version: 66.03
glider: 122
mission: 6
dive: 130
start: 3 13 108 12 45 5
data:
$ID,122
$MISSION,6
$DIVE,130
$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,475
$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,-29794.459
$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,32
$R_STBD_OVSHOOT,32
$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,9
$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
$GPS1,123907,1247.604,12017.704,40,0.9,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.6
$GPS2,124433,1247.611,12017.665,14,1.2,14,-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,212.7,5376,-17.4,-9.016
$D_GRID,921
$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,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,86,0.00,0.00,-63.78,0.000,2,0.000,0.000,251,2147,2497
$GC,88,-1.42,-146.0,3.7,-8.8,11,121,13.57,2.50,-13.55,0.000,4,0.172,0.053,2589,3563,3275
$GC,207,-1.07,-146.0,36.9,-24.5,31,214,0.43,2.38,0.00,0.000,6,0.118,0.029,2668,2143,3276
$GC,552,-0.97,-146.0,93.5,-14.3,92,560,0.12,2.42,0.00,0.000,4,0.117,0.044,2690,749,3279
$GC,605,-0.97,-146.0,100.9,-12.9,101,612,0.00,2.38,0.00,0.000,6,0.000,0.028,2690,2163,3279
$GC,951,-1.01,-146.0,138.0,-8.7,162,958,0.00,2.40,0.00,0.000,4,0.000,0.047,2689,3555,3279
$GC,1071,-1.07,-146.0,150.0,-10.3,183,1079,0.00,2.28,0.00,0.000,6,0.000,0.028,2690,2183,3279
$GC,1412,-1.17,-146.0,178.2,-8.1,244,1419,0.15,2.35,0.00,0.000,4,0.049,0.041,2638,3549,3281
$GC,1459,-1.17,-146.0,182.7,-10.3,252,1466,0.00,2.25,0.00,0.000,6,0.000,0.028,2638,2191,3281
$GC,1804,-1.17,-146.0,215.4,-8.9,313,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2191,3281
$GC,2148,-1.17,-146.0,244.3,-8.4,374,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2187,3282
$GC,2478,-1.21,-146.0,270.3,-7.0,411,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2187,3281
$GC,2796,-1.24,-146.0,295.6,-8.6,441,2801,0.00,2.53,0.00,0.000,4,0.000,0.051,2638,755,3280
$GC,2841,-1.31,-146.0,299.6,-8.9,444,2847,0.00,2.47,0.00,0.000,6,0.000,0.031,2638,2217,3280
$GC,3167,-1.34,-146.0,323.7,-7.2,475,3169,0.12,0.00,0.00,0.000,6,0.056,0.000,2598,2217,3278
$GC,3485,-1.29,-146.0,353.1,-10.2,505,3490,0.12,2.60,0.00,0.000,4,0.103,0.051,2621,752,3276
$GC,3551,-1.29,-146.0,359.6,-9.0,510,3558,0.00,2.47,0.00,0.000,6,0.000,0.032,2621,2209,3276
$GC,3877,-1.29,-146.0,388.1,-8.6,541,3881,0.00,2.33,0.00,0.000,4,0.000,0.048,2621,3548,3274
$GC,3910,-1.29,-146.0,391.1,-8.4,543,3917,0.00,2.30,0.00,0.000,6,0.000,0.032,2622,2187,3274
$GC,4236,-1.29,-146.0,417.6,-8.4,574,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2185,3272
$GC,4553,-1.29,-146.0,446.5,-9.6,604,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2185,3269
$GC,4872,-1.29,-146.0,474.7,-8.5,634,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2185,3268
$GC,5192,-1.29,-146.0,500.5,-8.3,664,5197,0.00,2.40,0.00,0.000,4,0.000,0.052,2621,3543,3266
$GC,5255,-1.29,-146.0,506.2,-8.7,667,5259,0.00,2.28,0.00,0.000,6,0.000,0.034,2621,2203,3266
$GC,5586,-1.29,-146.0,535.9,-9.1,683,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,3263
$GC,5896,-1.29,-146.0,563.5,-8.8,698,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,3262
$GC,6208,-1.29,-146.0,590.4,-8.5,713,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,3260
$GC,6515,-1.29,-146.0,615.9,-7.8,728,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2198,3259
