version: 66.03
glider: 122
mission: 6
dive: 102
start: 3 7 108 9 43 12
data:
$ID,122
$MISSION,6
$DIVE,102
$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,-29275.291
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,092608,1246.564,12020.043,41,0.9,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,094239,1246.411,12020.002,15,1.1,15,-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,272.4,8263,-17.4,-9.016
$D_GRID,854
$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,18,-1.42,-146.0,0.0,0.0,0,92,0.00,0.00,-71.57,0.000,2,0.000,0.000,253,2165,2589
$GC,94,-1.42,-146.0,3.2,-6.8,11,127,13.48,2.55,-12.73,0.000,4,0.170,0.054,2589,742,3276
$GC,230,-1.14,-146.0,37.3,-21.3,34,237,0.35,2.38,0.00,0.000,6,0.113,0.028,2655,2157,3277
$GC,576,-1.00,-146.0,92.2,-15.0,95,583,0.15,2.40,0.00,0.000,4,0.103,0.044,2687,3554,3277
$GC,633,-1.00,-146.0,99.7,-11.6,105,641,0.00,2.38,0.00,0.000,6,0.000,0.027,2687,2121,3277
$GC,978,-1.00,-146.0,137.5,-11.0,166,985,0.00,2.45,0.00,0.000,4,0.000,0.043,2687,3557,3278
$GC,1098,-1.04,-146.0,150.6,-11.1,187,1106,0.00,2.30,0.00,0.000,6,0.000,0.027,2687,2157,3278
$GC,1444,-1.13,-146.0,184.3,-9.0,248,1453,0.15,2.42,0.00,0.000,4,0.051,0.044,2637,755,3278
$GC,1476,-1.13,-146.0,187.9,-10.8,253,1483,0.00,2.38,0.00,0.000,6,0.000,0.028,2637,2181,3279
$GC,1821,-1.13,-146.0,221.5,-8.3,314,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2182,3278
$GC,2168,-1.17,-146.0,254.4,-9.2,372,2172,0.00,2.47,0.00,0.000,4,0.000,0.046,2637,756,3277
$GC,2207,-1.23,-146.0,257.9,-9.3,375,2212,0.00,2.40,0.00,0.000,6,0.000,0.030,2638,2189,3277
$GC,2533,-1.27,-146.0,282.6,-7.5,405,2538,0.00,2.33,0.00,0.000,4,0.000,0.046,2638,3545,3276
$GC,2619,-1.32,-146.0,289.1,-7.0,412,2623,0.00,2.28,0.00,0.000,6,0.000,0.030,2637,2178,3276
$GC,2947,-1.36,-146.0,311.7,-7.8,442,2954,0.12,0.00,0.00,0.000,6,0.056,0.000,2599,2176,3274
$GC,3273,-1.31,-146.0,342.6,-9.7,473,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2175,3272
$GC,3591,-1.27,-146.0,373.3,-9.2,503,3596,0.15,2.53,0.00,0.000,4,0.098,0.051,2632,747,3269
$GC,3635,-1.32,-146.0,377.2,-8.3,506,3642,0.00,2.45,0.00,0.000,6,0.000,0.032,2632,2190,3269
$GC,3961,-1.36,-146.0,405.1,-8.6,537,3966,0.12,2.38,0.00,0.000,4,0.057,0.048,2595,3554,3267
$GC,3993,-1.32,-146.0,408.5,-10.2,539,4001,0.12,2.28,0.00,0.000,6,0.103,0.031,2619,2200,3267
$GC,4318,-1.32,-146.0,440.8,-9.7,570,4322,0.00,2.55,0.00,0.000,4,0.000,0.052,2619,756,3265
$GC,4380,-1.36,-146.0,446.7,-9.2,575,4385,0.00,2.45,0.00,0.000,6,0.000,0.033,2619,2189,3264
$GC,4706,-1.36,-146.0,474.8,-8.7,605,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2190,3262
$GC,5023,-1.36,-146.0,502.2,-8.8,634,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2190,3260
$GC,5333,-1.36,-146.0,527.2,-7.9,649,5338,0.00,2.55,0.00,0.000,4,0.000,0.053,2619,754,3257
$GC,5361,-1.39,-146.0,529.7,-8.1,650,5368,0.00,2.45,0.00,0.000,6,0.000,0.033,2619,2188,3257
$GC,5685,-1.39,-146.0,554.2,-7.4,666,5689,0.00,2.40,0.00,0.000,4,0.000,0.054,2619,3555,3256
$GC,5740,-1.42,-146.0,558.7,-7.7,668,5748,0.12,2.33,0.00,0.000,6,0.061,0.034,2585,2183,3255
$GC,6057,-1.37,-146.0,587.2,-9.0,684,6059,0.10,0.00,0.00,0.000,6,0.120,0.000,2602,2181,3254
