version: 66.03
glider: 122
mission: 6
dive: 106
start: 3 8 108 6 2 6
data:
$ID,122
$MISSION,6
$DIVE,106
$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,-29357.904
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,054502,1245.746,12015.513,39,1.5,39,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.8
$GPS2,060133,1245.697,12015.358,14,1.5,14,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,75.2,50323,-17.4,-9.016
$D_GRID,823
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-79.28,0.000,2,0.000,0.000,253,2136,2565
$GC,103,-1.42,-146.0,3.2,-7.4,13,135,13.43,2.47,-13.15,0.000,4,0.169,0.053,2587,746,3275
$GC,164,-1.07,-146.0,20.8,-26.2,23,172,0.45,2.38,0.00,0.000,6,0.120,0.028,2671,2163,3276
$GC,510,-0.98,-146.0,78.6,-14.1,84,517,0.10,2.40,0.00,0.000,4,0.113,0.044,2690,3559,3277
$GC,568,-0.98,-146.0,86.3,-12.6,94,575,0.00,2.33,0.00,0.000,6,0.000,0.027,2690,2152,3277
$GC,913,-0.98,-146.0,127.0,-10.9,155,920,0.00,2.42,0.00,0.000,4,0.000,0.043,2690,746,3277
$GC,982,-1.05,-146.0,134.9,-10.9,167,990,0.00,2.38,0.00,0.000,6,0.000,0.027,2690,2171,3277
$GC,1327,-1.13,-146.0,167.9,-8.8,228,1334,0.15,2.38,0.00,0.000,4,0.049,0.044,2637,3557,3277
$GC,1396,-1.13,-146.0,176.5,-12.4,240,1403,0.00,2.33,0.00,0.000,6,0.000,0.028,2638,2148,3277
$GC,1741,-1.13,-146.0,211.9,-9.7,301,1748,0.00,2.40,0.00,0.000,4,0.000,0.043,2637,3550,3277
$GC,1812,-1.13,-146.0,218.5,-8.9,313,1819,0.00,2.33,0.00,0.000,6,0.000,0.028,2637,2144,3276
$GC,2158,-1.18,-146.0,245.6,-9.3,374,2165,0.00,2.42,0.00,0.000,4,0.000,0.046,2637,745,3276
$GC,2217,-1.24,-146.0,250.9,-8.6,384,2221,0.00,2.33,0.00,0.000,6,0.000,0.030,2637,2133,3275
$GC,2543,-1.28,-146.0,277.9,-8.4,414,2547,0.00,2.45,0.00,0.000,4,0.000,0.048,2637,3554,3274
$GC,2631,-1.31,-146.0,286.1,-9.2,421,2639,0.00,2.33,0.00,0.000,6,0.000,0.030,2637,2153,3274
$GC,2959,-1.35,-146.0,313.6,-8.6,452,2964,0.12,2.42,0.00,0.000,4,0.054,0.045,2597,3557,3272
$GC,3036,-1.30,-146.0,322.2,-11.6,458,3044,0.12,2.30,0.00,0.000,6,0.101,0.031,2620,2181,3271
$GC,3361,-1.30,-146.0,352.1,-8.7,489,3365,0.00,2.38,0.00,0.000,4,0.000,0.048,2620,3548,3269
$GC,3391,-1.30,-146.0,354.6,-8.9,491,3395,0.00,2.30,0.00,0.000,6,0.000,0.031,2620,2175,3268
$GC,3717,-1.30,-146.0,381.7,-8.2,521,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2173,3266
$GC,4034,-1.30,-146.0,408.9,-8.5,551,4038,0.00,2.40,0.00,0.000,4,0.000,0.049,2620,3553,3264
$GC,4078,-1.30,-146.0,412.9,-9.3,555,4082,0.00,2.30,0.00,0.000,6,0.000,0.032,2620,2188,3264
$GC,4410,-1.30,-146.0,441.6,-7.7,586,4414,0.00,2.55,0.00,0.000,4,0.000,0.053,2620,749,3262
$GC,4461,-1.33,-146.0,445.8,-8.2,590,4465,0.00,2.45,0.00,0.000,6,0.000,0.032,2620,2185,3261
$GC,4786,-1.33,-146.0,471.6,-8.0,620,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2186,3259
$GC,5103,-1.33,-146.0,499.0,-8.8,650,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2186,3257
$GC,5414,-1.33,-146.0,522.5,-7.0,666,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2186,3255
$GC,5723,-1.33,-146.0,545.4,-7.8,681,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2186,3253
$GC,6035,-1.33,-146.0,571.6,-8.5,696,6039,0.00,2.40,0.00,0.000,4,0.000,0.054,2620,3548,3251
$GC,6079,-1.37,-146.0,576.0,-9.3,698,6083,0.00,2.33,0.00,0.000,6,0.000,0.035,2620,2179,3250
