version: 66.03
glider: 122
mission: 6
dive: 254
start: 4 9 108 19 27 30
data:
$ID,122
$MISSION,6
$DIVE,254
$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,-32681.771
$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,27
$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
$GPS1,191802,1247.691,12029.458,43,1.6,43,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.9
$GPS2,192656,1247.747,12029.490,12,1.9,17,-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,76.8,24564,-18.6,-9.016
$D_GRID,827
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-57.90,0.000,2,0.000,0.000,249,2173,2392
$GC,85,-1.56,-146.0,3.1,-7.1,9,124,13.43,2.55,-18.77,0.000,4,0.172,0.051,2561,740,3345
$GC,193,-1.31,-146.0,26.0,-20.4,27,201,0.30,2.38,0.00,0.000,6,0.110,0.027,2617,2164,3346
$GC,539,-1.19,-146.0,84.5,-14.6,88,546,0.15,2.38,0.00,0.000,4,0.114,0.042,2649,3553,3348
$GC,598,-1.14,-146.0,92.1,-11.8,98,605,0.00,2.30,0.00,0.000,6,0.000,0.026,2649,2155,3348
$GC,943,-1.14,-146.0,131.7,-11.2,159,949,0.00,2.38,0.00,0.000,4,0.000,0.042,2649,3545,3350
$GC,1007,-1.14,-146.0,138.0,-9.1,170,1014,0.00,2.20,0.00,0.000,6,0.000,0.027,2649,2203,3350
$GC,1353,-1.20,-146.0,166.3,-8.4,231,1360,0.00,2.30,0.00,0.000,4,0.000,0.044,2649,3545,3352
$GC,1412,-1.26,-146.0,171.9,-9.1,241,1419,0.00,2.15,0.00,0.000,6,0.000,0.028,2649,2238,3352
$GC,1758,-1.34,-146.0,200.3,-8.2,302,1765,0.15,0.00,0.00,0.000,6,0.051,0.000,2599,2235,3352
$GC,2102,-1.34,-146.0,231.9,-8.6,363,2109,0.00,2.25,0.00,0.000,4,0.000,0.045,2598,3545,3350
$GC,2150,-1.34,-146.0,236.1,-9.0,371,2157,0.00,2.15,0.00,0.000,6,0.000,0.030,2598,2252,3350
$GC,2485,-1.34,-146.0,267.0,-10.3,416,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2251,3349
$GC,2804,-1.34,-146.0,297.1,-8.3,446,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2251,3346
$GC,3122,-1.34,-146.0,324.7,-8.4,476,3126,0.00,2.25,0.00,0.000,4,0.000,0.048,2599,3543,3345
$GC,3151,-1.34,-146.0,327.4,-9.4,478,3155,0.00,2.15,0.00,0.000,6,0.000,0.031,2598,2263,3344
$GC,3477,-1.34,-146.0,355.5,-8.4,508,3482,0.00,2.67,0.00,0.000,4,0.000,0.051,2598,753,3342
$GC,3522,-1.37,-146.0,359.5,-8.6,511,3529,0.00,2.55,0.00,0.000,6,0.000,0.033,2598,2251,3342
$GC,3849,-1.37,-146.0,386.6,-8.8,542,3853,0.00,2.25,0.00,0.000,4,0.000,0.050,2598,3542,3340
$GC,3889,-1.37,-146.0,390.5,-9.3,545,3893,0.00,2.12,0.00,0.000,6,0.000,0.032,2599,2282,3339
$GC,4215,-1.37,-146.0,418.7,-8.6,575,4220,0.00,2.70,0.00,0.000,4,0.000,0.052,2598,761,3336
