version: 66.03
glider: 122
mission: 6
dive: 109
start: 3 8 108 22 9 41
data:
$ID,122
$MISSION,6
$DIVE,109
$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,-29398.637
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,220402,1247.047,12021.437,42,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.9
$GPS2,220909,1247.028,12021.312,12,1.4,12,-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,85.7,39306,-17.4,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-69.57,0.000,2,0.000,0.000,251,2130,2491
$GC,94,-1.42,-146.0,3.2,-7.6,12,126,13.50,0.00,-14.75,0.000,6,0.171,0.000,2587,2130,3275
$GC,463,-1.12,-146.0,85.8,-21.3,77,471,0.32,2.45,0.00,0.000,4,0.117,0.042,2653,3555,3278
$GC,488,-0.91,-146.0,90.6,-20.0,81,496,0.28,2.33,0.00,0.000,6,0.094,0.028,2707,2154,3278
$GC,834,-0.95,-146.0,129.9,-9.6,142,841,0.00,2.42,0.00,0.000,4,0.000,0.044,2707,753,3279
$GC,876,-1.06,-146.0,133.7,-9.1,149,883,0.15,2.38,0.00,0.000,6,0.048,0.028,2659,2173,3280
$GC,1221,-1.06,-146.0,169.1,-10.4,210,1227,0.00,2.38,0.00,0.000,4,0.000,0.046,2659,3552,3281
$GC,1380,-1.11,-146.0,184.5,-9.2,238,1387,0.00,2.25,0.00,0.000,6,0.000,0.028,2659,2190,3281
$GC,1725,-1.17,-146.0,213.1,-7.8,299,1732,0.00,2.33,0.00,0.000,4,0.000,0.044,2659,3546,3281
$GC,1772,-1.25,-146.0,217.2,-8.8,307,1779,0.12,2.20,0.00,0.000,6,0.055,0.028,2618,2214,3281
$GC,2115,-1.25,-146.0,252.3,-9.8,366,2119,0.00,2.53,0.00,0.000,4,0.000,0.047,2618,756,3281
$GC,2142,-1.25,-146.0,255.1,-10.3,368,2147,0.00,2.40,0.00,0.000,6,0.000,0.031,2618,2183,3281
$GC,2467,-1.25,-146.0,286.8,-9.9,398,2471,0.00,2.35,0.00,0.000,4,0.000,0.048,2618,3549,3281
$GC,2499,-1.25,-146.0,290.3,-10.6,400,2506,0.00,2.33,0.00,0.000,6,0.000,0.030,2618,2172,3281
$GC,2825,-1.25,-146.0,320.0,-8.6,431,2829,0.00,2.50,0.00,0.000,4,0.000,0.049,2618,743,3280
$GC,2887,-1.29,-146.0,325.8,-9.4,436,2892,0.00,2.42,0.00,0.000,6,0.000,0.031,2618,2175,3280
$GC,3213,-1.29,-146.0,353.0,-7.9,466,3217,0.00,2.40,0.00,0.000,4,0.000,0.050,2618,3555,3278
$GC,3290,-1.29,-146.0,359.9,-8.7,472,3297,0.00,2.33,0.00,0.000,6,0.000,0.031,2618,2190,3278
$GC,3616,-1.29,-146.0,389.0,-9.4,503,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2185,3276
$GC,3933,-1.29,-146.0,417.9,-8.8,533,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2185,3274
$GC,4252,-1.29,-146.0,445.7,-8.5,563,4256,0.00,2.55,0.00,0.000,4,0.000,0.053,2618,753,3271
$GC,4284,-1.32,-146.0,448.7,-8.8,565,4291,0.00,2.45,0.00,0.000,6,0.000,0.032,2618,2191,3272
$GC,4610,-1.32,-146.0,476.6,-8.5,596,4615,0.00,2.58,0.00,0.000,4,0.000,0.053,2618,747,3269
$GC,4665,-1.35,-146.0,481.5,-8.4,600,4672,0.00,2.45,0.00,0.000,6,0.000,0.035,2618,2173,3269
$GC,5000,-1.35,-146.0,507.0,-7.6,628,5004,0.00,2.42,0.00,0.000,4,0.000,0.053,2618,3552,3268
$GC,5043,-1.35,-146.0,511.0,-8.8,630,5047,0.00,2.38,0.00,0.000,6,0.000,0.033,2618,2171,3268
$GC,5370,-1.35,-146.0,537.5,-8.4,646,5374,0.00,2.45,0.00,0.000,4,0.000,0.052,2618,3554,3265
$GC,5414,-1.35,-146.0,541.3,-8.3,648,5418,0.00,2.35,0.00,0.000,6,0.000,0.034,2618,2172,3265
