version: 66.03
glider: 122
mission: 6
dive: 85
start: 3 3 108 7 39 17
data:
$ID,122
$MISSION,6
$DIVE,85
$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,-28958.748
$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,44
$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,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
$GPS1,072201,1246.877,12023.660,37,1.9,42,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.2
$GPS2,073845,1246.959,12023.748,11,1.8,11,-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,77.6,35008,-17.4,-9.016
$D_GRID,726
$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,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-62.65,0.000,2,0.000,0.000,254,2130,2636
$GC,86,-1.42,-146.0,3.5,-7.1,9,118,13.32,2.38,-11.48,0.000,4,0.166,0.052,2590,759,3274
$GC,326,-1.19,-146.0,61.3,-19.7,51,334,0.28,2.33,0.00,0.000,6,0.107,0.026,2642,2155,3276
$GC,672,-1.05,-146.0,116.7,-16.0,112,679,0.15,2.40,0.00,0.000,4,0.101,0.045,2675,3555,3277
$GC,702,-0.98,-146.0,120.9,-14.0,117,710,0.00,2.33,0.00,0.000,6,0.000,0.028,2675,2149,3277
$GC,1047,-0.98,-146.0,161.9,-10.9,178,1054,0.00,2.40,0.00,0.000,4,0.000,0.043,2675,3549,3278
$GC,1083,-1.05,-146.0,165.8,-10.9,184,1091,0.00,2.25,0.00,0.000,6,0.000,0.028,2675,2184,3278
$GC,1429,-1.11,-146.0,197.0,-7.5,245,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2183,3277
$GC,1771,-1.22,-146.0,222.3,-7.2,306,1777,0.15,0.00,0.00,0.000,6,0.049,0.000,2623,2182,3277
$GC,2111,-1.22,-146.0,255.4,-9.8,362,2115,0.00,2.35,0.00,0.000,4,0.000,0.048,2623,3548,3276
$GC,2138,-1.22,-146.0,258.2,-10.3,364,2142,0.00,2.22,0.00,0.000,6,0.000,0.031,2623,2210,3276
$GC,2463,-1.22,-146.0,289.2,-9.7,394,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2210,3274
$GC,2781,-1.22,-146.0,316.3,-8.0,424,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2208,3272
$GC,3099,-1.22,-146.0,345.4,-9.8,454,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,3270
$GC,3420,-1.22,-146.0,374.4,-8.4,484,3424,0.00,2.58,0.00,0.000,4,0.000,0.053,2623,755,3267
$GC,3447,-1.22,-146.0,376.9,-9.0,486,3451,0.00,2.47,0.00,0.000,6,0.000,0.033,2623,2212,3267
$GC,3772,-1.22,-146.0,403.9,-8.5,516,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2214,3265
$GC,4090,-1.22,-146.0,431.2,-8.5,546,4094,0.00,2.58,0.00,0.000,4,0.000,0.052,2623,758,3263
$GC,4133,-1.26,-146.0,435.3,-9.4,549,4140,0.00,2.42,0.00,0.000,6,0.000,0.033,2623,2186,3263
$GC,4459,-1.26,-146.0,462.9,-8.5,580,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,3260
$GC,4776,-1.26,-146.0,490.7,-8.7,610,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,3258
$GC,5100,-1.30,-146.0,517.2,-7.8,631,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,3256