$GC,4244,-1.37,-146.0,421.5,-8.8,577,4249,0.00,2.60,0.00,0.000,6,0.000,0.035,2598,2274,3336
$GC,4573,-1.37,-146.0,446.4,-7.1,607,4577,0.00,2.22,0.00,0.000,4,0.000,0.051,2599,3542,3334
$GC,4613,-1.37,-146.0,449.7,-7.4,610,4617,0.00,2.15,0.00,0.000,6,0.000,0.034,2598,2271,3333
$GC,4940,-1.37,-146.0,471.7,-7.7,640,4944,0.00,2.25,0.00,0.000,4,0.000,0.051,2598,3547,3332
$GC,4973,-1.37,-146.0,474.7,-8.2,642,4980,0.00,2.12,0.00,0.000,6,0.000,0.034,2598,2293,3332
$GC,5303,-1.37,-146.0,500.4,-8.6,673,5307,0.00,2.75,0.00,0.000,4,0.000,0.054,2598,755,3329
$GC,5335,-1.37,-146.0,503.9,-8.8,674,5343,0.00,2.62,0.00,0.000,6,0.000,0.035,2598,2281,3329
$GC,5652,-1.37,-146.0,530.5,-8.1,690,5656,0.00,2.22,0.00,0.000,4,0.000,0.054,2598,3542,3327
$GC,5686,-1.37,-146.0,533.3,-7.7,691,5693,0.00,2.10,0.00,0.000,6,0.000,0.034,2598,2295,3327
$GC,6002,-1.37,-146.0,558.3,-7.9,707,6006,0.00,2.75,0.00,0.000,4,0.000,0.055,2598,758,3326
$GC,6046,-1.41,-146.0,561.9,-7.9,709,6051,0.00,2.60,0.00,0.000,6,0.000,0.035,2598,2262,3326
$GC,6367,-1.41,-146.0,586.8,-7.7,725,6371,0.00,2.28,0.00,0.000,4,0.000,0.057,2599,3548,3324
$GC,6399,-1.41,-146.0,589.5,-8.5,726,6403,0.00,2.15,0.00,0.000,6,0.000,0.035,2598,2281,3324
$GC,6721,-1.41,-146.0,615.3,-8.2,742,6725,0.00,2.25,0.00,0.000,4,0.000,0.054,2598,3549,3322
$GC,6754,-1.41,-146.0,618.6,-9.6,743,6761,0.00,2.17,0.00,0.000,6,0.000,0.035,2598,2270,3322
$GC,7070,-1.41,-146.0,647.2,-9.4,759,7074,0.00,2.70,0.00,0.000,4,0.000,0.058,2598,762,3320
$GC,7099,-1.45,-146.0,650.0,-9.8,760,7103,0.00,2.60,0.00,0.000,6,0.000,0.038,2598,2266,3320
$GC,7414,-1.45,-146.0,677.1,-7.8,775,7418,0.00,2.25,0.00,0.000,4,0.000,0.058,2598,3540,3319
$GC,7464,-1.49,-146.0,681.1,-7.7,777,7468,0.00,2.10,0.00,0.000,6,0.000,0.035,2598,2300,3318
$GC,7781,-1.52,-146.0,703.2,-7.4,792,7786,0.12,2.78,0.00,0.000,4,0.062,0.058,2564,754,3317
$GC,7813,-1.52,-146.0,706.2,-9.1,793,7821,0.00,2.65,0.00,0.000,6,0.000,0.038,2564,2285,3317
$GC,8130,-1.47,-146.0,735.7,-10.0,809,8134,0.00,2.22,0.00,0.000,4,0.000,0.058,2564,3540,3317
$GC,8162,-1.43,-146.0,739.5,-10.6,810,8170,0.15,2.12,0.00,0.000,6,0.111,0.036,2591,2293,3317
$GC,8480,-1.43,-146.0,766.6,-8.1,826,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2292,3315
$GC,8788,-1.43,-146.0,789.9,-7.1,841,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2291,3314
$GC,9098,-1.46,-146.0,811.4,-6.4,856,9103,0.00,2.75,0.00,0.000,4,0.000,0.060,2591,765,3312
$GC,9120,-1.49,-146.0,813.0,-6.7,857,9125,0.00,2.65,0.00,0.000,6,0.000,0.039,2591,2288,3312
