version: 66.03
glider: 122
mission: 6
dive: 101
start: 3 7 108 4 44 35
data:
$ID,122
$MISSION,6
$DIVE,101
$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,-29259.279
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,043632,1246.619,12022.147,42,1.2,42,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.7
$GPS2,044403,1246.598,12022.109,13,1.2,13,-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,274.3,12075,-17.4,-9.016
$D_GRID,772
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,94,0.00,0.00,-73.00,0.000,2,0.000,0.000,250,2148,2625
$GC,97,-1.42,-146.0,3.8,-7.7,10,129,13.52,2.50,-11.55,0.000,4,0.170,0.054,2591,747,3277
$GC,243,-1.15,-146.0,39.9,-22.5,35,250,0.30,2.38,0.00,0.000,6,0.107,0.028,2648,2155,3278
$GC,588,-1.00,-146.0,103.0,-16.7,96,595,0.15,2.45,0.00,0.000,4,0.103,0.042,2681,745,3279
$GC,613,-0.91,-146.0,106.8,-15.1,100,621,0.12,2.33,0.00,0.000,6,0.098,0.028,2706,2134,3280
$GC,959,-0.97,-146.0,142.7,-9.9,161,965,0.00,2.42,0.00,0.000,4,0.000,0.046,2706,3548,3280
$GC,1078,-1.07,-146.0,154.7,-9.8,182,1087,0.15,2.33,0.00,0.000,6,0.045,0.028,2656,2147,3280
$GC,1425,-1.07,-146.0,188.5,-9.5,243,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2147,3280
$GC,1771,-1.13,-146.0,218.3,-8.4,304,1778,0.00,2.40,0.00,0.000,4,0.000,0.044,2657,3555,3281
$GC,1812,-1.19,-146.0,222.1,-9.4,311,1820,0.00,2.33,0.00,0.000,6,0.000,0.028,2657,2152,3281
$GC,2162,-1.27,-146.0,253.9,-9.2,369,2167,0.12,2.40,0.00,0.000,4,0.054,0.042,2616,3549,3281
$GC,2250,-1.27,-146.0,263.6,-10.9,376,2257,0.00,2.30,0.00,0.000,6,0.000,0.029,2616,2182,3282
$GC,2576,-1.27,-146.0,292.1,-8.2,407,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2181,3280
$GC,2894,-1.27,-146.0,321.6,-8.9,437,2898,0.00,2.50,0.00,0.000,4,0.000,0.050,2616,755,3279
$GC,2925,-1.27,-146.0,324.6,-8.3,439,2933,0.00,2.40,0.00,0.000,6,0.000,0.031,2616,2176,3279
$GC,3252,-1.27,-146.0,352.0,-8.9,470,3256,0.00,2.50,0.00,0.000,4,0.000,0.050,2616,753,3278
$GC,3290,-1.27,-146.0,355.5,-8.4,473,3295,0.00,2.38,0.00,0.000,6,0.000,0.031,2616,2159,3278
$GC,3616,-1.27,-146.0,383.9,-8.6,503,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2161,3275
$GC,3933,-1.27,-146.0,410.0,-7.6,533,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2163,3273
$GC,4252,-1.27,-146.0,436.1,-8.5,563,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2163,3271
$GC,4570,-1.27,-146.0,465.3,-8.8,593,4575,0.00,2.42,0.00,0.000,4,0.000,0.051,2616,3549,3269
$GC,4621,-1.27,-146.0,469.9,-9.1,597,4625,0.00,2.38,0.00,0.000,6,0.000,0.033,2616,2145,3268
$GC,4946,-1.27,-146.0,499.1,-9.0,627,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2143,3267
$GC,5255,-1.27,-146.0,527.6,-8.5,643,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2143,3265
$GC,5564,-1.27,-146.0,554.8,-8.8,658,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2143,3263
