version: 66.03
glider: 122
mission: 6
dive: 84
start: 3 3 108 2 29 6
data:
$ID,122
$MISSION,6
$DIVE,84
$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,-28946.48
$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,35
$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
$GPS1,021825,1246.813,12021.517,25,0.9,42,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.2
$GPS2,022833,1246.825,12021.472,14,1.0,14,-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,89.2,39089,-17.4,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-63.15,0.000,2,0.000,0.000,254,2163,2620
$GC,86,-1.42,-146.0,3.5,-7.2,10,118,13.38,2.45,-11.75,0.000,4,0.167,0.051,2589,3564,3277
$GC,152,-1.09,-146.0,23.3,-23.7,21,160,0.38,2.35,0.00,0.000,6,0.101,0.028,2662,2146,3278
$GC,497,-0.97,-146.0,81.8,-14.4,82,505,0.15,2.42,0.00,0.000,4,0.106,0.042,2694,743,3280
$GC,528,-0.97,-146.0,85.9,-13.3,87,535,0.00,2.33,0.00,0.000,6,0.000,0.027,2694,2143,3280
$GC,873,-0.97,-146.0,125.8,-11.0,148,880,0.00,2.40,0.00,0.000,4,0.000,0.044,2694,3547,3282
$GC,948,-1.02,-146.0,134.7,-11.5,161,955,0.00,2.33,0.00,0.000,6,0.000,0.027,2694,2140,3282
$GC,1293,-1.10,-146.0,169.9,-9.1,222,1301,0.12,2.40,0.00,0.000,4,0.054,0.041,2654,3544,3282
$GC,1324,-1.10,-146.0,173.3,-10.6,227,1331,0.00,2.28,0.00,0.000,6,0.000,0.028,2654,2168,3282
$GC,1670,-1.10,-146.0,207.8,-8.9,288,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2167,3282
$GC,2016,-1.14,-146.0,237.1,-7.6,349,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2166,3282
$GC,2354,-1.19,-146.0,262.6,-7.7,395,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2166,3281
$GC,2675,-1.26,-146.0,287.3,-7.9,425,2677,0.12,0.00,0.00,0.000,6,0.056,0.000,2615,2165,3280
$GC,2991,-1.26,-146.0,318.4,-10.2,455,2995,0.00,2.40,0.00,0.000,4,0.000,0.048,2614,3549,3278
$GC,3012,-1.26,-146.0,320.7,-10.4,456,3019,0.00,2.30,0.00,0.000,6,0.000,0.031,2614,2196,3278
$GC,3337,-1.26,-146.0,351.8,-9.6,487,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,3275
$GC,3655,-1.26,-146.0,382.5,-9.3,517,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,3274
$GC,3974,-1.26,-146.0,412.4,-9.6,547,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2192,3272
$GC,4293,-1.26,-146.0,441.3,-8.9,577,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2192,3270
$GC,4611,-1.26,-146.0,470.2,-9.2,607,4615,0.00,2.58,0.00,0.000,4,0.000,0.054,2614,749,3268
$GC,4654,-1.30,-146.0,474.5,-10.1,610,4662,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2192,3268
$GC,4988,-1.30,-146.0,506.8,-10.3,639,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2192,3266
$GC,5297,-1.30,-146.0,534.7,-8.9,654,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,3263
$GC,5606,-1.30,-146.0,560.7,-8.1,669,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,3261
