version: 66.03
glider: 122
mission: 6
dive: 108
start: 3 8 108 17 5 17
data:
$ID,122
$MISSION,6
$DIVE,108
$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,-29385.391
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,164755,1245.524,12020.182,40,1.4,40,-0.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-69.7
$GPS2,170445,1245.484,12019.805,10,1.6,10,-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,49.7,42547,-17.4,-9.016
$D_GRID,795
$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,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,103,0.00,0.00,-81.80,0.000,2,0.000,0.000,254,2127,2644
$GC,105,-1.42,-146.0,3.5,-7.6,12,138,13.43,2.47,-11.15,0.000,4,0.169,0.051,2588,3564,3274
$GC,156,-0.79,-146.0,20.1,-29.5,20,164,0.73,2.33,0.00,0.000,6,0.113,0.028,2727,2168,3275
$GC,502,-0.83,-146.0,64.4,-11.6,81,509,0.00,2.40,0.00,0.000,4,0.000,0.043,2727,3562,3276
$GC,627,-0.91,-146.0,77.8,-10.6,103,635,0.00,2.33,0.00,0.000,6,0.000,0.027,2727,2159,3276
$GC,972,-0.99,-146.0,112.0,-10.5,164,981,0.15,2.45,0.00,0.000,4,0.050,0.043,2673,744,3276
$GC,1009,-0.99,-146.0,116.4,-12.5,170,1017,0.00,2.40,0.00,0.000,6,0.000,0.028,2673,2178,3276
$GC,1353,-0.99,-146.0,158.2,-9.6,231,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2179,3276
$GC,1697,-1.07,-146.0,186.1,-6.7,292,1704,0.00,2.38,0.00,0.000,4,0.000,0.048,2673,3557,3276
$GC,1761,-1.15,-146.0,191.5,-8.1,303,1767,0.00,2.33,0.00,0.000,6,0.000,0.028,2673,2150,3276
$GC,2105,-1.25,-146.0,218.7,-8.0,364,2112,0.15,2.40,0.00,0.000,4,0.047,0.043,2616,3549,3276
$GC,2146,-1.22,-146.0,223.1,-11.0,371,2153,0.12,2.28,0.00,0.000,6,0.096,0.028,2641,2176,3276
$GC,2493,-1.27,-146.0,256.1,-8.8,427,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2177,3275
$GC,2813,-1.32,-146.0,281.3,-7.2,457,2817,0.12,2.38,0.00,0.000,4,0.056,0.045,2600,3552,3274
$GC,2878,-1.28,-146.0,287.8,-9.9,462,2886,0.12,2.28,0.00,0.000,6,0.098,0.030,2624,2183,3274
$GC,3203,-1.28,-146.0,316.8,-10.0,493,3207,0.00,2.53,0.00,0.000,4,0.000,0.050,2624,746,3272
$GC,3253,-1.33,-146.0,321.7,-10.0,497,3257,0.00,2.45,0.00,0.000,6,0.000,0.032,2624,2191,3271
$GC,3579,-1.33,-146.0,351.8,-8.7,527,3583,0.00,2.38,0.00,0.000,4,0.000,0.051,2624,3555,3269
$GC,3663,-1.33,-146.0,359.3,-8.8,534,3667,0.00,2.28,0.00,0.000,6,0.000,0.031,2624,2199,3268
$GC,3988,-1.33,-146.0,388.2,-9.4,564,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2197,3266
$GC,4305,-1.33,-146.0,418.5,-8.8,594,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,3264
$GC,4624,-1.33,-146.0,446.7,-8.8,624,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,3262
$GC,4943,-1.33,-146.0,473.4,-7.9,654,4947,0.00,2.38,0.00,0.000,4,0.000,0.051,2624,3549,3259
$GC,4982,-1.36,-146.0,476.9,-8.6,657,4986,0.00,2.25,0.00,0.000,6,0.000,0.033,2624,2219,3259
$GC,5318,-1.39,-146.0,502.3,-8.0,687,5323,0.10,2.60,0.00,0.000,4,0.065,0.053,2593,756,3257
$GC,5367,-1.39,-146.0,506.9,-9.5,689,5371,0.00,2.53,0.00,0.000,6,0.000,0.033,2594,2210,3257
