version: 66.03
glider: 122
mission: 6
dive: 271
start: 4 13 108 21 30 13
data:
$ID,122
$MISSION,6
$DIVE,271
$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,-32976.18
$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,22
$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
$GPS1,212002,1248.367,12027.065,43,1.0,43,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,212939,1248.310,12027.063,13,1.0,13,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,267.6,21473,-18.6,-9.016
$D_GRID,790
$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,19,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-60.97,0.000,2,0.000,0.000,252,2112,2500
$GC,89,-1.56,-146.0,3.6,-8.6,10,128,13.30,2.53,-15.90,0.000,4,0.168,0.052,2561,3571,3346
$GC,248,-1.25,-146.0,39.4,-22.3,37,256,0.35,2.33,0.00,0.000,6,0.114,0.027,2627,2167,3347
$GC,594,-1.16,-146.0,90.6,-12.5,98,601,0.12,2.40,0.00,0.000,4,0.116,0.041,2649,3567,3349
$GC,654,-1.12,-146.0,98.0,-12.9,108,661,0.00,2.25,0.00,0.000,6,0.000,0.026,2649,2198,3349
$GC,998,-1.12,-146.0,135.7,-9.2,169,1005,0.00,2.50,0.00,0.000,4,0.000,0.043,2649,752,3352
$GC,1063,-1.16,-146.0,141.6,-9.2,180,1070,0.00,2.42,0.00,0.000,6,0.000,0.028,2650,2206,3352
$GC,1409,-1.30,-146.0,171.8,-7.7,241,1417,0.12,2.53,0.00,0.000,4,0.054,0.042,2609,752,3352
$GC,1447,-1.30,-146.0,174.8,-8.3,247,1455,0.00,2.65,0.00,0.000,6,0.000,0.029,2609,2326,3352
$GC,1793,-1.30,-146.0,206.1,-8.9,308,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2325,3352
$GC,2136,-1.30,-146.0,237.1,-9.5,369,2144,0.00,2.75,0.00,0.000,4,0.000,0.047,2608,759,3351
$GC,2161,-1.30,-146.0,239.5,-9.4,373,2168,0.00,2.65,0.00,0.000,6,0.000,0.031,2609,2318,3350
$GC,2499,-1.30,-146.0,271.5,-9.4,414,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2319,3349
$GC,2818,-1.30,-146.0,300.0,-8.3,444,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2319,3347
$GC,3138,-1.30,-146.0,326.5,-8.3,474,3143,0.00,2.75,0.00,0.000,4,0.000,0.049,2608,762,3345
$GC,3182,-1.30,-146.0,330.7,-9.2,477,3190,0.00,2.62,0.00,0.000,6,0.000,0.033,2609,2298,3345
$GC,3510,-1.30,-146.0,358.2,-8.4,508,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2297,3342
$GC,3827,-1.30,-146.0,384.0,-8.4,538,3831,0.00,2.20,0.00,0.000,4,0.000,0.051,2609,3561,3340
$GC,3856,-1.30,-146.0,386.5,-8.7,540,3860,0.00,2.15,0.00,0.000,6,0.000,0.032,2608,2284,3340
$GC,4184,-1.30,-146.0,413.9,-8.3,570,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2281,3337
$GC,4511,-1.33,-146.0,440.0,-8.0,601,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2281,3335
$GC,4830,-1.36,-146.0,465.8,-8.3,631,4834,0.00,2.25,0.00,0.000,4,0.000,0.051,2609,3560,3333
$GC,4886,-1.40,-146.0,470.9,-8.3,635,4893,0.00,2.17,0.00,0.000,6,0.000,0.034,2608,2275,3332
$GC,5213,-1.43,-146.0,496.4,-7.7,666,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2272,3331
$GC,5532,-1.47,-146.0,520.6,-7.9,684,5537,0.10,2.28,0.00,0.000,4,0.066,0.052,2580,3565,3328
$GC,5573,-1.43,-146.0,524.2,-9.0,686,5577,0.00,2.15,0.00,0.000,6,0.000,0.035,2580,2294,3328
$GC,5901,-1.43,-146.0,553.2,-8.8,702,5906,0.00,2.72,0.00,0.000,4,0.000,0.054,2580,765,3327
