version: 66.03
glider: 122
mission: 6
dive: 288
start: 4 17 108 17 10 32
data:
$ID,122
$MISSION,6
$DIVE,288
$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,-33234.855
$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,75
$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
$GPS1,170408,1247.264,12027.782,41,1.4,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.4
$GPS2,170959,1247.231,12027.767,12,2.2,31,-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,71.3,27812,-18.6,-9.016
$D_GRID,635
$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,20,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,91,0.00,0.00,-66.68,0.000,2,0.000,0.000,250,2200,2503
$GC,95,-1.56,-146.0,3.5,-7.9,11,133,13.38,2.55,-16.27,0.000,4,0.171,0.052,2558,740,3346
$GC,146,-1.07,-146.0,14.8,-18.3,19,154,0.57,2.30,0.00,0.000,6,0.110,0.026,2668,2124,3347
$GC,492,-1.01,-146.0,61.8,-12.3,80,499,0.00,2.42,0.00,0.000,4,0.000,0.042,2668,3542,3349
$GC,562,-0.97,-146.0,71.3,-13.5,92,570,0.12,2.30,0.00,0.000,6,0.107,0.026,2691,2150,3350
$GC,909,-1.08,-146.0,104.7,-8.7,153,916,0.00,2.40,0.00,0.000,4,0.000,0.041,2691,752,3352
$GC,928,-1.22,-146.0,106.6,-9.3,156,936,0.25,2.65,0.00,0.000,6,0.039,0.028,2616,2334,3352
$GC,1274,-1.22,-146.0,141.4,-9.7,217,1281,0.10,0.00,0.00,0.000,6,0.101,0.000,2635,2334,3353
$GC,1620,-1.35,-146.0,171.8,-8.9,278,1628,0.12,2.75,0.00,0.000,4,0.053,0.042,2591,751,3354
$GC,1724,-1.31,-146.0,182.8,-11.0,296,1732,0.12,2.60,0.00,0.000,6,0.100,0.030,2616,2295,3354
$GC,2070,-1.31,-146.0,213.8,-8.5,357,2077,0.00,2.15,0.00,0.000,4,0.000,0.048,2616,3545,3354
$GC,2135,-1.31,-146.0,219.4,-8.3,368,2141,0.00,2.03,0.00,0.000,6,0.000,0.029,2616,2313,3353
$GC,2480,-1.35,-146.0,247.6,-8.5,429,2486,0.00,2.72,0.00,0.000,4,0.000,0.046,2615,753,3353
$GC,2511,-1.39,-146.0,250.5,-9.4,434,2518,0.00,2.62,0.00,0.000,6,0.000,0.032,2615,2304,3352
$GC,2838,-1.42,-146.0,278.2,-8.0,465,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2304,3350
$GC,3157,-1.54,-146.0,304.8,-8.5,495,3161,0.17,2.15,0.00,0.000,4,0.048,0.048,2559,3544,3348
$GC,3246,-1.43,-146.0,314.3,-10.5,502,3253,0.17,2.05,0.00,0.000,6,0.104,0.031,2591,2313,3348
$GC,3573,-1.43,-146.0,342.8,-8.4,533,3577,0.00,2.75,0.00,0.000,4,0.000,0.050,2591,758,3346
$GC,3605,-1.43,-146.0,346.1,-9.1,535,3613,0.00,2.65,0.00,0.000,6,0.000,0.033,2591,2304,3346
$GC,3933,-1.43,-146.0,373.5,-8.9,566,3937,0.00,2.15,0.00,0.000,4,0.000,0.050,2591,3541,3343
$GC,3954,-1.43,-146.0,375.9,-9.4,567,3961,0.00,2.12,0.00,0.000,6,0.000,0.031,2591,2274,3344
$GC,4281,-1.43,-146.0,404.3,-8.2,598,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2272,3342
$GC,4599,-1.43,-146.0,431.5,-8.8,628,4603,0.00,2.22,0.00,0.000,4,0.000,0.051,2591,3541,3340
