version: 66.03
glider: 122
mission: 6
dive: 94
start: 3 5 108 10 14 42
data:
$ID,122
$MISSION,6
$DIVE,94
$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,500
$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,-29137.002
$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,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,1
$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
$GPS1,100338,1250.675,12042.455,42,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.7
$GPS2,101409,1250.733,12042.302,11,1.9,11,-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,262.9,49329,-17.4,-9.016
$D_GRID,1098
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,101,0.00,0.00,-78.93,0.000,2,0.000,0.000,253,2165,2556
$GC,104,-1.42,-146.0,3.3,-6.1,12,136,13.48,2.45,-13.52,0.000,4,0.170,0.053,2591,3555,3276
$GC,289,-1.10,-146.0,50.3,-24.7,44,296,0.38,2.35,0.00,0.000,6,0.117,0.028,2660,2141,3278
$GC,634,-1.00,-146.0,104.9,-14.0,105,642,0.15,2.42,0.00,0.000,4,0.118,0.043,2691,744,3278
$GC,715,-1.05,-146.0,114.9,-10.8,119,722,0.00,2.33,0.00,0.000,6,0.000,0.027,2691,2139,3279
$GC,1060,-1.12,-146.0,151.3,-8.3,180,1069,0.15,2.42,0.00,0.000,4,0.050,0.042,2640,3555,3279
$GC,1182,-1.12,-146.0,163.8,-9.8,201,1190,0.10,2.30,0.00,0.000,6,0.101,0.027,2658,2165,3280
$GC,1528,-1.16,-146.0,194.5,-8.6,262,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2163,3280
$GC,1872,-1.21,-146.0,223.1,-8.2,323,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2162,3279
$GC,2214,-1.27,-146.0,252.1,-8.5,382,2219,0.15,2.45,0.00,0.000,4,0.051,0.046,2607,753,3278
$GC,2247,-1.23,-146.0,255.5,-10.6,384,2254,0.15,2.35,0.00,0.000,6,0.099,0.029,2636,2154,3278
$GC,2571,-1.23,-146.0,285.4,-8.9,415,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2154,3277
$GC,2890,-1.23,-146.0,314.2,-8.9,445,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2154,3276
$GC,3208,-1.23,-146.0,343.2,-8.3,475,3213,0.00,2.47,0.00,0.000,4,0.000,0.050,2636,747,3273
$GC,3264,-1.29,-146.0,348.2,-8.7,479,3271,0.00,2.40,0.00,0.000,6,0.000,0.032,2636,2165,3273
$GC,3590,-1.33,-146.0,375.2,-8.7,510,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3271
$GC,3909,-1.38,-146.0,401.4,-7.6,540,3913,0.15,2.42,0.00,0.000,4,0.054,0.048,2587,3557,3269
$GC,3947,-1.31,-146.0,405.0,-9.4,543,3952,0.15,2.38,0.00,0.000,6,0.101,0.032,2616,2152,3269
$GC,4272,-1.31,-146.0,432.8,-8.3,573,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2149,3267
$GC,4590,-1.31,-146.0,458.4,-7.8,603,4595,0.00,2.47,0.00,0.000,4,0.000,0.051,2616,3555,3265
$GC,4664,-1.31,-146.0,464.5,-7.9,609,4668,0.00,2.38,0.00,0.000,6,0.000,0.034,2616,2156,3264
$GC,4995,-1.31,-146.0,491.7,-7.8,640,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2154,3262
$GC,5317,-1.31,-146.0,518.4,-8.3,661,5321,0.00,2.47,0.00,0.000,4,0.000,0.052,2615,3556,3259
$GC,5348,-1.31,-146.0,521.3,-8.5,662,5356,0.00,2.40,0.00,0.000,6,0.000,0.034,2615,2162,3259
$GC,5664,-1.31,-146.0,549.0,-8.7,678,5669,0.00,2.53,0.00,0.000,4,0.000,0.055,2615,746,3257
$GC,5708,-1.31,-146.0,553.3,-9.5,680,5712,0.00,2.45,0.00,0.000,6,0.000,0.035,2616,2166,3257
$GC,6035,-1.31,-146.0,578.7,-8.0,696,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2167,3255
$GC,6345,-1.31,-146.0,604.4,-8.1,711,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2167,3254
$GC,6654,-1.31,-146.0,629.6,-7.7,726,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2167,3252
$GC,6963,-1.31,-146.0,655.3,-8.6,741,6967,0.00,2.55,0.00,0.000,4,0.000,0.057,2615,743,3250
