version: 66.03
glider: 122
mission: 6
dive: 241
start: 4 6 108 23 10 31
data:
$ID,122
$MISSION,6
$DIVE,241
$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,-32456.527
$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,51
$R_STBD_OVSHOOT,24
$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
$GPS1,230407,1247.861,12023.566,40,0.8,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.5
$GPS2,230957,1247.846,12023.534,12,1.5,12,-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,258.8,15086,-18.6,-9.016
$D_GRID,840
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-61.53,0.000,2,0.000,0.000,252,2117,2520
$GC,88,-1.56,-146.0,3.8,-8.9,10,126,13.38,2.40,-15.05,0.000,4,0.171,0.054,2559,762,3347
$GC,256,-1.28,-146.0,42.7,-20.9,39,264,0.35,2.35,0.00,0.000,6,0.117,0.027,2624,2171,3348
$GC,602,-1.19,-146.0,94.8,-13.0,100,610,0.10,2.40,0.00,0.000,4,0.115,0.040,2642,769,3351
$GC,695,-1.19,-146.0,105.5,-11.7,116,702,0.00,2.45,0.00,0.000,6,0.000,0.028,2642,2236,3351
$GC,1040,-1.19,-146.0,144.1,-9.9,177,1047,0.00,2.25,0.00,0.000,4,0.000,0.045,2642,3552,3353
$GC,1098,-1.19,-146.0,150.4,-10.5,187,1105,0.00,2.15,0.00,0.000,6,0.000,0.027,2642,2241,3353
$GC,1444,-1.24,-146.0,179.9,-7.9,248,1451,0.00,2.55,0.00,0.000,4,0.000,0.044,2642,766,3354
$GC,1492,-1.32,-146.0,184.0,-9.1,256,1499,0.12,2.45,0.00,0.000,6,0.054,0.031,2601,2224,3355
$GC,1837,-1.32,-146.0,217.8,-9.6,317,1844,0.00,2.28,0.00,0.000,4,0.000,0.048,2601,3546,3354
$GC,1873,-1.32,-146.0,221.4,-10.0,323,1879,0.00,2.22,0.00,0.000,6,0.000,0.029,2601,2208,3354
$GC,2215,-1.32,-146.0,254.0,-9.3,380,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2208,3353
$GC,2533,-1.32,-146.0,283.8,-9.9,410,2537,0.00,2.33,0.00,0.000,4,0.000,0.048,2601,3545,3351
$GC,2611,-1.32,-146.0,291.9,-10.0,416,2618,0.00,2.17,0.00,0.000,6,0.000,0.031,2600,2244,3351
$GC,2940,-1.32,-146.0,320.9,-8.8,447,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2242,3349
$GC,3265,-1.32,-146.0,350.3,-9.0,478,3269,0.00,2.28,0.00,0.000,4,0.000,0.049,2601,3543,3347
$GC,3316,-1.32,-146.0,355.2,-10.1,482,3320,0.00,2.17,0.00,0.000,6,0.000,0.032,2600,2254,3347
$GC,3643,-1.32,-146.0,383.5,-8.5,512,3647,0.00,2.28,0.00,0.000,4,0.000,0.050,2600,3550,3345
$GC,3675,-1.32,-146.0,386.8,-9.2,514,3683,0.00,2.17,0.00,0.000,6,0.000,0.032,2601,2261,3345
$GC,4002,-1.32,-146.0,412.2,-7.3,545,4006,0.00,2.28,0.00,0.000,4,0.000,0.051,2601,3554,3343
$GC,4035,-1.32,-146.0,415.1,-8.0,547,4042,0.00,2.15,0.00,0.000,6,0.000,0.032,2600,2274,3343