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9321,-0.35,0.0,827.2,7.6,867,9443,1.15,0.00,118.50,1.243,6,0.098,0.000,2822,2368,2747
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9447,1.56,146.0,831.2,0.0,873,9579,1.98,2.50,124.05,1.201,4,0.055,0.061,3252,3714,2151
$GC,9625,1.26,146.0,821.9,11.4,881,9630,0.40,2.33,0.00,0.000,6,0.133,0.040,3183,2391,2150
$GC,9953,1.13,146.0,789.9,10.0,897,9958,0.15,2.60,0.00,0.000,4,0.127,0.059,3153,962,2149
$GC,10031,1.03,146.0,782.2,9.2,900,10039,0.12,2.42,0.00,0.000,6,0.123,0.039,3132,2344,2149
$GC,10348,1.06,162.0,756.1,8.3,916,10367,0.00,0.00,13.30,1.223,6,0.000,0.000,3132,2343,2086
$GC,10676,1.07,171.4,727.4,8.6,932,10686,0.00,0.00,8.00,1.226,6,0.000,0.000,3132,2343,2049
$GC,10985,1.10,186.5,701.8,8.3,947,11008,0.00,2.60,12.90,1.204,4,0.000,0.059,3131,974,1987
$GC,11071,1.10,186.5,693.9,9.1,950,11078,0.00,2.42,0.00,0.000,6,0.000,0.039,3132,2351,1986
$GC,11387,1.13,202.8,667.4,8.3,966,11407,0.00,0.00,14.05,1.187,6,0.000,0.000,3131,2351,1920
$GC,11716,1.17,228.1,639.6,7.9,982,11740,0.12,0.00,21.42,1.154,6,0.071,0.000,3163,2352,1818
$GC,12046,1.17,228.1,608.3,9.8,998,12050,0.00,2.53,0.00,0.000,4,0.000,0.058,3163,966,1816
$GC,12135,1.11,228.1,598.5,10.9,1002,12139,0.00,2.38,0.00,0.000,6,0.000,0.038,3163,2324,1815
$GC,12456,1.11,228.1,567.2,9.2,1018,12460,0.00,2.47,0.00,0.000,4,0.000,0.058,3163,962,1815
$GC,12511,1.08,233.6,562.2,8.8,1020,12523,0.12,2.33,4.72,1.147,6,0.117,0.038,3142,2297,1794
$GC,12851,1.11,252.1,535.5,8.2,1037,12874,0.00,2.47,16.30,1.099,4,0.000,0.058,3141,968,1719
$GC,12920,1.11,252.1,529.0,9.6,1040,12925,0.00,2.30,0.00,0.000,6,0.000,0.038,3141,2276,1718
$GC,13248,1.16,261.2,499.6,8.6,1056,13261,0.00,2.47,7.65,1.092,4,0.000,0.057,3142,963,1683
$GC,13330,1.18,272.9,492.3,8.5,1063,13345,0.00,2.20,10.35,1.068,6,0.000,0.037,3141,2223,1635
$GC,13672,1.26,290.2,462.6,8.2,1095,13697,0.15,2.78,15.05,1.039,4,0.065,0.057,3182,3717,1564
$GC,13714,1.26,290.2,458.5,10.3,1098,13721,0.00,2.62,0.00,0.000,6,0.000,0.038,3182,2219,1563
$GC,14042,1.26,290.2,426.0,10.7,1129,14046,0.00,2.25,0.00,0.000,4,0.000,0.057,3182,966,1562
$GC,14109,1.23,290.2,418.1,10.9,1134,14116,0.00,2.17,0.00,0.000,6,0.000,0.036,3182,2227,1561
$GC,14436,1.23,290.2,383.8,10.2,1165,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2226,1561
$GC,14753,1.23,290.2,354.1,9.7,1195,14757,0.00,2.28,0.00,0.000,4,0.000,0.055,3182,960,1561
$GC,14793,1.23,290.2,350.0,9.7,1198,14796,0.00,2.17,0.00,0.000,6,0.000,0.036,3182,2218,1561
