version: 66.03
glider: 122
mission: 6
dive: 249
start: 4 8 108 20 5 8
data:
$ID,122
$MISSION,6
$DIVE,249
$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,-32578.707
$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,25
$R_STBD_OVSHOOT,56
$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
$GPS1,195838,1246.959,12020.189,41,1.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.6
$GPS2,200433,1247.034,12020.102,12,1.6,12,-0.8
$SPEED_LIMITS,0.156,0.206
$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,92.4,41458,-18.6,-9.016
$D_GRID,844
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-58.45,0.000,2,0.000,0.000,253,2185,2395
$GC,85,-1.56,-146.0,3.1,-7.0,9,122,13.45,0.00,-18.52,0.000,6,0.173,0.000,2560,2185,3346
$GC,460,-1.30,-146.0,82.9,-17.2,75,467,0.28,2.30,0.00,0.000,4,0.122,0.041,2614,3536,3349
$GC,503,-1.16,-146.0,89.8,-16.0,82,510,0.17,2.30,0.00,0.000,6,0.104,0.027,2647,2134,3349
$GC,848,-1.16,-146.0,131.2,-9.7,143,855,0.00,2.40,0.00,0.000,4,0.000,0.041,2647,3538,3352
$GC,912,-1.20,-146.0,137.6,-9.8,154,919,0.00,2.17,0.00,0.000,6,0.000,0.026,2647,2206,3352
$GC,1258,-1.25,-146.0,166.2,-8.0,215,1265,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,3532,3353
$GC,1294,-1.31,-146.0,169.3,-8.4,221,1301,0.12,2.15,0.00,0.000,6,0.057,0.027,2610,2223,3353
$GC,1639,-1.31,-146.0,200.9,-9.2,282,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2223,3353
$GC,1983,-1.31,-146.0,231.7,-9.0,343,1990,0.00,2.25,0.00,0.000,4,0.000,0.045,2610,3529,3353
$GC,2053,-1.31,-146.0,238.8,-9.8,355,2060,0.00,2.10,0.00,0.000,6,0.000,0.030,2610,2263,3353
$GC,2387,-1.31,-146.0,269.4,-8.9,396,2391,0.00,2.65,0.00,0.000,4,0.000,0.055,2610,755,3350
$GC,2430,-1.35,-146.0,274.0,-9.8,399,2438,0.00,2.50,0.00,0.000,6,0.000,0.032,2610,2233,3350
$GC,2758,-1.35,-146.0,301.8,-8.1,430,2761,0.00,2.25,0.00,0.000,4,0.000,0.048,2609,3532,3348
$GC,2826,-1.35,-146.0,308.0,-8.7,436,2830,0.00,2.10,0.00,0.000,6,0.000,0.031,2610,2273,3348
$GC,3152,-1.35,-146.0,335.0,-8.6,466,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2270,3346
$GC,3470,-1.35,-146.0,362.0,-8.4,496,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2270,3344
$GC,3788,-1.35,-146.0,390.9,-9.3,526,3791,0.00,2.20,0.00,0.000,4,0.000,0.050,2610,3528,3342
$GC,3820,-1.35,-146.0,394.2,-9.9,528,3827,0.00,2.10,0.00,0.000,6,0.000,0.032,2610,2280,3342
$GC,4147,-1.38,-146.0,424.5,-9.1,559,4151,0.00,2.70,0.00,0.000,4,0.000,0.053,2610,759,3340
$GC,4191,-1.43,-146.0,428.7,-9.5,562,4198,0.00,2.53,0.00,0.000,6,0.000,0.034,2610,2241,3340
$GC,4518,-1.47,-146.0,455.4,-8.6,593,4523,0.12,2.25,0.00,0.000,4,0.058,0.051,2574,3529,3337
$GC,4580,-1.42,-146.0,461.5,-9.7,598,4584,0.00,2.10,0.00,0.000,6,0.000,0.033,2574,2283,3337
$GC,4907,-1.39,-146.0,494.0,-10.3,628,4909,0.15,0.00,0.00,0.000,6,0.109,0.000,2600,2278,3335
$GC,5227,-1.39,-146.0,524.3,-9.6,647,5231,0.00,2.70,0.00,0.000,4,0.000,0.054,2601,760,3333
$GC,5259,-1.43,-146.0,527.5,-9.2,648,5267,0.00,2.58,0.00,0.000,6,0.000,0.035,2601,2261,3333
$GC,5576,-1.46,-146.0,557.4,-9.4,664,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2262,3331
$GC,5885,-1.49,-146.0,583.9,-8.3,679,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2262,3329
