version: 66.03
glider: 122
mission: 6
dive: 289
start: 4 17 108 21 24 43
data:
$ID,122
$MISSION,6
$DIVE,289
$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,-33252.52
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,211832,1247.337,12028.868,37,1.4,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.7
$GPS2,212409,1247.288,12028.849,17,1.0,17,-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,72.6,25889,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,87,0.00,0.00,-62.15,0.000,2,0.000,0.000,248,2166,2516
$GC,90,-1.56,-146.0,3.6,-7.7,10,128,13.40,2.40,-15.43,0.000,4,0.170,0.052,2562,3543,3346
$GC,203,-1.27,-146.0,28.8,-19.4,29,211,0.35,2.30,0.00,0.000,6,0.114,0.027,2627,2151,3347
$GC,549,-1.17,-146.0,81.5,-11.9,90,557,0.12,2.40,0.00,0.000,4,0.112,0.040,2650,3551,3348
$GC,597,-1.13,-146.0,87.9,-12.8,98,605,0.00,2.25,0.00,0.000,6,0.000,0.026,2650,2183,3349
$GC,943,-1.16,-146.0,124.8,-9.5,159,950,0.00,2.35,0.00,0.000,4,0.000,0.042,2650,3556,3352
$GC,984,-1.16,-146.0,128.9,-9.9,166,991,0.00,2.22,0.00,0.000,6,0.000,0.027,2650,2198,3352
$GC,1330,-1.32,-146.0,159.1,-8.2,227,1337,0.15,2.50,0.00,0.000,4,0.048,0.043,2602,753,3353
$GC,1418,-1.32,-146.0,167.6,-9.6,242,1424,0.00,2.65,0.00,0.000,6,0.000,0.030,2603,2331,3353
$GC,1763,-1.32,-146.0,199.5,-9.4,303,1769,0.00,2.75,0.00,0.000,4,0.000,0.044,2602,753,3353
$GC,1810,-1.32,-146.0,204.2,-10.0,311,1817,0.00,2.62,0.00,0.000,6,0.000,0.031,2602,2307,3353
$GC,2155,-1.40,-146.0,233.8,-7.7,372,2163,0.00,2.70,0.00,0.000,4,0.000,0.046,2603,764,3352
$GC,2243,-1.40,-146.0,241.2,-8.2,387,2250,0.00,2.47,0.00,0.000,6,0.000,0.031,2603,2227,3352
$GC,2581,-1.48,-146.0,269.8,-8.2,427,2585,0.00,2.28,0.00,0.000,4,0.000,0.048,2602,3546,3350
$GC,2615,-1.48,-146.0,272.7,-8.9,429,2622,0.00,2.17,0.00,0.000,6,0.000,0.031,2603,2236,3350
$GC,2941,-1.48,-146.0,298.5,-7.6,460,2945,0.00,2.28,0.00,0.000,4,0.000,0.047,2602,3548,3348
$GC,2986,-1.48,-146.0,302.6,-8.9,463,2993,0.00,2.12,0.00,0.000,6,0.000,0.031,2603,2272,3348
$GC,3313,-1.48,-146.0,329.5,-8.8,494,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2270,3346
$GC,3630,-1.48,-146.0,357.8,-9.1,524,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2270,3344
$GC,3950,-1.59,-146.0,383.6,-7.8,554,3954,0.17,2.25,0.00,0.000,4,0.048,0.048,2548,3554,3342
$GC,3977,-1.53,-146.0,386.4,-9.4,556,3985,0.12,2.20,0.00,0.000,6,0.115,0.032,2570,2248,3342
$GC,4305,-1.48,-146.0,415.9,-8.9,587,4309,0.00,2.28,0.00,0.000,4,0.000,0.050,2570,3543,3341
$GC,4338,-1.41,-146.0,419.6,-10.0,589,4345,0.15,2.12,0.00,0.000,6,0.113,0.033,2596,2284,3341
$GC,4665,-1.41,-146.0,446.4,-8.0,620,4670,0.00,2.70,0.00,0.000,4,0.000,0.053,2596,765,3338