$GC,6365,-1.37,-146.0,614.1,-8.8,699,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2180,3252
$GC,6675,-1.37,-146.0,641.5,-8.9,714,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2180,3250
$GC,6984,-1.37,-146.0,668.5,-8.4,729,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2180,3248
$GC,7293,-1.37,-146.0,693.6,-7.8,744,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2180,3247
$GC,7604,-1.37,-146.0,718.2,-8.3,759,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2180,3246
$GC,7912,-1.37,-146.0,742.9,-8.2,774,7916,0.00,2.42,0.00,0.000,4,0.000,0.057,2602,3547,3244
$GC,7960,-1.37,-146.0,747.1,-8.6,776,7965,0.00,2.35,0.00,0.000,6,0.000,0.037,2602,2184,3244
$GC,8282,-1.37,-146.0,774.5,-8.9,792,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2184,3242
$GC,8591,-1.37,-146.0,799.6,-7.7,807,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2184,3241
$GC,8901,-1.37,-146.0,821.0,-6.9,822,8905,0.00,2.42,0.00,0.000,4,0.000,0.058,2603,3546,3240
$GC,8950,-1.37,-146.0,824.6,-7.1,824,8954,0.00,2.35,0.00,0.000,6,0.000,0.037,2603,2187,3240
$GC,9272,-1.37,-146.0,847.1,-7.5,840,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2187,3239
$STATE,9372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9377,-0.34,0.0,855.4,8.2,845,9499,1.10,0.00,118.40,1.285,6,0.096,0.000,2826,2378,2678
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9500,begin climb
$GC,9501,1.42,146.0,859.1,0.0,851,9635,1.80,2.55,123.78,1.233,4,0.059,0.062,3218,3719,2082
$GC,9679,1.16,146.0,846.1,13.6,859,9684,0.28,2.38,0.00,0.000,6,0.116,0.039,3159,2379,2081
$GC,10006,1.06,146.0,813.9,10.4,875,10008,0.12,0.00,0.00,0.000,6,0.119,0.000,3137,2378,2079
$GC,10316,0.99,146.0,782.1,10.1,890,10319,0.00,2.40,0.00,0.000,4,0.000,0.060,3138,3713,2078
$GC,10361,0.91,146.0,777.3,10.5,892,10366,0.17,2.33,0.00,0.000,6,0.124,0.039,3107,2376,2078
$GC,10687,0.92,151.4,749.2,8.7,908,10693,0.00,0.00,4.28,1.234,6,0.000,0.000,3107,2374,2059
$GC,10996,0.92,151.4,721.2,9.4,923,11000,0.00,2.55,0.00,0.000,4,0.000,0.060,3107,965,2059
$GC,11035,0.92,151.4,717.5,9.7,925,11039,0.00,2.47,0.00,0.000,6,0.000,0.041,3107,2374,2058
$GC,11361,0.93,155.4,688.6,8.8,941,11370,0.00,2.50,3.50,1.210,4,0.000,0.064,3107,3723,2044
$GC,11420,0.93,155.4,683.0,9.7,943,11428,0.00,2.33,0.00,0.000,6,0.000,0.038,3107,2400,2044
$GC,11737,0.99,173.7,656.7,8.1,959,11757,0.00,0.00,15.90,1.196,6,0.000,0.000,3107,2397,1969
$GC,12066,1.07,198.0,630.7,7.8,975,12092,0.15,2.67,20.52,1.162,4,0.067,0.060,3142,963,1870
$GC,12153,1.07,198.0,622.0,10.7,979,12157,0.00,2.50,0.00,0.000,6,0.000,0.039,3142,2385,1868
$GC,12480,1.07,198.0,587.3,10.9,995,12484,0.00,2.42,0.00,0.000,4,0.000,0.064,3142,3727,1868
$GC,12513,1.03,198.0,583.4,12.2,996,12520,0.00,2.35,0.00,0.000,6,0.000,0.038,3142,2371,1868
$GC,12830,1.03,198.0,548.0,11.2,1012,12834,0.00,2.53,0.00,0.000,4,0.000,0.058,3142,970,1868
$GC,12869,1.03,198.0,543.6,11.6,1014,12874,0.00,2.47,0.00,0.000,6,0.000,0.039,3142,2388,1867
$GC,13195,1.03,198.0,511.8,9.4,1030,13200,0.00,2.40,0.00,0.000,4,0.000,0.061,3142,3726,1867
$GC,13245,1.03,198.0,506.7,10.1,1032,13249,0.00,2.35,0.00,0.000,6,0.000,0.038,3142,2381,1867
