version: 66.03
glider: 122
mission: 6
dive: 88
start: 3 3 108 21 42 28
data:
$ID,122
$MISSION,6
$DIVE,88
$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,554.62329
$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,-29029.895
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,212701,1248.350,12028.827,41,1.8,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.0
$GPS2,214156,1248.340,12028.812,12,1.8,17,-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,94.4,25546,-17.4,-9.016
$D_GRID,817
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-83.38,0.000,2,0.000,0.000,250,2165,2685
$GC,107,-1.42,-146.0,3.8,-9.0,13,139,13.35,2.47,-10.35,0.000,4,0.166,0.051,2591,737,3275
$GC,151,-0.63,-146.0,18.2,-29.4,20,159,0.88,2.35,0.00,0.000,6,0.104,0.026,2763,2149,3276
$GC,496,-0.75,-146.0,56.6,-9.7,81,503,0.00,2.38,0.00,0.000,4,0.000,0.044,2762,3548,3277
$GC,560,-0.91,-146.0,62.6,-9.0,92,567,0.25,2.33,0.00,0.000,6,0.038,0.027,2688,2140,3277
$GC,904,-0.91,-146.0,105.1,-12.2,153,910,0.00,2.42,0.00,0.000,4,0.000,0.042,2687,3557,3277
$GC,939,-0.91,-146.0,109.3,-12.2,159,946,0.00,2.33,0.00,0.000,6,0.000,0.027,2688,2147,3277
$GC,1283,-0.91,-146.0,149.4,-10.7,220,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2148,3278
$GC,1628,-0.99,-146.0,180.7,-8.2,281,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2147,3278
$GC,1970,-1.11,-146.0,207.6,-8.1,342,1976,0.12,0.00,0.00,0.000,6,0.054,0.000,2648,2146,3278
$GC,2315,-1.14,-146.0,239.1,-8.4,403,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2145,3277
$GC,2645,-1.18,-146.0,269.3,-9.4,444,2649,0.00,2.42,0.00,0.000,4,0.000,0.046,2647,3554,3276
$GC,2697,-1.25,-146.0,273.9,-8.9,448,2701,0.00,2.33,0.00,0.000,6,0.000,0.031,2647,2160,3276
$GC,3022,-1.31,-146.0,300.8,-8.3,478,3024,0.12,0.00,0.00,0.000,6,0.057,0.000,2609,2157,3274
$GC,3340,-1.28,-146.0,331.7,-9.8,508,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2156,3271
$GC,3657,-1.28,-146.0,362.3,-9.0,538,3661,0.00,2.42,0.00,0.000,4,0.000,0.048,2609,3548,3269
$GC,3711,-1.28,-146.0,367.6,-9.4,542,3718,0.00,2.38,0.00,0.000,6,0.000,0.032,2609,2158,3269
$GC,4037,-1.28,-146.0,395.5,-8.5,573,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2153,3266
$GC,4356,-1.28,-146.0,425.0,-9.3,603,4360,0.00,2.50,0.00,0.000,4,0.000,0.054,2609,749,3264
$GC,4387,-1.28,-146.0,428.2,-9.4,605,4395,0.00,2.45,0.00,0.000,6,0.000,0.034,2609,2162,3264
$GC,4714,-1.28,-146.0,456.3,-8.5,636,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2163,3262
$GC,5031,-1.28,-146.0,482.2,-7.7,666,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2163,3260
$GC,5348,-1.28,-146.0,507.2,-8.0,692,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2163,3258
$GC,5656,-1.28,-146.0,531.7,-7.8,707,5660,0.00,2.45,0.00,0.000,4,0.000,0.054,2609,3559,3255
$GC,5701,-1.28,-146.0,535.3,-8.1,709,5706,0.00,2.38,0.00,0.000,6,0.000,0.035,2609,2157,3255
$GC,6034,-1.28,-146.0,562.0,-7.8,725,6038,0.00,2.50,0.00,0.000,4,0.000,0.056,2609,751,3253
$GC,6073,-1.28,-146.0,565.2,-8.4,727,6077,0.00,2.42,0.00,0.000,6,0.000,0.035,2609,2163,3253
