version: 66.03
glider: 122
mission: 6
dive: 107
start: 3 8 108 11 23 52
data:
$ID,122
$MISSION,6
$DIVE,107
$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,-29374.145
$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,30
$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
$GPS1,110407,1246.020,12017.880,38,1.1,43,-0.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-68.6
$GPS2,112320,1245.915,12017.631,10,2.0,15,-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,70.9,46218,-17.4,-9.016
$D_GRID,863
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-80.00,0.000,2,0.000,0.000,250,2141,2586
$GC,104,-1.42,-146.0,3.2,-6.6,12,136,13.52,2.47,-12.60,0.000,4,0.171,0.051,2590,747,3277
$GC,154,-0.83,-146.0,18.0,-25.8,20,162,0.70,2.38,0.00,0.000,6,0.117,0.027,2723,2164,3277
$GC,499,-0.83,-146.0,66.2,-11.0,81,506,0.00,2.38,0.00,0.000,4,0.000,0.044,2723,3548,3278
$GC,523,-0.86,-146.0,69.1,-11.9,85,531,0.00,2.35,0.00,0.000,6,0.000,0.027,2723,2130,3278
$GC,869,-0.92,-146.0,105.5,-10.6,146,877,0.00,2.38,0.00,0.000,4,0.000,0.043,2723,752,3278
$GC,906,-1.02,-146.0,109.2,-10.4,152,915,0.17,2.25,0.00,0.000,6,0.044,0.026,2666,2109,3278
$GC,1253,-1.02,-146.0,154.7,-11.1,213,1259,0.00,2.45,0.00,0.000,4,0.000,0.043,2667,3545,3279
$GC,1345,-1.06,-146.0,164.5,-10.1,229,1352,0.00,2.35,0.00,0.000,6,0.000,0.027,2666,2121,3279
$GC,1690,-1.12,-146.0,195.9,-9.7,290,1698,0.00,2.45,0.00,0.000,4,0.000,0.042,2667,3553,3279
$GC,1733,-1.21,-146.0,199.5,-8.7,297,1743,0.12,2.33,0.00,0.000,6,0.054,0.028,2622,2144,3278
$GC,2080,-1.21,-146.0,233.4,-9.6,358,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2145,3278
$GC,2415,-1.21,-146.0,265.2,-9.0,404,2419,0.00,2.42,0.00,0.000,4,0.000,0.044,2622,3554,3277
$GC,2499,-1.21,-146.0,272.7,-8.6,411,2503,0.00,2.33,0.00,0.000,6,0.000,0.029,2622,2153,3277
$GC,2826,-1.21,-146.0,301.9,-9.0,441,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2153,3275
$GC,3142,-1.21,-146.0,331.1,-10.4,471,3146,0.00,2.40,0.00,0.000,4,0.000,0.046,2622,3553,3273
$GC,3184,-1.21,-146.0,335.8,-10.8,474,3193,0.00,2.35,0.00,0.000,6,0.000,0.031,2622,2168,3272
$GC,3511,-1.21,-146.0,365.8,-9.1,505,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2165,3270
$GC,3830,-1.21,-146.0,393.5,-8.1,535,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2165,3267
$GC,4147,-1.21,-146.0,420.3,-7.9,565,4151,0.00,2.42,0.00,0.000,4,0.000,0.049,2622,3552,3266
$GC,4176,-1.21,-146.0,422.8,-8.8,567,4180,0.00,2.38,0.00,0.000,6,0.000,0.032,2622,2149,3266
$GC,4501,-1.21,-146.0,448.2,-7.9,597,4505,0.00,2.45,0.00,0.000,4,0.000,0.050,2622,3544,3263
$GC,4540,-1.21,-146.0,451.7,-8.6,600,4544,0.00,2.33,0.00,0.000,6,0.000,0.033,2622,2172,3263
$GC,4866,-1.21,-146.0,478.3,-8.2,630,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2170,3261
$GC,5192,-1.21,-146.0,506.7,-9.5,658,5196,0.00,2.42,0.00,0.000,4,0.000,0.051,2621,3548,3257
$GC,5224,-1.24,-146.0,509.8,-9.2,659,5233,0.00,2.33,0.00,0.000,6,0.000,0.033,2622,2178,3258
$GC,5540,-1.24,-146.0,536.3,-7.8,675,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2176,3255
$GC,5852,-1.24,-146.0,560.1,-7.9,690,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2176,3254
$GC,6159,-1.28,-146.0,583.0,-7.4,705,6163,0.00,2.42,0.00,0.000,4,0.000,0.053,2622,3546,3252