$GC,6195,-1.53,-146.0,610.3,-8.9,694,6197,0.15,0.00,0.00,0.000,6,0.056,0.000,2560,2262,3328
$GC,6504,-1.47,-146.0,643.3,-10.5,709,6506,0.12,0.00,0.00,0.000,6,0.115,0.000,2581,2262,3326
$GC,6812,-1.47,-146.0,672.7,-9.5,724,6816,0.00,2.67,0.00,0.000,4,0.000,0.058,2581,761,3326
$GC,6844,-1.47,-146.0,676.0,-9.6,725,6852,0.00,2.55,0.00,0.000,6,0.000,0.038,2582,2239,3326
$GC,7161,-1.47,-146.0,703.9,-8.5,741,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2239,3324
$GC,7470,-1.47,-146.0,727.9,-7.8,756,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2239,3322
$GC,7779,-1.47,-146.0,752.1,-7.8,771,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2239,3321
$GC,8088,-1.47,-146.0,779.4,-9.5,786,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2239,3320
$GC,8397,-1.47,-146.0,807.6,-9.1,801,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2239,3319
$GC,8707,-1.47,-146.0,834.3,-8.4,816,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2239,3317
$STATE,8828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8828,begin apogee
$GC,8833,-0.35,0.0,844.5,8.2,822,8958,1.23,0.00,120.72,1.260,6,0.101,0.000,2827,2360,2748
$STATE,8959,end apogee,CONTROL_FINISHED_OK
$STATE,8959,begin climb
$GC,8961,1.56,146.0,848.9,0.0,828,9094,1.92,2.58,124.45,1.221,4,0.055,0.062,3251,3716,2152
$GC,9189,1.26,146.0,834.7,11.5,838,9195,0.40,2.33,0.00,0.000,6,0.137,0.041,3182,2383,2151
$GC,9511,1.16,159.9,806.6,8.4,854,9534,0.12,2.67,11.40,1.236,4,0.131,0.060,3161,972,2096
$GC,9607,1.08,175.9,798.7,8.3,858,9628,0.12,2.42,14.32,1.227,6,0.122,0.040,3140,2346,2030
$GC,9957,1.15,216.2,774.3,7.2,875,10002,0.00,2.62,34.15,1.206,4,0.000,0.060,3140,967,1865
$GC,10029,1.15,216.2,767.9,9.8,878,10033,0.00,2.42,0.00,0.000,6,0.000,0.041,3140,2337,1864
$GC,10356,1.15,216.2,738.1,9.2,894,10361,0.00,2.50,0.00,0.000,4,0.000,0.060,3140,965,1863
$GC,10411,1.15,216.2,732.7,9.6,896,10419,0.00,2.35,0.00,0.000,6,0.000,0.040,3140,2312,1863
$GC,10728,1.15,216.2,704.4,9.7,912,10732,0.00,2.45,0.00,0.000,4,0.000,0.059,3140,965,1862
$GC,10805,1.15,216.2,695.5,11.0,915,10813,0.00,2.33,0.00,0.000,6,0.000,0.039,3140,2295,1862
$GC,11121,1.15,216.2,666.5,9.2,931,11125,0.00,2.40,0.00,0.000,4,0.000,0.060,3140,972,1862
$GC,11164,1.15,216.2,662.1,10.3,933,11168,0.00,2.28,0.00,0.000,6,0.000,0.039,3140,2279,1861
$GC,11492,1.20,245.5,635.1,7.7,949,11524,0.12,2.50,24.08,1.156,4,0.073,0.059,3170,970,1747
$GC,11616,1.15,245.5,623.4,10.1,954,11620,0.00,2.25,0.00,0.000,6,0.000,0.039,3170,2258,1746
$GC,11932,1.15,245.5,592.5,9.8,969,11936,0.00,2.35,0.00,0.000,4,0.000,0.059,3170,963,1745
$GC,11976,1.10,245.5,587.8,10.4,971,11980,0.12,2.22,0.00,0.000,6,0.115,0.038,3149,2242,1745
$GC,12297,1.12,254.9,560.0,8.6,987,12307,0.00,0.00,8.57,1.139,6,0.000,0.000,3149,2242,1708
$GC,12607,1.15,254.9,531.5,9.2,1002,12611,0.00,2.30,0.00,0.000,4,0.000,0.059,3149,971,1706
$GC,12661,1.15,254.9,526.1,9.6,1004,12669,0.00,2.20,0.00,0.000,6,0.000,0.038,3149,2236,1706
$GC,12978,1.15,254.9,496.4,9.3,1021,12982,0.00,2.30,0.00,0.000,4,0.000,0.058,3149,963,1706
$GC,13045,1.15,254.9,489.6,10.1,1026,13052,0.00,2.15,0.00,0.000,6,0.000,0.037,3149,2208,1706
$GC,13372,1.19,254.9,458.8,9.2,1057,13376,0.00,2.72,0.00,0.000,4,0.000,0.058,3149,3736,1706