$GC,6399,-1.28,-146.0,591.9,-8.4,743,6403,0.00,2.45,0.00,0.000,4,0.000,0.056,2609,3561,3251
$GC,6448,-1.28,-146.0,596.4,-8.7,745,6452,0.00,2.38,0.00,0.000,6,0.000,0.035,2609,2163,3250
$GC,6769,-1.28,-146.0,622.7,-8.1,761,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2162,3249
$GC,7078,-1.28,-146.0,647.6,-8.2,776,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2162,3247
$GC,7388,-1.28,-146.0,673.9,-8.4,791,7392,0.00,2.47,0.00,0.000,4,0.000,0.056,2609,3556,3246
$GC,7431,-1.28,-146.0,677.8,-8.7,793,7435,0.00,2.38,0.00,0.000,6,0.000,0.036,2609,2184,3246
$GC,7758,-1.28,-146.0,704.2,-7.7,809,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2183,3244
$GC,8067,-1.28,-146.0,727.5,-7.1,824,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2183,3243
$GC,8376,-1.28,-146.0,750.2,-7.4,839,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2183,3241
$GC,8686,-1.28,-146.0,773.8,-7.7,854,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2180,3240
$GC,8996,-1.31,-146.0,796.4,-7.5,869,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2180,3239
$STATE,9282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9282,begin apogee
$GC,9286,-0.34,0.0,817.0,6.9,883,9407,1.08,0.00,116.82,1.246,6,0.093,0.000,2828,2387,2678
$STATE,9408,end apogee,CONTROL_FINISHED_OK
$STATE,9408,begin climb
$GC,9410,1.42,146.0,819.9,0.0,889,9537,1.77,0.00,122.75,1.202,6,0.061,0.000,3214,2387,2082
$GC,9844,1.21,146.0,772.3,13.0,910,9846,0.25,0.00,0.00,0.000,6,0.117,0.000,3169,2386,2079
$GC,10153,1.08,146.0,735.5,12.4,925,10155,0.15,0.00,0.00,0.000,6,0.129,0.000,3144,2387,2078
$GC,10462,1.00,146.0,700.4,11.0,940,10467,0.00,2.58,0.00,0.000,4,0.000,0.060,3144,972,2078
$GC,10506,0.92,146.0,695.4,11.2,942,10511,0.20,2.45,0.00,0.000,6,0.123,0.039,3109,2367,2077
$GC,10833,0.92,149.6,665.9,8.8,958,10842,0.00,2.53,2.42,1.142,4,0.000,0.061,3109,3729,2067
$GC,10877,0.89,149.6,661.7,10.6,960,10881,0.00,2.35,0.00,0.000,6,0.000,0.038,3109,2369,2067
$GC,11203,0.91,160.5,633.6,8.5,976,11214,0.00,0.00,9.43,1.183,6,0.000,0.000,3108,2368,2023
$GC,11512,0.92,169.9,607.6,8.5,991,11522,0.00,0.00,8.00,1.172,6,0.000,0.000,3109,2367,1985
$GC,11821,0.93,170.1,580.1,9.0,1006,11825,0.00,2.45,0.00,0.000,4,0.000,0.059,3108,3730,1984
$GC,11870,0.93,170.1,575.2,9.6,1008,11875,0.00,2.33,0.00,0.000,6,0.000,0.037,3109,2396,1984
$GC,12193,0.93,173.3,546.9,8.9,1024,12199,0.00,0.00,3.33,1.130,6,0.000,0.000,3109,2394,1971
$GC,12502,0.95,183.2,520.3,8.5,1039,12516,0.00,2.65,8.38,1.115,4,0.000,0.058,3108,975,1931
$GC,12568,0.95,183.2,514.5,9.2,1042,12572,0.00,2.47,0.00,0.000,6,0.000,0.038,3108,2393,1930
$GC,12894,0.97,195.6,486.3,8.4,1065,12910,0.00,2.47,10.68,1.081,4,0.000,0.060,3108,3723,1880
$GC,12954,0.97,195.6,480.5,10.5,1070,12962,0.00,2.33,0.00,0.000,6,0.000,0.036,3108,2390,1879
$GC,13281,1.01,195.6,450.7,9.2,1101,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2388,1879
$GC,13601,1.06,198.4,422.3,8.9,1131,13615,0.12,2.60,2.42,1.029,4,0.069,0.056,3139,970,1868
