version: 66.03
glider: 122
mission: 6
dive: 252
start: 4 9 108 10 11 53
data:
$ID,122
$MISSION,6
$DIVE,252
$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,-32650.221
$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,26
$R_STBD_OVSHOOT,66
$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
$GPS1,100555,1247.313,12025.018,39,1.5,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.3
$GPS2,101120,1247.311,12025.046,9,1.5,14,-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,88.1,32581,-18.6,-9.016
$D_GRID,786
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-60.15,0.000,2,0.000,0.000,252,2194,2470
$GC,87,-1.56,-146.0,3.6,-8.9,10,126,13.40,2.28,-16.48,0.000,4,0.171,0.054,2561,3523,3345
$GC,230,-1.26,-146.0,36.0,-21.6,34,237,0.35,2.30,0.00,0.000,6,0.117,0.027,2626,2133,3347
$GC,576,-1.16,-146.0,90.1,-12.4,95,583,0.12,2.38,0.00,0.000,4,0.115,0.040,2649,3523,3349
$GC,641,-1.16,-146.0,98.6,-13.1,106,648,0.00,2.30,0.00,0.000,6,0.000,0.027,2649,2128,3350
$GC,987,-1.19,-146.0,133.4,-8.4,167,994,0.00,2.38,0.00,0.000,4,0.000,0.043,2649,749,3352
$GC,1023,-1.27,-146.0,136.8,-9.4,173,1030,0.00,2.28,0.00,0.000,6,0.000,0.028,2649,2117,3352
$GC,1369,-1.34,-146.0,166.7,-7.7,234,1376,0.15,2.45,0.00,0.000,4,0.050,0.043,2598,3549,3353
$GC,1474,-1.29,-146.0,176.9,-10.6,252,1482,0.12,2.28,0.00,0.000,6,0.098,0.028,2621,2172,3353
$GC,1820,-1.29,-146.0,211.8,-10.0,313,1827,0.00,2.38,0.00,0.000,4,0.000,0.044,2621,3555,3353
$GC,1857,-1.29,-146.0,215.4,-9.8,319,1863,0.00,2.30,0.00,0.000,6,0.000,0.029,2621,2172,3353
$GC,2202,-1.29,-146.0,246.1,-8.7,380,2209,0.00,2.38,0.00,0.000,4,0.000,0.045,2621,3548,3351
$GC,2249,-1.32,-146.0,250.4,-9.2,388,2253,0.00,2.22,0.00,0.000,6,0.000,0.031,2621,2205,3351
$GC,2576,-1.36,-146.0,277.9,-9.1,418,2580,0.00,2.33,0.00,0.000,4,0.000,0.047,2621,3554,3349
$GC,2627,-1.40,-146.0,282.6,-8.6,422,2633,0.00,2.22,0.00,0.000,6,0.000,0.031,2621,2220,3349
$GC,2953,-1.45,-146.0,309.9,-8.2,453,2958,0.15,2.33,0.00,0.000,4,0.054,0.047,2575,3554,3347
$GC,3005,-1.38,-146.0,314.8,-9.7,457,3009,0.15,2.17,0.00,0.000,6,0.104,0.031,2603,2250,3347
$GC,3335,-1.38,-146.0,338.9,-7.0,488,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2249,3345
$GC,3654,-1.38,-146.0,362.9,-7.9,518,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2249,3343
$GC,3972,-1.38,-146.0,389.4,-8.7,548,3976,0.00,2.28,0.00,0.000,4,0.000,0.050,2602,3546,3341
$GC,4016,-1.38,-146.0,393.4,-9.2,551,4023,0.00,2.20,0.00,0.000,6,0.000,0.033,2603,2247,3341
$GC,4343,-1.38,-146.0,420.5,-9.0,582,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2245,3338
$GC,4660,-1.38,-146.0,447.3,-8.3,612,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2246,3336
$GC,4978,-1.38,-146.0,473.7,-9.0,642,4982,0.00,2.30,0.00,0.000,4,0.000,0.051,2603,3551,3334
$GC,5029,-1.38,-146.0,478.5,-9.2,646,5033,0.00,2.20,0.00,0.000,6,0.000,0.034,2603,2256,3334
$GC,5355,-1.38,-146.0,507.2,-8.3,672,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2254,3332
$GC,5662,-1.42,-146.0,529.5,-6.5,687,5666,0.00,2.25,0.00,0.000,4,0.000,0.052,2602,3542,3331
$GC,5718,-1.42,-146.0,533.2,-6.6,689,5721,0.00,2.15,0.00,0.000,6,0.000,0.035,2602,2271,3330