$GC,13401,1.19,254.9,456.1,9.2,1059,13406,0.00,2.65,0.00,0.000,6,0.000,0.038,3149,2202,1706
$GC,13726,1.23,280.0,427.7,7.9,1089,13753,0.12,2.33,21.08,1.012,4,0.069,0.058,3179,969,1605
$GC,13815,1.23,280.0,419.1,9.6,1096,13821,0.00,2.15,0.00,0.000,6,0.000,0.037,3179,2209,1604
$GC,14141,1.23,280.0,387.0,10.5,1127,14145,0.00,2.22,0.00,0.000,4,0.000,0.056,3179,969,1604
$GC,14214,1.23,280.0,378.6,10.9,1133,14218,0.00,2.05,0.00,0.000,6,0.000,0.035,3179,2159,1604
$GC,14546,1.23,280.0,344.5,10.0,1164,14551,0.00,2.78,0.00,0.000,4,0.000,0.054,3180,3732,1604
$GC,14585,1.23,280.0,340.0,10.4,1167,14590,0.00,2.72,0.00,0.000,6,0.000,0.038,3179,2150,1604
$GC,14910,1.23,280.0,309.1,9.0,1197,14914,0.00,2.10,0.00,0.000,4,0.000,0.056,3179,966,1604
$GC,14960,1.23,280.0,304.4,9.6,1201,14967,0.00,2.08,0.00,0.000,6,0.000,0.035,3179,2161,1604
$GC,15287,1.27,303.5,278.1,8.0,1232,15309,0.00,0.00,19.67,0.888,6,0.000,0.000,3179,2161,1510
$GC,15624,1.27,303.5,246.3,9.6,1267,15631,0.00,2.15,0.00,0.000,4,0.000,0.054,3179,958,1507
$GC,15666,1.27,303.5,242.0,10.5,1274,15673,0.00,2.03,0.00,0.000,6,0.000,0.035,3179,2141,1507
$GC,16011,1.30,303.5,209.4,9.1,1335,16018,0.00,2.80,0.00,0.000,4,0.000,0.051,3179,3729,1507
$GC,16058,1.30,303.5,205.2,9.1,1343,16066,0.00,2.75,0.00,0.000,6,0.000,0.036,3179,2128,1508
$GC,16404,1.36,311.4,175.6,8.7,1404,16418,0.00,2.10,6.35,0.837,4,0.000,0.054,3180,958,1477
$GC,16442,1.41,311.4,172.1,9.9,1410,16449,0.15,2.03,0.00,0.000,6,0.056,0.033,3216,2141,1477
$GC,16788,1.42,314.5,141.5,8.9,1471,16796,0.00,2.85,2.67,0.818,4,0.000,0.048,3216,3728,1466
$GC,16820,1.42,314.5,138.5,9.5,1476,16827,0.00,2.85,0.00,0.000,6,0.000,0.035,3216,2070,1466
$GC,17165,1.53,382.3,112.3,6.0,1537,17231,0.10,3.03,55.47,0.691,4,0.071,0.047,3242,3727,1188
$GC,17296,1.58,384.0,101.8,8.9,1558,17303,0.00,2.75,0.00,0.000,6,0.000,0.034,3242,2128,1185
$GC,17642,1.74,427.6,73.9,7.1,1619,17683,0.15,2.15,36.47,0.643,4,0.058,0.050,3287,963,1003
$GC,17791,1.74,427.6,59.9,9.6,1644,17798,0.00,1.92,0.00,0.000,6,0.000,0.028,3287,2115,1000
$GC,18136,1.86,457.9,31.8,7.7,1705,18169,0.10,2.85,23.73,0.593,4,0.064,0.044,3318,3729,880
$GC,18193,1.86,457.9,26.8,9.9,1714,18200,0.00,2.83,0.00,0.000,6,0.000,0.031,3317,2072,879
$STATE,18451,end climb,SURFACE_DEPTH_REACHED
$STATE,18451,begin surface coast
$FINISH,-0.2,1.021154
$STATE,18474,end surface coast,CONTROL_FINISHED_OK
$STATE,18474,begin surface
$SM_CCo,18498,8.85,0.588,0,0,811,475.15
$SM_GC,0.74,0.00,0.00,8.85,0.000,0.000,0.588,248,2200,811,-12.22,1.44,475.15
$IRIDIUM_FIX,1241.04,12018.41,030797,141409
$TT8_MAMPS,0.023777
$HUMID,1947
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,383
$24V_AH,23.2,45.975
$10V_AH,10.1,23.418
$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,32.725,158.675,503.150,8.850,0.000,23.480,38.030,163.040,104.500,0.000,0.000,12.709,3625.893,11082.803,705.616,2895.079,555.679,0.000,2166.626,0.000,2836.810,0.000,64.375
$DEVICE_MAMPS,172.575,62.127,1260.181,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56654,1764
$CAP_FILE_SIZE,177536,0
$CFSIZE,260165632,236986368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,142.6,1
$GPS,090408,011438,1246.589,12022.092,26,2.0,26,-0.8