version: 66.03
glider: 122
mission: 6
dive: 99
start: 3 6 108 17 44 34
data:
$ID,122
$MISSION,6
$DIVE,99
$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,-29235.537
$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,57
$R_STBD_OVSHOOT,31
$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
$GPS1,173438,1248.629,12026.790,29,1.7,29,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-63.7
$GPS2,174402,1248.645,12026.672,15,1.5,32,-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,250.7,20943,-17.4,-9.016
$D_GRID,852
$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,19,-1.42,-146.0,0.0,0.0,0,105,0.00,0.00,-84.35,0.000,2,0.000,0.000,250,2109,2713
$GC,108,-1.42,-146.0,3.8,-8.2,12,141,13.48,2.55,-9.60,0.000,4,0.170,0.056,2591,3553,3276
$GC,339,-1.14,-146.0,63.4,-21.5,52,346,0.32,2.30,0.00,0.000,6,0.100,0.028,2654,2171,3277
$GC,683,-1.02,-146.0,121.0,-17.6,113,691,0.15,2.47,0.00,0.000,4,0.105,0.043,2685,748,3278
$GC,737,-1.05,-146.0,128.8,-13.4,122,744,0.00,2.35,0.00,0.000,6,0.000,0.028,2685,2154,3278
$GC,1081,-1.11,-146.0,164.0,-10.8,183,1089,0.00,2.40,0.00,0.000,4,0.000,0.048,2685,3552,3279
$GC,1135,-1.20,-146.0,169.3,-10.1,192,1145,0.20,2.33,0.00,0.000,6,0.044,0.027,2628,2145,3279
$GC,1482,-1.16,-146.0,207.8,-10.4,253,1490,0.12,2.42,0.00,0.000,4,0.099,0.043,2652,3552,3280
$GC,1536,-1.19,-146.0,213.0,-9.3,262,1543,0.00,2.30,0.00,0.000,6,0.000,0.028,2652,2168,3280
$GC,1879,-1.25,-146.0,242.6,-8.2,323,1887,0.00,2.38,0.00,0.000,4,0.000,0.044,2652,3551,3280
$GC,1999,-1.32,-146.0,252.6,-8.0,341,2008,0.17,2.25,0.00,0.000,6,0.048,0.028,2599,2192,3279
$GC,2323,-1.27,-146.0,286.5,-11.4,372,2327,0.15,2.50,0.00,0.000,4,0.098,0.048,2631,755,3278
$GC,2367,-1.31,-146.0,291.1,-9.0,375,2373,0.00,2.42,0.00,0.000,6,0.000,0.031,2632,2196,3278
$GC,2692,-1.31,-146.0,318.0,-8.4,406,2696,0.00,2.35,0.00,0.000,4,0.000,0.049,2632,3552,3277
$GC,2720,-1.34,-146.0,320.6,-9.0,408,2724,0.00,2.28,0.00,0.000,6,0.000,0.030,2632,2185,3277
$GC,3050,-1.34,-146.0,348.9,-8.7,439,3054,0.00,2.53,0.00,0.000,4,0.000,0.051,2632,751,3275
$GC,3090,-1.38,-146.0,352.5,-9.0,442,3095,0.12,2.45,0.00,0.000,6,0.054,0.031,2592,2197,3275
$GC,3415,-1.32,-146.0,387.6,-11.0,472,3416,0.12,0.00,0.00,0.000,6,0.104,0.000,2615,2198,3273
$GC,3735,-1.32,-146.0,416.5,-9.3,502,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,3270
$GC,4051,-1.32,-146.0,445.6,-8.9,532,4055,0.00,2.55,0.00,0.000,4,0.000,0.051,2616,756,3268
$GC,4083,-1.32,-146.0,448.6,-8.2,534,4091,0.00,2.45,0.00,0.000,6,0.000,0.033,2615,2190,3268
$GC,4411,-1.32,-146.0,473.8,-7.5,565,4415,0.00,2.38,0.00,0.000,4,0.000,0.051,2616,3551,3266
$GC,4443,-1.32,-146.0,476.6,-8.0,567,4451,0.00,2.35,0.00,0.000,6,0.000,0.032,2615,2181,3266
$GC,4768,-1.32,-146.0,503.8,-8.4,596,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2179,3264
$GC,5077,-1.32,-146.0,530.4,-9.2,611,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2179,3262
$GC,5385,-1.32,-146.0,558.5,-9.1,626,5389,0.00,2.42,0.00,0.000,4,0.000,0.053,2616,3552,3260
$GC,5417,-1.32,-146.0,561.7,-9.1,627,5426,0.00,2.35,0.00,0.000,6,0.000,0.034,2615,2182,3259