$GC,5411,-1.34,-146.0,541.9,-8.2,646,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,3254
$GC,5719,-1.38,-146.0,567.0,-7.9,661,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,3252
$GC,6028,-1.42,-146.0,591.2,-7.6,676,6033,0.12,2.55,0.00,0.000,4,0.059,0.054,2587,756,3250
$GC,6067,-1.39,-146.0,595.0,-10.4,678,6071,0.00,2.45,0.00,0.000,6,0.000,0.037,2587,2181,3249
$GC,6393,-1.35,-146.0,624.4,-9.2,694,6395,0.12,0.00,0.00,0.000,6,0.114,0.000,2610,2181,3248
$GC,6702,-1.35,-146.0,650.3,-8.3,709,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2181,3247
$GC,7012,-1.35,-146.0,675.2,-8.0,724,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2181,3245
$GC,7320,-1.35,-146.0,699.3,-7.8,739,7325,0.00,2.40,0.00,0.000,4,0.000,0.058,2610,3552,3244
$GC,7360,-1.35,-146.0,702.5,-8.5,741,7364,0.00,2.35,0.00,0.000,6,0.000,0.037,2610,2175,3244
$STATE,7663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7663,begin apogee
$GC,7668,-0.34,0.0,726.9,8.0,756,7787,1.08,0.00,115.93,1.175,6,0.092,0.000,2830,2393,2679
$STATE,7788,end apogee,CONTROL_FINISHED_OK
$STATE,7788,begin climb
$GC,7790,1.42,146.0,730.4,0.0,762,7920,1.77,2.50,120.60,1.127,4,0.057,0.059,3217,3720,2082
$GC,8043,1.18,146.0,705.1,15.0,773,8048,0.30,2.35,0.00,0.000,6,0.118,0.038,3164,2367,2081
$GC,8359,1.06,146.0,668.8,11.1,788,8364,0.15,2.42,0.00,0.000,4,0.117,0.058,3133,3712,2079
$GC,8408,0.98,146.0,663.5,10.5,790,8412,0.00,2.33,0.00,0.000,6,0.000,0.038,3133,2382,2078
$GC,8729,0.93,146.0,630.7,10.0,806,8731,0.12,0.00,0.00,0.000,6,0.123,0.000,3113,2381,2077
$GC,9038,0.93,146.0,602.2,9.1,821,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2380,2077
$GC,9348,0.94,150.3,574.7,8.8,836,9352,0.00,0.00,2.88,1.111,6,0.000,0.000,3112,2380,2065
$GC,9657,0.94,150.8,547.7,9.0,851,9661,0.00,2.55,0.00,0.000,4,0.000,0.058,3113,966,2064
$GC,9688,0.94,150.8,544.5,9.3,852,9696,0.00,2.50,0.00,0.000,6,0.000,0.039,3112,2384,2064
$GC,10004,0.94,150.8,516.2,9.1,868,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2384,2063
$GC,10317,0.96,161.4,488.9,8.5,889,10331,0.00,2.50,9.15,1.088,4,0.000,0.059,3112,3728,2019
$GC,10370,0.97,165.6,484.3,8.8,893,10378,0.00,2.38,3.67,1.076,6,0.000,0.037,3112,2369,2003
$GC,10695,1.00,186.1,456.8,8.0,924,10720,0.00,2.55,17.08,1.035,4,0.000,0.056,3112,975,1918
$GC,10803,1.00,186.1,447.1,9.4,933,10811,0.00,2.45,0.00,0.000,6,0.000,0.037,3112,2363,1917
$GC,11130,1.04,188.5,418.6,8.9,964,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2362,1917
$GC,11448,1.11,211.2,393.5,7.9,994,11475,0.15,2.60,20.27,0.983,4,0.065,0.054,3149,973,1815
$GC,11504,1.08,211.2,388.3,10.3,999,11508,0.00,2.42,0.00,0.000,6,0.000,0.038,3149,2354,1814
$GC,11830,1.05,211.5,356.9,9.0,1029,11834,0.00,2.42,0.00,0.000,4,0.000,0.055,3149,3723,1814
