version: 66.03
glider: 122
mission: 6
dive: 89
start: 3 4 108 3 9 22
data:
$ID,122
$MISSION,6
$DIVE,89
$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,-29048.033
$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,54
$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
$GPS1,025108,1247.860,12030.981,31,1.3,31,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.4
$GPS2,030850,1247.790,12030.790,11,1.8,16,-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,75.9,22262,-17.4,-9.016
$D_GRID,837
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-80.47,0.000,2,0.000,0.000,250,2117,2589
$GC,104,-1.42,-146.0,3.4,-7.3,12,136,13.38,2.40,-12.75,0.000,4,0.167,0.050,2591,759,3277
$GC,149,-0.65,-146.0,16.2,-26.4,19,157,0.88,2.33,0.00,0.000,6,0.107,0.028,2761,2154,3277
$GC,494,-0.76,-146.0,53.0,-9.7,80,501,0.00,2.40,0.00,0.000,4,0.000,0.044,2762,3559,3278
$GC,530,-0.90,-146.0,56.4,-10.4,86,537,0.25,2.33,0.00,0.000,6,0.037,0.026,2688,2145,3278
$GC,874,-0.90,-146.0,101.3,-12.3,147,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2145,3279
$GC,1218,-0.90,-146.0,143.5,-11.1,208,1225,0.00,2.40,0.00,0.000,4,0.000,0.042,2688,3549,3279
$GC,1293,-0.96,-146.0,151.4,-10.8,221,1300,0.00,2.35,0.00,0.000,6,0.000,0.028,2688,2126,3279
$GC,1636,-1.05,-146.0,182.6,-8.0,282,1642,0.00,2.45,0.00,0.000,4,0.000,0.043,2688,3557,3279
$GC,1677,-1.14,-146.0,186.2,-9.0,289,1684,0.15,2.40,0.00,0.000,6,0.050,0.028,2637,2108,3279
$GC,2022,-1.14,-146.0,222.5,-10.5,350,2028,0.00,2.35,0.00,0.000,4,0.000,0.046,2637,750,3279
$GC,2085,-1.18,-146.0,229.0,-10.1,361,2091,0.00,2.25,0.00,0.000,6,0.000,0.028,2637,2101,3279
$GC,2421,-1.18,-146.0,261.6,-9.8,411,2425,0.00,2.50,0.00,0.000,4,0.000,0.046,2637,3557,3277
$GC,2475,-1.22,-146.0,267.0,-9.7,415,2482,0.00,2.45,0.00,0.000,6,0.000,0.031,2636,2090,3277
$GC,2801,-1.22,-146.0,294.0,-8.0,446,2805,0.00,2.53,0.00,0.000,4,0.000,0.045,2637,3552,3276
$GC,2863,-1.27,-146.0,299.4,-7.9,451,2868,0.00,2.42,0.00,0.000,6,0.000,0.031,2637,2103,3275
$GC,3189,-1.30,-146.0,325.9,-8.4,481,3193,0.00,2.50,0.00,0.000,4,0.000,0.047,2637,3546,3273
$GC,3266,-1.36,-146.0,332.8,-9.0,487,3274,0.12,2.40,0.00,0.000,6,0.055,0.032,2597,2121,3272
$GC,3591,-1.31,-146.0,365.1,-9.7,518,3593,0.12,0.00,0.00,0.000,6,0.110,0.000,2619,2120,3269
$GC,3910,-1.31,-146.0,392.9,-8.8,548,3914,0.00,2.50,0.00,0.000,4,0.000,0.049,2619,3548,3267
$GC,3954,-1.31,-146.0,397.0,-8.4,551,3961,0.00,2.42,0.00,0.000,6,0.000,0.033,2620,2120,3267
$GC,4279,-1.31,-146.0,425.1,-9.0,582,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2118,3265
$GC,4598,-1.31,-146.0,452.3,-8.5,612,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2118,3263
$GC,4916,-1.31,-146.0,479.5,-8.5,642,4920,0.00,2.53,0.00,0.000,4,0.000,0.051,2619,3548,3260
$GC,4955,-1.34,-146.0,482.8,-8.8,645,4959,0.00,2.42,0.00,0.000,6,0.000,0.034,2619,2127,3260
$GC,5277,-1.34,-146.0,509.0,-7.9,670,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2124,3258
$GC,5586,-1.37,-146.0,533.2,-8.0,685,5590,0.00,2.50,0.00,0.000,4,0.000,0.053,2619,3542,3255