$GC,6400,-1.37,-146.0,602.0,-7.9,714,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2178,3248
$GC,6709,-1.37,-146.0,624.5,-6.9,729,6713,0.00,2.42,0.00,0.000,4,0.000,0.054,2620,3549,3247
$GC,6752,-1.41,-146.0,627.7,-7.6,731,6757,0.00,2.33,0.00,0.000,6,0.000,0.035,2620,2184,3247
$GC,7074,-1.41,-146.0,649.4,-7.0,747,7078,0.00,2.58,0.00,0.000,4,0.000,0.057,2620,742,3246
$GC,7123,-1.46,-146.0,653.3,-7.8,749,7128,0.15,2.47,0.00,0.000,6,0.055,0.035,2577,2180,3245
$GC,7439,-1.40,-146.0,683.8,-10.6,764,7444,0.12,2.42,0.00,0.000,4,0.116,0.054,2598,3557,3243
$GC,7472,-1.40,-146.0,687.4,-10.0,765,7479,0.00,2.35,0.00,0.000,6,0.000,0.035,2599,2172,3243
$GC,7787,-1.40,-146.0,716.5,-9.4,781,7791,0.00,2.55,0.00,0.000,4,0.000,0.058,2598,744,3242
$GC,7813,-1.40,-146.0,719.2,-9.9,782,7817,0.00,2.50,0.00,0.000,6,0.000,0.037,2599,2177,3241
$GC,8134,-1.40,-146.0,749.7,-10.0,798,8138,0.00,2.45,0.00,0.000,4,0.000,0.058,2599,3559,3241
$GC,8173,-1.40,-146.0,754.0,-11.3,800,8177,0.00,2.35,0.00,0.000,6,0.000,0.036,2599,2184,3241
$GC,8499,-1.40,-146.0,784.2,-8.4,816,8504,0.00,2.58,0.00,0.000,4,0.000,0.059,2598,747,3239
$GC,8539,-1.40,-146.0,787.7,-8.7,818,8543,0.00,2.50,0.00,0.000,6,0.000,0.038,2598,2193,3239
$GC,8865,-1.40,-146.0,816.7,-8.9,834,8869,0.00,2.42,0.00,0.000,4,0.000,0.058,2599,3559,3239
$GC,8903,-1.40,-146.0,820.4,-9.8,836,8907,0.00,2.35,0.00,0.000,6,0.000,0.036,2599,2186,3238
$STATE,8940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8940,begin apogee
$GC,8945,-0.34,0.0,823.6,9.0,838,9066,1.12,0.00,117.18,1.251,6,0.098,0.000,2825,2390,2678
$STATE,9067,end apogee,CONTROL_FINISHED_OK
$STATE,9067,begin climb
$GC,9068,1.42,146.0,828.2,0.0,844,9200,1.80,2.50,122.88,1.206,4,0.060,0.059,3218,3711,2082
$GC,9272,1.18,146.0,812.8,13.4,853,9277,0.30,2.35,0.00,0.000,6,0.118,0.038,3164,2380,2081
$GC,9599,1.08,146.0,779.4,10.3,869,9604,0.12,2.40,0.00,0.000,4,0.124,0.057,3143,3711,2079
$GC,9639,0.98,146.0,775.5,10.2,871,9644,0.12,2.33,0.00,0.000,6,0.127,0.038,3122,2373,2079
$GC,9966,1.02,168.1,748.3,7.9,887,9991,0.00,2.67,18.10,1.216,4,0.000,0.059,3122,963,1991
$GC,10013,1.02,168.1,744.2,9.5,889,10017,0.00,2.50,0.00,0.000,6,0.000,0.039,3123,2358,1991
$GC,10342,1.02,168.1,713.3,9.1,905,10346,0.00,2.47,0.00,0.000,4,0.000,0.062,3122,3732,1991
$GC,10396,1.02,168.1,707.4,10.6,907,10403,0.00,2.38,0.00,0.000,6,0.000,0.038,3122,2381,1991
$GC,10712,1.02,168.1,677.0,9.4,923,10716,0.00,2.55,0.00,0.000,4,0.000,0.058,3122,968,1990
$GC,10755,1.02,168.1,672.5,10.6,925,10759,0.00,2.45,0.00,0.000,6,0.000,0.040,3122,2366,1989
$GC,11082,1.02,168.1,640.3,9.6,941,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2366,1989
$GC,11391,1.02,168.1,609.1,10.3,956,11395,0.00,2.53,0.00,0.000,4,0.000,0.058,3122,966,1989
$GC,11434,1.02,168.1,604.2,11.3,958,11438,0.00,2.42,0.00,0.000,6,0.000,0.039,3122,2358,1988
$GC,11761,1.02,168.1,573.1,9.2,974,11765,0.00,2.45,0.00,0.000,4,0.000,0.062,3122,3726,1987
$GC,11804,1.02,168.1,568.4,10.8,976,11808,0.00,2.38,0.00,0.000,6,0.000,0.038,3122,2361,1987
$GC,12132,1.02,171.6,537.3,8.8,992,12141,0.00,2.50,2.55,1.107,4,0.000,0.058,3122,3724,1978
$GC,12176,1.03,172.7,533.2,9.0,994,12180,0.00,2.33,0.00,0.000,6,0.000,0.037,3122,2376,1978
