version: 66.03
glider: 122
mission: 6
dive: 242
start: 4 7 108 4 31 6
data:
$ID,122
$MISSION,6
$DIVE,242
$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,-32473.832
$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,24
$R_STBD_OVSHOOT,59
$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
$GPS1,042438,1247.314,12022.128,38,1.3,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.9
$GPS2,043032,1247.304,12022.106,11,1.2,16,-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,267.6,12334,-18.6,-9.016
$D_GRID,821
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-58.28,0.000,2,0.000,0.000,254,2191,2412
$GC,86,-1.56,-146.0,3.3,-8.2,11,124,13.38,0.00,-17.80,0.000,6,0.171,0.000,2560,2192,3345
$GC,462,-1.30,-146.0,86.3,-17.7,77,469,0.28,2.30,0.00,0.000,4,0.122,0.040,2614,3540,3348
$GC,499,-1.14,-146.0,91.9,-15.2,83,507,0.20,2.33,0.00,0.000,6,0.104,0.027,2652,2127,3348
$GC,845,-1.18,-146.0,130.8,-10.5,144,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2128,3350
$GC,1189,-1.24,-146.0,162.0,-8.1,205,1196,0.00,2.40,0.00,0.000,4,0.000,0.042,2652,3528,3352
$GC,1299,-1.31,-146.0,170.7,-8.1,224,1307,0.15,2.25,0.00,0.000,6,0.053,0.028,2609,2162,3352
$GC,1645,-1.31,-146.0,202.9,-9.4,285,1652,0.00,2.35,0.00,0.000,4,0.000,0.043,2609,3531,3352
$GC,1692,-1.31,-146.0,207.6,-9.3,293,1699,0.00,2.20,0.00,0.000,6,0.000,0.028,2609,2203,3352
$GC,2037,-1.31,-146.0,239.9,-10.1,354,2043,0.00,2.30,0.00,0.000,4,0.000,0.044,2609,3539,3352
$GC,2061,-1.31,-146.0,242.4,-10.2,358,2068,0.00,2.17,0.00,0.000,6,0.000,0.029,2609,2232,3352
$GC,2392,-1.31,-146.0,272.3,-8.7,396,2396,0.00,2.58,0.00,0.000,4,0.000,0.048,2609,760,3350
$GC,2424,-1.34,-146.0,275.6,-9.6,398,2431,0.00,2.45,0.00,0.000,6,0.000,0.032,2609,2209,3350
$GC,2751,-1.34,-146.0,305.9,-9.7,429,2755,0.00,2.30,0.00,0.000,4,0.000,0.048,2609,3536,3348
$GC,2813,-1.34,-146.0,312.4,-9.9,434,2817,0.00,2.17,0.00,0.000,6,0.000,0.031,2609,2238,3348
$GC,3139,-1.34,-146.0,344.1,-9.7,464,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2237,3345
$GC,3456,-1.34,-146.0,371.9,-8.3,494,3460,0.00,2.25,0.00,0.000,4,0.000,0.048,2609,3526,3344
$GC,3488,-1.34,-146.0,374.9,-8.1,496,3495,0.00,2.12,0.00,0.000,6,0.000,0.032,2609,2262,3343
$GC,3816,-1.34,-146.0,402.9,-8.7,527,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2260,3341
$GC,4131,-1.34,-146.0,428.6,-8.0,557,4135,0.00,2.22,0.00,0.000,4,0.000,0.050,2609,3530,3339
$GC,4172,-1.34,-146.0,431.8,-7.9,560,4176,0.00,2.15,0.00,0.000,6,0.000,0.032,2608,2260,3339
$GC,4499,-1.37,-146.0,456.1,-6.3,590,4503,0.00,2.22,0.00,0.000,4,0.000,0.051,2609,3526,3338
$GC,4528,-1.37,-146.0,458.1,-6.6,592,4531,0.00,2.12,0.00,0.000,6,0.000,0.033,2609,2264,3337
$GC,4860,-1.37,-146.0,481.2,-9.1,623,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2262,3335
$GC,5186,-1.41,-146.0,510.9,-8.0,648,5190,0.00,2.22,0.00,0.000,4,0.000,0.052,2609,3523,3333
$GC,5214,-1.45,-146.0,513.8,-8.5,649,5218,0.00,2.12,0.00,0.000,6,0.000,0.034,2609,2267,3333
$GC,5530,-1.48,-146.0,538.9,-8.2,664,5532,0.12,0.00,0.00,0.000,6,0.061,0.000,2574,2264,3330
$GC,5840,-1.45,-146.0,566.2,-8.5,679,5844,0.00,2.22,0.00,0.000,4,0.000,0.052,2574,3530,3329
$GC,5867,-1.41,-146.0,568.9,-9.4,680,5871,0.12,2.12,0.00,0.000,6,0.110,0.035,2596,2274,3329