$GC,7006,-1.31,-146.0,659.5,-9.7,743,7010,0.00,2.47,0.00,0.000,6,0.000,0.036,2615,2160,3250
$GC,7334,-1.31,-146.0,687.1,-8.6,759,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2160,3248
$GC,7642,-1.31,-146.0,714.0,-8.6,774,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2161,3247
$GC,7952,-1.31,-146.0,738.7,-7.7,789,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2161,3245
$GC,8262,-1.31,-146.0,764.8,-8.6,804,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2162,3245
$GC,8570,-1.34,-146.0,789.7,-7.4,819,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2162,3243
$GC,8879,-1.34,-146.0,813.1,-8.3,834,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2162,3242
$GC,9189,-1.38,-146.0,837.2,-7.2,849,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2162,3241
$GC,9498,-1.42,-146.0,858.4,-6.7,864,9502,0.00,2.47,0.00,0.000,4,0.000,0.060,2615,3554,3239
$GC,9538,-1.46,-146.0,861.0,-7.1,866,9543,0.15,2.40,0.00,0.000,6,0.061,0.038,2577,2152,3240
$GC,9864,-1.41,-146.0,889.4,-9.3,882,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2152,3239
$GC,10174,-1.37,-146.0,917.2,-8.2,897,10176,0.15,0.00,0.00,0.000,6,0.116,0.000,2604,2152,3239
$GC,10482,-1.37,-146.0,940.4,-7.3,912,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2152,3238
$GC,10794,-1.40,-146.0,965.6,-8.0,927,10798,0.00,2.50,0.00,0.000,4,0.000,0.058,2604,3553,3236
$GC,10860,-1.40,-146.0,971.5,-7.4,930,10864,0.00,2.45,0.00,0.000,6,0.000,0.039,2604,2129,3236
$STATE,11123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11123,begin apogee
$GC,11127,-0.34,0.0,990.4,6.5,943,11251,1.10,0.00,120.18,1.399,6,0.097,0.000,2827,2384,2678
$STATE,11252,end apogee,CONTROL_FINISHED_OK
$STATE,11252,begin climb
$GC,11254,1.42,146.0,993.2,0.0,949,11388,1.80,2.50,126.65,1.342,4,0.059,0.062,3219,3719,2082
$GC,11474,1.17,146.0,970.4,16.6,959,11479,0.32,2.38,0.00,0.000,6,0.124,0.040,3162,2367,2080
$GC,11800,1.08,146.0,933.0,11.3,975,11802,0.12,0.00,0.00,0.000,6,0.121,0.000,3140,2366,2078
$GC,12110,1.02,146.0,901.1,9.6,990,12115,0.00,2.45,0.00,0.000,4,0.000,0.062,3140,3713,2078
$GC,12177,0.94,146.0,894.4,9.5,993,12181,0.17,2.33,0.00,0.000,6,0.119,0.040,3109,2376,2078
$GC,12504,0.96,158.7,869.6,8.4,1009,12516,0.00,0.00,10.48,1.352,6,0.000,0.000,3109,2375,2031
$GC,12813,0.96,161.7,841.8,8.9,1024,12818,0.00,0.00,3.22,1.295,6,0.000,0.000,3109,2375,2018
$GC,13123,0.98,170.5,814.5,8.6,1039,13137,0.00,2.53,7.85,1.324,4,0.000,0.061,3109,3714,1982
$GC,13176,0.98,170.5,809.3,10.1,1041,13181,0.00,2.35,0.00,0.000,6,0.000,0.039,3109,2388,1982
$GC,13499,1.01,170.9,780.4,9.0,1057,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2388,1981
$GC,13808,1.08,194.0,754.7,7.8,1072,13830,0.15,0.00,20.27,1.272,6,0.070,0.000,3143,2386,1887
$GC,14136,1.08,194.0,720.3,11.0,1088,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2386,1886
$GC,14446,1.08,194.0,687.8,9.7,1103,14450,0.00,2.40,0.00,0.000,4,0.000,0.062,3143,3713,1886
$GC,14477,1.04,194.0,684.3,10.5,1104,14485,0.00,2.33,0.00,0.000,6,0.000,0.040,3143,2393,1886
$GC,14793,1.04,194.0,653.2,9.8,1120,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2391,1886
$GC,15103,1.04,194.0,622.9,9.8,1135,15104,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2390,1886
$GC,15413,1.04,194.0,592.1,9.7,1150,15417,0.00,2.40,0.00,0.000,4,0.000,0.062,3143,3720,1886
$GC,15462,1.01,194.0,586.8,10.5,1152,15466,0.00,2.30,0.00,0.000,6,0.000,0.039,3143,2393,1886