$GC,4642,-1.43,-146.0,435.8,-10.1,631,4650,0.00,2.08,0.00,0.000,6,0.000,0.033,2591,2312,3340
$GC,4970,-1.43,-146.0,464.3,-8.5,662,4974,0.00,2.78,0.00,0.000,4,0.000,0.053,2591,755,3337
$GC,4991,-1.43,-146.0,466.6,-8.9,663,4998,0.00,2.70,0.00,0.000,6,0.000,0.035,2591,2319,3337
$GC,5319,-1.43,-146.0,492.8,-7.5,694,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2319,3335
$GC,5628,-1.43,-146.0,516.1,-7.6,714,5633,0.00,2.80,0.00,0.000,4,0.000,0.053,2591,757,3333
$GC,5674,-1.43,-146.0,520.0,-8.8,716,5678,0.00,2.65,0.00,0.000,6,0.000,0.035,2591,2294,3333
$GC,5995,-1.43,-146.0,545.5,-8.2,732,5999,0.00,2.20,0.00,0.000,4,0.000,0.054,2591,3543,3332
$GC,6022,-1.43,-146.0,548.2,-9.5,733,6025,0.00,2.10,0.00,0.000,6,0.000,0.034,2591,2304,3332
$GC,6344,-1.43,-146.0,574.6,-8.3,749,6348,0.00,2.75,0.00,0.000,4,0.000,0.054,2590,762,3329
$GC,6376,-1.43,-146.0,577.5,-8.2,750,6383,0.00,2.65,0.00,0.000,6,0.000,0.036,2591,2292,3329
$GC,6692,-1.43,-146.0,603.0,-8.3,766,6696,0.00,2.20,0.00,0.000,4,0.000,0.057,2591,3539,3328
$GC,6743,-1.43,-146.0,607.4,-8.5,768,6746,0.00,2.08,0.00,0.000,6,0.000,0.034,2591,2313,3328
$GC,7064,-1.43,-146.0,633.8,-8.6,784,7069,0.00,2.78,0.00,0.000,4,0.000,0.055,2591,760,3326
$STATE,7080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7080,begin apogee
$GC,7088,-0.35,0.0,635.3,8.4,785,7210,1.17,0.00,118.28,1.077,6,0.101,0.000,2825,2360,2748
$STATE,7211,end apogee,CONTROL_FINISHED_OK
$STATE,7211,begin climb
$GC,7214,1.56,146.0,640.9,0.0,791,7344,1.92,0.00,121.05,1.041,6,0.052,0.000,3248,2359,2151
$GC,7652,1.32,146.0,609.8,9.4,813,7657,0.28,2.50,0.00,0.000,4,0.117,0.055,3196,982,2149
$GC,7765,1.17,157.5,600.2,8.5,818,7783,0.20,2.35,8.88,1.077,6,0.120,0.038,3161,2326,2105
$GC,8093,1.17,194.1,576.4,7.4,834,8128,0.00,2.53,30.02,1.042,4,0.000,0.056,3161,990,1956
$GC,8192,1.12,194.1,567.9,9.1,838,8196,0.00,2.33,0.00,0.000,6,0.000,0.037,3160,2315,1955
$GC,8508,1.15,235.2,544.1,7.2,853,8552,0.00,2.53,33.45,1.029,4,0.000,0.056,3160,989,1787
$GC,8608,1.15,235.2,535.8,9.1,857,8612,0.00,2.25,0.00,0.000,6,0.000,0.037,3161,2285,1786
$GC,8929,1.19,260.0,510.3,7.9,873,8955,0.00,2.42,20.77,1.024,4,0.000,0.057,3161,980,1687
$GC,9005,1.21,270.1,503.6,8.6,876,9020,0.00,2.22,8.55,1.025,6,0.000,0.037,3161,2249,1646
$GC,9341,1.26,301.2,477.7,7.6,906,9376,0.00,2.38,26.17,0.996,4,0.000,0.057,3161,993,1518
$GC,9467,1.26,303.2,467.3,8.9,917,9471,0.00,2.10,0.00,0.000,6,0.000,0.036,3160,2198,1515
$GC,9795,1.32,303.2,438.5,9.6,947,9800,0.15,2.75,0.00,0.000,4,0.064,0.055,3200,3735,1514
$GC,9873,1.26,303.2,429.3,11.1,953,9881,0.12,2.58,0.00,0.000,6,0.129,0.038,3180,2246,1513
$GC,10198,1.26,303.2,397.0,9.8,984,10202,0.00,2.25,0.00,0.000,4,0.000,0.055,3180,980,1513