$GC,11896,1.01,211.5,350.5,9.3,1034,11904,0.12,2.33,0.00,0.000,6,0.130,0.035,3129,2362,1814
$GC,12221,1.04,230.1,324.1,8.1,1065,12246,0.00,2.58,15.45,0.935,4,0.000,0.054,3129,969,1738
$GC,12296,1.11,251.6,317.6,7.9,1071,12320,0.00,2.42,17.67,0.907,6,0.000,0.036,3129,2362,1651
$GC,12646,1.16,251.6,286.8,9.3,1104,12651,0.12,2.42,0.00,0.000,4,0.065,0.054,3161,3729,1650
$GC,12700,1.16,251.6,280.5,11.9,1108,12707,0.00,2.38,0.00,0.000,6,0.000,0.035,3161,2356,1650
$GC,13028,1.16,251.6,242.4,11.9,1144,13035,0.00,2.45,0.00,0.000,4,0.000,0.052,3162,973,1649
$GC,13069,1.16,251.6,237.4,12.8,1151,13075,0.00,2.40,0.00,0.000,6,0.000,0.035,3162,2362,1650
$GC,13413,1.16,251.6,200.0,9.7,1212,13419,0.00,2.40,0.00,0.000,4,0.000,0.052,3161,3730,1649
$GC,13475,1.16,251.6,193.7,10.5,1223,13482,0.00,2.30,0.00,0.000,6,0.000,0.033,3162,2369,1649
$GC,13820,1.21,260.3,164.6,8.6,1284,13833,0.00,2.47,6.97,0.827,4,0.000,0.050,3162,973,1616
$GC,13964,1.30,285.9,152.5,7.7,1309,13995,0.12,2.42,20.58,0.767,6,0.060,0.033,3197,2388,1511
$GC,14333,1.34,312.0,121.2,7.7,1374,14358,0.00,2.42,20.17,0.723,4,0.000,0.048,3197,3717,1405
$GC,14398,1.38,312.0,115.4,9.2,1385,14405,0.00,2.33,0.00,0.000,6,0.000,0.030,3197,2336,1405
$GC,14742,1.48,337.2,86.8,7.7,1446,14768,0.15,2.50,19.92,0.678,4,0.055,0.047,3243,968,1302
$GC,14830,1.45,337.2,77.7,10.5,1461,14837,0.12,2.33,0.00,0.000,6,0.109,0.031,3221,2332,1299
$GC,15175,1.52,353.3,45.6,8.2,1522,15193,0.00,0.00,12.65,0.642,6,0.000,0.000,3221,2332,1236
$GC,15531,1.63,362.1,15.2,8.6,1585,15544,0.15,2.40,6.75,0.620,4,0.057,0.043,3270,968,1199
$GC,15623,1.63,362.1,5.8,9.4,1601,15630,0.00,2.28,0.00,0.000,6,0.000,0.028,3270,2324,1198
$STATE,15662,end climb,SURFACE_DEPTH_REACHED
$STATE,15662,begin surface coast
$FINISH,-0.1,1.021572
$STATE,15686,end surface coast,CONTROL_FINISHED_OK
$STATE,15686,begin surface
$SM_CCo,15706,37.40,0.555,0,0,883,440.07
$SM_GC,0.75,0.00,0.00,37.40,0.000,0.000,0.555,249,2122,883,-12.22,-0.82,440.07
$IRIDIUM_FIX,1243.25,12024.46,280597,070733
$TT8_MAMPS,0.023777
$HUMID,1843
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.40
$XPDR_PINGS,462
$ALTIM_BOTTOM_PING,520.4,7.9
$24V_AH,23.4,17.268
$10V_AH,10.2,8.044
$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,31.825,111.925,409.750,37.400,0.000,125.971,223.444,304.466,116.500,0.000,0.000,11.638,3124.752,9647.651,602.476,2522.768,859.356,0.000,1871.679,0.000,2505.780,0.000,9.010
$DEVICE_MAMPS,165.672,59.059,1175.044,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50336,1612
$CAP_FILE_SIZE,155976,0
$CFSIZE,260165632,250818560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,251.4,1
$GPS,030308,120255,1247.317,12025.459,39,1.8,39,-0.8