$GC,5934,-1.43,-146.0,556.5,-8.8,703,5941,0.00,2.60,0.00,0.000,6,0.000,0.036,2580,2271,3326
$GC,6250,-1.43,-146.0,583.3,-8.5,719,6254,0.00,2.28,0.00,0.000,4,0.000,0.055,2580,3561,3326
$GC,6323,-1.40,-146.0,590.0,-9.0,722,6328,0.00,2.17,0.00,0.000,6,0.000,0.035,2580,2274,3325
$GC,6645,-1.40,-146.0,617.3,-8.3,738,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2271,3323
$GC,6954,-1.40,-146.0,640.7,-7.4,753,6958,0.00,2.28,0.00,0.000,4,0.000,0.054,2579,3558,3322
$GC,7010,-1.40,-146.0,645.4,-7.2,755,7017,0.00,2.15,0.00,0.000,6,0.000,0.035,2579,2292,3321
$GC,7326,-1.40,-146.0,667.3,-6.8,771,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2290,3319
$GC,7636,-1.40,-146.0,690.9,-7.7,786,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2290,3318
$GC,7945,-1.40,-146.0,716.3,-8.5,801,7949,0.00,2.25,0.00,0.000,4,0.000,0.056,2580,3558,3317
$GC,8001,-1.40,-146.0,721.4,-8.2,803,8008,0.00,2.15,0.00,0.000,6,0.000,0.037,2580,2294,3317
$GC,8317,-1.40,-146.0,749.2,-9.1,819,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2292,3316
$GC,8627,-1.40,-146.0,776.4,-8.7,834,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2292,3315
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8797,-0.35,0.0,790.5,8.4,842,8920,1.23,0.00,119.22,1.214,6,0.100,0.000,2824,2399,2748
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8921,begin climb
$GC,8924,1.56,146.0,795.5,0.0,848,9057,1.92,2.50,123.90,1.175,4,0.052,0.059,3249,3722,2152
$GC,9125,1.27,146.0,784.4,12.6,857,9130,0.38,2.33,0.00,0.000,6,0.136,0.040,3185,2397,2151
$GC,9453,1.14,146.0,753.3,9.1,873,9458,0.17,2.60,0.00,0.000,4,0.120,0.059,3151,970,2149
$GC,9570,1.06,150.7,742.6,8.8,878,9583,0.00,2.40,3.83,1.182,6,0.000,0.039,3151,2337,2133
$GC,9892,1.05,180.5,715.9,7.7,894,9919,0.00,0.00,25.12,1.177,6,0.000,0.000,3151,2336,2011
$GC,10241,1.06,209.8,687.7,7.7,911,10272,0.00,2.60,24.80,1.165,4,0.000,0.059,3151,970,1892
$GC,10312,1.02,209.8,681.4,9.9,914,10317,0.12,2.42,0.00,0.000,6,0.119,0.039,3129,2341,1891
$GC,10633,1.03,214.8,654.7,8.8,930,10642,0.00,2.55,4.18,1.172,4,0.000,0.059,3129,964,1872
$GC,10733,1.03,214.8,644.9,10.6,934,10737,0.00,2.35,0.00,0.000,6,0.000,0.039,3129,2300,1872
$GC,11051,1.07,214.8,614.8,9.3,949,11055,0.00,2.42,0.00,0.000,4,0.000,0.059,3129,970,1871
$GC,11077,1.07,214.8,612.0,9.4,950,11081,0.00,2.30,0.00,0.000,6,0.000,0.039,3129,2284,1871
$GC,11400,1.13,228.1,584.3,8.4,966,11413,0.00,0.00,11.38,1.146,6,0.000,0.000,3129,2284,1818
$GC,11709,1.21,257.7,559.5,7.7,981,11741,0.15,2.50,25.45,1.095,4,0.067,0.059,3171,973,1697
$GC,11803,1.18,257.7,550.5,9.5,985,11807,0.00,2.25,0.00,0.000,6,0.000,0.038,3171,2258,1695
$GC,12125,1.18,259.5,522.1,8.9,1001,12129,0.00,2.33,0.00,0.000,4,0.000,0.058,3171,971,1694
$GC,12163,1.18,260.1,518.5,9.0,1002,12170,0.00,2.20,0.00,0.000,6,0.000,0.038,3171,2235,1694
$GC,12482,1.18,260.1,490.9,9.2,1022,12486,0.00,2.67,0.00,0.000,4,0.000,0.057,3171,3733,1694
$GC,12522,1.15,260.1,486.9,9.6,1025,12526,0.00,2.58,0.00,0.000,6,0.000,0.038,3171,2246,1694
$GC,12847,1.15,260.1,456.1,9.4,1055,12851,0.00,2.30,0.00,0.000,4,0.000,0.057,3171,961,1694
$GC,12898,1.11,260.1,451.1,9.5,1059,12902,0.12,2.20,0.00,0.000,6,0.115,0.037,3150,2232,1693