$GC,13682,1.06,198.4,413.7,9.9,1138,13687,0.00,2.42,0.00,0.000,6,0.000,0.037,3139,2365,1868
$GC,14008,1.06,198.4,382.9,9.3,1168,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2365,1868
$GC,14326,1.07,204.5,353.2,8.7,1198,14339,0.00,2.53,5.35,1.004,4,0.000,0.053,3139,970,1843
$GC,14362,1.07,204.5,349.8,9.3,1201,14366,0.00,2.42,0.00,0.000,6,0.000,0.037,3139,2358,1843
$GC,14687,1.07,204.5,320.2,9.1,1231,14691,0.00,2.47,0.00,0.000,4,0.000,0.052,3139,962,1843
$GC,14725,1.07,204.5,316.5,9.6,1234,14733,0.00,2.40,0.00,0.000,6,0.000,0.035,3139,2340,1843
$GC,15052,1.08,213.8,288.5,8.5,1265,15065,0.00,2.55,7.72,0.941,4,0.000,0.054,3139,3730,1806
$GC,15123,1.08,213.8,281.7,9.9,1271,15128,0.00,2.38,0.00,0.000,6,0.000,0.035,3139,2343,1805
$GC,15447,1.08,213.8,253.6,9.2,1301,15451,0.00,2.45,0.00,0.000,4,0.000,0.052,3139,3728,1805
$GC,15475,1.08,213.8,251.0,9.5,1303,15479,0.00,2.35,0.00,0.000,6,0.000,0.034,3139,2345,1805
$GC,15818,1.14,230.2,220.4,8.2,1362,15840,0.00,2.50,13.60,0.852,4,0.000,0.051,3139,966,1739
$GC,15891,1.20,245.3,214.5,8.2,1374,15909,0.12,2.40,12.18,0.838,6,0.062,0.034,3176,2351,1678
$GC,16246,1.20,245.3,182.0,9.3,1436,16253,0.00,2.45,0.00,0.000,4,0.000,0.050,3177,972,1676
$GC,16293,1.20,245.3,177.3,9.7,1444,16300,0.00,2.35,0.00,0.000,6,0.000,0.034,3177,2337,1677
$GC,16639,1.23,264.3,148.2,8.0,1505,16660,0.00,2.53,15.30,0.765,4,0.000,0.050,3177,3720,1600
$GC,16768,1.28,274.6,136.7,8.5,1527,16784,0.00,2.30,8.25,0.768,6,0.000,0.031,3177,2361,1558
$GC,17117,1.44,326.3,112.6,6.4,1589,17164,0.15,0.00,40.88,0.683,6,0.058,0.000,3220,2359,1346
$GC,17502,1.48,328.2,75.1,8.9,1657,17509,0.00,2.45,0.00,0.000,4,0.000,0.048,3220,966,1343
$GC,17627,1.53,328.2,63.8,9.2,1679,17634,0.00,2.38,0.00,0.000,6,0.000,0.030,3220,2366,1343
$GC,17972,1.64,358.5,35.8,7.5,1740,18003,0.15,2.55,24.67,0.607,4,0.055,0.044,3266,968,1214
$GC,18025,1.64,358.5,30.6,10.0,1749,18032,0.00,2.30,0.00,0.000,6,0.000,0.028,3266,2322,1214
$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18317,begin surface coast
$FINISH,-0.1,1.021721
$STATE,18341,end surface coast,CONTROL_FINISHED_OK
$STATE,18341,begin surface
$SM_CCo,18362,92.38,0.535,0,0,416,554.62
$SM_GC,0.60,0.00,0.00,92.38,0.000,0.000,0.535,250,2118,416,-12.21,-0.90,554.62
$IRIDIUM_FIX,1243.25,12029.39,280597,212122
$TT8_MAMPS,0.023777
$HUMID,1823
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,456
$ALTIM_BOTTOM_PING,530.0,8.0
$24V_AH,23.3,17.783
$10V_AH,10.2,8.314
$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,32.000,122.225,412.175,92.375,0.000,127.957,132.760,276.575,115.250,0.000,0.000,17.153,3592.569,11471.345,694.508,2813.216,785.544,0.000,2102.694,0.000,2798.427,0.000,10.821
$DEVICE_MAMPS,166.439,61.360,1246.375,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1210.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56625,1805
$CAP_FILE_SIZE,172216,0
$CFSIZE,260165632,250564608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,246.6,1
$GPS,040308,025108,1247.860,12030.981,31,1.3,31,-0.8