version: 66.03
glider: 122
mission: 6
dive: 239
start: 4 6 108 12 31 8
data:
$ID,122
$MISSION,6
$DIVE,239
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-32426.643
$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,14.2
$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,34
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,122432,1248.468,12026.613,43,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.2
$GPS2,123033,1248.418,12026.542,17,1.3,17,-0.8
$SPEED_LIMITS,0.156,0.206
$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,259.0,20607,-18.6,-9.016
$D_GRID,852
$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,-1.56,-146.0,0.0,0.0,0,80,0.00,0.00,-57.75,0.000,2,0.000,0.000,252,2182,2395
$GC,83,-1.56,-146.0,3.2,-8.5,11,122,13.43,2.40,-18.35,0.000,4,0.172,0.052,2560,3549,3346
$GC,141,-1.18,-146.0,16.6,-21.2,20,149,0.45,2.33,0.00,0.000,6,0.115,0.027,2645,2147,3347
$GC,487,-1.08,-146.0,74.9,-13.4,81,494,0.12,2.42,0.00,0.000,4,0.110,0.042,2667,747,3349
$GC,523,-1.08,-146.0,79.2,-11.3,87,530,0.00,2.33,0.00,0.000,6,0.000,0.027,2667,2144,3349
$GC,868,-1.08,-146.0,119.5,-11.3,148,875,0.00,2.42,0.00,0.000,4,0.000,0.045,2667,3556,3351
$GC,954,-1.13,-146.0,128.8,-10.2,163,961,0.00,2.35,0.00,0.000,6,0.000,0.027,2667,2134,3352
$GC,1300,-1.21,-146.0,161.6,-9.2,224,1307,0.12,2.45,0.00,0.000,4,0.054,0.042,2628,3558,3353
$GC,1399,-1.21,-146.0,171.0,-8.7,241,1406,0.00,2.25,0.00,0.000,6,0.000,0.028,2628,2195,3353
$GC,1745,-1.25,-146.0,201.4,-8.2,302,1752,0.00,2.33,0.00,0.000,4,0.000,0.044,2628,3550,3354
$GC,1821,-1.25,-146.0,207.5,-7.8,315,1827,0.00,2.15,0.00,0.000,6,0.000,0.028,2628,2249,3354
$GC,2166,-1.28,-146.0,236.4,-8.5,376,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2249,3353
$GC,2505,-1.33,-146.0,267.2,-9.4,421,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2249,3352
$GC,2826,-1.38,-146.0,296.9,-8.9,451,2831,0.12,2.28,0.00,0.000,4,0.056,0.048,2589,3554,3350
$GC,2911,-1.35,-146.0,305.4,-10.0,458,2915,0.10,2.15,0.00,0.000,6,0.107,0.031,2607,2270,3349
$GC,3236,-1.35,-146.0,331.5,-7.7,488,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2265,3347
$GC,3556,-1.35,-146.0,356.5,-7.6,518,3560,0.00,2.25,0.00,0.000,4,0.000,0.050,2607,3555,3345
$GC,3589,-1.35,-146.0,359.4,-7.8,520,3595,0.00,2.15,0.00,0.000,6,0.000,0.032,2607,2274,3345
$GC,3915,-1.35,-146.0,384.4,-7.2,551,3919,0.00,2.22,0.00,0.000,4,0.000,0.050,2607,3546,3343
$GC,3959,-1.35,-146.0,388.1,-8.1,554,3966,0.00,2.12,0.00,0.000,6,0.000,0.032,2607,2283,3343
$GC,4285,-1.35,-146.0,411.9,-7.8,585,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2280,3341
$GC,4603,-1.35,-146.0,439.0,-8.5,615,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2280,3338
$GC,4921,-1.35,-146.0,466.2,-8.2,645,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2280,3337
$GC,5242,-1.38,-146.0,491.0,-7.8,675,5246,0.00,2.22,0.00,0.000,4,0.000,0.052,2607,3545,3334
$GC,5305,-1.42,-146.0,496.5,-8.6,680,5309,0.00,2.12,0.00,0.000,6,0.000,0.035,2607,2294,3334
$GC,5626,-1.45,-146.0,520.1,-7.2,697,5630,0.00,2.22,0.00,0.000,4,0.000,0.053,2607,3553,3331
$GC,5654,-1.48,-146.0,522.8,-8.0,698,5659,0.12,2.10,0.00,0.000,6,0.063,0.034,2575,2310,3331
$GC,5979,-1.44,-146.0,550.7,-8.6,714,5984,0.00,2.78,0.00,0.000,4,0.000,0.055,2575,752,3330
$GC,6023,-1.44,-146.0,555.3,-9.7,716,6027,0.00,2.65,0.00,0.000,6,0.000,0.036,2575,2291,3330