$GC,13224,1.16,268.4,422.7,8.6,1089,13239,0.00,2.75,8.88,1.042,4,0.000,0.055,3151,3725,1653
$GC,13273,1.16,268.4,417.7,10.1,1093,13281,0.00,2.58,0.00,0.000,6,0.000,0.037,3150,2246,1653
$GC,13601,1.22,278.1,389.5,8.6,1124,13615,0.00,2.40,8.57,1.014,4,0.000,0.056,3150,963,1613
$GC,13688,1.23,285.2,381.6,8.7,1131,13699,0.10,2.22,6.30,1.012,6,0.074,0.037,3174,2245,1585
$GC,14020,1.24,290.7,352.8,8.8,1162,14032,0.00,2.67,4.88,0.992,4,0.000,0.054,3174,3724,1562
$GC,14056,1.24,290.7,349.3,10.7,1165,14060,0.00,2.60,0.00,0.000,6,0.000,0.038,3174,2230,1562
$GC,14382,1.24,290.7,320.2,9.3,1195,14386,0.00,2.25,0.00,0.000,4,0.000,0.055,3174,969,1562
$GC,14437,1.24,290.7,314.7,10.0,1199,14444,0.00,2.20,0.00,0.000,6,0.000,0.035,3174,2246,1561
$GC,14763,1.24,290.7,285.3,9.3,1230,14767,0.00,2.30,0.00,0.000,4,0.000,0.054,3174,966,1562
$GC,14826,1.24,290.7,279.6,9.2,1235,14830,0.00,2.15,0.00,0.000,6,0.000,0.035,3174,2214,1562
$GC,15151,1.25,296.0,251.2,8.8,1265,15162,0.00,0.00,4.70,0.911,6,0.000,0.000,3174,2214,1540
$GC,15498,1.33,321.4,222.4,7.9,1325,15524,0.00,2.35,21.15,0.834,4,0.000,0.054,3174,966,1436
$GC,15560,1.37,321.4,216.8,9.3,1335,15567,0.12,2.15,0.00,0.000,6,0.061,0.035,3207,2206,1435
$GC,15905,1.37,321.4,184.1,9.3,1396,15912,0.00,2.70,0.00,0.000,4,0.000,0.051,3207,3734,1435
$GC,15924,1.37,321.4,182.3,9.5,1399,15931,0.00,2.67,0.00,0.000,6,0.000,0.035,3207,2180,1435
$GC,16270,1.39,332.4,150.1,8.5,1460,16285,0.00,2.20,8.93,0.798,4,0.000,0.053,3207,959,1391
$GC,16320,1.39,336.9,145.6,8.8,1468,16328,0.00,2.15,3.72,0.800,6,0.000,0.033,3207,2209,1374
$GC,16667,1.55,399.6,118.3,6.2,1529,16725,0.15,2.33,51.92,0.700,4,0.059,0.051,3245,966,1117
$GC,16813,1.62,440.5,106.6,7.2,1553,16853,0.00,1.95,33.38,0.684,6,0.000,0.031,3245,2109,951
$GC,17194,1.78,474.6,74.3,7.5,1619,17228,0.17,2.97,27.23,0.650,4,0.053,0.048,3296,3735,812
$GC,17291,1.78,474.6,64.4,10.5,1635,17299,0.00,2.83,0.00,0.000,6,0.000,0.033,3296,2090,810
$GC,17636,1.84,474.6,32.0,9.4,1696,17644,0.00,1.98,0.00,0.000,4,0.000,0.049,3297,961,808
$GC,17701,1.90,474.6,26.1,9.7,1707,17708,0.00,1.85,0.00,0.000,6,0.000,0.028,3297,2078,808
$STATE,17982,end climb,SURFACE_DEPTH_REACHED
$STATE,17982,begin surface coast
$FINISH,-0.0,1.008824
$STATE,18011,end surface coast,CONTROL_FINISHED_OK
$STATE,18011,begin surface
$SM_CCo,18094,0.00,0.000,0,0,803,476.86
$SM_GC,0.80,13.38,0.00,0.00,0.038,0.000,0.000,249,2189,803,-12.18,1.10,476.86
$IRIDIUM_FIX,1241.04,12029.39,080797,212154
$TT8_MAMPS,0.023777
$HUMID,1947
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,453
$24V_AH,23.2,49.996
$10V_AH,10.1,25.545
$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,32.025,158.225,517.525,0.000,0.000,55.159,81.079,237.277,120.750,0.000,0.000,13.664,3658.507,10704.336,694.041,2888.965,722.644,0.000,2157.706,0.000,2836.027,0.000,55.329
$DEVICE_MAMPS,167.973,59.826,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1181.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56631,1762
$CAP_FILE_SIZE,180199,0
$CFSIZE,260165632,235065344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,149.5,1
$GPS,140408,023307,1247.922,12025.640,40,1.4,45,-0.8