$GC,6197,-1.31,-146.0,586.0,-8.1,706,6205,0.00,2.30,0.00,0.000,6,0.000,0.035,2622,2195,3252
$GC,6513,-1.35,-146.0,609.9,-7.9,722,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2193,3250
$GC,6823,-1.38,-146.0,635.6,-8.4,737,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2193,3247
$GC,7133,-1.42,-146.0,661.3,-8.4,752,7135,0.12,0.00,0.00,0.000,6,0.060,0.000,2587,2193,3247
$GC,7441,-1.37,-146.0,688.9,-8.8,767,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2193,3245
$GC,7751,-1.34,-146.0,718.3,-9.0,782,7755,0.12,2.40,0.00,0.000,4,0.114,0.055,2609,3545,3244
$GC,7812,-1.34,-146.0,723.3,-8.0,785,7816,0.00,2.28,0.00,0.000,6,0.000,0.036,2610,2207,3243
$GC,8144,-1.34,-146.0,746.6,-7.0,801,8148,0.00,2.60,0.00,0.000,4,0.000,0.058,2610,750,3242
$GC,8176,-1.34,-146.0,749.1,-7.2,802,8183,0.00,2.50,0.00,0.000,6,0.000,0.036,2610,2198,3242
$GC,8493,-1.34,-146.0,772.5,-8.0,818,8497,0.00,2.40,0.00,0.000,4,0.000,0.058,2610,3554,3241
$GC,8533,-1.34,-146.0,775.8,-8.6,820,8538,0.00,2.30,0.00,0.000,6,0.000,0.036,2610,2207,3240
$GC,8860,-1.34,-146.0,799.8,-7.9,836,8864,0.00,2.62,0.00,0.000,4,0.000,0.060,2610,744,3239
$GC,8908,-1.34,-146.0,803.9,-8.4,838,8912,0.00,2.55,0.00,0.000,6,0.000,0.038,2610,2215,3239
$GC,9230,-1.34,-146.0,830.2,-8.5,854,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2215,3239
$GC,9539,-1.34,-146.0,854.5,-7.7,869,9543,0.00,2.38,0.00,0.000,4,0.000,0.059,2610,3554,3237
$GC,9610,-1.34,-146.0,860.3,-8.4,872,9614,0.00,2.28,0.00,0.000,6,0.000,0.037,2609,2220,3237
$STATE,9661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9661,begin apogee
$GC,9666,-0.34,0.0,864.2,7.6,875,9788,1.08,0.00,118.00,1.290,6,0.097,0.000,2827,2393,2678
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9790,1.42,146.0,867.0,0.0,881,9923,1.80,2.50,123.93,1.242,4,0.060,0.060,3218,3711,2082
$GC,10006,1.17,146.0,846.8,14.4,890,10014,0.32,2.33,0.00,0.000,6,0.119,0.039,3161,2381,2080
$GC,10322,1.07,146.0,813.3,10.4,906,10327,0.12,2.42,0.00,0.000,4,0.123,0.059,3139,3717,2079
$GC,10388,0.99,146.0,805.9,11.7,909,10392,0.00,2.33,0.00,0.000,6,0.000,0.040,3139,2384,2078
$GC,10715,0.93,146.0,775.0,9.5,925,10720,0.15,2.58,0.00,0.000,4,0.123,0.060,3110,969,2077
$GC,10777,0.95,156.5,769.5,8.5,928,10791,0.00,2.45,8.43,1.260,6,0.000,0.040,3110,2368,2040
$GC,11107,0.96,164.6,740.8,8.6,944,11116,0.00,0.00,6.90,1.256,6,0.000,0.000,3109,2368,2007
$GC,11416,1.00,185.9,714.8,7.9,959,11441,0.00,2.55,18.33,1.223,4,0.000,0.063,3109,3722,1920
$GC,11482,1.01,192.6,709.2,8.7,962,11493,0.00,2.38,6.28,1.214,6,0.000,0.038,3109,2364,1892
$GC,11809,1.08,213.1,683.4,8.0,978,11830,0.15,0.00,17.35,1.201,6,0.067,0.000,3144,2364,1809
$GC,12137,1.08,213.1,647.9,10.6,994,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2362,1807
$GC,12447,1.08,213.1,616.6,10.8,1009,12451,0.00,2.47,0.00,0.000,4,0.000,0.061,3144,3730,1807
$GC,12472,1.08,213.1,613.5,11.5,1010,12477,0.00,2.35,0.00,0.000,6,0.000,0.038,3144,2391,1807
$GC,12794,1.08,213.1,580.3,9.7,1026,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2390,1807
$GC,13104,1.08,213.1,550.6,9.6,1041,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2388,1806
$GC,13413,1.08,213.1,520.9,9.6,1056,13417,0.00,2.58,0.00,0.000,4,0.000,0.060,3145,968,1806