$GC,12502,1.08,206.9,507.0,7.3,1010,12533,0.00,0.00,29.45,1.068,6,0.000,0.000,3122,2376,1834
$GC,12839,1.15,222.0,480.1,8.2,1037,12858,0.15,0.00,12.48,1.068,6,0.068,0.000,3157,2375,1772
$GC,13175,1.15,222.0,446.4,9.9,1069,13179,0.00,2.42,0.00,0.000,4,0.000,0.058,3157,3725,1771
$GC,13203,1.12,222.0,443.5,10.3,1071,13208,0.00,2.30,0.00,0.000,6,0.000,0.036,3157,2391,1771
$GC,13528,1.12,222.0,412.4,9.7,1101,13533,0.00,2.55,0.00,0.000,4,0.000,0.056,3157,970,1771
$GC,13560,1.12,222.0,409.0,10.3,1103,13568,0.00,2.53,0.00,0.000,6,0.000,0.038,3157,2402,1771
$GC,13886,1.12,222.0,375.6,10.7,1134,13891,0.00,2.58,0.00,0.000,4,0.000,0.054,3157,966,1771
$GC,13930,1.12,222.0,370.5,11.3,1137,13937,0.00,2.47,0.00,0.000,6,0.000,0.038,3157,2388,1771
$GC,14255,1.12,222.0,338.1,10.0,1168,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2388,1771
$GC,14573,1.12,222.0,303.6,10.7,1198,14578,0.00,2.55,0.00,0.000,4,0.000,0.054,3157,965,1771
$GC,14646,1.12,222.0,295.7,10.4,1204,14650,0.00,2.45,0.00,0.000,6,0.000,0.037,3157,2375,1771
$GC,14971,1.14,229.6,266.3,8.6,1234,14981,0.00,0.00,6.70,0.930,6,0.000,0.000,3157,2375,1741
$GC,15307,1.14,229.6,235.0,9.6,1279,15314,0.00,2.50,0.00,0.000,4,0.000,0.053,3157,967,1741
$GC,15354,1.14,229.6,230.6,9.7,1287,15361,0.00,2.38,0.00,0.000,6,0.000,0.037,3157,2338,1741
$GC,15699,1.24,262.8,204.4,7.3,1348,15734,0.00,2.55,27.10,0.820,4,0.000,0.053,3157,972,1605
$GC,15763,1.31,272.2,199.4,8.5,1359,15777,0.15,2.40,7.70,0.837,6,0.058,0.036,3199,2343,1567
$GC,16116,1.36,298.3,168.9,7.7,1421,16146,0.00,2.55,20.70,0.781,4,0.000,0.054,3198,3725,1462
$GC,16203,1.43,321.5,161.7,7.8,1436,16228,0.00,2.33,18.90,0.764,6,0.000,0.034,3198,2368,1367
$GC,16566,1.56,343.0,130.8,7.9,1500,16591,0.17,2.53,17.30,0.736,4,0.051,0.051,3251,973,1277
$GC,16659,1.62,377.3,122.8,7.3,1516,16695,0.00,2.40,27.38,0.706,6,0.000,0.033,3251,2361,1138
$GC,17033,1.62,377.3,86.7,9.7,1582,17040,0.00,2.47,0.00,0.000,4,0.000,0.048,3251,966,1135
$GC,17135,1.62,377.3,75.6,10.0,1600,17142,0.00,2.28,0.00,0.000,6,0.000,0.032,3251,2296,1133
$GC,17479,1.70,382.2,44.0,8.8,1661,17487,0.10,0.00,2.97,0.667,6,0.064,0.000,3280,2296,1119
$GC,17824,1.70,382.2,11.6,10.2,1722,17830,0.00,2.47,0.00,0.000,4,0.000,0.046,3280,3723,1119
$STATE,17924,end climb,SURFACE_DEPTH_REACHED
$STATE,17924,begin surface coast
$FINISH,0.7,1.021735
$STATE,17936,end surface coast,CONTROL_FINISHED_OK
$STATE,17937,begin surface
$SM_CCo,17960,82.53,0.540,0,0,416,554.62
$SM_GC,0.62,0.00,0.00,82.53,0.000,0.000,0.540,251,2141,416,-12.21,-0.25,554.62
$IRIDIUM_FIX,1238.83,12015.39,020697,060657
$TT8_MAMPS,0.023777
$HUMID,1932
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.10
$XPDR_PINGS,393
$ALTIM_BOTTOM_PING,720.3,4.3
$24V_AH,23.3,21.129
$10V_AH,10.1,10.095
$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,32.150,180.375,431.375,82.525,0.000,131.965,226.877,274.799,104.750,0.000,0.000,14.613,3491.333,11098.528,723.016,2850.839,880.541,0.000,2170.796,0.000,2800.026,0.000,50.887
$DEVICE_MAMPS,168.740,62.127,1250.977,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53422,1742
$CAP_FILE_SIZE,182832,0
$CFSIZE,260165632,249004032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,142.3,1
$GPS,080308,110407,1246.020,12017.880,38,1.1,43,-0.8