$GC,5873,-1.27,-146.0,583.4,-9.3,673,5877,0.00,2.47,0.00,0.000,4,0.000,0.053,2616,3547,3261
$GC,5949,-1.31,-146.0,590.2,-9.2,676,5953,0.00,2.38,0.00,0.000,6,0.000,0.035,2616,2153,3261
$GC,6266,-1.31,-146.0,617.4,-8.1,691,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2153,3259
$GC,6574,-1.31,-146.0,641.5,-7.9,706,6578,0.00,2.47,0.00,0.000,4,0.000,0.054,2616,3552,3257
$GC,6606,-1.34,-146.0,644.4,-9.0,707,6613,0.00,2.38,0.00,0.000,6,0.000,0.035,2616,2159,3257
$GC,6922,-1.34,-146.0,668.5,-8.0,723,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2158,3256
$GC,7231,-1.34,-146.0,694.2,-8.9,738,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2158,3255
$GC,7540,-1.34,-146.0,718.5,-7.4,753,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2159,3253
$GC,7849,-1.34,-146.0,740.8,-6.5,768,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2158,3251
$GC,8159,-1.37,-146.0,761.2,-6.5,783,8163,0.00,2.47,0.00,0.000,4,0.000,0.056,2616,3549,3250
$GC,8225,-1.41,-146.0,765.9,-7.2,786,8229,0.00,2.38,0.00,0.000,6,0.000,0.038,2616,2160,3250
$STATE,8316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8316,begin apogee
$GC,8321,-0.34,0.0,772.0,6.5,791,8444,1.05,0.00,119.15,1.213,6,0.090,0.000,2831,2377,2678
$STATE,8445,end apogee,CONTROL_FINISHED_OK
$STATE,8445,begin climb
$GC,8446,1.42,146.0,773.7,0.0,797,8578,1.75,2.53,122.18,1.164,4,0.057,0.058,3215,3713,2082
$GC,8661,1.19,146.0,751.5,15.5,806,8669,0.28,2.33,0.00,0.000,6,0.115,0.038,3166,2375,2081
$GC,8977,1.09,146.0,712.8,11.7,822,8979,0.12,0.00,0.00,0.000,6,0.120,0.000,3145,2375,2080
$GC,9287,1.03,146.0,680.9,10.1,837,9291,0.00,2.55,0.00,0.000,4,0.000,0.059,3145,966,2079
$GC,9326,0.96,146.0,676.7,11.2,839,9331,0.17,2.45,0.00,0.000,6,0.117,0.038,3114,2363,2078
$GC,9652,1.01,175.4,650.2,7.5,855,9678,0.00,0.00,24.02,1.151,6,0.000,0.000,3114,2363,1963
$GC,9982,1.08,202.2,624.3,7.6,871,10012,0.12,2.65,22.42,1.130,4,0.072,0.058,3142,973,1852
$GC,10091,1.08,202.2,613.5,9.8,876,10095,0.00,2.42,0.00,0.000,6,0.000,0.038,3142,2356,1851
$GC,10418,1.08,202.2,579.6,11.2,892,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2356,1850
$GC,10725,1.08,202.2,547.7,10.8,907,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2356,1850
$GC,11035,1.08,202.2,517.4,9.6,922,11039,0.00,2.50,0.00,0.000,4,0.000,0.056,3142,969,1849
$GC,11089,1.08,202.2,511.7,10.0,924,11096,0.00,2.42,0.00,0.000,6,0.000,0.038,3142,2363,1849
$GC,11410,1.08,202.2,481.4,9.4,949,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2363,1849
$GC,11730,1.08,202.2,450.9,9.8,979,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2362,1849
$GC,12047,1.08,202.2,419.3,9.3,1009,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2363,1849