$GC,6344,-1.40,-146.0,585.1,-9.4,732,6348,0.12,2.20,0.00,0.000,4,0.114,0.054,2597,3543,3328
$GC,6376,-1.40,-146.0,588.5,-9.8,733,6384,0.00,2.10,0.00,0.000,6,0.000,0.035,2597,2304,3328
$GC,6692,-1.40,-146.0,616.1,-8.7,749,6697,0.00,2.78,0.00,0.000,4,0.000,0.058,2596,757,3326
$GC,6725,-1.40,-146.0,619.1,-9.0,750,6733,0.00,2.62,0.00,0.000,6,0.000,0.036,2597,2275,3326
$GC,7042,-1.40,-146.0,645.6,-8.0,766,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2276,3325
$GC,7351,-1.40,-146.0,670.1,-7.9,781,7355,0.00,2.25,0.00,0.000,4,0.000,0.057,2597,3545,3323
$GC,7384,-1.40,-146.0,673.0,-8.5,782,7392,0.00,2.17,0.00,0.000,6,0.000,0.035,2597,2270,3323
$GC,7701,-1.43,-146.0,698.4,-8.1,798,7705,0.00,2.72,0.00,0.000,4,0.000,0.060,2597,756,3323
$GC,7734,-1.48,-146.0,701.3,-8.3,799,7741,0.00,2.60,0.00,0.000,6,0.000,0.037,2597,2262,3322
$GC,8049,-1.48,-146.0,724.7,-7.3,815,8053,0.00,2.28,0.00,0.000,4,0.000,0.058,2597,3544,3321
$GC,8117,-1.48,-146.0,730.1,-7.7,818,8121,0.00,2.17,0.00,0.000,6,0.000,0.037,2597,2270,3321
$GC,8439,-1.48,-146.0,754.0,-7.5,834,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2268,3320
$GC,8748,-1.52,-146.0,777.5,-7.4,849,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2268,3318
$GC,9059,-1.55,-146.0,800.4,-7.1,864,9060,0.15,0.00,0.00,0.000,6,0.058,0.000,2558,2268,3317
$GC,9367,-1.50,-146.0,827.3,-8.9,879,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2268,3316
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9653,begin apogee
$GC,9658,-0.35,0.0,853.9,8.9,893,9782,1.35,0.00,120.60,1.276,6,0.107,0.000,2824,2373,2748
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9786,1.56,146.0,858.0,0.0,899,9917,1.98,0.00,125.78,1.231,6,0.056,0.000,3252,2373,2152
$GC,10225,1.30,146.0,817.6,11.4,921,10227,0.35,0.00,0.00,0.000,6,0.120,0.000,3190,2373,2150
$GC,10535,1.17,149.6,788.1,8.9,936,10540,0.15,0.00,2.72,1.203,6,0.131,0.000,3165,2373,2138
$GC,10844,1.09,154.0,761.4,8.8,951,10853,0.00,2.58,4.18,1.233,4,0.000,0.060,3164,986,2120
$GC,10961,0.99,154.0,749.7,10.4,956,10966,0.22,2.42,0.00,0.000,6,0.117,0.041,3124,2361,2120
$GC,11282,0.99,154.3,721.7,9.0,972,11286,0.00,2.53,0.00,0.000,4,0.000,0.060,3124,979,2119
$GC,11331,0.99,154.3,717.0,9.7,974,11335,0.00,2.45,0.00,0.000,6,0.000,0.040,3124,2372,2118
$GC,11653,1.05,190.8,691.2,7.4,990,11689,0.00,2.62,31.05,1.193,4,0.000,0.061,3123,983,1969
$GC,11751,1.10,219.2,683.3,7.7,994,11786,0.00,2.40,24.62,1.171,6,0.000,0.041,3124,2337,1853
$GC,12096,1.19,245.2,656.5,7.9,1011,12124,0.17,2.55,22.17,1.165,4,0.068,0.061,3167,983,1747
$GC,12174,1.19,245.2,648.5,10.3,1014,12181,0.00,2.38,0.00,0.000,6,0.000,0.040,3166,2325,1745
$GC,12490,1.19,245.2,616.9,9.9,1030,12495,0.00,2.45,0.00,0.000,4,0.000,0.060,3167,986,1744
$GC,12540,1.15,245.2,611.5,10.8,1032,12544,0.00,2.33,0.00,0.000,6,0.000,0.039,3167,2309,1744
$GC,12856,1.15,245.2,580.7,9.6,1047,12860,0.00,2.42,0.00,0.000,4,0.000,0.059,3167,979,1744
$GC,12918,1.15,245.2,574.7,9.4,1050,12922,0.00,2.28,0.00,0.000,6,0.000,0.038,3167,2280,1744
$GC,13244,1.15,245.2,545.1,9.4,1066,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2280,1743
$GC,13553,1.15,245.2,512.5,11.1,1081,13557,0.00,2.35,0.00,0.000,4,0.000,0.058,3167,983,1743
$GC,13616,1.15,245.2,505.4,11.2,1084,13620,0.00,2.25,0.00,0.000,6,0.000,0.038,3167,2277,1743