$GC,5676,-1.42,-146.0,540.4,-7.6,689,5681,0.12,2.40,0.00,0.000,6,0.061,0.035,2586,2136,3256
$GC,5997,-1.38,-146.0,568.8,-9.0,705,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2134,3253
$GC,6305,-1.34,-146.0,597.4,-9.2,720,6307,0.12,0.00,0.00,0.000,6,0.115,0.000,2608,2133,3251
$GC,6614,-1.34,-146.0,624.8,-9.1,735,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2133,3249
$GC,6924,-1.34,-146.0,652.4,-8.9,750,6928,0.00,2.50,0.00,0.000,4,0.000,0.056,2608,3542,3248
$GC,6955,-1.34,-146.0,655.6,-9.1,751,6963,0.00,2.42,0.00,0.000,6,0.000,0.036,2608,2140,3247
$GC,7273,-1.34,-146.0,682.1,-8.3,767,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2139,3246
$GC,7581,-1.34,-146.0,705.4,-7.3,782,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2138,3245
$GC,7890,-1.34,-146.0,729.3,-7.6,797,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2138,3244
$GC,8201,-1.37,-146.0,752.7,-7.8,812,8205,0.00,2.50,0.00,0.000,4,0.000,0.057,2608,3542,3242
$GC,8244,-1.37,-146.0,756.3,-8.4,814,8248,0.00,2.40,0.00,0.000,6,0.000,0.038,2608,2147,3242
$GC,8572,-1.40,-146.0,780.5,-7.4,830,8576,0.00,2.50,0.00,0.000,4,0.000,0.058,2609,3549,3240
$GC,8610,-1.40,-146.0,783.6,-7.9,832,8614,0.00,2.40,0.00,0.000,6,0.000,0.038,2608,2153,3240
$GC,8937,-1.44,-146.0,807.7,-7.3,848,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2152,3239
$GC,9246,-1.47,-146.0,830.0,-7.4,863,9248,0.12,0.00,0.00,0.000,6,0.064,0.000,2574,2152,3239
$STATE,9326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9326,begin apogee
$GC,9331,-0.34,0.0,837.0,8.5,867,9452,1.25,0.00,117.43,1.267,6,0.100,0.000,2826,2382,2678
$STATE,9453,end apogee,CONTROL_FINISHED_OK
$STATE,9453,begin climb
$GC,9455,1.42,146.0,839.7,0.0,873,9587,1.80,2.55,123.03,1.217,4,0.060,0.061,3218,3723,2082
$GC,9659,1.16,146.0,820.6,15.1,882,9664,0.32,2.40,0.00,0.000,6,0.119,0.039,3160,2370,2081
$GC,9986,1.05,146.0,781.4,11.8,898,9988,0.15,0.00,0.00,0.000,6,0.117,0.000,3133,2369,2079
$GC,10295,1.00,146.0,750.2,9.6,913,10299,0.00,2.45,0.00,0.000,4,0.000,0.061,3133,3723,2078
$GC,10335,0.92,146.0,746.0,11.2,915,10340,0.15,2.30,0.00,0.000,6,0.117,0.038,3107,2393,2078
$GC,10661,0.92,146.0,716.6,9.1,931,10665,0.00,2.40,0.00,0.000,4,0.000,0.061,3107,3720,2077
$GC,10700,0.88,146.0,712.8,10.1,933,10704,0.00,2.28,0.00,0.000,6,0.000,0.038,3107,2407,2077
$GC,11026,0.88,146.0,684.1,9.0,949,11030,0.00,2.60,0.00,0.000,4,0.000,0.061,3107,972,2076
$GC,11064,0.88,146.0,680.3,10.3,951,11069,0.00,2.50,0.00,0.000,6,0.000,0.041,3107,2394,2076
$GC,11390,0.88,146.0,649.7,9.4,967,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2394,2076
$GC,11700,0.90,152.9,622.4,8.7,982,11706,0.00,0.00,4.95,1.192,6,0.000,0.000,3107,2394,2054
$GC,12009,0.91,163.5,596.0,8.5,997,12020,0.00,0.00,9.12,1.172,6,0.000,0.000,3107,2394,2011
$GC,12319,0.95,183.6,570.3,8.0,1012,12341,0.00,0.00,16.92,1.127,6,0.000,0.000,3107,2394,1928
$GC,12650,0.99,191.6,541.6,8.6,1028,12663,0.00,2.67,6.80,1.129,4,0.000,0.056,3107,971,1896
$GC,12693,0.99,191.6,537.6,9.1,1030,12697,0.00,2.53,0.00,0.000,6,0.000,0.038,3107,2406,1896