$GC,5735,-1.32,-146.0,590.2,-9.6,643,5739,0.00,2.42,0.00,0.000,4,0.000,0.053,2615,3554,3257
$GC,5767,-1.35,-146.0,593.9,-10.6,644,5775,0.00,2.33,0.00,0.000,6,0.000,0.035,2615,2188,3257
$GC,6083,-1.35,-146.0,623.2,-8.7,660,6087,0.00,2.42,0.00,0.000,4,0.000,0.054,2615,3556,3256
$GC,6131,-1.35,-146.0,627.5,-8.7,662,6136,0.00,2.33,0.00,0.000,6,0.000,0.035,2615,2210,3256
$GC,6454,-1.35,-146.0,652.0,-7.4,678,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2209,3254
$GC,6762,-1.35,-146.0,674.0,-7.2,693,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2208,3253
$GC,7072,-1.35,-146.0,695.6,-6.8,708,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2208,3251
$GC,7381,-1.35,-146.0,719.1,-7.9,723,7385,0.00,2.38,0.00,0.000,4,0.000,0.056,2615,3552,3249
$GC,7419,-1.35,-146.0,722.4,-8.9,724,7427,0.00,2.30,0.00,0.000,6,0.000,0.035,2615,2219,3249
$GC,7735,-1.35,-146.0,747.8,-8.1,740,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2220,3248
$GC,8046,-1.39,-146.0,773.8,-8.6,755,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2219,3247
$GC,8354,-1.42,-146.0,799.2,-7.7,770,8358,0.00,2.38,0.00,0.000,4,0.000,0.056,2615,3555,3246
$GC,8408,-1.46,-146.0,804.1,-8.3,772,8416,0.15,2.28,0.00,0.000,6,0.059,0.036,2578,2223,3246
$GC,8724,-1.41,-146.0,833.2,-9.2,788,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2222,3244
$STATE,8949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8949,begin apogee
$GC,8954,-0.34,0.0,853.0,8.8,799,9077,1.25,0.00,119.50,1.276,6,0.100,0.000,2829,2387,2678
$STATE,9078,end apogee,CONTROL_FINISHED_OK
$STATE,9078,begin climb
$GC,9080,1.42,146.0,855.9,0.0,805,9213,1.77,2.47,123.93,1.228,4,0.056,0.059,3215,3704,2082
$GC,9270,1.18,146.0,840.8,13.6,813,9278,0.28,2.33,0.00,0.000,6,0.118,0.038,3166,2372,2080
$GC,9586,1.07,146.0,807.3,10.1,829,9590,0.15,2.55,0.00,0.000,4,0.118,0.058,3136,970,2078
$GC,9625,1.01,146.0,803.3,9.8,831,9629,0.00,2.45,0.00,0.000,6,0.000,0.039,3136,2361,2078
$GC,9951,0.97,146.0,773.6,9.2,847,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2361,2078
$GC,10260,0.93,146.0,743.7,9.7,862,10262,0.15,0.00,0.00,0.000,6,0.118,0.000,3110,2361,2077
$GC,10569,0.94,152.7,716.7,8.7,877,10576,0.00,0.00,4.97,1.234,6,0.000,0.000,3110,2361,2055
$GC,10878,0.98,176.0,691.2,7.8,892,10900,0.00,0.00,20.08,1.203,6,0.000,0.000,3109,2361,1960
$GC,11208,1.03,188.3,664.4,8.4,908,11220,0.00,0.00,10.45,1.199,6,0.000,0.000,3109,2361,1911
$GC,11517,1.11,207.1,638.6,8.1,923,11540,0.15,2.60,16.25,1.166,4,0.067,0.058,3149,969,1832
$GC,11573,1.08,207.1,633.1,10.8,925,11578,0.00,2.50,0.00,0.000,6,0.000,0.040,3149,2379,1831
$GC,11895,1.08,207.1,600.5,10.2,941,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2380,1831
$GC,12204,1.08,207.1,568.1,10.6,956,12208,0.00,2.42,0.00,0.000,4,0.000,0.061,3149,3733,1831
$GC,12247,1.04,207.1,563.1,11.3,958,12251,0.00,2.33,0.00,0.000,6,0.000,0.038,3149,2385,1831
$GC,12574,1.04,207.1,528.9,10.4,974,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2385,1831
$GC,12884,1.04,207.1,497.0,9.9,990,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2383,1831
