version: 66.03
glider: 122
mission: 6
dive: 284
start: 4 16 108 22 37 20
data:
$ID,122
$MISSION,6
$DIVE,284
$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,-33159.859
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,223038,1247.374,12021.850,40,1.2,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-74.1
$GPS2,223645,1247.446,12021.921,13,1.2,13,-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,87.3,38093,-18.6,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-62.30,0.000,2,0.000,0.000,251,2153,2522
$GC,88,-1.56,-146.0,3.6,-8.1,10,127,13.35,2.50,-15.48,0.000,4,0.170,0.053,2559,749,3346
$GC,213,-1.32,-146.0,30.2,-18.6,31,221,0.30,2.38,0.00,0.000,6,0.111,0.028,2615,2168,3346
$GC,561,-1.19,-146.0,87.3,-14.1,92,568,0.15,2.45,0.00,0.000,4,0.109,0.040,2643,750,3348
$GC,637,-1.19,-146.0,96.8,-12.0,105,644,0.00,2.50,0.00,0.000,6,0.000,0.028,2643,2244,3348
$GC,981,-1.19,-146.0,134.3,-9.5,166,988,0.00,2.25,0.00,0.000,4,0.000,0.046,2643,3557,3352
$GC,1102,-1.19,-146.0,146.0,-9.8,187,1109,0.00,2.10,0.00,0.000,6,0.000,0.026,2643,2271,3352
$GC,1448,-1.29,-146.0,177.8,-9.0,248,1455,0.00,2.62,0.00,0.000,4,0.000,0.043,2643,753,3353
$GC,1480,-1.38,-146.0,180.9,-9.7,253,1487,0.17,2.58,0.00,0.000,6,0.045,0.029,2588,2284,3353
$GC,1826,-1.33,-146.0,214.1,-9.6,314,1833,0.15,2.17,0.00,0.000,4,0.097,0.046,2620,3547,3352
$GC,1896,-1.33,-146.0,220.6,-9.0,326,1903,0.00,2.10,0.00,0.000,6,0.000,0.028,2620,2273,3353
$GC,2242,-1.36,-146.0,249.3,-8.7,387,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2270,3352
$GC,2575,-1.48,-146.0,276.2,-7.8,419,2577,0.17,0.00,0.00,0.000,6,0.048,0.000,2569,2270,3350
$GC,2894,-1.40,-146.0,305.8,-9.5,449,2899,0.15,2.67,0.00,0.000,4,0.104,0.049,2600,754,3348
$GC,2924,-1.40,-146.0,308.7,-8.9,451,2928,0.00,2.62,0.00,0.000,6,0.000,0.033,2600,2293,3348
$GC,3251,-1.40,-146.0,337.5,-8.7,481,3255,0.00,2.20,0.00,0.000,4,0.000,0.050,2600,3557,3346
$GC,3294,-1.40,-146.0,342.0,-9.5,484,3302,0.00,2.12,0.00,0.000,6,0.000,0.031,2600,2287,3346
$GC,3622,-1.40,-146.0,370.3,-8.5,515,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2284,3344
$GC,3938,-1.40,-146.0,396.2,-8.0,545,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2281,3342
$GC,4257,-1.40,-146.0,421.6,-7.7,575,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2281,3341
$GC,4575,-1.40,-146.0,448.7,-8.6,605,4579,0.00,2.22,0.00,0.000,4,0.000,0.051,2600,3555,3338
$GC,4613,-1.40,-146.0,452.4,-9.3,608,4621,0.00,2.12,0.00,0.000,6,0.000,0.033,2600,2295,3337
$GC,4941,-1.40,-146.0,478.9,-7.5,639,4945,0.00,2.75,0.00,0.000,4,0.000,0.053,2600,753,3335
$GC,4969,-1.40,-146.0,481.3,-7.7,641,4973,0.00,2.70,0.00,0.000,6,0.000,0.035,2600,2312,3335
$GC,5306,-1.40,-146.0,505.3,-7.6,669,5310,0.00,2.17,0.00,0.000,4,0.000,0.054,2600,3547,3333
$GC,5348,-1.40,-146.0,508.9,-8.4,671,5352,0.00,2.10,0.00,0.000,6,0.000,0.033,2600,2305,3333
$GC,5678,-1.40,-146.0,535.3,-8.0,687,5682,0.00,2.78,0.00,0.000,4,0.000,0.054,2600,752,3331
$GC,5705,-1.40,-146.0,537.8,-8.3,688,5709,0.00,2.70,0.00,0.000,6,0.000,0.035,2600,2312,3332
$GC,6022,-1.40,-146.0,561.5,-7.7,703,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2312,3329
$GC,6330,-1.40,-146.0,584.1,-7.1,718,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2312,3328