$GC,5916,-1.30,-146.0,586.2,-8.4,684,5920,0.00,2.58,0.00,0.000,4,0.000,0.057,2614,752,3259
$GC,5956,-1.30,-146.0,589.8,-9.2,686,5960,0.00,2.47,0.00,0.000,6,0.000,0.037,2614,2188,3259
$GC,6283,-1.30,-146.0,616.8,-8.2,702,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2190,3258
$GC,6591,-1.30,-146.0,642.3,-8.1,717,6595,0.00,2.58,0.00,0.000,4,0.000,0.058,2614,752,3256
$GC,6618,-1.33,-146.0,644.6,-8.3,718,6622,0.00,2.45,0.00,0.000,6,0.000,0.037,2614,2174,3256
$GC,6939,-1.33,-146.0,669.3,-7.7,734,6944,0.00,2.45,0.00,0.000,4,0.000,0.058,2614,3562,3254
$GC,6983,-1.33,-146.0,673.0,-8.2,736,6987,0.00,2.38,0.00,0.000,6,0.000,0.036,2614,2183,3254
$GC,7312,-1.36,-146.0,697.9,-7.2,752,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2182,3252
$GC,7620,-1.40,-146.0,720.9,-7.2,767,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2182,3251
$GC,7929,-1.43,-146.0,743.8,-7.3,782,7933,0.00,2.45,0.00,0.000,4,0.000,0.057,2614,3561,3250
$GC,7975,-1.47,-146.0,747.1,-7.7,784,7980,0.15,2.35,0.00,0.000,6,0.058,0.037,2572,2182,3250
$GC,8301,-1.42,-146.0,775.6,-9.0,800,8306,0.12,2.58,0.00,0.000,4,0.120,0.060,2593,746,3248
$GC,8362,-1.42,-146.0,781.3,-9.4,803,8366,0.00,2.50,0.00,0.000,6,0.000,0.038,2593,2192,3248
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8567,-0.34,0.0,797.7,8.1,813,8689,1.15,0.00,118.55,1.232,6,0.097,0.000,2826,2388,2678
$STATE,8690,end apogee,CONTROL_FINISHED_OK
$STATE,8690,begin climb
$GC,8691,1.42,146.0,800.7,0.0,819,8823,1.77,2.53,122.18,1.186,4,0.056,0.061,3215,3719,2082
$GC,8878,1.17,146.0,785.0,13.8,827,8884,0.28,2.35,0.00,0.000,6,0.112,0.038,3162,2380,2081
$GC,9200,1.06,146.0,749.0,10.8,843,9202,0.15,0.00,0.00,0.000,6,0.118,0.000,3135,2378,2080
$GC,9511,1.00,146.0,719.9,9.3,858,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2377,2079
$GC,9819,0.94,146.0,691.9,9.1,873,9821,0.12,0.00,0.00,0.000,6,0.118,0.000,3113,2378,2078
$GC,10127,0.94,146.0,663.3,9.5,888,10132,0.00,2.40,0.00,0.000,4,0.000,0.059,3113,3713,2077
$GC,10227,0.90,146.0,653.5,9.6,892,10235,0.00,2.33,0.00,0.000,6,0.000,0.038,3113,2366,2077
$GC,10543,0.93,168.2,628.0,7.9,908,10565,0.00,0.00,17.65,1.166,6,0.000,0.000,3113,2365,1992
$GC,10873,0.95,177.3,600.5,8.5,924,10882,0.00,0.00,7.82,1.164,6,0.000,0.000,3113,2364,1955
$GC,11181,0.95,177.3,571.2,9.5,939,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2364,1954
$GC,11491,0.95,177.7,542.8,9.0,954,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2364,1954
$GC,11802,0.97,187.4,516.7,8.5,969,11812,0.00,0.00,8.68,1.118,6,0.000,0.000,3113,2364,1914
$GC,12112,0.99,199.8,489.1,8.4,989,12125,0.00,0.00,10.40,1.087,6,0.000,0.000,3113,2364,1863
$GC,12443,1.03,208.1,460.8,8.6,1020,12453,0.00,0.00,7.30,1.075,6,0.000,0.000,3113,2363,1829