$GC,5741,-1.35,-146.0,568.1,-7.9,664,5745,0.00,2.55,0.00,0.000,4,0.000,0.055,2618,742,3263
$GC,5784,-1.40,-146.0,571.8,-8.3,666,5789,0.00,2.42,0.00,0.000,6,0.000,0.035,2618,2151,3263
$GC,6106,-1.40,-146.0,598.5,-8.3,682,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2151,3261
$GC,6415,-1.40,-146.0,622.6,-7.3,697,6419,0.00,2.47,0.00,0.000,4,0.000,0.056,2618,3551,3260
$GC,6459,-1.43,-146.0,625.7,-7.0,699,6464,0.12,2.38,0.00,0.000,6,0.061,0.036,2581,2160,3259
$GC,6780,-1.39,-146.0,658.8,-10.8,715,6782,0.10,0.00,0.00,0.000,6,0.120,0.000,2598,2160,3257
$GC,7089,-1.39,-146.0,686.6,-8.2,730,7093,0.00,2.47,0.00,0.000,4,0.000,0.055,2599,3558,3256
$GC,7150,-1.39,-146.0,691.9,-8.9,733,7154,0.00,2.42,0.00,0.000,6,0.000,0.036,2599,2140,3256
$GC,7482,-1.39,-146.0,719.6,-8.5,749,7487,0.00,2.53,0.00,0.000,4,0.000,0.055,2599,3557,3255
$GC,7554,-1.39,-146.0,726.3,-9.6,752,7558,0.00,2.38,0.00,0.000,6,0.000,0.036,2599,2165,3254
$GC,7875,-1.39,-146.0,751.3,-7.3,768,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2165,3253
$GC,8186,-1.39,-146.0,777.0,-9.0,783,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2165,3252
$STATE,8431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8432,begin apogee
$GC,8437,-0.34,0.0,797.7,8.4,795,8560,1.12,0.00,119.53,1.229,6,0.094,0.000,2827,2383,2678
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8561,begin climb
$GC,8562,1.42,146.0,801.4,0.0,801,8690,1.77,0.00,123.03,1.182,6,0.057,0.000,3216,2383,2082
$GC,8996,1.22,146.0,755.1,13.2,822,8998,0.22,0.00,0.00,0.000,6,0.117,0.000,3176,2383,2079
$GC,9306,1.10,146.0,723.3,9.9,837,9311,0.17,2.58,0.00,0.000,4,0.113,0.058,3144,973,2078
$GC,9350,1.04,146.0,719.0,9.1,839,9354,0.00,2.45,0.00,0.000,6,0.000,0.039,3144,2365,2078
$GC,9676,0.99,146.0,689.0,9.1,855,9681,0.12,2.45,0.00,0.000,4,0.121,0.061,3123,3723,2077
$GC,9738,0.95,151.0,683.4,8.8,858,9747,0.00,2.33,3.80,1.180,6,0.000,0.038,3123,2373,2061
$GC,10070,0.97,161.9,655.2,8.5,874,10081,0.00,0.00,9.23,1.186,6,0.000,0.000,3123,2372,2018
$GC,10379,0.98,170.3,628.3,8.6,889,10393,0.00,2.53,7.47,1.176,4,0.000,0.059,3123,3723,1983
$GC,10471,0.98,170.3,619.8,9.8,893,10476,0.00,2.35,0.00,0.000,6,0.000,0.038,3123,2388,1983
$GC,10800,1.00,179.8,590.7,8.5,909,10814,0.00,2.65,7.88,1.154,4,0.000,0.059,3123,970,1945
$GC,10876,1.00,179.8,583.9,9.3,912,10880,0.00,2.47,0.00,0.000,6,0.000,0.038,3123,2377,1945
$GC,11197,1.00,179.8,554.1,9.5,928,11201,0.00,2.42,0.00,0.000,4,0.000,0.061,3123,3725,1944
$GC,11235,1.00,179.8,550.6,9.2,930,11239,0.00,2.35,0.00,0.000,6,0.000,0.038,3122,2364,1945
$GC,11561,1.02,192.1,522.8,8.4,946,11576,0.00,2.58,10.40,1.107,4,0.000,0.058,3123,966,1894
$GC,11622,1.02,194.5,517.6,8.9,948,11626,0.00,2.47,0.00,0.000,6,0.000,0.038,3123,2376,1893
$GC,11940,1.02,194.5,490.3,9.2,968,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2376,1893
$GC,12260,1.07,202.6,461.5,8.6,998,12270,0.00,0.00,8.70,1.068,6,0.000,0.000,3123,2376,1852