$GC,6639,-1.44,-146.0,606.4,-7.6,733,6644,0.00,2.80,0.00,0.000,4,0.000,0.055,2600,755,3326
$GC,6680,-1.48,-146.0,609.8,-8.4,735,6685,0.00,2.70,0.00,0.000,6,0.000,0.038,2600,2316,3327
$GC,7015,-1.51,-146.0,635.3,-7.6,751,7019,0.12,2.17,0.00,0.000,4,0.060,0.056,2566,3547,3326
$GC,7065,-1.46,-146.0,640.2,-9.6,753,7070,0.10,2.03,0.00,0.000,6,0.117,0.035,2583,2341,3325
$GC,7386,-1.46,-146.0,668.3,-9.0,769,7391,0.00,2.85,0.00,0.000,4,0.000,0.057,2583,755,3324
$GC,7429,-1.46,-146.0,672.6,-9.4,771,7434,0.00,2.75,0.00,0.000,6,0.000,0.038,2583,2334,3323
$GC,7752,-1.46,-146.0,699.9,-8.6,787,7760,0.00,2.80,0.00,0.000,4,0.000,0.055,2583,762,3322
$GC,7793,-1.46,-146.0,703.6,-8.5,788,7800,0.00,2.67,0.00,0.000,6,0.000,0.038,2583,2304,3322
$GC,8110,-1.46,-146.0,728.5,-7.4,804,8114,0.00,2.20,0.00,0.000,4,0.000,0.058,2583,3549,3321
$GC,8171,-1.46,-146.0,733.3,-7.5,806,8178,0.00,2.08,0.00,0.000,6,0.000,0.036,2583,2322,3320
$GC,8487,-1.46,-146.0,754.7,-6.9,822,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2321,3319
$GC,8796,-1.46,-146.0,775.9,-7.2,837,8801,0.00,2.83,0.00,0.000,4,0.000,0.059,2583,754,3318
$GC,8829,-1.46,-146.0,778.6,-7.8,838,8837,0.00,2.70,0.00,0.000,6,0.000,0.038,2583,2307,3318
$STATE,9080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9081,begin apogee
$GC,9087,-0.35,0.0,798.1,7.8,851,9210,1.20,0.00,119.72,1.218,6,0.100,0.000,2823,2374,2748
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9214,1.56,146.0,802.7,0.0,857,9349,1.95,2.53,124.22,1.182,4,0.051,0.061,3251,3727,2151
$GC,9379,1.25,146.0,796.3,10.9,865,9384,0.40,2.35,0.00,0.000,6,0.131,0.039,3182,2385,2151
$GC,9701,1.16,164.0,768.7,8.2,881,9724,0.12,2.62,14.85,1.200,4,0.134,0.060,3161,967,2079
$GC,9821,1.06,164.0,757.9,9.6,886,9826,0.12,2.45,0.00,0.000,6,0.122,0.040,3140,2356,2078
$GC,10143,1.14,209.2,734.1,7.0,902,10188,0.00,2.65,38.35,1.172,4,0.000,0.058,3140,972,1894
$GC,10257,1.14,210.9,724.9,8.9,907,10261,0.00,2.40,0.00,0.000,6,0.000,0.040,3140,2333,1893
$GC,10584,1.17,231.1,699.4,8.1,923,10608,0.00,2.62,18.48,1.177,4,0.000,0.059,3140,963,1805
$GC,10648,1.19,240.2,693.9,8.6,925,10664,0.12,2.38,8.27,1.172,6,0.069,0.039,3171,2309,1768
$GC,10988,1.16,240.2,661.7,9.7,942,10992,0.00,2.45,0.00,0.000,4,0.000,0.059,3171,970,1766
$GC,11077,1.10,240.2,652.3,10.8,946,11082,0.15,2.28,0.00,0.000,6,0.116,0.039,3145,2269,1765
$GC,11398,1.10,240.2,622.1,9.2,962,11402,0.00,2.38,0.00,0.000,4,0.000,0.059,3145,963,1764
$GC,11461,1.10,240.2,616.1,9.7,965,11465,0.00,2.22,0.00,0.000,6,0.000,0.038,3145,2235,1764
$GC,11788,1.14,262.2,588.4,8.0,981,11811,0.00,2.42,18.48,1.126,4,0.000,0.059,3145,968,1677
$GC,11839,1.14,262.2,583.9,9.4,983,11843,0.00,2.20,0.00,0.000,6,0.000,0.038,3145,2213,1677
$GC,12167,1.19,276.4,556.5,8.4,999,12190,0.00,2.38,12.23,1.116,4,0.000,0.058,3145,968,1620
$GC,12253,1.24,280.8,548.7,8.8,1002,12262,0.12,2.10,4.07,1.116,6,0.070,0.037,3176,2167,1603
$GC,12569,1.24,280.8,519.1,9.2,1018,12574,0.00,2.80,0.00,0.000,4,0.000,0.058,3176,3726,1602
$GC,12601,1.24,280.8,515.7,10.4,1019,12608,0.00,2.75,0.00,0.000,6,0.000,0.039,3176,2148,1602
$GC,12922,1.24,280.8,485.7,9.4,1042,12925,0.00,2.12,0.00,0.000,4,0.000,0.059,3176,967,1602
$GC,12984,1.20,280.8,479.4,9.9,1047,12990,0.00,2.05,0.00,0.000,6,0.000,0.036,3176,2156,1601
