version: 66.03
glider: 122
mission: 6
dive: 251
start: 4 9 108 6 3 7
data:
$ID,122
$MISSION,6
$DIVE,251
$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,-32634.67
$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
$GPS1,055702,1246.411,12023.679,41,1.1,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.2
$GPS2,060233,1246.373,12023.659,13,1.2,13,-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,58.3,35395,-18.6,-9.016
$D_GRID,636
$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,-60.90,0.000,2,0.000,0.000,253,2121,2472
$GC,88,-1.56,-146.0,3.2,-7.1,10,126,13.40,2.47,-16.70,0.000,4,0.171,0.051,2561,3563,3345
$GC,256,-1.26,-146.0,40.8,-19.9,39,263,0.38,2.33,0.00,0.000,6,0.119,0.027,2630,2153,3346
$GC,601,-1.16,-146.0,93.2,-13.5,100,608,0.10,0.00,0.00,0.000,6,0.124,0.000,2648,2151,3349
$GC,946,-1.16,-146.0,131.5,-9.3,161,953,0.00,2.40,0.00,0.000,4,0.000,0.042,2648,3567,3351
$GC,1005,-1.21,-146.0,137.3,-10.3,171,1012,0.00,2.33,0.00,0.000,6,0.000,0.027,2648,2156,3352
$GC,1351,-1.27,-146.0,166.5,-7.9,232,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2156,3353
$GC,1696,-1.34,-146.0,194.3,-8.7,293,1703,0.15,2.42,0.00,0.000,4,0.050,0.044,2598,3563,3353
$GC,1772,-1.31,-146.0,202.5,-10.6,306,1781,0.08,2.33,0.00,0.000,6,0.091,0.030,2616,2169,3352
$GC,2119,-1.31,-146.0,234.2,-8.6,367,2125,0.00,2.47,0.00,0.000,4,0.000,0.048,2616,753,3351
$GC,2149,-1.34,-146.0,236.9,-9.0,372,2156,0.00,2.42,0.00,0.000,6,0.000,0.031,2616,2194,3351
$GC,2490,-1.34,-146.0,264.7,-8.3,417,2494,0.00,2.35,0.00,0.000,4,0.000,0.048,2616,3554,3349
$GC,2578,-1.34,-146.0,273.0,-9.2,424,2586,0.00,2.28,0.00,0.000,6,0.000,0.031,2616,2192,3349
$GC,2908,-1.37,-146.0,301.9,-9.0,455,2912,0.00,2.38,0.00,0.000,4,0.000,0.048,2616,3555,3346
$GC,2936,-1.37,-146.0,304.9,-9.3,457,2940,0.00,2.22,0.00,0.000,6,0.000,0.031,2616,2229,3347
$GC,3263,-1.40,-146.0,335.1,-9.2,487,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2227,3345
$GC,3581,-1.45,-146.0,362.7,-8.2,517,3583,0.12,0.00,0.00,0.000,6,0.059,0.000,2580,2226,3343
$GC,3899,-1.41,-146.0,393.4,-9.8,547,3903,0.00,2.30,0.00,0.000,4,0.000,0.050,2580,3545,3341
$GC,3934,-1.37,-146.0,397.0,-9.6,550,3938,0.15,2.22,0.00,0.000,6,0.102,0.033,2608,2231,3341
$GC,4259,-1.37,-146.0,424.2,-8.3,580,4263,0.00,2.62,0.00,0.000,4,0.000,0.054,2608,755,3338
$GC,4293,-1.41,-146.0,427.2,-8.8,582,4300,0.00,2.53,0.00,0.000,6,0.000,0.034,2608,2233,3338
$GC,4620,-1.44,-146.0,454.9,-8.6,613,4624,0.00,2.30,0.00,0.000,4,0.000,0.051,2608,3554,3336
$GC,4647,-1.48,-146.0,457.5,-9.1,615,4654,0.12,2.20,0.00,0.000,6,0.061,0.033,2573,2254,3336
$GC,4974,-1.44,-146.0,490.6,-9.8,646,4978,0.00,2.28,0.00,0.000,4,0.000,0.052,2574,3544,3334