$GC,13455,1.08,213.1,516.6,9.8,1058,13460,0.00,2.47,0.00,0.000,6,0.000,0.039,3144,2364,1806
$GC,13777,1.10,221.0,485.0,8.6,1081,13788,0.00,0.00,6.53,1.106,6,0.000,0.000,3144,2365,1776
$GC,14106,1.10,221.0,455.8,9.0,1112,14110,0.00,2.42,0.00,0.000,4,0.000,0.060,3144,3724,1776
$GC,14143,1.10,221.0,452.0,10.0,1115,14150,0.00,2.35,0.00,0.000,6,0.000,0.038,3144,2378,1776
$GC,14469,1.10,221.0,422.1,9.3,1146,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2378,1776
$GC,14788,1.10,221.0,393.7,9.1,1176,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2377,1776
$GC,15106,1.10,221.0,362.6,9.8,1206,15107,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2377,1776
$GC,15425,1.10,221.0,333.6,9.1,1236,15429,0.00,2.53,0.00,0.000,4,0.000,0.056,3144,963,1776
$GC,15468,1.10,221.0,329.3,9.9,1239,15476,0.00,2.50,0.00,0.000,6,0.000,0.037,3144,2394,1776
$GC,15795,1.13,221.5,299.7,9.0,1270,15800,0.00,2.35,0.00,0.000,4,0.000,0.057,3144,3722,1776
$GC,15850,1.13,221.5,293.9,10.2,1274,15857,0.00,2.30,0.00,0.000,6,0.000,0.035,3145,2389,1777
$GC,16177,1.17,222.2,264.9,9.0,1305,16181,0.00,2.53,0.00,0.000,4,0.000,0.054,3144,966,1777
$GC,16249,1.22,222.2,257.8,10.3,1311,16256,0.12,2.45,0.00,0.000,6,0.061,0.037,3181,2390,1777
$GC,16587,1.22,222.3,226.0,9.0,1365,16593,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2390,1777
$GC,16931,1.22,225.7,195.1,8.8,1426,16938,0.00,0.00,4.55,0.866,6,0.000,0.000,3181,2391,1757
$GC,17276,1.32,261.4,165.9,7.2,1487,17311,0.00,0.00,29.02,0.779,6,0.000,0.000,3181,2391,1611
$GC,17649,1.54,344.5,144.5,4.8,1553,17718,0.22,0.00,66.00,0.719,6,0.053,0.000,3242,2391,1273
$GC,18055,1.54,344.5,106.7,9.1,1625,18062,0.00,2.53,0.00,0.000,4,0.000,0.050,3242,970,1266
$GC,18185,1.54,344.5,94.3,9.2,1648,18192,0.00,2.42,0.00,0.000,6,0.000,0.034,3242,2381,1265
$GC,18529,1.57,344.5,63.7,9.6,1709,18536,0.00,2.53,0.00,0.000,4,0.000,0.048,3242,960,1265
$GC,18638,1.64,344.5,53.1,9.7,1728,18644,0.00,2.40,0.00,0.000,6,0.000,0.031,3242,2367,1265
$GC,18982,1.77,374.9,26.5,7.5,1789,19013,0.17,2.40,23.23,0.601,4,0.049,0.048,3296,3722,1148
$GC,19220,1.77,376.2,3.5,9.0,1831,19227,0.00,2.22,0.00,0.000,6,0.000,0.028,3296,2391,1147
$STATE,19236,end climb,SURFACE_DEPTH_REACHED
$STATE,19237,begin surface coast
$FINISH,-0.0,1.021866
$STATE,19260,end surface coast,CONTROL_FINISHED_OK
$STATE,19261,begin surface
$SM_CCo,19282,85.38,0.534,0,0,417,554.62
$SM_GC,0.69,0.00,0.00,85.38,0.000,0.000,0.534,254,2128,417,-12.19,-0.62,554.62
$IRIDIUM_FIX,1241.04,12018.41,020697,111133
$TT8_MAMPS,0.023777
$HUMID,1885
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.50
$XPDR_PINGS,414
$ALTIM_BOTTOM_PING,650.9,4.3
$24V_AH,23.3,21.328
$10V_AH,10.1,10.196
$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,32.550,140.650,428.525,85.375,0.000,127.304,211.152,436.157,108.250,0.000,0.000,15.612,3632.303,12195.673,711.166,2952.794,1033.573,0.000,2189.548,0.000,2909.818,0.000,37.889
$DEVICE_MAMPS,171.041,62.894,1290.094,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56664,1838
$CAP_FILE_SIZE,186065,0
$CFSIZE,260165632,248913920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,170.2,1
$GPS,080308,164755,1245.524,12020.182,40,1.4,40,-0.8