version: 66.03
glider: 122
mission: 6
dive: 98
start: 3 6 108 11 53 6
data:
$ID,122
$MISSION,6
$DIVE,98
$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,-29202.006
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,113702,1248.662,12029.734,42,1.5,42,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.7
$GPS2,115233,1248.684,12029.560,16,1.2,16,-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,262.6,26022,-17.4,-9.016
$D_GRID,973
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-82.50,0.000,2,0.000,0.000,254,2168,2673
$GC,106,-1.42,-146.0,3.8,-8.1,13,138,13.45,2.38,-10.62,0.000,4,0.169,0.052,2591,3551,3274
$GC,320,-1.15,-146.0,56.9,-21.6,50,327,0.32,2.33,0.00,0.000,6,0.114,0.028,2651,2146,3275
$GC,664,-1.02,-146.0,111.6,-16.5,111,672,0.15,2.40,0.00,0.000,4,0.119,0.041,2682,3546,3276
$GC,717,-1.02,-146.0,119.3,-13.8,120,724,0.00,2.25,0.00,0.000,6,0.000,0.027,2681,2183,3276
$GC,1062,-1.02,-146.0,159.0,-10.9,181,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2183,3276
$GC,1404,-1.10,-146.0,190.0,-8.3,242,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2180,3277
$GC,1748,-1.20,-146.0,217.3,-8.1,303,1755,0.15,2.35,0.00,0.000,4,0.049,0.044,2631,3548,3276
$GC,1840,-1.20,-146.0,227.0,-10.3,319,1846,0.00,2.28,0.00,0.000,6,0.000,0.029,2630,2178,3275
$GC,2179,-1.20,-146.0,258.3,-9.4,372,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2178,3275
$GC,2499,-1.20,-146.0,284.1,-7.9,402,2503,0.00,2.38,0.00,0.000,4,0.000,0.046,2630,3551,3273
$GC,2549,-1.20,-146.0,288.6,-9.1,406,2553,0.00,2.30,0.00,0.000,6,0.000,0.031,2631,2179,3273
$GC,2874,-1.20,-146.0,316.6,-8.2,436,2878,0.00,2.53,0.00,0.000,4,0.000,0.051,2630,744,3271
$GC,2913,-1.24,-146.0,320.2,-9.7,439,2917,0.00,2.45,0.00,0.000,6,0.000,0.031,2631,2188,3270
$GC,3238,-1.24,-146.0,349.0,-8.3,469,3242,0.00,2.38,0.00,0.000,4,0.000,0.049,2631,3554,3268
$GC,3304,-1.27,-146.0,354.8,-8.5,474,3311,0.00,2.33,0.00,0.000,6,0.000,0.032,2631,2174,3268
$GC,3630,-1.27,-146.0,382.5,-8.7,505,3634,0.00,2.53,0.00,0.000,4,0.000,0.052,2630,747,3265
$GC,3669,-1.31,-146.0,386.0,-8.6,508,3673,0.00,2.42,0.00,0.000,6,0.000,0.032,2630,2168,3265
$GC,3995,-1.35,-146.0,412.8,-7.9,538,3999,0.00,2.42,0.00,0.000,4,0.000,0.051,2630,3554,3263
$GC,4038,-1.39,-146.0,416.6,-8.0,541,4046,0.15,2.33,0.00,0.000,6,0.054,0.033,2588,2176,3262
$GC,4363,-1.34,-146.0,449.2,-10.8,572,4365,0.12,0.00,0.00,0.000,6,0.114,0.000,2610,2174,3260
$GC,4682,-1.34,-146.0,477.1,-8.4,602,4687,0.00,2.55,0.00,0.000,4,0.000,0.054,2610,744,3258
$GC,4722,-1.34,-146.0,480.7,-9.0,605,4726,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2182,3257
$GC,5057,-1.34,-146.0,507.1,-8.1,632,5061,0.00,2.42,0.00,0.000,4,0.000,0.055,2610,3553,3255
$GC,5100,-1.34,-146.0,510.9,-8.1,634,5104,0.00,2.35,0.00,0.000,6,0.000,0.034,2610,2174,3255
$GC,5428,-1.34,-146.0,537.1,-7.8,650,5432,0.00,2.45,0.00,0.000,4,0.000,0.054,2610,3554,3253
$GC,5468,-1.34,-146.0,540.4,-8.1,652,5472,0.00,2.30,0.00,0.000,6,0.000,0.035,2610,2204,3253
$GC,5794,-1.34,-146.0,566.1,-7.8,668,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2203,3251
$GC,6104,-1.34,-146.0,591.4,-8.2,683,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2203,3249
$GC,6412,-1.34,-146.0,615.7,-7.9,698,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2203,3247
$GC,6722,-1.34,-146.0,639.1,-7.4,713,6726,0.00,2.40,0.00,0.000,4,0.000,0.057,2610,3551,3246