$GC,13202,1.04,207.1,466.0,9.8,1020,13207,0.00,2.55,0.00,0.000,4,0.000,0.057,3149,965,1830
$GC,13246,1.04,207.1,461.4,10.6,1023,13253,0.00,2.53,0.00,0.000,6,0.000,0.038,3149,2397,1829
$GC,13572,1.04,207.1,430.2,9.8,1054,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,1830
$GC,13890,1.04,207.1,400.5,9.1,1084,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,1830
$GC,14208,1.04,207.1,370.6,9.6,1114,14212,0.00,2.55,0.00,0.000,4,0.000,0.054,3149,970,1830
$GC,14303,1.04,207.1,361.0,10.3,1122,14307,0.00,2.50,0.00,0.000,6,0.000,0.038,3149,2409,1830
$GC,14627,1.07,226.5,332.9,8.0,1152,14648,0.00,0.00,15.85,0.952,6,0.000,0.000,3149,2410,1753
$GC,14966,1.07,226.5,303.3,9.0,1184,14971,0.00,2.58,0.00,0.000,4,0.000,0.052,3149,971,1752
$GC,15050,1.07,226.5,295.3,9.3,1191,15055,0.00,2.47,0.00,0.000,6,0.000,0.038,3149,2397,1752
$GC,15374,1.08,229.5,265.9,8.9,1221,15379,0.00,0.00,2.75,0.924,6,0.000,0.000,3149,2397,1742
$GC,15700,1.19,265.3,238.9,7.2,1263,15736,0.00,2.62,29.42,0.841,4,0.000,0.052,3149,969,1594
$GC,15759,1.26,265.3,234.2,9.0,1273,15767,0.15,2.50,0.00,0.000,6,0.059,0.035,3187,2396,1593
$GC,16103,1.26,265.3,200.7,9.5,1334,16110,0.00,2.35,0.00,0.000,4,0.000,0.055,3188,3722,1593
$GC,16127,1.26,265.3,198.0,11.2,1338,16133,0.00,2.28,0.00,0.000,6,0.000,0.034,3188,2388,1593
$GC,16471,1.38,314.6,172.0,6.5,1399,16518,0.00,2.60,39.17,0.761,4,0.000,0.051,3188,969,1394
$GC,16593,1.46,318.0,161.1,8.8,1420,16602,0.17,2.50,2.62,0.815,6,0.054,0.035,3232,2408,1381
$GC,16939,1.46,318.0,126.3,9.2,1481,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2409,1380
$GC,17283,1.49,337.6,98.2,8.0,1542,17307,0.00,2.65,15.68,0.700,4,0.000,0.049,3232,969,1300
$GC,17359,1.56,356.3,92.1,8.1,1555,17383,0.00,2.53,15.00,0.685,6,0.000,0.033,3232,2428,1224
$GC,17722,1.65,367.3,61.0,8.5,1619,17736,0.15,2.67,8.23,0.668,4,0.058,0.047,3277,967,1180
$GC,17832,1.65,367.3,49.2,11.2,1638,17839,0.00,2.50,0.00,0.000,6,0.000,0.032,3277,2422,1178
$GC,18176,1.65,367.9,14.2,9.0,1699,18183,0.00,2.55,0.00,0.000,4,0.000,0.045,3277,972,1178
$GC,18256,1.65,367.9,7.0,9.3,1713,18263,0.00,2.42,0.00,0.000,6,0.000,0.031,3277,2398,1178
$STATE,18306,end climb,SURFACE_DEPTH_REACHED
$STATE,18306,begin surface coast
$FINISH,0.1,1.011152
$STATE,18330,end surface coast,CONTROL_FINISHED_OK
$STATE,18330,begin surface
$SM_CCo,18351,64.62,0.551,0,0,638,500.17
$SM_GC,0.89,0.00,0.00,64.62,0.000,0.000,0.551,254,2114,638,-12.19,-1.02,500.17
$IRIDIUM_FIX,1245.46,12031.29,310597,121231
$TT8_MAMPS,0.023777
$HUMID,1887
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.20
$XPDR_PINGS,420
$ALTIM_BOTTOM_PING,751.2,4.2
$24V_AH,23.3,19.914
$10V_AH,10.1,9.445
$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,32.575,137.325,423.900,64.625,0.000,25.088,16.314,396.688,112.500,0.000,0.000,32.902,3427.930,11438.953,703.326,2758.003,655.787,0.000,2075.393,0.000,2689.840,0.000,58.836
$DEVICE_MAMPS,169.507,60.593,1275.521,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53479,1726
$CAP_FILE_SIZE,176637,0
$CFSIZE,260165632,249573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,342.3,1
$GPS,060308,225238,1248.605,12024.164,33,0.9,33,-0.8