$GC,4362,-1.32,-146.0,442.9,-9.6,578,4366,0.00,2.25,0.00,0.000,4,0.000,0.051,2601,3553,3341
$GC,4401,-1.32,-146.0,447.2,-10.8,581,4405,0.00,2.15,0.00,0.000,6,0.000,0.033,2600,2280,3340
$GC,4728,-1.32,-146.0,477.7,-9.0,611,4733,0.00,2.70,0.00,0.000,4,0.000,0.054,2600,768,3339
$GC,4761,-1.32,-146.0,481.2,-9.5,613,4769,0.00,2.55,0.00,0.000,6,0.000,0.035,2601,2249,3339
$GC,5096,-1.32,-146.0,509.0,-7.9,640,5100,0.00,2.25,0.00,0.000,4,0.000,0.053,2601,3543,3336
$GC,5151,-1.32,-146.0,514.1,-8.6,642,5155,0.00,2.12,0.00,0.000,6,0.000,0.034,2600,2284,3336
$GC,5474,-1.32,-146.0,540.2,-8.3,658,5478,0.00,2.70,0.00,0.000,4,0.000,0.054,2600,772,3334
$GC,5501,-1.35,-146.0,543.0,-9.4,659,5505,0.00,2.58,0.00,0.000,6,0.000,0.036,2601,2269,3334
$GC,5817,-1.35,-146.0,568.9,-8.3,674,5821,0.00,2.25,0.00,0.000,4,0.000,0.055,2600,3542,3332
$GC,5850,-1.35,-146.0,572.0,-9.1,675,5857,0.00,2.17,0.00,0.000,6,0.000,0.035,2601,2264,3331
$GC,6166,-1.35,-146.0,598.5,-8.8,691,6171,0.00,2.67,0.00,0.000,4,0.000,0.056,2601,768,3330
$GC,6207,-1.39,-146.0,602.2,-9.3,693,6211,0.00,2.58,0.00,0.000,6,0.000,0.036,2600,2256,3330
$GC,6534,-1.39,-146.0,629.7,-8.2,709,6539,0.00,2.28,0.00,0.000,4,0.000,0.056,2600,3545,3329
$GC,6595,-1.43,-146.0,635.2,-8.7,711,6603,0.00,2.12,0.00,0.000,6,0.000,0.035,2600,2292,3328
$GC,6914,-1.46,-146.0,660.3,-7.6,727,6919,0.00,2.75,0.00,0.000,4,0.000,0.058,2600,761,3326
$GC,6954,-1.51,-146.0,663.4,-6.5,729,6959,0.12,2.60,0.00,0.000,6,0.059,0.037,2566,2262,3326
$GC,7285,-1.47,-146.0,691.6,-9.2,745,7289,0.00,2.28,0.00,0.000,4,0.000,0.057,2566,3547,3325
$GC,7352,-1.43,-146.0,698.6,-9.3,748,7356,0.15,2.12,0.00,0.000,6,0.112,0.036,2592,2297,3325
$GC,7674,-1.43,-146.0,724.0,-8.3,764,7678,0.00,2.75,0.00,0.000,4,0.000,0.058,2593,769,3325
$GC,7707,-1.47,-146.0,727.2,-8.5,765,7715,0.00,2.62,0.00,0.000,6,0.000,0.038,2592,2278,3324
$GC,8023,-1.47,-146.0,751.8,-7.5,781,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2278,3323
$GC,8333,-1.47,-146.0,774.7,-7.5,796,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2278,3321
$GC,8642,-1.47,-146.0,799.4,-8.2,811,8646,0.00,2.72,0.00,0.000,4,0.000,0.059,2593,762,3320
$GC,8669,-1.51,-146.0,801.9,-9.0,812,8673,0.00,2.60,0.00,0.000,6,0.000,0.040,2593,2254,3320
$GC,8985,-1.54,-146.0,829.2,-8.6,827,8990,0.10,2.28,0.00,0.000,4,0.067,0.060,2565,3541,3319
$GC,9029,-1.50,-146.0,833.9,-10.8,829,9033,0.00,2.12,0.00,0.000,6,0.000,0.037,2565,2293,3318
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9107,begin apogee
$GC,9113,-0.35,0.0,841.6,9.9,833,9237,1.30,0.00,120.68,1.262,6,0.100,0.000,2825,2385,2748