$GC,6761,-1.34,-146.0,642.1,-7.7,715,6765,0.00,2.28,0.00,0.000,6,0.000,0.036,2610,2219,3246
$GC,7088,-1.34,-146.0,665.7,-7.7,731,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2214,3244
$GC,7397,-1.34,-146.0,691.2,-8.5,746,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2214,3243
$GC,7708,-1.34,-146.0,714.9,-7.1,761,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2214,3241
$GC,8016,-1.34,-146.0,735.2,-6.1,776,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2214,3240
$GC,8325,-1.34,-146.0,756.5,-7.2,791,8329,0.00,2.38,0.00,0.000,4,0.000,0.057,2610,3554,3239
$GC,8368,-1.34,-146.0,759.7,-7.6,793,8372,0.00,2.30,0.00,0.000,6,0.000,0.037,2610,2210,3239
$GC,8696,-1.37,-146.0,782.3,-6.8,809,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2210,3238
$GC,9005,-1.41,-146.0,805.3,-7.7,824,9009,0.00,2.40,0.00,0.000,4,0.000,0.058,2610,3554,3237
$GC,9054,-1.45,-146.0,809.3,-7.7,826,9058,0.00,2.30,0.00,0.000,6,0.000,0.038,2610,2211,3236
$GC,9376,-1.48,-146.0,832.6,-7.4,842,9378,0.12,0.00,0.00,0.000,6,0.061,0.000,2576,2211,3235
$GC,9685,-1.45,-146.0,857.5,-8.5,857,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2210,3234
$GC,9995,-1.41,-146.0,882.8,-8.7,872,9996,0.10,0.00,0.00,0.000,6,0.125,0.000,2593,2210,3233
$GC,10304,-1.99,-146.0,899.3,0.4,887,10306,0.57,0.00,0.00,0.000,6,0.071,0.000,2472,2210,3233
$STATE,10406,end dive,NO_VERTICAL_VELOCITY
$STATE,10406,begin apogee
$GC,10410,-0.34,0.0,898.9,0.0,892,10533,1.65,0.00,118.32,1.328,6,0.059,0.000,2834,2383,2678
$STATE,10534,end apogee,CONTROL_FINISHED_OK
$STATE,10534,begin climb
$GC,10536,1.42,146.0,899.0,0.0,898,10671,1.80,0.00,125.57,1.278,6,0.060,0.000,3218,2384,2081
$GC,10979,1.24,146.0,857.1,11.7,920,10984,0.20,2.60,0.00,0.000,4,0.119,0.060,3179,970,2079
$GC,11023,1.12,146.0,852.2,10.6,922,11028,0.17,2.47,0.00,0.000,6,0.115,0.041,3148,2368,2079
$GC,11343,1.07,146.0,823.1,9.2,938,11348,0.00,2.45,0.00,0.000,4,0.000,0.063,3148,3724,2079
$GC,11399,1.00,146.0,817.5,10.8,940,11407,0.15,2.33,0.00,0.000,6,0.126,0.039,3122,2388,2078
$GC,11714,1.00,146.0,787.7,9.5,956,11718,0.00,2.58,0.00,0.000,4,0.000,0.061,3122,970,2077
$GC,11757,1.00,146.0,783.2,10.5,958,11761,0.00,2.53,0.00,0.000,6,0.000,0.041,3122,2388,2077
$GC,12084,1.00,146.0,752.3,9.5,974,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,2077
$GC,12394,1.07,191.0,728.5,6.7,989,12437,0.00,2.72,37.38,1.234,4,0.000,0.060,3122,969,1899
$GC,12492,1.09,202.7,721.0,8.4,993,12508,0.00,2.53,10.23,1.228,6,0.000,0.041,3122,2373,1850
$GC,12835,1.09,202.7,689.9,9.3,1010,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2373,1849
$GC,13144,1.09,202.7,659.8,10.0,1025,13148,0.00,2.58,0.00,0.000,4,0.000,0.059,3122,962,1848
$GC,13176,1.09,202.7,656.5,10.7,1026,13183,0.00,2.50,0.00,0.000,6,0.000,0.041,3122,2364,1848
$GC,13494,1.09,205.1,626.8,8.9,1042,13498,0.00,2.55,0.00,0.000,4,0.000,0.059,3122,960,1848
$GC,13525,1.09,205.1,623.5,10.0,1043,13532,0.00,2.47,0.00,0.000,6,0.000,0.040,3122,2352,1848
$GC,13842,1.13,207.4,595.1,8.9,1059,13848,0.12,0.00,3.83,1.184,6,0.073,0.000,3151,2352,1832
$GC,14150,1.13,207.4,562.7,10.4,1074,14154,0.00,2.47,0.00,0.000,4,0.000,0.062,3151,3729,1832
$GC,14189,1.08,207.4,558.4,11.6,1076,14193,0.00,2.38,0.00,0.000,6,0.000,0.038,3151,2356,1832
$GC,14517,1.08,207.4,525.5,9.8,1092,14518,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2356,1832