$GC,5689,-1.39,-146.0,534.0,-8.2,705,5693,0.00,2.35,0.00,0.000,4,0.000,0.053,2593,3554,3255
$GC,5749,-1.36,-146.0,539.9,-9.1,707,5758,0.00,2.25,0.00,0.000,6,0.000,0.033,2593,2226,3255
$GC,6066,-1.32,-146.0,568.0,-9.0,723,6071,0.12,2.62,0.00,0.000,4,0.110,0.054,2616,750,3253
$GC,6150,-1.37,-146.0,574.8,-7.7,727,6154,0.00,2.53,0.00,0.000,6,0.000,0.034,2616,2221,3252
$GC,6477,-1.37,-146.0,601.1,-8.3,743,6481,0.00,2.35,0.00,0.000,4,0.000,0.055,2616,3554,3250
$GC,6516,-1.37,-146.0,604.6,-8.9,745,6520,0.00,2.28,0.00,0.000,6,0.000,0.034,2616,2215,3250
$GC,6842,-1.37,-146.0,628.5,-7.7,761,6846,0.00,2.60,0.00,0.000,4,0.000,0.054,2616,750,3249
$GC,6881,-1.40,-146.0,631.8,-9.2,763,6885,0.00,2.50,0.00,0.000,6,0.000,0.035,2616,2204,3249
$GC,7207,-1.40,-146.0,659.8,-8.5,779,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,3247
$GC,7516,-1.40,-146.0,683.8,-7.9,794,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,3245
$GC,7827,-1.40,-146.0,708.6,-8.0,809,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2205,3244
$GC,8135,-1.40,-146.0,731.8,-7.5,824,8139,0.00,2.38,0.00,0.000,4,0.000,0.058,2616,3546,3242
$GC,8190,-1.44,-146.0,736.4,-8.7,826,8197,0.12,2.28,0.00,0.000,6,0.062,0.036,2583,2211,3242
$GC,8506,-1.40,-146.0,765.8,-9.8,842,8510,0.00,2.60,0.00,0.000,4,0.000,0.058,2583,755,3240
$GC,8548,-1.40,-146.0,770.7,-10.9,844,8553,0.00,2.53,0.00,0.000,6,0.000,0.036,2584,2204,3240
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8796,-0.34,0.0,796.2,10.8,856,8917,1.20,0.00,117.25,1.233,6,0.097,0.000,2826,2384,2678
$STATE,8918,end apogee,CONTROL_FINISHED_OK
$STATE,8918,begin climb
$GC,8919,1.42,146.0,801.4,0.0,862,9052,1.80,2.50,122.57,1.183,4,0.064,0.061,3213,3713,2082
$GC,9107,1.18,146.0,789.4,12.9,870,9115,0.28,2.33,0.00,0.000,6,0.116,0.038,3164,2375,2081
$GC,9423,1.07,146.0,757.1,9.7,886,9425,0.15,0.00,0.00,0.000,6,0.120,0.000,3138,2373,2079
$GC,9732,1.02,146.0,726.9,9.6,901,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2373,2077
$GC,10042,0.97,146.0,698.1,9.4,916,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2373,2077
$GC,10351,0.93,146.0,666.3,10.7,931,10353,0.17,0.00,0.00,0.000,6,0.116,0.000,3106,2372,2076
$GC,10660,0.93,146.0,636.0,9.9,946,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2372,2076
$GC,10969,0.93,147.8,607.4,8.9,961,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2372,2075
$GC,11279,1.00,169.4,581.3,7.9,976,11302,0.00,0.00,18.23,1.138,6,0.000,0.000,3106,2372,1987
$GC,11611,1.06,178.4,554.9,8.6,992,11621,0.15,0.00,7.75,1.141,6,0.069,0.000,3141,2372,1950
$GC,11918,1.06,178.4,523.0,11.0,1007,11923,0.00,2.53,0.00,0.000,4,0.000,0.058,3140,973,1950
$GC,12048,1.06,178.4,508.9,10.4,1013,12052,0.00,2.45,0.00,0.000,6,0.000,0.039,3141,2374,1950
$GC,12371,1.07,186.4,480.0,8.6,1039,12384,0.00,2.53,6.65,1.092,4,0.000,0.061,3141,3729,1918
$GC,12418,1.07,186.4,475.6,9.9,1043,12422,0.00,2.35,0.00,0.000,6,0.000,0.037,3141,2371,1918
$GC,12743,1.09,194.4,448.3,8.6,1073,12755,0.00,2.62,6.97,1.066,4,0.000,0.057,3141,963,1884