$GC,5007,-1.40,-146.0,494.5,-10.2,648,5015,0.12,2.15,0.00,0.000,6,0.109,0.034,2595,2272,3333
$GC,5327,-1.40,-146.0,520.7,-8.1,667,5331,0.00,2.25,0.00,0.000,4,0.000,0.052,2596,3547,3332
$GC,5368,-1.40,-146.0,524.3,-8.7,669,5372,0.00,2.12,0.00,0.000,6,0.000,0.034,2595,2290,3332
$GC,5698,-1.40,-146.0,550.1,-8.0,685,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2289,3330
$GC,6004,-1.40,-146.0,574.8,-8.2,700,6008,0.00,2.75,0.00,0.000,4,0.000,0.056,2595,748,3328
$GC,6044,-1.43,-146.0,578.3,-9.1,702,6048,0.00,2.65,0.00,0.000,6,0.000,0.037,2595,2288,3327
$GC,6372,-1.43,-146.0,603.6,-7.8,718,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2288,3327
$GC,6680,-1.43,-146.0,628.6,-8.2,733,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2289,3325
$STATE,6780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6780,begin apogee
$GC,6786,-0.35,0.0,637.5,8.7,738,6907,1.15,0.00,117.62,1.078,6,0.099,0.000,2826,2374,2748
$STATE,6908,end apogee,CONTROL_FINISHED_OK
$STATE,6908,begin climb
$GC,6910,1.56,146.0,643.7,0.0,744,7038,1.92,2.47,120.32,1.045,4,0.051,0.059,3252,3712,2152
$GC,7100,1.27,146.0,637.2,11.2,753,7105,0.40,2.33,0.00,0.000,6,0.130,0.038,3181,2379,2151
$GC,7429,1.20,170.2,611.7,7.9,769,7455,0.00,2.65,19.33,1.058,4,0.000,0.058,3181,967,2054
$GC,7512,1.08,170.2,603.8,9.7,772,7520,0.22,2.40,0.00,0.000,6,0.114,0.038,3140,2339,2054
$GC,7828,1.13,198.1,578.7,7.8,788,7857,0.00,2.60,22.90,1.049,4,0.000,0.057,3140,970,1940
$GC,7904,1.15,207.8,572.2,8.6,791,7917,0.00,2.38,8.30,1.056,6,0.000,0.038,3140,2328,1900
$GC,8224,1.19,231.5,546.6,8.0,807,8249,0.10,2.58,19.15,1.039,4,0.077,0.057,3164,972,1804
$GC,8318,1.15,231.5,537.7,10.0,811,8322,0.00,2.35,0.00,0.000,6,0.000,0.038,3164,2314,1802
$GC,8645,1.15,231.5,505.8,9.9,827,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2313,1801
$GC,8962,1.17,245.3,477.2,8.4,854,8978,0.00,2.50,11.35,1.031,4,0.000,0.056,3164,966,1746
$GC,9006,1.17,245.3,473.2,9.7,857,9013,0.00,2.30,0.00,0.000,6,0.000,0.037,3164,2282,1746
$GC,9333,1.17,245.3,445.9,9.0,888,9337,0.00,2.58,0.00,0.000,4,0.000,0.057,3164,3726,1745
$GC,9372,1.17,245.3,442.2,9.8,891,9376,0.00,2.53,0.00,0.000,6,0.000,0.038,3164,2265,1745
$GC,9700,1.20,260.1,415.3,8.4,921,9717,0.00,2.38,12.40,0.992,4,0.000,0.056,3164,967,1686
$GC,9801,1.20,260.1,405.9,9.1,929,9808,0.00,2.28,0.00,0.000,6,0.000,0.037,3164,2274,1686
$GC,10129,1.23,279.3,377.7,8.2,960,10152,0.00,0.00,15.70,0.955,6,0.000,0.000,3164,2275,1609
$GC,10471,1.23,281.0,347.7,8.9,992,10475,0.00,2.35,0.00,0.000,4,0.000,0.054,3164,965,1607
$GC,10515,1.23,281.0,343.4,9.2,995,10522,0.00,2.22,0.00,0.000,6,0.000,0.035,3163,2254,1606
