version: 66.03
glider: 122
mission: 6
dive: 286
start: 4 17 108 8 40 18
data:
$ID,122
$MISSION,6
$DIVE,286
$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,-33188.18
$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,55
$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
$GPS1,083338,1247.253,12025.312,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.9
$GPS2,083944,1247.294,12025.396,10,1.3,15,-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,73.1,31967,-18.6,-9.016
$D_GRID,662
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-61.80,0.000,2,0.000,0.000,251,2112,2458
$GC,89,-1.56,-146.0,3.3,-8.2,10,128,13.38,2.33,-17.25,0.000,4,0.170,0.052,2558,770,3344
$GC,191,-1.33,-146.0,24.8,-18.4,27,199,0.28,2.33,0.00,0.000,6,0.112,0.027,2610,2166,3345
$GC,537,-1.18,-146.0,79.7,-14.3,88,544,0.17,2.42,0.00,0.000,4,0.105,0.039,2647,760,3347
$GC,585,-1.14,-146.0,85.6,-11.7,96,592,0.00,2.53,0.00,0.000,6,0.000,0.027,2647,2273,3347
$GC,930,-1.14,-146.0,124.3,-11.0,157,937,0.00,2.60,0.00,0.000,4,0.000,0.040,2646,766,3349
$GC,1045,-1.17,-146.0,136.1,-10.1,177,1052,0.00,2.60,0.00,0.000,6,0.000,0.028,2647,2319,3350
$GC,1391,-1.32,-146.0,166.1,-8.5,238,1398,0.15,2.70,0.00,0.000,4,0.048,0.041,2592,761,3352
$GC,1434,-1.28,-146.0,170.4,-10.1,245,1442,0.15,2.53,0.00,0.000,6,0.100,0.030,2621,2262,3352
$GC,1779,-1.28,-146.0,201.0,-9.2,306,1786,0.00,2.20,0.00,0.000,4,0.000,0.045,2621,3546,3352
$GC,1843,-1.28,-146.0,206.8,-9.0,317,1850,0.00,2.08,0.00,0.000,6,0.000,0.028,2621,2286,3352
$GC,2189,-1.41,-146.0,235.0,-7.7,378,2197,0.12,2.65,0.00,0.000,4,0.054,0.046,2579,771,3350
$GC,2204,-1.50,-146.0,236.3,-7.8,380,2212,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2195,3350
$GC,2546,-1.45,-146.0,267.1,-9.6,425,2550,0.00,2.50,0.00,0.000,4,0.000,0.048,2579,766,3349
$GC,2590,-1.41,-146.0,271.5,-9.5,428,2597,0.00,2.50,0.00,0.000,6,0.000,0.033,2579,2239,3349
$GC,2917,-1.36,-146.0,302.7,-9.5,459,2922,0.15,2.28,0.00,0.000,4,0.103,0.048,2612,3549,3346
$GC,2972,-1.36,-146.0,308.0,-8.6,463,2980,0.00,2.12,0.00,0.000,6,0.000,0.031,2611,2275,3346
$GC,3301,-1.47,-146.0,333.0,-7.6,494,3305,0.12,2.22,0.00,0.000,4,0.055,0.048,2573,3549,3345
$GC,3420,-1.39,-146.0,344.3,-9.7,504,3425,0.15,1.98,0.00,0.000,6,0.106,0.032,2599,2368,3343
$GC,3745,-1.39,-146.0,371.9,-8.3,534,3750,0.00,2.83,0.00,0.000,4,0.000,0.051,2599,773,3342
$GC,3789,-1.39,-146.0,375.8,-9.4,537,3796,0.00,2.67,0.00,0.000,6,0.000,0.034,2599,2331,3341
$GC,4116,-1.39,-146.0,402.8,-8.1,568,4120,0.00,2.12,0.00,0.000,4,0.000,0.051,2600,3550,3339
$GC,4144,-1.39,-146.0,405.4,-8.5,570,4151,0.00,2.05,0.00,0.000,6,0.000,0.032,2599,2323,3338
$GC,4471,-1.39,-146.0,430.8,-8.0,601,4475,0.00,2.78,0.00,0.000,4,0.000,0.051,2600,765,3336
$GC,4499,-1.39,-146.0,433.4,-8.4,603,4504,0.00,2.67,0.00,0.000,6,0.000,0.034,2600,2319,3335