$GC,12771,1.08,208.1,432.9,9.1,1051,12772,0.12,0.00,0.00,0.000,6,0.070,0.000,3142,2364,1828
$GC,13089,1.08,208.1,399.3,10.3,1081,13090,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2364,1828
$GC,13406,1.08,208.1,366.9,10.3,1111,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2364,1829
$GC,13725,1.08,208.1,334.9,9.9,1141,13729,0.00,2.40,0.00,0.000,4,0.000,0.055,3142,3717,1829
$GC,13757,1.08,208.1,331.6,10.1,1143,13765,0.00,2.33,0.00,0.000,6,0.000,0.035,3142,2366,1829
$GC,14083,1.08,208.1,300.7,9.1,1174,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2365,1829
$GC,14400,1.08,208.1,271.6,9.7,1204,14404,0.00,2.38,0.00,0.000,4,0.000,0.053,3142,3714,1829
$GC,14443,1.08,208.1,267.1,10.8,1207,14451,0.00,2.30,0.00,0.000,6,0.000,0.034,3143,2375,1828
$GC,14776,1.09,217.3,236.6,8.5,1251,14788,0.00,0.00,7.47,0.899,6,0.000,0.000,3142,2373,1792
$GC,15126,1.14,222.8,205.0,8.7,1313,15141,0.00,2.42,4.72,0.881,4,0.000,0.051,3142,3716,1769
$GC,15214,1.15,232.4,197.1,8.5,1328,15229,0.00,2.30,8.27,0.848,6,0.000,0.033,3142,2361,1729
$GC,15566,1.30,279.1,171.9,6.6,1390,15607,0.17,0.00,37.20,0.765,6,0.057,0.000,3190,2358,1540
$GC,15945,1.33,301.1,136.7,7.9,1457,15969,0.00,2.42,17.23,0.746,4,0.000,0.047,3191,3716,1449
$GC,16020,1.38,326.1,130.3,7.7,1470,16045,0.00,2.28,20.23,0.723,6,0.000,0.031,3191,2371,1347
$GC,16384,1.46,335.7,99.5,8.5,1534,16398,0.15,2.55,7.07,0.724,4,0.055,0.048,3236,968,1307
$GC,16482,1.46,335.7,88.7,10.7,1551,16488,0.00,2.40,0.00,0.000,6,0.000,0.031,3236,2373,1306
$GC,16826,1.46,335.7,52.4,9.8,1612,16832,0.00,2.33,0.00,0.000,4,0.000,0.046,3236,3719,1306
$GC,16883,1.46,335.7,46.3,10.5,1622,16889,0.00,2.22,0.00,0.000,6,0.000,0.029,3236,2385,1307
$GC,17227,1.54,355.3,16.8,8.0,1683,17245,0.00,0.00,15.48,0.606,6,0.000,0.000,3236,2383,1228
$STATE,17408,end climb,SURFACE_DEPTH_REACHED
$STATE,17408,begin surface coast
$FINISH,0.0,1.021330
$STATE,17436,end surface coast,CONTROL_FINISHED_OK
$STATE,17436,begin surface
$SM_CCo,17456,42.05,0.558,0,0,884,440.07
$SM_GC,0.94,0.00,0.00,42.05,0.000,0.000,0.558,254,2131,884,-12.19,-0.54,440.07
$IRIDIUM_FIX,1238.83,12023.34,280597,020216
$TT8_MAMPS,0.023777
$HUMID,1840
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.40
$XPDR_PINGS,555
$ALTIM_BOTTOM_PING,541.7,8.0
$24V_AH,23.3,17.098
$10V_AH,10.1,7.958
$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,31.475,92.125,410.250,42.050,0.000,74.330,77.419,227.029,140.250,0.000,0.000,14.599,3517.919,10756.454,604.940,2656.160,579.114,0.000,1918.305,0.000,2628.807,0.000,12.639
$DEVICE_MAMPS,167.206,61.360,1231.802,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53472,1720
$CAP_FILE_SIZE,155973,0
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,102.8,1
$GPS,030308,072201,1246.877,12023.660,37,1.9,42,-0.8