$GC,13947,1.15,245.2,471.6,9.5,1112,13951,0.00,2.35,0.00,0.000,4,0.000,0.058,3167,977,1743
$GC,13975,1.15,245.2,468.6,10.4,1114,13979,0.00,2.22,0.00,0.000,6,0.000,0.037,3167,2259,1743
$GC,14300,1.16,250.8,439.8,8.8,1144,14312,0.00,2.35,4.18,1.069,4,0.000,0.057,3167,979,1725
$GC,14362,1.17,251.8,433.7,9.0,1149,14370,0.00,2.15,0.00,0.000,6,0.000,0.037,3167,2215,1725
$GC,14689,1.17,251.8,403.6,9.5,1180,14694,0.00,2.70,0.00,0.000,4,0.000,0.055,3167,3733,1725
$GC,14721,1.17,251.8,400.3,10.0,1182,14729,0.00,2.65,0.00,0.000,6,0.000,0.038,3167,2203,1725
$GC,15049,1.20,270.7,372.7,8.2,1213,15073,0.00,2.25,17.30,0.986,4,0.000,0.056,3167,979,1643
$GC,15119,1.21,279.3,366.5,8.6,1219,15132,0.00,2.12,7.68,0.986,6,0.000,0.036,3167,2199,1608
$GC,15449,1.29,308.3,340.2,7.7,1250,15484,0.00,2.80,24.17,0.937,4,0.000,0.054,3168,3729,1491
$GC,15546,1.33,308.3,331.3,9.9,1258,15554,0.12,2.62,0.00,0.000,6,0.066,0.038,3198,2220,1489
$GC,15871,1.33,308.3,298.9,10.0,1289,15874,0.00,2.22,0.00,0.000,4,0.000,0.057,3198,976,1488
$GC,15939,1.30,308.3,291.9,9.9,1295,15942,0.00,2.10,0.00,0.000,6,0.000,0.035,3198,2193,1487
$GC,16271,1.30,308.3,259.0,9.5,1326,16275,0.00,2.72,0.00,0.000,4,0.000,0.053,3198,3730,1487
$GC,16300,1.30,308.3,255.9,10.2,1328,16305,0.00,2.67,0.00,0.000,6,0.000,0.037,3198,2184,1487
$GC,16640,1.30,308.3,222.4,10.8,1382,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2184,1487
$GC,16984,1.30,308.3,189.3,9.1,1443,16991,0.00,2.72,0.00,0.000,4,0.000,0.049,3198,3729,1487
$GC,17036,1.30,308.3,184.2,9.5,1452,17043,0.00,2.65,0.00,0.000,6,0.000,0.035,3198,2187,1487
$GC,17381,1.33,308.3,154.4,9.1,1513,17388,0.00,2.72,0.00,0.000,4,0.000,0.048,3198,3734,1487
$GC,17451,1.35,320.4,148.1,8.5,1525,17465,0.00,2.60,9.65,0.804,6,0.000,0.035,3198,2217,1442
$GC,17805,1.53,376.9,122.0,6.5,1587,17857,0.15,0.00,46.38,0.717,6,0.058,0.000,3243,2215,1210
$GC,18197,1.67,417.3,88.7,7.2,1655,18238,0.12,2.75,32.53,0.676,4,0.057,0.047,3278,3739,1046
$GC,18273,1.67,417.3,81.9,9.8,1667,18281,0.00,2.62,0.00,0.000,6,0.000,0.032,3279,2212,1043
$GC,18619,1.82,457.9,54.5,7.2,1728,18658,0.00,0.00,32.72,0.626,6,0.000,0.000,3278,2209,880
$GC,18997,1.93,465.4,24.3,8.7,1794,19012,0.17,2.22,5.55,0.620,4,0.049,0.048,3331,979,849
$GC,19025,1.98,466.5,21.6,9.0,1798,19032,0.00,2.17,0.00,0.000,6,0.000,0.028,3331,2273,849
$STATE,19222,end climb,SURFACE_DEPTH_REACHED
$STATE,19222,begin surface coast
$FINISH,0.1,1.021228
$STATE,19240,end surface coast,CONTROL_FINISHED_OK
$STATE,19240,begin surface
$SM_CCo,19263,5.22,0.607,0,0,810,475.15
$SM_GC,1.38,0.00,0.00,5.22,0.000,0.000,0.607,252,2120,810,-12.20,-0.85,475.15
$IRIDIUM_FIX,1243.25,12029.39,010797,060649
$TT8_MAMPS,0.023777
$HUMID,1953
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.90
$XPDR_PINGS,408
$24V_AH,23.2,44.109
$10V_AH,10.1,22.449
$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,33.000,163.400,511.275,5.225,0.000,23.031,34.946,172.269,111.250,0.000,0.000,17.154,3828.147,11517.794,727.963,2993.857,565.037,0.000,2225.914,0.000,2932.493,0.000,69.175
$DEVICE_MAMPS,171.808,60.593,1276.288,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1232.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56598,1836
$CAP_FILE_SIZE,187103,0
$CFSIZE,260165632,237862912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,138.3,1
$GPS,060408,175332,1247.842,12025.003,38,1.6,38,-0.8