$GC,12367,1.08,202.2,388.7,9.2,1039,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2363,1849
$GC,12686,1.09,208.9,360.0,8.7,1069,12699,0.00,2.53,5.25,1.004,4,0.000,0.054,3142,966,1825
$GC,12782,1.11,215.9,350.9,8.7,1077,12793,0.00,2.40,5.82,0.992,6,0.000,0.037,3142,2338,1798
$GC,13118,1.11,215.9,320.2,9.2,1109,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2338,1798
$GC,13440,1.17,237.4,291.5,7.9,1139,13460,0.00,0.00,18.15,0.910,6,0.000,0.000,3142,2338,1710
$GC,13776,1.26,259.9,264.9,7.9,1171,13800,0.17,2.55,18.40,0.882,4,0.062,0.053,3185,969,1617
$GC,13833,1.26,259.9,259.2,11.0,1176,13840,0.00,2.40,0.00,0.000,6,0.000,0.036,3185,2344,1616
$GC,14172,1.26,259.9,223.5,9.6,1229,14178,0.00,2.45,0.00,0.000,4,0.000,0.055,3185,3727,1616
$GC,14206,1.26,259.9,219.7,10.6,1235,14213,0.00,2.38,0.00,0.000,6,0.000,0.035,3185,2339,1616
$GC,14551,1.28,270.1,188.6,8.5,1296,14565,0.00,2.53,8.20,0.842,4,0.000,0.052,3186,966,1576
$GC,14610,1.28,270.1,183.2,9.7,1306,14616,0.00,2.45,0.00,0.000,6,0.000,0.036,3185,2375,1576
$GC,14954,1.35,280.6,154.3,8.5,1367,14968,0.00,2.60,8.38,0.802,4,0.000,0.051,3185,963,1534
$GC,15106,1.46,305.0,141.5,7.8,1393,15131,0.17,2.38,19.83,0.751,6,0.055,0.034,3228,2343,1434
$GC,15470,1.49,322.6,111.9,8.1,1457,15489,0.00,2.55,13.77,0.724,4,0.000,0.049,3228,963,1361
$GC,15530,1.54,329.0,106.7,8.7,1467,15542,0.00,2.35,5.18,0.739,6,0.000,0.033,3229,2328,1336
$GC,15881,1.60,336.7,75.9,8.6,1529,15894,0.12,0.00,6.10,0.700,6,0.062,0.000,3263,2328,1303
$GC,16231,1.61,344.2,43.4,8.6,1591,16244,0.00,2.45,6.03,0.666,4,0.000,0.048,3263,3722,1274
$GC,16322,1.61,344.2,34.7,9.7,1607,16329,0.00,2.40,0.00,0.000,6,0.000,0.030,3263,2297,1273
$GC,16666,1.69,368.0,6.3,7.8,1668,16691,0.00,2.42,18.58,0.588,4,0.000,0.046,3263,963,1176
$STATE,16718,end climb,SURFACE_DEPTH_REACHED
$STATE,16718,begin surface coast
$FINISH,0.9,1.021754
$STATE,16730,end surface coast,CONTROL_FINISHED_OK
$STATE,16730,begin surface
$SM_CCo,16754,63.85,0.544,0,0,638,500.17
$SM_GC,0.72,0.00,0.00,63.85,0.000,0.000,0.544,253,2165,638,-12.20,0.42,500.17
$IRIDIUM_FIX,1243.25,12021.43,010697,040404
$TT8_MAMPS,0.023777
$HUMID,1875
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.30
$XPDR_PINGS,413
$ALTIM_BOTTOM_PING,660.3,11.9
$24V_AH,23.3,20.252
$10V_AH,10.2,9.626
$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,31.825,112.075,421.450,63.850,0.000,54.761,52.046,161.239,108.500,0.000,0.000,13.488,3275.702,10199.557,650.918,2653.299,492.858,0.000,1963.632,0.000,2612.640,0.000,42.526
$DEVICE_MAMPS,170.274,59.059,1212.627,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1126.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50317,1679
$CAP_FILE_SIZE,158756,0
$CFSIZE,260165632,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,143.3,1
$GPS,070308,092608,1246.564,12020.043,41,0.9,41,-0.8