$GC,6190,-1.41,-146.0,595.7,-8.6,696,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2270,3328
$GC,6498,-1.41,-146.0,621.5,-8.2,711,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2270,3326
$GC,6806,-1.41,-146.0,647.5,-8.3,726,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2269,3325
$GC,7116,-1.41,-146.0,672.9,-8.3,741,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2270,3324
$GC,7425,-1.41,-146.0,698.0,-7.8,756,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2270,3322
$GC,7734,-1.41,-146.0,724.3,-8.7,771,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2269,3321
$GC,8043,-1.41,-146.0,752.3,-9.1,786,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2269,3320
$GC,8353,-1.44,-146.0,777.0,-7.6,801,8357,0.00,2.22,0.00,0.000,4,0.000,0.058,2596,3524,3319
$GC,8396,-1.44,-146.0,780.6,-8.5,803,8400,0.00,2.10,0.00,0.000,6,0.000,0.038,2596,2291,3318
$GC,8718,-1.48,-146.0,805.1,-8.5,819,8723,0.00,2.75,0.00,0.000,4,0.000,0.061,2596,767,3317
$GC,8776,-1.53,-146.0,810.2,-8.6,821,8784,0.12,2.53,0.00,0.000,6,0.061,0.038,2562,2225,3317
$STATE,8904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8904,begin apogee
$GC,8910,-0.35,0.0,822.5,9.3,828,9033,1.33,0.00,120.00,1.246,6,0.107,0.000,2823,2347,2748
$STATE,9034,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9036,1.56,146.0,827.1,0.0,834,9168,1.98,0.00,125.05,1.204,6,0.057,0.000,3251,2347,2152
$GC,9478,1.30,146.0,789.1,11.1,856,9483,0.30,2.50,0.00,0.000,4,0.120,0.058,3193,982,2150
$GC,9567,1.15,146.0,780.0,10.3,860,9572,0.20,2.40,0.00,0.000,6,0.120,0.041,3158,2340,2150
$GC,9890,1.09,159.1,754.0,8.4,876,9906,0.00,2.58,10.77,1.225,4,0.000,0.061,3158,3734,2098
$GC,9962,1.00,159.1,746.9,10.0,878,9967,0.20,2.38,0.00,0.000,6,0.127,0.039,3123,2374,2098
$GC,10284,1.04,187.1,719.9,7.8,894,10314,0.00,2.67,23.55,1.196,4,0.000,0.061,3123,973,1985
$GC,10394,1.05,192.0,710.5,8.8,899,10404,0.00,2.40,4.53,1.197,6,0.000,0.040,3123,2330,1965
$GC,10729,1.14,228.2,684.8,7.4,915,10766,0.15,2.55,31.05,1.169,4,0.070,0.059,3161,975,1816
$GC,10822,1.11,228.2,676.3,9.4,919,10826,0.00,2.33,0.00,0.000,6,0.000,0.039,3161,2291,1814
$GC,11149,1.13,239.4,647.9,8.5,935,11164,0.00,2.47,9.55,1.178,4,0.000,0.060,3161,966,1770
$GC,11220,1.13,240.1,641.5,9.0,938,11224,0.00,2.30,0.00,0.000,6,0.000,0.039,3161,2274,1770
$GC,11547,1.16,259.0,614.5,8.2,954,11571,0.00,2.75,16.55,1.145,4,0.000,0.060,3161,3729,1692
$GC,11594,1.16,259.0,610.2,10.3,956,11599,0.00,2.58,0.00,0.000,6,0.000,0.040,3160,2270,1692
$GC,11921,1.16,259.0,579.0,9.7,972,11925,0.00,2.38,0.00,0.000,4,0.000,0.061,3161,963,1690
$GC,11998,1.16,259.0,571.2,9.4,975,12005,0.00,2.28,0.00,0.000,6,0.000,0.038,3161,2268,1690
$GC,12315,1.16,259.0,541.1,9.4,991,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2269,1690
$GC,12623,1.16,259.0,512.6,9.2,1006,12627,0.00,2.35,0.00,0.000,4,0.000,0.058,3161,970,1689
$GC,12656,1.16,259.0,509.2,9.8,1007,12663,0.00,2.25,0.00,0.000,6,0.000,0.038,3161,2263,1689
$GC,12979,1.16,259.0,479.0,9.8,1033,12982,0.00,2.33,0.00,0.000,4,0.000,0.057,3161,972,1689
$GC,13028,1.16,259.0,474.0,9.4,1037,13035,0.00,2.22,0.00,0.000,6,0.000,0.038,3161,2250,1689
$GC,13355,1.19,279.7,446.2,8.1,1068,13380,0.00,2.38,17.70,1.034,4,0.000,0.057,3161,972,1606