$GC,15785,1.01,194.0,555.8,9.7,1168,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2391,1886
$GC,16092,1.01,194.0,524.5,9.9,1183,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2391,1886
$GC,16403,1.01,194.0,495.9,9.4,1200,16407,0.00,2.38,0.00,0.000,4,0.000,0.060,3143,3714,1886
$GC,16442,1.01,194.0,492.0,10.0,1203,16446,0.00,2.28,0.00,0.000,6,0.000,0.038,3143,2393,1886
$GC,16766,1.01,194.0,462.5,9.2,1233,16770,0.00,2.38,0.00,0.000,4,0.000,0.058,3143,3718,1886
$GC,16855,1.01,194.0,453.7,10.0,1240,16863,0.00,2.28,0.00,0.000,6,0.000,0.037,3143,2410,1886
$GC,17181,1.01,194.0,424.6,9.1,1271,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2409,1886
$GC,17500,1.02,200.9,396.8,8.7,1301,17510,0.00,0.00,5.90,1.046,6,0.000,0.000,3143,2407,1859
$GC,17828,1.02,200.9,368.4,9.1,1332,17829,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2407,1859
$GC,18147,1.08,218.4,342.1,8.1,1362,18167,0.00,0.00,14.88,0.971,6,0.000,0.000,3143,2407,1786
$GC,18486,1.13,220.6,313.5,8.9,1394,18490,0.00,2.58,0.00,0.000,4,0.000,0.055,3143,972,1786
$GC,18540,1.19,232.3,308.5,8.4,1398,18561,0.00,2.50,11.68,0.944,6,0.000,0.037,3143,2410,1730
$GC,18877,1.25,233.5,279.2,9.0,1430,18882,0.15,2.60,0.00,0.000,4,0.064,0.053,3188,965,1730
$GC,18973,1.22,233.5,268.9,10.1,1438,18977,0.00,2.47,0.00,0.000,6,0.000,0.036,3188,2390,1729
$GC,19306,1.22,233.5,235.0,9.1,1481,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2390,1730
$GC,19649,1.22,233.5,202.4,9.4,1542,19655,0.00,2.53,0.00,0.000,4,0.000,0.052,3188,970,1730
$GC,19728,1.22,233.5,195.0,9.1,1556,19735,0.00,2.42,0.00,0.000,6,0.000,0.035,3188,2377,1730
$GC,20073,1.25,254.4,163.7,8.0,1617,20096,0.00,0.00,18.33,0.791,6,0.000,0.000,3188,2378,1639
$GC,20434,1.37,287.3,139.4,7.3,1681,20465,0.00,2.47,26.05,0.743,4,0.000,0.050,3188,3722,1506
$GC,20579,1.53,315.5,128.8,7.6,1706,20610,0.22,2.33,22.42,0.725,6,0.048,0.032,3246,2356,1390
$GC,20947,1.53,315.5,95.4,9.3,1771,20954,0.00,2.40,0.00,0.000,4,0.000,0.049,3245,3726,1388
$GC,20983,1.54,321.6,92.3,8.7,1777,20996,0.00,2.30,4.60,0.732,6,0.000,0.031,3246,2368,1366
$GC,21335,1.64,361.2,63.3,7.0,1839,21371,0.00,2.58,31.38,0.638,4,0.000,0.050,3246,976,1204
$GC,21457,1.76,391.6,54.1,7.5,1860,21488,0.20,2.33,24.05,0.627,6,0.049,0.030,3303,2340,1080
$GC,21826,1.76,391.6,12.4,12.3,1925,21833,0.00,2.40,0.00,0.000,4,0.000,0.046,3303,976,1076
$GC,21901,1.76,391.6,4.2,11.0,1938,21908,0.00,2.33,0.00,0.000,6,0.000,0.029,3303,2350,1075
$STATE,21924,end climb,SURFACE_DEPTH_REACHED
$STATE,21924,begin surface coast
$FINISH,0.3,1.021656
$STATE,21948,end surface coast,CONTROL_FINISHED_OK
$STATE,21948,begin surface
$SM_CCo,21969,52.17,0.550,0,0,638,500.17
$SM_GC,0.51,0.00,0.00,52.17,0.000,0.000,0.550,252,2107,638,-12.20,-1.16,500.17
$IRIDIUM_FIX,1243.25,12039.25,300597,040406
$TT8_MAMPS,0.023777
$HUMID,1887
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.20
$XPDR_PINGS,421
$ALTIM_BOTTOM_PING,641.6,4.2
$24V_AH,23.2,18.954
$10V_AH,10.1,8.936
$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,33.000,126.575,447.925,52.175,0.000,24.362,37.730,464.548,109.500,0.000,0.000,11.217,3916.816,14210.528,680.399,3075.615,774.730,0.000,2213.834,0.000,3042.517,0.000,33.573
$DEVICE_MAMPS,169.507,62.127,1399.008,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1309.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59766,1946
$CAP_FILE_SIZE,196168,0
$CFSIZE,260165632,250003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,181.2,1
$GPS,050308,162301,1250.045,12039.540,36,0.9,42,-0.8