$GC,15119,1.24,297.4,319.8,8.7,1228,15132,0.00,2.28,5.95,0.969,4,0.000,0.054,3182,967,1534
$GC,15171,1.24,297.4,314.7,10.0,1232,15178,0.00,2.15,0.00,0.000,6,0.000,0.035,3182,2207,1533
$GC,15497,1.26,305.5,286.4,8.7,1263,15510,0.00,2.33,6.68,0.936,4,0.000,0.054,3183,960,1502
$GC,15549,1.26,305.5,281.2,9.2,1267,15556,0.00,2.10,0.00,0.000,6,0.000,0.035,3182,2178,1501
$GC,15876,1.27,315.7,252.8,8.6,1298,15887,0.00,0.00,8.93,0.893,6,0.000,0.000,3182,2179,1459
$GC,16219,1.27,315.7,221.4,9.7,1356,16226,0.00,2.75,0.00,0.000,4,0.000,0.052,3182,3732,1459
$GC,16249,1.27,315.7,218.3,9.9,1361,16256,0.00,2.70,0.00,0.000,6,0.000,0.036,3182,2164,1459
$GC,16594,1.33,327.4,185.9,8.5,1422,16609,0.00,2.22,9.60,0.833,4,0.000,0.054,3182,963,1413
$GC,16633,1.36,327.9,182.5,9.0,1428,16640,0.00,2.12,0.00,0.000,6,0.000,0.033,3182,2195,1412
$GC,16979,1.44,339.5,151.4,8.5,1489,16999,0.15,2.78,10.25,0.795,4,0.059,0.049,3225,3723,1362
$GC,17023,1.44,339.5,146.6,11.0,1496,17030,0.00,2.67,0.00,0.000,6,0.000,0.035,3225,2174,1363
$GC,17368,1.52,392.4,116.0,6.6,1557,17421,0.00,2.83,43.35,0.706,4,0.000,0.047,3225,3721,1146
$GC,17457,1.63,412.1,109.5,8.1,1571,17479,0.15,2.62,15.85,0.711,6,0.055,0.033,3263,2200,1067
$GC,17819,1.67,415.2,76.7,8.9,1634,17827,0.00,2.70,0.00,0.000,4,0.000,0.047,3263,3736,1063
$GC,17918,1.76,429.6,67.7,8.4,1651,17941,0.10,2.75,13.90,0.674,6,0.066,0.032,3292,2127,996
$GC,18281,1.86,452.3,38.4,8.0,1714,18308,0.00,2.12,17.88,0.618,4,0.000,0.051,3292,965,903
$GC,18450,1.95,473.9,24.0,8.0,1743,18477,0.17,1.92,17.42,0.598,6,0.046,0.028,3342,2119,815
$STATE,18661,end climb,SURFACE_DEPTH_REACHED
$STATE,18661,begin surface coast
$FINISH,0.0,0.997334
$STATE,18684,end surface coast,CONTROL_FINISHED_OK
$STATE,18684,begin surface
$SM_CCo,18767,0.00,0.000,0,0,807,475.88
$SM_GC,0.82,13.60,0.00,0.00,0.039,0.000,0.000,249,2120,807,-12.18,-0.82,475.88
$IRIDIUM_FIX,1243.25,12103.13,040797,191941
$TT8_MAMPS,0.023777
$HUMID,1964
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.70
$XPDR_PINGS,398
$24V_AH,23.2,46.820
$10V_AH,10.1,23.857
$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,32.675,187.275,516.100,0.000,0.000,48.213,84.924,212.443,107.750,0.000,0.000,17.743,3685.311,11238.899,751.552,2915.988,716.314,0.000,2234.732,0.000,2862.545,0.000,60.756
$DEVICE_MAMPS,171.808,72.098,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56526,1784
$CAP_FILE_SIZE,188531,0
$CFSIZE,260165632,236580864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026, 63.6,1
$GPS,100408,004132,1248.073,12031.491,40,1.0,40,-0.8