$GC,13310,1.20,280.8,447.7,9.9,1078,13315,0.00,2.80,0.00,0.000,4,0.000,0.054,3176,3730,1601
$GC,13338,1.20,280.8,444.7,10.4,1080,13343,0.00,2.78,0.00,0.000,6,0.000,0.038,3176,2132,1601
$GC,13664,1.20,280.8,414.1,9.4,1110,13668,0.00,2.08,0.00,0.000,4,0.000,0.057,3176,969,1601
$GC,13703,1.20,280.8,410.0,10.3,1113,13710,0.00,2.05,0.00,0.000,6,0.000,0.036,3176,2158,1601
$GC,14030,1.20,280.8,378.7,9.2,1144,14034,0.00,2.80,0.00,0.000,4,0.000,0.054,3176,3736,1601
$GC,14081,1.20,280.8,373.5,9.7,1148,14085,0.00,2.75,0.00,0.000,6,0.000,0.038,3176,2145,1601
$GC,14406,1.23,294.3,343.8,8.4,1178,14422,0.00,2.15,11.62,0.963,4,0.000,0.055,3176,966,1547
$GC,14438,1.23,294.3,340.8,9.5,1180,14445,0.00,2.10,0.00,0.000,6,0.000,0.035,3176,2173,1546
$GC,14767,1.27,321.7,313.3,7.8,1211,14792,0.00,0.00,22.88,0.904,6,0.000,0.000,3176,2173,1436
$GC,15109,1.30,321.7,283.3,9.4,1243,15113,0.00,2.17,0.00,0.000,4,0.000,0.054,3176,961,1432
$GC,15160,1.30,321.7,278.1,10.8,1247,15163,0.00,2.05,0.00,0.000,6,0.000,0.034,3176,2153,1431
$GC,15487,1.35,321.7,247.1,9.1,1280,15494,0.10,2.80,0.00,0.000,4,0.071,0.052,3201,3733,1432
$GC,15514,1.35,321.7,244.5,9.6,1284,15521,0.00,2.80,0.00,0.000,6,0.000,0.037,3202,2110,1431
$GC,15859,1.35,321.7,211.5,9.2,1345,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2110,1432
$GC,16203,1.37,334.2,181.9,8.5,1406,16223,0.00,2.92,10.00,0.823,4,0.000,0.048,3202,3720,1385
$GC,16235,1.39,345.8,179.1,8.5,1411,16255,0.00,2.78,10.23,0.796,6,0.000,0.035,3202,2124,1337
$GC,16596,1.45,351.2,148.1,8.8,1474,16610,0.00,2.10,4.32,0.809,4,0.000,0.054,3202,971,1315
$GC,16651,1.50,351.6,143.1,9.0,1483,16659,0.15,2.00,0.00,0.000,6,0.061,0.033,3239,2143,1314
$GC,16999,1.53,370.7,114.0,8.2,1544,17026,0.00,2.88,16.33,0.726,4,0.000,0.048,3239,3732,1235
$GC,17083,1.57,392.7,106.8,8.0,1558,17109,0.00,2.78,18.15,0.705,6,0.000,0.033,3240,2118,1145
$GC,17450,1.73,425.6,79.6,7.5,1622,17485,0.17,2.90,26.83,0.656,4,0.053,0.045,3289,3737,1011
$GC,17590,1.73,425.6,67.0,9.1,1645,17597,0.00,2.72,0.00,0.000,6,0.000,0.031,3289,2139,1009
$GC,17936,1.89,480.2,40.6,6.6,1706,17989,0.12,2.12,44.05,0.589,4,0.061,0.049,3324,961,789
$GC,18046,1.89,480.2,30.3,10.0,1724,18053,0.00,2.00,0.00,0.000,6,0.000,0.028,3324,2150,787
$STATE,18350,end climb,SURFACE_DEPTH_REACHED
$STATE,18350,begin surface coast
$FINISH,-0.2,1.007337
$STATE,18373,end surface coast,CONTROL_FINISHED_OK
$STATE,18374,begin surface
$SM_CCo,18456,0.00,0.000,0,0,780,482.51
$SM_GC,0.72,13.52,0.00,0.00,0.040,0.000,0.000,248,2152,780,-12.18,0.03,482.51
$IRIDIUM_FIX,1241.04,12021.43,110797,161648
$TT8_MAMPS,0.023777
$HUMID,1947
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,420
$24V_AH,23.2,52.439
$10V_AH,10.1,26.831
$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,32.950,186.175,523.075,0.000,0.000,24.749,39.890,168.912,112.500,0.000,0.000,13.562,3701.075,10836.036,743.122,2936.617,605.370,0.000,2241.390,0.000,2886.067,0.000,55.347
$DEVICE_MAMPS,169.507,76.700,1217.996,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1194.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56630,1782
$CAP_FILE_SIZE,183725,0
$CFSIZE,260165632,233889792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,146.9,1
$GPS,170408,034607,1247.205,12023.517,36,0.8,36,-0.8