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9241,1.56,146.0,847.0,0.0,839,9374,1.92,2.53,124.80,1.222,4,0.055,0.061,3246,3716,2152
$GC,9475,1.27,146.0,831.9,12.0,849,9480,0.35,2.30,0.00,0.000,6,0.131,0.040,3185,2402,2150
$GC,9792,1.15,146.0,800.0,10.1,864,9797,0.15,2.62,0.00,0.000,4,0.126,0.060,3156,963,2149
$GC,9836,1.06,146.0,795.5,9.5,866,9840,0.00,2.47,0.00,0.000,6,0.000,0.040,3156,2363,2149
$GC,10158,1.02,164.3,767.8,8.2,882,10182,0.15,2.62,15.10,1.232,4,0.123,0.060,3130,964,2077
$GC,10266,1.03,173.6,758.8,8.6,886,10281,0.00,2.45,8.27,1.230,6,0.000,0.040,3130,2351,2040
$GC,10604,1.08,202.7,731.7,7.7,903,10631,0.00,0.00,24.98,1.206,6,0.000,0.000,3129,2351,1921
$GC,10933,1.11,216.9,704.4,8.4,919,10956,0.00,2.65,12.27,1.206,4,0.000,0.060,3130,968,1863
$GC,10983,1.11,216.9,699.9,9.6,921,10987,0.00,2.45,0.00,0.000,6,0.000,0.040,3129,2344,1862
$GC,11312,1.20,251.3,673.7,7.5,937,11348,0.15,2.62,29.42,1.167,4,0.067,0.060,3169,972,1723
$GC,11378,1.20,251.3,667.1,10.9,940,11382,0.00,2.42,0.00,0.000,6,0.000,0.040,3169,2334,1721
$GC,11704,1.20,251.3,633.6,10.4,956,11708,0.00,2.50,0.00,0.000,4,0.000,0.060,3169,970,1720
$GC,11731,1.20,251.3,630.3,12.0,957,11735,0.00,2.40,0.00,0.000,6,0.000,0.041,3169,2313,1720
$GC,12053,1.20,251.3,596.4,10.4,973,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2312,1719
$GC,12362,1.20,251.3,565.5,9.8,988,12366,0.00,2.45,0.00,0.000,4,0.000,0.059,3169,961,1719
$GC,12409,1.17,251.3,560.9,10.4,990,12413,0.00,2.35,0.00,0.000,6,0.000,0.038,3169,2310,1718
$GC,12741,1.17,251.3,528.0,9.9,1006,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2310,1718
$GC,13051,1.17,251.3,496.8,10.2,1022,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2310,1718
$GC,13371,1.19,262.7,467.2,8.5,1052,13387,0.00,2.55,9.02,1.077,4,0.000,0.058,3169,963,1677
$GC,13455,1.19,266.6,459.4,8.8,1059,13463,0.00,2.35,3.80,1.072,6,0.000,0.037,3169,2311,1661
$GC,13780,1.21,274.6,431.2,8.7,1090,13793,0.00,2.53,7.22,1.052,4,0.000,0.056,3169,969,1628
$GC,13832,1.21,274.6,426.0,10.4,1094,13839,0.00,2.33,0.00,0.000,6,0.000,0.037,3169,2296,1628
$GC,14158,1.21,274.6,395.7,9.6,1125,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2296,1628
$GC,14477,1.22,282.9,366.9,8.6,1155,14491,0.00,2.65,7.32,1.003,4,0.000,0.055,3169,3732,1594
$GC,14525,1.22,282.9,362.0,10.9,1159,14530,0.00,2.47,0.00,0.000,6,0.000,0.037,3169,2308,1594
$GC,14852,1.22,286.0,332.7,8.9,1189,14864,0.00,2.45,2.95,0.982,4,0.000,0.055,3169,972,1582