$GC,4711,-1.41,-146.0,450.4,-8.7,623,4718,0.00,2.58,0.00,0.000,6,0.000,0.034,2596,2269,3338
$GC,5039,-1.51,-146.0,476.6,-8.1,654,5043,0.00,2.67,0.00,0.000,4,0.000,0.051,2596,764,3335
$GC,5124,-1.51,-146.0,484.0,-8.4,661,5128,0.00,2.42,0.00,0.000,6,0.000,0.035,2596,2176,3334
$GC,5449,-1.59,-146.0,510.2,-8.2,685,5454,0.15,2.53,0.00,0.000,4,0.052,0.052,2550,761,3333
$GC,5527,-1.51,-146.0,517.8,-9.0,688,5535,0.12,2.67,0.00,0.000,6,0.116,0.035,2572,2313,3332
$GC,5845,-1.47,-146.0,546.2,-9.2,704,5849,0.00,2.17,0.00,0.000,4,0.000,0.054,2572,3551,3331
$GC,5885,-1.42,-146.0,550.1,-9.9,706,5890,0.12,2.10,0.00,0.000,6,0.114,0.034,2593,2309,3331
$GC,6214,-1.42,-146.0,575.8,-7.6,722,6218,0.00,2.75,0.00,0.000,4,0.000,0.054,2593,766,3329
$GC,6241,-1.42,-146.0,578.2,-8.2,723,6245,0.00,2.65,0.00,0.000,6,0.000,0.036,2593,2301,3329
$GC,6558,-1.42,-146.0,601.2,-7.3,738,6562,0.00,2.20,0.00,0.000,4,0.000,0.056,2593,3555,3328
$GC,6604,-1.42,-146.0,604.7,-8.2,740,6608,0.00,2.08,0.00,0.000,6,0.000,0.035,2593,2317,3327
$GC,6938,-1.42,-146.0,629.4,-7.4,756,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2315,3326
$STATE,7018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7018,begin apogee
$GC,7024,-0.35,0.0,635.6,7.4,760,7145,1.15,0.00,117.90,1.078,6,0.095,0.000,2826,2382,2748
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7149,1.56,146.0,640.7,0.0,766,7280,1.92,0.00,120.85,1.041,6,0.051,0.000,3251,2382,2151
$GC,7588,1.31,146.0,607.6,9.7,788,7593,0.30,2.53,0.00,0.000,4,0.119,0.055,3194,983,2150
$GC,7661,1.18,161.2,601.2,8.3,791,7681,0.17,2.40,12.20,1.068,6,0.121,0.038,3163,2363,2090
$GC,8005,1.17,191.1,574.8,7.7,808,8036,0.00,2.58,24.45,1.045,4,0.000,0.056,3163,995,1968
$GC,8077,1.11,191.1,568.5,9.5,811,8081,0.00,2.40,0.00,0.000,6,0.000,0.038,3162,2360,1967
$GC,8398,1.09,206.3,541.2,8.3,827,8421,0.00,2.58,12.52,1.053,4,0.000,0.056,3163,993,1906
$GC,8494,1.04,206.3,532.4,9.3,831,8499,0.17,2.33,0.00,0.000,6,0.112,0.038,3131,2318,1906
$GC,8817,1.09,237.9,507.8,7.6,847,8848,0.00,2.47,25.85,1.017,4,0.000,0.057,3131,993,1777
$GC,8946,1.17,262.7,497.5,7.9,853,8977,0.12,2.22,20.77,1.009,6,0.070,0.037,3160,2270,1676
$GC,9295,1.18,270.9,467.7,8.6,886,9308,0.00,2.40,6.80,1.029,4,0.000,0.055,3160,992,1643
$GC,9358,1.19,278.5,461.9,8.7,891,9370,0.00,2.17,6.88,1.012,6,0.000,0.037,3160,2238,1612
$GC,9690,1.22,292.4,434.0,8.4,922,9707,0.00,2.72,12.00,0.999,4,0.000,0.056,3160,3730,1555
$GC,9730,1.22,292.4,430.4,10.3,925,9735,0.00,2.60,0.00,0.000,6,0.000,0.037,3160,2242,1554
$GC,10059,1.25,292.4,401.7,9.0,955,10063,0.00,2.25,0.00,0.000,4,0.000,0.055,3160,985,1551
$GC,10125,1.25,292.4,395.2,9.3,960,10133,0.00,2.12,0.00,0.000,6,0.000,0.035,3160,2216,1551