$GC,6033,-1.42,-146.0,553.7,-6.8,704,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2268,3329
$GC,6344,-1.45,-146.0,580.4,-9.4,719,6348,0.00,2.25,0.00,0.000,4,0.000,0.054,2602,3544,3327
$GC,6372,-1.49,-146.0,583.3,-10.0,720,6376,0.00,2.15,0.00,0.000,6,0.000,0.035,2603,2274,3327
$GC,6688,-1.52,-146.0,609.9,-7.6,735,6690,0.15,0.00,0.00,0.000,6,0.056,0.000,2563,2272,3326
$GC,6998,-1.47,-146.0,637.2,-8.8,750,7002,0.12,2.25,0.00,0.000,4,0.114,0.053,2584,3542,3324
$GC,7031,-1.47,-146.0,640.2,-8.1,751,7039,0.00,2.15,0.00,0.000,6,0.000,0.035,2584,2283,3325
$GC,7347,-1.47,-146.0,665.9,-8.9,767,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2281,3323
$GC,7656,-1.47,-146.0,692.1,-8.6,782,7660,0.00,2.25,0.00,0.000,4,0.000,0.055,2584,3549,3322
$GC,7683,-1.47,-146.0,694.6,-8.8,783,7686,0.00,2.12,0.00,0.000,6,0.000,0.036,2584,2301,3322
$GC,8005,-1.47,-146.0,722.3,-8.9,799,8009,0.00,2.78,0.00,0.000,4,0.000,0.060,2584,759,3320
$GC,8031,-1.47,-146.0,725.0,-9.4,800,8035,0.00,2.62,0.00,0.000,6,0.000,0.037,2585,2277,3320
$GC,8353,-1.47,-146.0,752.6,-8.7,816,8357,0.00,2.25,0.00,0.000,4,0.000,0.058,2584,3550,3319
$GC,8416,-1.47,-146.0,758.5,-9.7,819,8419,0.00,2.08,0.00,0.000,6,0.000,0.036,2585,2321,3319
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8731,-0.35,0.0,787.3,9.2,834,8854,1.20,0.00,119.10,1.202,6,0.102,0.000,2824,2376,2748
$STATE,8854,end apogee,CONTROL_FINISHED_OK
$STATE,8855,begin climb
$GC,8857,1.56,146.0,792.5,0.0,840,8990,1.92,2.53,122.65,1.167,4,0.055,0.059,3247,3712,2152
$GC,9046,1.26,146.0,783.7,11.3,848,9051,0.38,2.33,0.00,0.000,6,0.133,0.040,3182,2384,2151
$GC,9362,1.17,170.6,758.1,7.9,863,9388,0.12,2.65,20.35,1.177,4,0.133,0.061,3161,970,2052
$GC,9476,1.10,180.0,748.0,8.6,868,9490,0.00,2.42,8.23,1.183,6,0.000,0.039,3161,2344,2013
$GC,9808,1.04,180.0,715.7,10.0,884,9813,0.15,2.53,0.00,0.000,4,0.119,0.059,3134,963,2011
$GC,9870,1.04,180.0,709.8,9.5,887,9874,0.00,2.40,0.00,0.000,6,0.000,0.039,3135,2333,2011
$GC,10203,1.09,212.3,682.7,7.6,903,10235,0.00,2.55,26.80,1.154,4,0.000,0.060,3134,973,1881
$GC,10268,1.09,212.3,677.0,9.4,906,10272,0.00,2.35,0.00,0.000,6,0.000,0.038,3134,2307,1880
$GC,10595,1.09,212.3,648.1,9.2,922,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2308,1879
$GC,10905,1.13,236.4,621.4,7.9,937,10931,0.00,2.53,19.73,1.131,4,0.000,0.060,3135,977,1784
$GC,11009,1.13,236.4,611.8,9.6,941,11017,0.00,2.33,0.00,0.000,6,0.000,0.038,3134,2304,1783
$GC,11328,1.21,261.7,586.0,7.9,957,11356,0.15,2.50,21.92,1.102,4,0.064,0.059,3172,967,1680
$GC,11395,1.17,261.7,579.4,9.8,960,11399,0.00,2.33,0.00,0.000,6,0.000,0.038,3171,2291,1679
$GC,11716,1.17,261.7,548.5,9.2,976,11720,0.00,2.40,0.00,0.000,4,0.000,0.059,3171,972,1677
$GC,11783,1.13,262.6,542.3,9.0,979,11787,0.00,2.25,0.00,0.000,6,0.000,0.038,3171,2266,1677
$GC,12104,1.20,300.1,517.1,7.3,995,12143,0.00,0.00,32.62,1.046,6,0.000,0.000,3171,2266,1524
$GC,12456,1.20,301.9,487.0,8.9,1018,12460,0.00,2.35,0.00,0.000,4,0.000,0.058,3171,972,1521
$GC,12500,1.20,301.9,482.7,10.0,1021,12508,0.00,2.22,0.00,0.000,6,0.000,0.037,3171,2251,1520