$GC,14825,1.08,207.4,493.5,10.7,1109,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2355,1832
$GC,15144,1.08,207.4,460.6,10.0,1139,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2355,1832
$GC,15463,1.08,207.5,430.7,9.0,1169,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2355,1832
$GC,15782,1.08,208.9,402.6,8.9,1199,15783,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2354,1832
$GC,16099,1.08,208.9,372.4,9.8,1229,16103,0.00,2.45,0.00,0.000,4,0.000,0.058,3151,3726,1832
$GC,16128,1.08,208.9,369.5,10.8,1231,16132,0.00,2.35,0.00,0.000,6,0.000,0.037,3151,2355,1832
$GC,16452,1.11,226.4,340.3,8.1,1261,16477,0.00,2.55,15.95,0.968,4,0.000,0.056,3151,969,1754
$GC,16538,1.12,232.3,332.6,8.7,1268,16549,0.00,2.47,5.60,0.976,6,0.000,0.037,3151,2384,1729
$GC,16875,1.12,232.3,302.3,9.5,1300,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2384,1729
$GC,17196,1.18,245.7,272.6,8.3,1330,17211,0.00,2.60,10.85,0.920,4,0.000,0.054,3151,967,1675
$GC,17307,1.22,249.1,262.7,8.8,1339,17315,0.00,2.42,3.05,0.923,6,0.000,0.036,3151,2358,1662
$GC,17641,1.28,249.1,233.4,10.3,1386,17649,0.15,2.47,0.00,0.000,4,0.061,0.052,3196,973,1662
$GC,17706,1.24,249.1,226.0,11.6,1397,17713,0.00,2.33,0.00,0.000,6,0.000,0.035,3196,2318,1662
$GC,18053,1.24,249.1,193.8,9.4,1458,18059,0.00,2.50,0.00,0.000,4,0.000,0.055,3196,3730,1663
$GC,18116,1.24,249.1,187.6,9.2,1469,18123,0.00,2.38,0.00,0.000,6,0.000,0.035,3196,2336,1663
$GC,18460,1.28,269.7,158.1,8.0,1530,18483,0.00,2.58,17.17,0.783,4,0.000,0.051,3196,3729,1578
$GC,18523,1.33,276.5,152.9,8.7,1540,18538,0.00,2.38,5.60,0.795,6,0.000,0.033,3196,2344,1549
$GC,18874,1.45,310.4,125.4,7.3,1602,18905,0.12,0.00,26.95,0.719,6,0.061,0.000,3230,2343,1412
$GC,19244,1.54,342.2,95.3,7.4,1666,19275,0.00,2.55,24.98,0.683,4,0.000,0.048,3230,3730,1282
$GC,19309,1.60,351.2,89.7,8.6,1676,19324,0.10,2.35,7.30,0.701,6,0.065,0.031,3258,2351,1245
$GC,19662,1.60,351.2,57.4,9.8,1738,19669,0.00,2.42,0.00,0.000,4,0.000,0.049,3258,975,1243
$GC,19732,1.60,351.2,50.0,11.5,1750,19739,0.00,2.38,0.00,0.000,6,0.000,0.031,3258,2362,1242
$GC,20076,1.65,351.2,20.0,9.0,1811,20083,0.00,2.45,0.00,0.000,4,0.000,0.046,3258,970,1243
$GC,20191,1.69,351.2,9.8,9.4,1831,20198,0.00,2.28,0.00,0.000,6,0.000,0.029,3258,2318,1243
$STATE,20286,end climb,SURFACE_DEPTH_REACHED
$STATE,20286,begin surface coast
$FINISH,-0.2,1.021791
$STATE,20308,end surface coast,CONTROL_FINISHED_OK
$STATE,20309,begin surface
$SM_CCo,20330,97.85,0.542,0,0,417,554.62
$SM_GC,0.71,0.00,0.00,97.85,0.000,0.000,0.542,250,2109,417,-12.21,-1.16,554.62
$IRIDIUM_FIX,1245.46,12029.39,310597,111153
$TT8_MAMPS,0.02301
$HUMID,1870
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.30
$XPDR_PINGS,424
$ALTIM_BOTTOM_PING,620.5,4.3
$24V_AH,23.2,19.733
$10V_AH,10.1,9.354
$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,32.925,146.275,412.775,97.850,0.000,138.832,100.874,312.492,110.000,0.000,0.000,16.524,3932.753,12933.488,717.935,2948.803,828.738,0.000,2193.988,0.000,2914.141,0.000,32.753
$DEVICE_MAMPS,168.740,62.894,1327.677,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1245.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56578,1852
$CAP_FILE_SIZE,190153,0
$CFSIZE,260165632,249602048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,282.0,1
$GPS,060308,173438,1248.629,12026.790,29,1.7,29,-0.8