$GC,10453,1.31,302.7,366.3,8.6,991,10467,0.12,2.80,7.90,0.972,4,0.069,0.054,3190,3732,1514
$GC,10518,1.26,302.7,359.6,10.3,996,10525,0.00,2.60,0.00,0.000,6,0.000,0.037,3190,2236,1514
$GC,10845,1.26,302.7,328.5,9.4,1027,10849,0.00,2.22,0.00,0.000,4,0.000,0.055,3191,989,1513
$GC,10913,1.22,302.7,321.4,10.3,1032,10920,0.00,2.12,0.00,0.000,6,0.000,0.035,3190,2228,1512
$GC,11240,1.22,302.7,291.5,9.2,1063,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2228,1512
$GC,11555,1.22,302.7,263.0,9.2,1093,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2228,1512
$GC,11884,1.22,302.7,232.2,9.2,1139,11891,0.00,2.22,0.00,0.000,4,0.000,0.054,3190,981,1512
$GC,11954,1.22,302.7,225.5,9.5,1151,11960,0.00,2.10,0.00,0.000,6,0.000,0.034,3190,2208,1512
$GC,12299,1.25,319.6,195.6,8.3,1212,12319,0.00,2.72,13.82,0.821,4,0.000,0.050,3190,3727,1445
$GC,12354,1.25,319.6,190.6,9.6,1221,12362,0.00,2.58,0.00,0.000,6,0.000,0.035,3191,2236,1444
$GC,12700,1.32,361.2,161.4,7.2,1282,12739,0.00,0.00,34.30,0.752,6,0.000,0.000,3191,2234,1275
$GC,13079,1.48,365.1,129.8,8.8,1348,13087,0.15,2.70,2.88,0.785,4,0.056,0.048,3234,3727,1258
$GC,13173,1.49,367.6,121.1,8.9,1364,13182,0.00,2.53,2.08,0.782,6,0.000,0.034,3234,2249,1249
$GC,13521,1.65,419.8,96.0,6.7,1425,13574,0.12,2.30,42.97,0.667,4,0.061,0.048,3269,994,1035
$GC,13661,1.65,419.8,84.0,9.2,1448,13668,0.00,2.20,0.00,0.000,6,0.000,0.031,3269,2279,1032
$GC,14008,1.86,491.1,56.0,5.8,1509,14074,0.15,2.58,57.72,0.604,4,0.053,0.047,3318,3727,744
$GC,14092,1.86,491.1,48.6,9.9,1522,14099,0.00,2.40,0.00,0.000,6,0.000,0.030,3318,2313,742
$GC,14438,1.89,491.1,15.5,9.8,1583,14445,0.00,2.33,0.00,0.000,4,0.000,0.047,3318,986,739
$GC,14564,1.89,491.1,2.8,9.7,1605,14571,0.00,2.10,0.00,0.000,6,0.000,0.028,3318,2240,738
$STATE,14575,end climb,SURFACE_DEPTH_REACHED
$STATE,14575,begin surface coast
$FINISH,-0.1,1.021187
$STATE,14599,end surface coast,CONTROL_FINISHED_OK
$STATE,14599,begin surface
$SM_CCo,14682,0.00,0.000,0,0,736,493.54
$SM_GC,0.74,13.30,0.00,0.00,0.032,0.000,0.000,250,2140,736,-12.17,-0.28,493.54
$IRIDIUM_FIX,1243.25,12029.39,120797,171743
$TT8_MAMPS,0.02301
$HUMID,1971
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,443
$24V_AH,23.4,53.265
$10V_AH,10.1,27.257
$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,32.575,149.350,521.900,0.000,0.000,22.395,35.775,151.297,114.250,0.000,0.000,17.037,3305.810,7866.773,720.940,2594.853,534.851,0.000,2033.010,0.000,2553.221,0.000,26.321
$DEVICE_MAMPS,170.274,72.098,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50395,1611
$CAP_FILE_SIZE,156743,0
$CFSIZE,260165632,233525248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,160.8,1
$GPS,180408,013038,1247.080,12030.173,38,0.8,38,-0.8