$GC,12782,1.09,197.1,444.7,8.9,1076,12791,0.00,2.47,2.65,1.035,6,0.000,0.038,3141,2374,1874
$GC,13108,1.10,201.3,415.6,8.8,1107,13118,0.00,0.00,3.80,1.043,6,0.000,0.000,3141,2374,1857
$GC,13437,1.12,213.3,388.2,8.4,1138,13453,0.00,2.62,10.18,1.006,4,0.000,0.054,3141,968,1807
$GC,13505,1.13,222.0,382.2,8.6,1144,13518,0.00,2.40,7.53,0.995,6,0.000,0.038,3141,2345,1772
$GC,13834,1.17,222.0,352.0,9.3,1175,13839,0.00,2.47,0.00,0.000,4,0.000,0.058,3141,3732,1771
$GC,13855,1.17,222.0,349.9,9.2,1176,13864,0.00,2.40,0.00,0.000,6,0.000,0.035,3141,2346,1771
$GC,14182,1.23,236.7,322.0,8.3,1207,14200,0.15,2.50,12.48,0.943,4,0.065,0.054,3182,3723,1712
$GC,14250,1.17,236.7,314.7,10.2,1212,14258,0.12,2.33,0.00,0.000,6,0.128,0.036,3163,2378,1712
$GC,14575,1.17,236.7,283.8,9.4,1243,14579,0.00,2.53,0.00,0.000,4,0.000,0.054,3163,963,1711
$GC,14602,1.17,236.7,281.2,9.7,1245,14607,0.00,2.45,0.00,0.000,6,0.000,0.037,3162,2376,1711
$GC,14926,1.17,236.7,250.0,9.6,1275,14933,0.00,2.53,0.00,0.000,4,0.000,0.052,3163,965,1711
$GC,15035,1.17,236.7,240.0,9.1,1294,15042,0.00,2.40,0.00,0.000,6,0.000,0.036,3162,2350,1711
$GC,15381,1.26,273.1,212.4,7.2,1355,15416,0.00,0.00,29.60,0.818,6,0.000,0.000,3162,2350,1564
$GC,15753,1.36,283.5,180.9,8.5,1420,15769,0.15,2.55,7.93,0.821,4,0.061,0.051,3205,973,1521
$GC,15797,1.36,283.5,176.5,10.1,1427,15805,0.00,2.38,0.00,0.000,6,0.000,0.034,3205,2339,1520
$GC,16143,1.40,292.1,145.6,8.6,1488,16156,0.00,0.00,6.97,0.793,6,0.000,0.000,3205,2340,1486
$GC,16491,1.57,342.0,119.3,6.5,1550,16538,0.15,0.00,40.00,0.700,6,0.056,0.000,3249,2340,1281
$GC,16876,1.58,348.3,83.8,8.7,1618,16888,0.00,2.47,4.20,0.719,4,0.000,0.049,3249,976,1257
$GC,17036,1.59,357.1,68.8,8.6,1646,17049,0.00,2.38,6.97,0.690,6,0.000,0.032,3250,2366,1222
$GC,17387,1.70,381.5,36.6,7.8,1708,17412,0.10,2.47,19.45,0.618,4,0.065,0.048,3277,3730,1121
$GC,17637,1.73,381.5,12.0,9.6,1752,17644,0.00,2.22,0.00,0.000,6,0.000,0.030,3277,2403,1119
$STATE,17743,end climb,SURFACE_DEPTH_REACHED
$STATE,17743,begin surface coast
$FINISH,-0.1,1.008776
$STATE,17770,end surface coast,CONTROL_FINISHED_OK
$STATE,17770,begin surface
$SM_CCo,17792,56.67,0.545,0,0,638,500.17
$SM_GC,0.60,0.00,0.00,56.67,0.000,0.000,0.545,251,2130,638,-12.21,-0.57,500.17
$IRIDIUM_FIX,1238.83,12021.43,020697,171722
$TT8_MAMPS,0.023777
$HUMID,1924
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.20
$XPDR_PINGS,448
$ALTIM_BOTTOM_PING,630.3,4.3
$24V_AH,23.3,21.513
$10V_AH,10.1,10.292
$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,33.100,136.625,431.175,56.675,0.000,126.909,103.062,414.494,115.750,0.000,0.000,10.618,3554.970,10896.142,681.714,2841.548,887.279,0.000,2106.367,0.000,2807.842,0.000,28.952
$DEVICE_MAMPS,168.740,61.360,1233.336,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56606,1775
$CAP_FILE_SIZE,178868,0
$CFSIZE,260165632,248844288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,323.7,1
$GPS,080308,220402,1247.047,12021.437,42,1.2,42,-0.8