$GC,13574,1.03,198.0,476.7,9.4,1060,13578,0.00,2.53,0.00,0.000,4,0.000,0.058,3142,972,1867
$GC,13646,1.03,198.0,469.9,9.7,1066,13650,0.00,2.45,0.00,0.000,6,0.000,0.039,3142,2378,1867
$GC,13970,1.06,214.2,442.0,8.2,1096,13985,0.00,0.00,13.05,1.052,6,0.000,0.000,3142,2378,1804
$GC,14299,1.07,219.9,413.0,8.7,1127,14311,0.00,2.58,5.30,1.047,4,0.000,0.054,3142,963,1780
$GC,14338,1.07,219.9,409.1,10.1,1130,14346,0.00,2.47,0.00,0.000,6,0.000,0.038,3142,2361,1779
$GC,14664,1.09,231.6,380.6,8.4,1161,14676,0.00,0.00,10.07,1.007,6,0.000,0.000,3142,2361,1733
$GC,14992,1.16,256.9,353.6,7.7,1192,15015,0.00,0.00,21.10,0.953,6,0.000,0.000,3142,2361,1630
$GC,15331,1.21,257.2,323.9,9.0,1224,15336,0.12,2.50,0.00,0.000,4,0.060,0.053,3179,969,1629
$GC,15396,1.21,257.2,316.6,10.8,1229,15404,0.00,2.42,0.00,0.000,6,0.000,0.038,3179,2365,1628
$GC,15722,1.21,257.2,282.6,10.4,1260,15727,0.00,2.50,0.00,0.000,4,0.000,0.054,3179,966,1628
$GC,15766,1.21,257.2,277.4,11.7,1263,15773,0.00,2.40,0.00,0.000,6,0.000,0.035,3179,2340,1628
$GC,16093,1.21,257.2,244.9,10.1,1298,16100,0.00,2.45,0.00,0.000,4,0.000,0.056,3179,3723,1629
$GC,16122,1.21,257.2,241.8,10.8,1303,16129,0.00,2.38,0.00,0.000,6,0.000,0.035,3179,2332,1628
$GC,16467,1.21,257.2,210.5,9.5,1364,16473,0.00,2.40,0.00,0.000,4,0.000,0.052,3179,973,1628
$GC,16608,1.21,257.2,196.6,9.4,1389,16615,0.00,2.30,0.00,0.000,6,0.000,0.035,3179,2309,1629
$GC,16952,1.32,291.1,169.6,7.3,1450,16982,0.00,0.00,27.38,0.779,6,0.000,0.000,3179,2309,1491
$GC,17320,1.51,334.7,142.6,6.8,1515,17363,0.20,2.55,35.10,0.731,4,0.046,0.051,3239,3723,1313
$GC,17419,1.51,334.7,133.6,9.8,1532,17426,0.00,2.35,0.00,0.000,6,0.000,0.033,3239,2347,1310
$GC,17764,1.51,334.7,103.5,9.4,1593,17770,0.00,2.42,0.00,0.000,4,0.000,0.049,3240,3726,1308
$GC,17854,1.51,334.7,94.6,10.2,1609,17861,0.00,2.30,0.00,0.000,6,0.000,0.031,3240,2364,1308
$GC,18199,1.51,337.4,64.5,8.9,1670,18205,0.00,2.45,0.00,0.000,4,0.000,0.049,3240,970,1308
$GC,18319,1.57,345.4,53.5,8.6,1691,18332,0.00,2.35,7.93,0.665,6,0.000,0.031,3240,2352,1269
$GC,18669,1.69,367.5,28.0,7.9,1753,18693,0.15,0.00,17.52,0.607,6,0.054,0.000,3286,2352,1178
$STATE,18950,end climb,SURFACE_DEPTH_REACHED
$STATE,18950,begin surface coast
$FINISH,-0.1,1.009626
$STATE,18979,end surface coast,CONTROL_FINISHED_OK
$STATE,18979,begin surface
$SM_CCo,19000,90.20,0.540,0,0,416,554.62
$SM_GC,0.68,0.00,0.00,90.20,0.000,0.000,0.540,250,2135,416,-12.21,-0.42,554.62
$IRIDIUM_FIX,1243.25,12019.52,010697,090908
$TT8_MAMPS,0.023777
$HUMID,1873
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.40
$XPDR_PINGS,411
$ALTIM_BOTTOM_PING,661.5,4.3
$24V_AH,23.3,20.443
$10V_AH,10.1,9.725
$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,32.375,146.300,423.825,90.200,0.000,123.377,101.027,394.084,107.500,0.000,0.000,15.383,3587.056,12010.482,708.274,2904.376,879.739,0.000,2164.204,0.000,2858.848,0.000,37.196
$DEVICE_MAMPS,170.274,63.661,1284.725,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56558,1808
$CAP_FILE_SIZE,185217,0
$CFSIZE,260165632,249315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,163.7,1
$GPS,070308,150238,1245.329,12017.834,41,1.3,41,-0.8