$GC,10843,1.24,284.1,314.3,8.9,1026,10855,0.00,2.38,3.95,0.947,4,0.000,0.054,3164,966,1589
$GC,10872,1.24,284.1,311.3,9.0,1028,10879,0.00,2.20,0.00,0.000,6,0.000,0.035,3164,2238,1589
$GC,11199,1.31,304.3,284.9,8.1,1059,11224,0.12,2.70,16.95,0.878,4,0.065,0.053,3195,3729,1506
$GC,11248,1.28,304.3,280.2,10.0,1063,11252,0.00,2.62,0.00,0.000,6,0.000,0.036,3195,2219,1505
$GC,11574,1.28,304.3,249.8,10.1,1093,11581,0.00,2.22,0.00,0.000,4,0.000,0.054,3195,969,1503
$GC,11604,1.28,304.3,246.4,10.6,1098,11611,0.00,2.17,0.00,0.000,6,0.000,0.035,3195,2238,1503
$GC,11949,1.28,304.3,211.9,9.8,1159,11956,0.00,2.62,0.00,0.000,4,0.000,0.051,3195,3726,1503
$GC,12008,1.28,304.3,206.0,10.1,1169,12015,0.00,2.53,0.00,0.000,6,0.000,0.035,3195,2251,1503
$GC,12353,1.28,304.6,175.9,9.0,1230,12360,0.00,2.28,0.00,0.000,4,0.000,0.054,3195,967,1503
$GC,12445,1.28,304.6,166.7,10.2,1246,12451,0.00,2.12,0.00,0.000,6,0.000,0.034,3195,2213,1503
$GC,12790,1.28,306.7,135.9,8.9,1307,12796,0.00,2.65,0.00,0.000,4,0.000,0.050,3195,3730,1503
$GC,12825,1.28,306.7,132.5,9.2,1313,12832,0.00,2.67,0.00,0.000,6,0.000,0.035,3196,2163,1503
$GC,13172,1.51,389.2,108.7,5.3,1374,13246,0.15,2.22,68.18,0.683,4,0.058,0.051,3238,962,1161
$GC,13332,1.60,419.8,95.6,7.6,1400,13364,0.00,2.00,24.65,0.676,6,0.000,0.032,3238,2138,1036
$GC,13703,1.80,462.2,65.0,7.1,1465,13745,0.22,2.17,34.00,0.630,4,0.048,0.048,3301,962,862
$GC,13780,1.80,462.2,58.0,9.7,1477,13786,0.00,1.95,0.00,0.000,6,0.000,0.030,3301,2116,860
$GC,14125,1.88,473.5,27.8,8.5,1538,14139,0.00,2.88,8.15,0.619,4,0.000,0.044,3301,3727,816
$GC,14203,1.93,473.5,20.4,9.7,1551,14210,0.12,2.75,0.00,0.000,6,0.060,0.031,3337,2108,815
$STATE,14388,end climb,SURFACE_DEPTH_REACHED
$STATE,14388,begin surface coast
$FINISH,-0.1,1.016174
$STATE,14412,end surface coast,CONTROL_FINISHED_OK
$STATE,14412,begin surface
$SM_CCo,14495,0.00,0.000,0,0,809,475.39
$SM_GC,0.82,13.43,0.00,0.00,0.034,0.000,0.000,252,2195,809,-12.17,1.27,475.39
$IRIDIUM_FIX,1238.83,12023.34,040797,010135
$TT8_MAMPS,0.023777
$HUMID,1949
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,422
$24V_AH,23.4,46.301
$10V_AH,10.1,23.588
$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,32.475,139.000,502.950,0.000,0.000,24.811,37.221,148.379,109.000,0.000,0.000,13.874,3220.990,7885.637,678.447,2526.932,517.855,0.000,1968.017,0.000,2495.077,0.000,26.317
$DEVICE_MAMPS,171.041,76.700,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50335,1588
$CAP_FILE_SIZE,151414,0
$CFSIZE,260165632,236859392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 35.0,1
$GPS,090408,100555,1247.313,12025.018,39,1.5,39,-0.8