$GC,10301,1.26,303.2,386.7,9.9,993,10304,0.00,2.12,0.00,0.000,6,0.000,0.035,3180,2211,1513
$GC,10628,1.26,303.2,356.1,9.4,1023,10631,0.00,2.20,0.00,0.000,4,0.000,0.054,3180,982,1512
$GC,10694,1.26,303.2,349.4,9.5,1028,10702,0.00,2.00,0.00,0.000,6,0.000,0.035,3180,2151,1512
$GC,11022,1.26,303.2,320.8,9.1,1059,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2151,1512
$GC,11339,1.27,311.2,293.0,8.7,1089,11351,0.00,0.00,7.12,0.923,6,0.000,0.000,3180,2151,1479
$GC,11671,1.27,311.2,263.1,9.2,1120,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2151,1478
$GC,11997,1.27,311.2,231.6,9.6,1167,12004,0.00,2.08,0.00,0.000,4,0.000,0.053,3180,985,1478
$GC,12067,1.27,311.2,224.9,9.1,1179,12074,0.00,1.95,0.00,0.000,6,0.000,0.034,3180,2128,1477
$GC,12413,1.33,326.2,195.7,8.3,1240,12433,0.00,2.88,12.38,0.822,4,0.000,0.051,3180,3726,1418
$GC,12524,1.33,326.2,185.5,9.3,1259,12531,0.00,2.67,0.00,0.000,6,0.000,0.035,3180,2174,1417
$GC,12870,1.46,348.5,156.4,8.0,1320,12897,0.15,2.20,18.45,0.764,4,0.058,0.054,3222,966,1325
$GC,12977,1.46,348.5,146.2,9.6,1338,12984,0.00,2.33,0.00,0.000,6,0.000,0.033,3222,2313,1324
$GC,13323,1.47,354.2,116.9,8.8,1399,13337,0.00,2.53,4.35,0.771,4,0.000,0.049,3222,3726,1303
$GC,13372,1.51,356.5,112.4,8.9,1407,13379,0.00,2.60,0.00,0.000,6,0.000,0.034,3222,2209,1302
$GC,13718,1.73,402.2,89.0,7.0,1468,13763,0.22,2.28,39.35,0.664,4,0.048,0.049,3285,977,1107
$GC,13828,1.71,409.6,80.0,8.7,1486,13842,0.00,2.03,5.62,0.700,6,0.000,0.031,3285,2166,1077
$GC,14181,1.84,434.4,53.3,7.9,1548,14209,0.00,2.12,19.95,0.628,4,0.000,0.045,3285,983,977
$GC,14343,1.92,434.4,39.5,9.7,1575,14351,0.17,2.10,0.00,0.000,6,0.050,0.029,3336,2226,974
$GC,14690,1.87,435.0,5.9,9.0,1636,14697,0.12,2.17,0.00,0.000,4,0.100,0.044,3312,983,974
$STATE,14736,end climb,SURFACE_DEPTH_REACHED
$STATE,14736,begin surface coast
$FINISH,-0.1,1.021251
$STATE,14759,end surface coast,CONTROL_FINISHED_OK
$STATE,14759,begin surface
$SM_CCo,14785,20.25,0.560,0,0,811,475.15
$SM_GC,0.94,0.00,0.00,20.25,0.000,0.000,0.560,248,2166,811,-12.22,0.45,475.15
$IRIDIUM_FIX,1241.04,12031.29,120797,131308
$TT8_MAMPS,0.023777
$HUMID,1976
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,438
$24V_AH,23.4,53.101
$10V_AH,10.2,27.174
$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,32.950,147.625,474.400,20.250,0.000,22.510,37.135,151.201,113.000,0.000,0.000,32.362,3380.205,7883.129,712.201,2660.323,527.819,0.000,2039.364,0.000,2601.938,0.000,26.325
$DEVICE_MAMPS,171.041,56.758,1076.868,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50321,1648
$CAP_FILE_SIZE,157116,0
$CFSIZE,260165632,233603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,148.3,1
$GPS,170408,211832,1247.337,12028.868,37,1.4,37,-0.8