$GC,6825,-1.29,-146.0,640.1,-9.2,743,6829,0.00,2.38,0.00,0.000,4,0.000,0.054,2621,3544,3257
$GC,6874,-1.32,-146.0,645.1,-9.8,745,6878,0.00,2.28,0.00,0.000,6,0.000,0.035,2621,2213,3257
$GC,7196,-1.32,-146.0,674.2,-8.7,761,7199,0.00,2.35,0.00,0.000,4,0.000,0.055,2622,3548,3256
$GC,7251,-1.36,-146.0,679.3,-8.9,763,7255,0.00,2.28,0.00,0.000,6,0.000,0.035,2621,2210,3256
$GC,7568,-1.39,-146.0,704.1,-7.8,778,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2208,3255
$GC,7876,-1.42,-146.0,727.2,-7.6,793,7878,0.12,0.00,0.00,0.000,6,0.059,0.000,2587,2209,3253
$GC,8185,-1.38,-146.0,753.2,-8.1,808,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,3252
$GC,8495,-1.34,-146.0,779.4,-9.0,823,8500,0.12,2.62,0.00,0.000,4,0.110,0.059,2609,752,3250
$GC,8526,-1.34,-146.0,782.3,-8.6,824,8533,0.00,2.53,0.00,0.000,6,0.000,0.038,2610,2212,3250
$GC,8842,-1.34,-146.0,804.9,-6.8,840,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2212,3249
$GC,9151,-1.34,-146.0,828.1,-7.8,855,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2212,3248
$GC,9463,-1.34,-146.0,851.2,-7.9,870,9467,0.00,2.38,0.00,0.000,4,0.000,0.059,2610,3548,3247
$GC,9507,-1.34,-146.0,855.5,-8.5,872,9511,0.00,2.28,0.00,0.000,6,0.000,0.037,2610,2215,3247
$GC,9834,-1.34,-146.0,879.7,-7.0,888,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2215,3247
$GC,10143,-1.34,-146.0,902.0,-7.0,903,10148,0.00,2.38,0.00,0.000,4,0.000,0.058,2610,3545,3246
$GC,10183,-1.34,-146.0,904.8,-6.8,905,10187,0.00,2.25,0.00,0.000,6,0.000,0.038,2610,2232,3246
$STATE,10424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10424,begin apogee
$GC,10429,-0.34,0.0,921.7,7.2,917,10553,1.08,0.00,120.82,1.334,6,0.092,0.000,2828,2375,2678
$STATE,10554,end apogee,CONTROL_FINISHED_OK
$STATE,10554,begin climb
$GC,10556,1.42,146.0,924.3,0.0,923,10690,1.77,2.53,125.30,1.283,4,0.058,0.061,3215,3710,2082
$GC,10769,1.18,146.0,905.6,14.5,932,10777,0.28,2.35,0.00,0.000,6,0.126,0.041,3167,2378,2080
$GC,11087,1.07,146.0,869.8,11.1,948,11092,0.15,2.45,0.00,0.000,4,0.117,0.060,3137,3721,2079
$GC,11130,0.98,146.0,864.5,11.4,950,11134,0.00,2.35,0.00,0.000,6,0.000,0.039,3136,2373,2078
$GC,11459,0.94,146.0,829.0,11.3,966,11461,0.15,0.00,0.00,0.000,6,0.116,0.000,3110,2372,2078
$GC,11766,0.94,146.0,798.9,9.0,981,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2372,2077
$GC,12077,0.94,146.7,771.8,9.0,996,12081,0.00,2.55,0.00,0.000,4,0.000,0.061,3110,970,2077
$GC,12139,0.94,146.7,766.4,9.0,999,12143,0.00,2.45,0.00,0.000,6,0.000,0.041,3110,2358,2076
$GC,12464,0.96,161.2,739.5,8.3,1015,12478,0.00,0.00,12.30,1.270,6,0.000,0.000,3110,2358,2020
$GC,12774,0.96,161.9,711.3,9.0,1030,12778,0.00,2.53,0.00,0.000,4,0.000,0.060,3110,972,2020
$GC,12813,0.96,161.9,707.5,9.8,1032,12817,0.00,2.45,0.00,0.000,6,0.000,0.041,3110,2360,2020
$GC,13139,0.97,163.6,677.7,8.9,1048,13143,0.00,0.00,2.12,1.170,6,0.000,0.000,3110,2359,2011
$GC,13449,0.98,171.7,650.6,8.6,1063,13463,0.00,2.55,7.78,1.223,4,0.000,0.064,3110,3722,1977
$GC,13537,0.99,180.5,642.6,8.6,1067,13551,0.00,2.38,7.65,1.205,6,0.000,0.039,3110,2361,1942
$GC,13869,1.08,206.5,615.2,7.7,1083,13894,0.12,0.00,22.12,1.160,6,0.069,0.000,3140,2359,1836
$GC,14197,1.08,206.5,583.6,9.6,1099,14198,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2359,1834
$GC,14506,1.08,206.5,553.4,9.4,1114,14510,0.00,2.50,0.00,0.000,4,0.000,0.060,3140,972,1834
$GC,14552,1.08,206.5,549.0,10.0,1116,14556,0.00,2.45,0.00,0.000,6,0.000,0.040,3140,2376,1833