$GC,12588,1.15,221.2,434.0,8.1,1029,12612,0.15,2.60,15.57,1.021,4,0.067,0.054,3162,969,1775
$GC,12735,1.11,221.2,418.1,11.5,1042,12739,0.00,2.45,0.00,0.000,6,0.000,0.038,3162,2370,1774
$GC,13060,1.11,221.2,383.6,10.5,1072,13065,0.00,2.53,0.00,0.000,4,0.000,0.054,3162,964,1774
$GC,13111,1.11,221.2,378.3,10.4,1076,13115,0.00,2.38,0.00,0.000,6,0.000,0.037,3162,2331,1774
$GC,13435,1.11,221.2,348.1,9.1,1106,13440,0.00,2.47,0.00,0.000,4,0.000,0.058,3162,3723,1774
$GC,13486,1.11,221.2,343.2,9.7,1110,13490,0.00,2.38,0.00,0.000,6,0.000,0.037,3162,2340,1774
$GC,13810,1.11,221.2,313.6,9.5,1140,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2340,1774
$GC,14130,1.14,235.5,285.0,8.3,1170,14143,0.00,0.00,11.80,0.920,6,0.000,0.000,3162,2339,1718
$GC,14457,1.15,244.9,255.8,8.5,1201,14470,0.00,2.58,7.82,0.902,4,0.000,0.054,3162,3733,1679
$GC,14515,1.15,244.9,250.4,9.6,1206,14519,0.00,2.40,0.00,0.000,6,0.000,0.036,3162,2340,1679
$GC,14857,1.19,244.9,219.4,9.1,1266,14864,0.00,2.45,0.00,0.000,4,0.000,0.053,3162,962,1678
$GC,14926,1.24,254.5,213.0,8.5,1278,14940,0.00,2.35,8.38,0.858,6,0.000,0.035,3162,2326,1639
$GC,15279,1.35,280.4,183.4,7.7,1340,15303,0.15,0.00,20.75,0.792,6,0.061,0.000,3202,2326,1533
$GC,15642,1.41,298.2,151.3,8.1,1404,15661,0.00,2.53,13.95,0.772,4,0.000,0.050,3201,966,1461
$GC,15690,1.48,312.3,147.3,8.3,1412,15709,0.12,2.33,11.52,0.759,6,0.062,0.034,3233,2308,1403
$GC,16047,1.56,339.2,117.4,7.6,1475,16077,0.00,2.58,21.33,0.713,4,0.000,0.051,3233,3720,1295
$GC,16145,1.60,339.2,108.9,9.1,1492,16151,0.00,2.42,0.00,0.000,6,0.000,0.032,3234,2298,1293
$GC,16489,1.65,347.8,79.4,8.6,1553,16503,0.15,2.38,6.62,0.700,4,0.060,0.049,3276,967,1259
$GC,16616,1.65,347.8,64.7,12.4,1575,16623,0.00,2.28,0.00,0.000,6,0.000,0.031,3276,2298,1257
$GC,16961,1.70,379.5,30.9,7.4,1636,16996,0.00,2.58,25.12,0.609,4,0.000,0.048,3276,3722,1130
$GC,17222,1.74,379.5,7.1,10.4,1681,17229,0.00,2.35,0.00,0.000,6,0.000,0.030,3276,2325,1128
$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17273,begin surface coast
$FINISH,-0.1,1.021823
$STATE,17298,end surface coast,CONTROL_FINISHED_OK
$STATE,17298,begin surface
$SM_CCo,17319,57.90,0.542,0,0,638,500.17
$SM_GC,0.67,0.00,0.00,57.90,0.000,0.000,0.542,253,2123,638,-12.20,-0.76,500.17
$IRIDIUM_FIX,1241.04,12021.43,020697,171735
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.20
$XPDR_PINGS,409
$ALTIM_BOTTOM_PING,652.1,4.3
$24V_AH,23.3,21.676
$10V_AH,10.2,10.379
$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,31.850,151.525,432.900,57.900,0.000,24.068,13.887,160.671,106.750,0.000,0.000,12.618,3276.213,10559.756,661.815,2769.681,422.974,0.000,2051.160,0.000,2726.770,0.000,35.387
$DEVICE_MAMPS,171.041,61.360,1228.734,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1136.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53521,1694
$CAP_FILE_SIZE,170046,0
$CFSIZE,260165632,248766464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,175.1,1
$GPS,090308,030031,1246.808,12023.692,38,1.2,38,-0.8