$GC,12828,1.20,301.9,450.9,9.9,1052,12831,0.00,2.33,0.00,0.000,4,0.000,0.058,3171,961,1520
$GC,12862,1.20,301.9,447.1,11.3,1055,12866,0.00,2.22,0.00,0.000,6,0.000,0.037,3171,2243,1519
$GC,13189,1.20,301.9,415.8,9.5,1085,13193,0.00,2.30,0.00,0.000,4,0.000,0.057,3171,965,1519
$GC,13221,1.20,301.9,412.2,9.6,1087,13228,0.00,2.17,0.00,0.000,6,0.000,0.036,3171,2229,1519
$GC,13549,1.20,301.9,382.0,9.6,1118,13553,0.00,2.28,0.00,0.000,4,0.000,0.056,3172,963,1519
$GC,13581,1.20,301.9,378.4,10.2,1120,13588,0.00,2.15,0.00,0.000,6,0.000,0.036,3171,2207,1519
$GC,13908,1.20,301.9,347.8,9.8,1151,13913,0.00,2.70,0.00,0.000,4,0.000,0.054,3171,3732,1519
$GC,13940,1.20,301.9,344.1,10.6,1153,13948,0.00,2.65,0.00,0.000,6,0.000,0.038,3171,2196,1519
$GC,14267,1.20,301.9,311.1,9.6,1184,14271,0.00,2.20,0.00,0.000,4,0.000,0.058,3172,962,1519
$GC,14322,1.20,301.9,305.3,9.7,1188,14330,0.00,2.17,0.00,0.000,6,0.000,0.035,3172,2213,1519
$GC,14650,1.24,301.9,273.6,10.3,1219,14654,0.00,2.67,0.00,0.000,4,0.000,0.054,3171,3730,1519
$GC,14679,1.24,301.9,270.5,10.5,1221,14684,0.00,2.62,0.00,0.000,6,0.000,0.037,3172,2200,1519
$GC,15011,1.30,312.1,240.2,8.6,1261,15024,0.00,0.00,9.23,0.884,6,0.000,0.000,3172,2200,1475
$GC,15363,1.36,314.2,209.1,8.9,1323,15370,0.12,2.70,0.00,0.000,4,0.064,0.048,3203,3727,1475
$GC,15418,1.36,314.2,203.2,11.0,1332,15425,0.00,2.62,0.00,0.000,6,0.000,0.036,3203,2202,1474
$GC,15762,1.36,314.2,170.0,9.1,1393,15769,0.00,2.70,0.00,0.000,4,0.000,0.049,3203,3735,1475
$GC,15803,1.36,314.2,165.8,10.1,1400,15810,0.00,2.55,0.00,0.000,6,0.000,0.035,3203,2245,1474
$GC,16148,1.40,339.5,136.5,7.9,1461,16176,0.00,2.38,22.58,0.749,4,0.000,0.053,3203,969,1362
$GC,16195,1.48,357.1,133.0,8.2,1468,16216,0.10,2.25,14.50,0.739,6,0.073,0.033,3228,2269,1292
$GC,16556,1.62,400.6,103.9,7.1,1531,16596,0.12,0.00,35.15,0.686,6,0.063,0.000,3263,2269,1115
$GC,16933,1.67,400.6,67.0,9.7,1597,16940,0.00,2.55,0.00,0.000,4,0.000,0.048,3263,3729,1110
$GC,16982,1.76,437.2,63.3,7.4,1605,17021,0.12,2.50,29.65,0.638,6,0.058,0.031,3300,2253,964
$GC,17361,1.87,472.9,33.7,7.4,1671,17393,0.00,0.00,28.48,0.594,6,0.000,0.000,3300,2251,818
$GC,17731,1.97,479.7,4.7,8.7,1736,17746,0.15,2.30,4.70,0.597,4,0.051,0.047,3349,968,791
$STATE,17756,end climb,SURFACE_DEPTH_REACHED
$STATE,17756,begin surface coast
$FINISH,-0.1,1.020948
$STATE,17774,end surface coast,CONTROL_FINISHED_OK
$STATE,17774,begin surface
$SM_CCo,17859,0.00,0.000,0,0,785,481.28
$SM_GC,0.73,13.57,0.00,0.00,0.037,0.000,0.000,252,2181,785,-12.17,0.88,481.28
$IRIDIUM_FIX,1241.04,12024.46,040797,060640
$TT8_MAMPS,0.024544
$HUMID,1962
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,430
$24V_AH,23.3,46.475
$10V_AH,10.1,23.679
$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,32.850,165.025,515.675,0.000,0.000,24.677,34.853,144.063,114.750,0.000,0.000,14.925,3598.931,10514.347,686.070,2856.044,533.743,0.000,2140.997,0.000,2805.477,0.000,53.502
$DEVICE_MAMPS,171.041,88.972,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53476,1743
$CAP_FILE_SIZE,176276,0
$CFSIZE,260165632,236748800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 93.7,1
$GPS,090408,151038,1247.197,12027.676,31,0.9,31,-0.8