$GC,13019,1.04,198.6,509.0,8.7,1046,13028,0.12,0.00,6.18,1.121,6,0.071,0.000,3137,2406,1868
$GC,13334,1.04,198.6,478.2,9.9,1071,13339,0.00,2.60,0.00,0.000,4,0.000,0.055,3137,964,1868
$GC,13366,1.04,198.6,474.7,10.2,1073,13375,0.00,2.53,0.00,0.000,6,0.000,0.038,3136,2400,1868
$GC,13694,1.04,198.6,443.1,10.6,1104,13698,0.00,2.35,0.00,0.000,4,0.000,0.058,3137,3722,1867
$GC,13766,1.04,198.6,435.1,10.6,1110,13771,0.00,2.30,0.00,0.000,6,0.000,0.036,3137,2379,1868
$GC,14090,1.04,198.6,403.3,9.3,1140,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2377,1868
$GC,14409,1.04,198.6,372.8,9.5,1170,14413,0.00,2.50,0.00,0.000,4,0.000,0.054,3137,973,1868
$GC,14483,1.04,198.6,365.6,9.8,1176,14487,0.00,2.50,0.00,0.000,6,0.000,0.036,3137,2416,1867
$GC,14808,1.04,201.4,335.6,8.9,1206,14818,0.00,0.00,2.58,0.986,6,0.000,0.000,3137,2416,1857
$GC,15136,1.04,201.4,305.4,9.1,1237,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2415,1857
$GC,15454,1.04,201.4,277.2,9.5,1267,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2416,1857
$GC,15775,1.04,201.4,248.6,9.4,1298,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2416,1857
$GC,16119,1.07,214.4,218.8,8.4,1359,16139,0.00,2.65,11.05,0.864,4,0.000,0.051,3137,970,1802
$GC,16224,1.08,220.6,209.6,8.7,1377,16237,0.00,2.50,5.10,0.871,6,0.000,0.035,3136,2416,1777
$GC,16574,1.25,289.5,182.8,5.5,1439,16639,0.15,2.67,55.42,0.765,4,0.059,0.050,3179,973,1495
$GC,16739,1.25,289.5,166.8,10.5,1468,16746,0.00,2.42,0.00,0.000,6,0.000,0.034,3179,2372,1492
$GC,17084,1.33,306.3,136.1,8.2,1529,17101,0.00,0.00,12.57,0.753,6,0.000,0.000,3179,2373,1428
$GC,17439,1.44,324.1,108.9,8.1,1592,17459,0.15,2.58,14.05,0.712,4,0.054,0.047,3222,971,1356
$GC,17515,1.44,324.1,101.1,10.4,1605,17522,0.00,2.38,0.00,0.000,6,0.000,0.032,3222,2354,1353
$GC,17859,1.44,324.1,67.6,9.4,1666,17864,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2353,1353
$GC,18202,1.54,355.6,39.4,7.4,1727,18232,0.00,2.47,24.65,0.616,4,0.000,0.046,3222,3724,1227
$GC,18306,1.62,355.6,29.4,10.0,1745,18313,0.15,2.35,0.00,0.000,6,0.054,0.028,3264,2321,1226
$STATE,18592,end climb,SURFACE_DEPTH_REACHED
$STATE,18592,begin surface coast
$FINISH,-0.2,1.021744
$STATE,18627,end surface coast,CONTROL_FINISHED_OK
$STATE,18627,begin surface
$SM_CCo,18648,93.88,0.538,0,0,416,554.62
$SM_GC,0.52,0.00,0.00,93.88,0.000,0.000,0.538,252,2117,416,-12.20,-0.96,554.62
$IRIDIUM_FIX,1243.25,12006.63,290597,030304
$TT8_MAMPS,0.02301
$HUMID,1812
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,463
$ALTIM_BOTTOM_PING,561.4,8.2
$24V_AH,23.3,17.971
$10V_AH,10.1,8.411
$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,32.700,128.125,409.850,93.875,0.000,130.429,216.759,347.215,117.750,0.000,0.000,17.510,3541.672,11791.797,690.933,2843.997,941.375,0.000,2116.041,0.000,2818.415,0.000,16.265
$DEVICE_MAMPS,167.206,61.360,1267.084,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56634,1802
$CAP_FILE_SIZE,177732,0
$CFSIZE,260165632,250474496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,227.1,1
$GPS,040308,082301,1247.932,12032.946,37,0.8,42,-0.8