$GC,14970,1.22,286.0,321.5,9.3,1199,14978,0.00,2.25,0.00,0.000,6,0.000,0.035,3169,2270,1581
$GC,15298,1.27,286.0,293.8,9.2,1230,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2270,1581
$GC,15616,1.30,289.7,264.7,8.8,1260,15628,0.00,2.40,3.47,0.930,4,0.000,0.054,3169,966,1566
$GC,15651,1.30,289.7,261.1,9.7,1263,15655,0.00,2.25,0.00,0.000,6,0.000,0.035,3169,2264,1566
$GC,15988,1.37,296.8,232.8,8.7,1311,16003,0.15,2.38,6.22,0.891,4,0.060,0.054,3210,962,1537
$GC,16066,1.31,296.8,225.1,10.1,1324,16073,0.00,2.15,0.00,0.000,6,0.000,0.035,3210,2207,1537
$GC,16411,1.31,296.8,192.1,10.0,1385,16418,0.00,2.70,0.00,0.000,4,0.000,0.052,3210,3736,1536
$GC,16503,1.27,296.8,182.8,10.3,1401,16511,0.15,2.58,0.00,0.000,6,0.123,0.035,3185,2236,1536
$GC,16850,1.38,328.3,156.9,7.6,1462,16884,0.00,2.33,25.77,0.769,4,0.000,0.054,3185,963,1407
$GC,16941,1.45,341.9,149.2,8.4,1477,16962,0.15,2.15,11.30,0.779,6,0.057,0.033,3222,2212,1353
$GC,17302,1.50,341.9,118.9,9.2,1540,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2212,1351
$GC,17646,1.71,418.8,95.5,5.6,1601,17720,0.22,2.33,62.58,0.671,4,0.051,0.049,3284,957,1039
$GC,17796,1.72,424.5,83.5,8.8,1625,17804,0.00,2.08,4.10,0.709,6,0.000,0.030,3284,2179,1017
$GC,18142,1.81,437.0,53.9,8.5,1686,18157,0.00,2.22,9.80,0.651,4,0.000,0.046,3284,961,966
$GC,18215,1.92,456.0,47.6,8.2,1698,18236,0.17,1.95,15.30,0.627,6,0.048,0.029,3334,2122,889
$GC,18575,1.92,456.0,16.0,9.1,1761,18582,0.00,2.80,0.00,0.000,4,0.000,0.044,3334,3740,887
$GC,18617,1.92,456.0,11.4,11.2,1768,18624,0.00,2.75,0.00,0.000,6,0.000,0.029,3334,2113,886
$STATE,18712,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,-0.1,1.005926
$STATE,18736,end surface coast,CONTROL_FINISHED_OK
$STATE,18738,begin surface
$SM_CCo,18760,9.80,0.586,0,0,810,475.15
$SM_GC,0.64,0.00,0.00,9.80,0.000,0.000,0.586,253,2191,810,-12.20,1.16,475.15
$IRIDIUM_FIX,1243.25,12026.36,010797,181814
$TT8_MAMPS,0.023777
$HUMID,1954
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.80
$XPDR_PINGS,403
$24V_AH,23.2,44.468
$10V_AH,10.1,22.638
$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,32.775,187.250,504.400,9.800,0.000,31.359,35.849,158.664,109.500,0.000,0.000,12.060,3742.917,11113.211,730.255,2972.852,566.782,0.000,2246.930,0.000,2914.989,0.000,64.390
$DEVICE_MAMPS,171.041,75.166,1262.482,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56650,1789
$CAP_FILE_SIZE,188682,0
$CFSIZE,260165632,237686784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,136.5,1
$GPS,070408,042438,1247.314,12022.128,38,1.3,38,-0.8