$GC,4828,-1.39,-146.0,459.7,-8.5,633,4832,0.00,2.15,0.00,0.000,4,0.000,0.052,2599,3547,3333
$GC,4857,-1.39,-146.0,462.8,-9.5,635,4861,0.00,2.05,0.00,0.000,6,0.000,0.033,2599,2331,3333
$GC,5190,-1.39,-146.0,490.3,-8.0,666,5195,0.00,2.78,0.00,0.000,4,0.000,0.052,2599,773,3331
$GC,5257,-1.42,-146.0,496.2,-8.1,671,5264,0.00,2.62,0.00,0.000,6,0.000,0.035,2599,2298,3331
$GC,5587,-1.53,-146.0,521.6,-7.7,690,5592,0.12,2.72,0.00,0.000,4,0.056,0.051,2562,773,3329
$GC,5672,-1.46,-146.0,529.3,-9.2,694,5677,0.12,2.47,0.00,0.000,6,0.114,0.035,2583,2211,3328
$GC,6002,-1.46,-146.0,554.4,-7.6,710,6006,0.00,2.35,0.00,0.000,4,0.000,0.054,2583,3542,3327
$GC,6070,-1.46,-146.0,560.4,-8.7,713,6074,0.00,2.20,0.00,0.000,6,0.000,0.035,2583,2249,3327
$GC,6392,-1.46,-146.0,586.4,-7.8,729,6396,0.00,2.30,0.00,0.000,4,0.000,0.054,2584,3545,3326
$GC,6424,-1.46,-146.0,589.2,-8.0,730,6431,0.00,2.15,0.00,0.000,6,0.000,0.035,2584,2275,3326
$GC,6740,-1.46,-146.0,613.9,-8.0,746,6745,0.00,2.67,0.00,0.000,4,0.000,0.054,2584,774,3324
$GC,6768,-1.46,-146.0,616.3,-8.7,747,6772,0.00,2.55,0.00,0.000,6,0.000,0.037,2584,2246,3323
$GC,7084,-1.46,-146.0,641.8,-7.9,762,7088,0.00,2.30,0.00,0.000,4,0.000,0.056,2584,3545,3322
$GC,7179,-1.46,-146.0,649.4,-7.6,766,7182,0.00,2.12,0.00,0.000,6,0.000,0.035,2584,2293,3322
$STATE,7353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7353,begin apogee
$GC,7360,-0.35,0.0,662.4,7.3,775,7481,1.20,0.00,117.60,1.099,6,0.100,0.000,2824,2388,2749
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7484,1.56,146.0,666.9,0.0,781,7610,1.90,0.00,121.35,1.065,6,0.051,0.000,3247,2388,2152
$GC,7919,1.32,146.0,634.7,9.7,802,7924,0.28,2.53,0.00,0.000,4,0.120,0.056,3196,999,2149
$GC,7998,1.20,172.7,627.6,7.8,805,8028,0.15,2.38,21.83,1.076,6,0.125,0.038,3170,2363,2043
$GC,8338,1.15,186.0,599.6,8.4,822,8354,0.00,2.53,11.02,1.088,4,0.000,0.056,3170,998,1988
$GC,8427,1.06,186.0,591.2,9.6,825,8432,0.17,2.38,0.00,0.000,6,0.116,0.038,3139,2353,1987
$GC,8750,1.12,223.4,566.7,7.3,841,8786,0.00,2.53,30.60,1.050,4,0.000,0.056,3139,999,1836
$GC,8928,1.14,233.0,551.7,8.6,849,8942,0.00,2.25,7.78,1.073,6,0.000,0.038,3139,2284,1798
$GC,9261,1.17,233.0,522.6,9.1,865,9265,0.00,2.33,0.00,0.000,4,0.000,0.057,3139,1000,1796
$GC,9305,1.17,233.0,518.2,9.8,867,9308,0.00,2.20,0.00,0.000,6,0.000,0.038,3139,2266,1795
$GC,9625,1.24,252.3,490.6,8.2,887,9646,0.17,0.00,16.35,1.038,6,0.061,0.000,3182,2267,1718
$GC,9963,1.24,252.3,457.7,9.6,919,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2267,1716
$GC,10284,1.21,252.3,427.1,9.9,949,10288,0.00,2.30,0.00,0.000,4,0.000,0.056,3182,991,1715
$GC,10312,1.16,252.3,424.2,10.5,951,10317,0.12,2.17,0.00,0.000,6,0.115,0.037,3161,2246,1715
$GC,10638,1.20,274.2,396.5,8.0,981,10658,0.00,0.00,17.77,0.975,6,0.000,0.000,3161,2246,1630
$GC,10978,1.24,295.2,368.2,8.1,1013,11002,0.00,2.38,17.75,0.948,4,0.000,0.055,3161,991,1544