$GC,14877,1.08,206.5,519.0,9.1,1132,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2377,1833
$GC,15189,1.08,206.5,491.5,9.1,1151,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2376,1833
$GC,15509,1.09,215.0,462.9,8.6,1181,15519,0.00,0.00,7.05,1.095,6,0.000,0.000,3140,2376,1801
$GC,15837,1.09,215.7,433.2,9.0,1212,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2376,1801
$GC,16155,1.09,215.7,404.2,9.3,1242,16159,0.00,2.55,0.00,0.000,4,0.000,0.056,3140,960,1801
$GC,16205,1.09,215.7,399.3,9.2,1246,16209,0.00,2.45,0.00,0.000,6,0.000,0.038,3140,2365,1800
$GC,16530,1.11,225.5,371.8,8.5,1276,16545,0.00,2.60,9.25,1.013,4,0.000,0.055,3140,970,1758
$GC,16613,1.14,243.0,364.6,8.1,1283,16634,0.00,2.40,14.98,0.971,6,0.000,0.038,3140,2341,1686
$GC,16951,1.18,247.3,336.3,8.8,1315,16962,0.10,0.00,3.83,1.002,6,0.075,0.000,3165,2341,1668
$GC,17279,1.18,247.3,303.9,9.8,1346,17283,0.00,2.47,0.00,0.000,4,0.000,0.054,3165,965,1668
$GC,17390,1.18,247.3,292.2,10.1,1355,17398,0.00,2.35,0.00,0.000,6,0.000,0.037,3165,2303,1668
$GC,17717,1.18,247.3,259.0,10.4,1386,17721,0.00,2.38,0.00,0.000,4,0.000,0.054,3165,969,1668
$GC,17779,1.19,250.3,253.0,8.9,1391,17791,0.00,2.25,3.10,0.929,6,0.000,0.035,3165,2273,1656
$GC,18125,1.19,250.3,218.2,9.5,1450,18131,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2273,1656
$GC,18469,1.25,262.2,188.6,8.4,1511,18484,0.00,2.42,9.82,0.849,4,0.000,0.053,3165,969,1608
$GC,18546,1.29,262.2,181.3,9.8,1524,18554,0.00,2.25,0.00,0.000,6,0.000,0.035,3165,2267,1607
$GC,18888,1.42,285.0,156.2,7.9,1585,18912,0.17,0.00,18.45,0.782,6,0.057,0.000,3214,2267,1515
$GC,19251,1.50,309.5,128.2,7.8,1649,19276,0.00,2.70,19.52,0.746,4,0.000,0.052,3214,3730,1416
$GC,19328,1.55,323.9,122.0,8.3,1662,19347,0.12,2.58,11.65,0.745,6,0.066,0.034,3245,2233,1357
$GC,19686,1.60,352.7,93.1,7.5,1725,19716,0.00,2.70,22.90,0.689,4,0.000,0.048,3245,3730,1238
$GC,19761,1.60,352.7,86.5,9.4,1738,19768,0.00,2.58,0.00,0.000,6,0.000,0.033,3245,2230,1238
$GC,20106,1.65,352.7,57.1,9.3,1799,20112,0.00,2.22,0.00,0.000,4,0.000,0.051,3245,963,1236
$GC,20220,1.77,378.9,47.5,7.7,1819,20251,0.20,2.12,20.60,0.636,6,0.051,0.029,3299,2226,1132
$GC,20589,1.77,382.0,14.0,8.9,1884,20597,0.00,2.67,2.05,0.642,4,0.000,0.045,3299,3729,1120
$GC,20670,1.77,382.0,5.7,9.8,1898,20677,0.00,2.60,0.00,0.000,6,0.000,0.031,3299,2192,1120
$STATE,20714,end climb,SURFACE_DEPTH_REACHED
$STATE,20715,begin surface coast
$FINISH,-0.2,1.009572
$STATE,20739,end surface coast,CONTROL_FINISHED_OK
$STATE,20739,begin surface
$SM_CCo,20760,45.35,0.553,0,0,740,475.15
$SM_GC,0.85,0.00,0.00,45.35,0.000,0.000,0.553,251,2118,740,-12.21,-0.90,475.15
$IRIDIUM_FIX,1243.25,12019.52,070697,070723
$TT8_MAMPS,0.023777
$HUMID,1911
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.90
$XPDR_PINGS,432
$24V_AH,23.2,25.344
$10V_AH,10.1,12.333
$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,32.450,136.150,441.300,45.350,0.000,24.866,38.751,152.098,119.000,0.000,0.000,14.436,3837.272,13074.564,667.929,3081.562,475.348,0.000,2189.848,0.000,3015.013,0.000,81.765
$DEVICE_MAMPS,171.808,111.215,1333.813,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1284.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59727,1910
$CAP_FILE_SIZE,188906,0
$CFSIZE,260165632,247017472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,219.3,1
$GPS,130308,183308,1245.277,12016.129,42,1.5,42,-0.8