$GC,13418,1.19,279.7,440.4,9.2,1073,13426,0.00,2.17,0.00,0.000,6,0.000,0.036,3161,2218,1605
$GC,13746,1.25,289.1,412.5,8.6,1104,13759,0.00,2.35,7.82,1.030,4,0.000,0.056,3161,970,1569
$GC,13794,1.29,289.1,407.6,10.1,1108,13799,0.10,2.15,0.00,0.000,6,0.069,0.036,3190,2202,1568
$GC,14119,1.29,289.1,373.8,11.0,1138,14123,0.00,2.72,0.00,0.000,4,0.000,0.054,3190,3732,1568
$GC,14151,1.29,289.1,370.0,11.4,1140,14158,0.00,2.67,0.00,0.000,6,0.000,0.038,3190,2185,1568
$GC,14477,1.29,289.1,336.8,9.4,1171,14481,0.00,2.17,0.00,0.000,4,0.000,0.056,3190,966,1568
$GC,14518,1.29,289.1,332.8,10.4,1174,14521,0.00,2.12,0.00,0.000,6,0.000,0.035,3190,2198,1568
$GC,14843,1.29,292.9,304.5,8.8,1204,14855,0.00,2.78,3.45,0.954,4,0.000,0.053,3190,3728,1553
$GC,14890,1.29,292.9,299.9,9.5,1208,14894,0.00,2.67,0.00,0.000,6,0.000,0.037,3190,2186,1554
$GC,15214,1.29,292.9,269.7,9.8,1238,15218,0.00,2.17,0.00,0.000,4,0.000,0.055,3190,964,1554
$GC,15259,1.29,292.9,265.3,9.6,1241,15266,0.00,2.12,0.00,0.000,6,0.000,0.035,3190,2199,1554
$GC,15592,1.29,292.9,232.4,10.6,1287,15599,0.00,2.70,0.00,0.000,4,0.000,0.053,3190,3727,1554
$GC,15634,1.29,292.9,227.8,11.5,1294,15641,0.00,2.67,0.00,0.000,6,0.000,0.037,3190,2174,1554
$GC,15979,1.30,299.8,194.8,8.7,1355,15993,0.00,2.17,6.15,0.863,4,0.000,0.055,3190,968,1525
$GC,16017,1.30,299.8,191.3,9.6,1361,16024,0.00,2.15,0.00,0.000,6,0.000,0.034,3190,2215,1525
$GC,16361,1.36,332.4,163.5,7.6,1422,16395,0.00,2.35,26.80,0.776,4,0.000,0.051,3190,960,1391
$GC,16430,1.39,332.4,157.5,9.1,1433,16437,0.00,2.15,0.00,0.000,6,0.000,0.034,3190,2209,1389
$GC,16775,1.52,358.6,130.8,7.8,1494,16804,0.17,2.33,21.12,0.744,4,0.054,0.051,3240,963,1286
$GC,16833,1.52,358.6,125.1,10.5,1503,16840,0.00,2.15,0.00,0.000,6,0.000,0.034,3240,2206,1284
$GC,17178,1.64,404.7,96.9,7.0,1564,17223,0.00,2.25,37.60,0.688,4,0.000,0.050,3240,970,1097
$GC,17328,1.72,410.2,85.1,8.8,1589,17342,0.17,2.10,4.32,0.733,6,0.053,0.031,3286,2201,1074
$GC,17683,1.85,459.3,56.3,6.8,1651,17730,0.00,2.28,40.08,0.626,4,0.000,0.046,3286,969,874
$GC,17778,1.94,463.1,48.6,8.8,1666,17787,0.17,1.92,2.95,0.680,6,0.048,0.029,3333,2110,859
$GC,18125,1.97,482.2,17.0,8.2,1727,18146,0.00,2.92,14.95,0.591,4,0.000,0.044,3334,3737,780
$GC,18209,1.97,482.2,8.3,10.2,1741,18216,0.00,2.80,0.00,0.000,6,0.000,0.030,3334,2085,780
$STATE,18271,end climb,SURFACE_DEPTH_REACHED
$STATE,18271,begin surface coast
$FINISH,-0.2,1.013323
$STATE,18295,end surface coast,CONTROL_FINISHED_OK
$STATE,18295,begin surface
$SM_CCo,18378,0.00,0.000,0,0,775,483.73
$SM_GC,0.68,13.50,0.00,0.00,0.036,0.000,0.000,252,2184,775,-12.17,0.96,483.73
$IRIDIUM_FIX,1241.04,12023.34,010797,232355
$TT8_MAMPS,0.023777
$HUMID,1945
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.80
$XPDR_PINGS,386
$24V_AH,23.2,44.648
$10V_AH,10.1,22.730
$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,32.650,164.675,524.000,0.000,0.000,22.492,38.486,164.373,104.750,0.000,0.000,16.677,3652.110,10945.963,724.413,2853.292,557.290,0.000,2166.833,0.000,2797.794,0.000,60.760
$DEVICE_MAMPS,171.041,61.360,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56604,1756
$CAP_FILE_SIZE,180353,0
$CFSIZE,260165632,237604864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,  7.3,1
$GPS,070408,093837,1247.992,12020.390,38,1.8,38,-0.8