$GC,11075,1.24,295.2,359.4,9.6,1021,11082,0.00,2.15,0.00,0.000,6,0.000,0.036,3161,2229,1542
$GC,11405,1.28,296.8,331.0,8.9,1052,11409,0.12,2.22,0.00,0.000,4,0.065,0.054,3193,993,1541
$GC,11471,1.25,296.8,324.2,9.9,1057,11478,0.00,2.03,0.00,0.000,6,0.000,0.035,3193,2170,1541
$GC,11798,1.27,308.5,294.3,8.5,1088,11816,0.00,0.00,10.73,0.913,6,0.000,0.000,3193,2170,1490
$GC,12137,1.27,310.3,263.2,8.9,1120,12141,0.00,2.78,0.00,0.000,4,0.000,0.054,3193,3734,1489
$GC,12154,1.27,310.3,261.3,9.2,1121,12158,0.00,2.70,0.00,0.000,6,0.000,0.036,3193,2169,1489
$GC,12489,1.27,310.3,230.7,9.7,1169,12495,0.00,2.08,0.00,0.000,4,0.000,0.054,3193,998,1488
$GC,12524,1.27,310.3,227.3,9.5,1175,12532,0.00,1.98,0.00,0.000,6,0.000,0.035,3193,2153,1488
$GC,12870,1.29,321.0,198.2,8.5,1236,12889,0.00,2.85,10.32,0.835,4,0.000,0.051,3193,3721,1439
$GC,12924,1.29,321.0,193.4,9.2,1245,12931,0.00,2.67,0.00,0.000,6,0.000,0.035,3192,2175,1438
$GC,13270,1.29,322.8,163.5,8.9,1306,13276,0.00,2.10,0.00,0.000,4,0.000,0.054,3193,990,1437
$GC,13295,1.32,322.8,161.1,9.2,1310,13301,0.00,2.03,0.00,0.000,6,0.000,0.033,3193,2178,1437
$GC,13640,1.46,341.8,133.3,8.2,1371,13663,0.12,2.83,17.20,0.748,4,0.061,0.048,3226,3726,1353
$GC,13793,1.50,367.0,119.9,7.9,1397,13820,0.00,2.47,20.70,0.722,6,0.000,0.034,3226,2278,1251
$GC,14160,1.68,408.2,93.8,7.2,1461,14202,0.17,2.33,33.12,0.670,4,0.054,0.049,3276,993,1082
$GC,14243,1.71,425.2,87.4,8.3,1474,14263,0.00,2.00,14.05,0.670,6,0.000,0.031,3276,2166,1014
$GC,14602,1.83,451.3,57.2,7.8,1537,14630,0.12,2.85,20.55,0.627,4,0.055,0.047,3316,3736,907
$GC,14721,1.83,451.3,46.9,9.3,1557,14728,0.00,2.65,0.00,0.000,6,0.000,0.031,3316,2177,906
$GC,15067,1.84,457.7,17.0,8.7,1618,15080,0.00,2.10,5.00,0.612,4,0.000,0.046,3316,999,880
$GC,15219,1.85,465.0,3.5,8.7,1644,15233,0.00,1.85,5.60,0.592,6,0.000,0.027,3316,2120,851
$STATE,15238,end climb,SURFACE_DEPTH_REACHED
$STATE,15238,begin surface coast
$FINISH,-0.1,1.010675
$STATE,15261,end surface coast,CONTROL_FINISHED_OK
$STATE,15261,begin surface
$SM_CCo,15284,5.40,0.601,0,0,811,475.15
$SM_GC,1.32,0.00,0.00,5.40,0.000,0.000,0.601,252,2121,811,-12.20,-0.82,475.15
$IRIDIUM_FIX,1241.04,12021.43,120797,030356
$TT8_MAMPS,0.023777
$HUMID,1989
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,431
$24V_AH,23.3,52.776
$10V_AH,10.2,27.007
$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,32.900,162.275,499.325,5.400,0.000,26.191,46.829,162.022,112.000,0.000,0.000,15.488,3419.444,8250.443,709.258,2692.258,590.632,0.000,2071.095,0.000,2657.201,0.000,31.758
$DEVICE_MAMPS,170.274,59.826,1099.111,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53481,1651
$CAP_FILE_SIZE,165460,0
$CFSIZE,260165632,233742336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,145.1,1
$GPS,170408,125626,1246.968,12026.737,40,1.4,40,-0.8