046,3222,973,1343
$GC,18344,1.44,327.4,61.8,9.0,1651,18351,0.00,2.40,0.00,0.000,6,0.000,0.030,3223,2390,1343
$GC,18689,1.54,349.1,32.2,7.9,1712,18712,0.00,0.00,17.83,0.621,6,0.000,0.000,3223,2391,1253
$GC,19051,1.68,379.3,3.1,7.5,1776,19070,0.17,0.00,16.77,0.579,2,0.048,0.000,3276,2391,1134
$STATE,19071,end climb,SURFACE_DEPTH_REACHED
$STATE,19071,begin surface coast
$FINISH,-0.0,1.005649
$STATE,19093,end surface coast,CONTROL_FINISHED_OK
$STATE,19093,begin surface
$SM_CCo,19113,28.98,0.556,0,0,883,440.07
$SM_GC,1.20,0.00,0.00,28.98,0.000,0.000,0.556,249,2119,883,-12.21,-0.88,440.07
$IRIDIUM_FIX,1245.46,12021.43,260597,232321
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,456
$ALTIM_BOTTOM_PING,500.6,7.8
$24V_AH,23.3,16.443
$10V_AH,10.1,7.599
$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,32.150,142.325,425.950,28.975,0.000,25.206,15.981,146.290,114.500,0.000,0.000,13.456,3580.729,11962.349,670.473,2805.374,421.079,0.000,2083.932,0.000,2797.940,0.000,5.379
$DEVICE_MAMPS,167.973,62.894,1290.094,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56569,1783
$CAP_FILE_SIZE,172664,0
$CFSIZE,260165632,251195392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,271.3,1
$GPS,020308,100708,1245.773,12015.570,30,1.9,30,-0.8