version: 66.03
glider: 122
mission: 6
dive: 273
start: 4 14 108 7 46 55
data:
$ID,122
$MISSION,6
$DIVE,273
$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,-33009.832
$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,39
$R_STBD_OVSHOOT,60
$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
$GPS1,074032,1247.542,12024.199,41,1.7,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-69.2
$GPS2,074621,1247.493,12024.140,15,1.2,15,-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,274.8,15987,-18.6,-9.016
$D_GRID,768
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-63.10,0.000,2,0.000,0.000,248,2195,2469
$GC,91,-1.56,-146.0,3.2,-6.2,10,129,13.30,2.30,-17.05,0.000,4,0.168,0.052,2560,3539,3345
$GC,250,-1.29,-146.0,37.1,-21.2,37,257,0.32,2.30,0.00,0.000,6,0.120,0.028,2619,2148,3346
$GC,596,-1.18,-146.0,90.8,-12.6,98,603,0.15,2.33,0.00,0.000,4,0.116,0.040,2651,3547,3347
$GC,633,-1.13,-146.0,95.6,-13.2,104,640,0.00,2.20,0.00,0.000,6,0.000,0.026,2651,2207,3348
$GC,978,-1.17,-146.0,132.8,-9.6,165,986,0.00,2.53,0.00,0.000,4,0.000,0.043,2651,747,3350
$GC,1026,-1.26,-146.0,137.5,-10.0,173,1033,0.00,2.47,0.00,0.000,6,0.000,0.028,2651,2223,3350
$GC,1373,-1.38,-146.0,166.6,-7.7,234,1380,0.17,0.00,0.00,0.000,6,0.046,0.000,2593,2225,3352
$GC,1720,-1.43,-146.0,196.6,-8.5,295,1726,0.00,2.25,0.00,0.000,4,0.000,0.047,2593,3534,3352
$GC,1734,-1.47,-146.0,197.7,-8.2,297,1741,0.00,2.17,0.00,0.000,6,0.000,0.028,2593,2215,3352
$GC,2079,-1.44,-146.0,230.7,-10.3,358,2086,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,755,3350
$GC,2194,-1.44,-146.0,242.5,-10.3,378,2202,0.00,2.47,0.00,0.000,6,0.000,0.031,2593,2217,3350
$GC,2531,-1.44,-146.0,274.3,-8.6,416,2535,0.00,2.25,0.00,0.000,4,0.000,0.048,2593,3530,3348
$GC,2581,-1.44,-146.0,279.2,-9.8,420,2588,0.00,2.15,0.00,0.000,6,0.000,0.031,2593,2239,3348
$GC,2908,-1.44,-146.0,307.1,-8.7,451,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2238,3346
$GC,3225,-1.44,-146.0,335.9,-9.1,481,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2238,3345
$GC,3543,-1.44,-146.0,364.9,-8.7,511,3547,0.00,2.25,0.00,0.000,4,0.000,0.049,2593,3524,3342
$GC,3583,-1.44,-146.0,368.6,-9.3,514,3587,0.00,2.15,0.00,0.000,6,0.000,0.032,2593,2250,3342
$GC,3910,-1.44,-146.0,397.1,-9.2,544,3914,0.00,2.25,0.00,0.000,4,0.000,0.050,2594,3532,3340
$GC,3964,-1.44,-146.0,402.7,-9.8,548,3972,0.00,2.12,0.00,0.000,6,0.000,0.033,2593,2271,3339
$GC,4292,-1.44,-146.0,430.1,-7.9,579,4297,0.00,2.70,0.00,0.000,4,0.000,0.052,2593,755,3337
$GC,4336,-1.44,-146.0,434.4,-9.4,582,4344,0.00,2.58,0.00,0.000,6,0.000,0.034,2593,2250,3336
$GC,4664,-1.44,-146.0,461.2,-8.6,613,4668,0.00,2.22,0.00,0.000,4,0.000,0.051,2593,3523,3335
$GC,4704,-1.44,-146.0,465.2,-9.3,616,4708,0.00,2.10,0.00,0.000,6,0.000,0.033,2593,2282,3334
$GC,5038,-1.44,-146.0,493.0,-7.9,647,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2278,3332
$GC,5357,-1.44,-146.0,518.6,-8.1,667,5361,0.00,2.20,0.00,0.000,4,0.000,0.053,2593,3526,3330
$GC,5389,-1.44,-146.0,521.5,-8.6,668,5396,0.00,2.08,0.00,0.000,6,0.000,0.034,2593,2297,3330
$GC,5706,-1.44,-146.0,545.4,-7.3,684,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2295,3328
$GC,6014,-1.44,-146.0,568.3,-7.4,699,6019,0.00,2.75,0.00,0.000,4,0.000,0.054,2593,758,3327
$GC,6042,-1.44,-146.0,570.6,-8.6,700,6046,0.00,2.60,0.00,0.000,6,0.000,0.036,2593,2265,3327
$GC,6358,-1.44,-146.0,595.7,-7.9,715,6362,0.00,2.22,0.00,0.000,4,0.000,0.056,2593,3527,3326
$GC,6391,-1.44,-146.0,598.8,-8.6,716,6399,0.00,2.08,0.00,0.000,6,0.000,0.035,2593,2297,3325
$GC,6708,-1.44,-146.0,623.5,-7.8,732,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,3324
$GC,7016,-1.44,-146.0,646.4,-7.5,747,7020,0.00,2.17,0.00,0.000,4,0.000,0.055,2593,3526,3322
$GC,7057,-1.44,-146.0,649.5,-7.9,749,7062,0.00,2.08,0.00,0.000,6,0.000,0.035,2593,2305,3322
$GC,7390,-1.44,-146.0,672.9,-6.7,765,7394,0.00,2.78,0.00,0.000,4,0.000,0.058,2593,759,3320
$GC,7439,-1.48,-146.0,676.6,-7.0,767,7444,0.00,2.62,0.00,0.000,6,0.000,0.038,2594,2268,3320
$GC,7756,-1.48,-146.0,699.2,-7.4,782,7760,0.00,2.22,0.00,0.000,4,0.000,0.058,2593,3526,3318
$GC,7806,-1.48,-146.0,703.4,-8.7,784,7810,0.00,2.05,0.00,0.000,6,0.000,0.035,2593,2309,3318
$GC,8127,-1.48,-146.0,726.5,-7.2,800,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,3317
$GC,8440,-1.48,-146.0,751.5,-8.5,815,8444,0.00,2.80,0.00,0.000,4,0.000,0.058,2593,753,3316
$GC,8473,-1.53,-146.0,754.8,-9.3,816,8481,0.00,2.65,0.00,0.000,6,0.000,0.038,2593,2280,3316
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8648,-0.35,0.0,768.6,8.0,825,8771,1.15,0.00,119.00,1.202,6,0.099,0.000,2825,2352,2748
$STATE,8772,end apogee,CONTROL_FINISHED_OK
$STATE,8772,begin climb
$GC,8775,1.56,146.0,773.8,0.0,831,8908,1.92,2.62,123.45,1.160,4,0.056,0.058,3245,979,2151
$GC,8981,1.28,146.0,763.3,11.2,840,8986,0.32,2.47,0.00,0.000,6,0.121,0.040,3188,2372,2151
$GC,9303,1.21,178.7,736.7,7.6,856,9335,0.00,2.60,27.35,1.165,4,0.000,0.057,3187,982,2018
$GC,9387,1.08,178.7,729.6,9.4,860,9392,0.25,2.45,0.00,0.000,6,0.114,0.040,3142,2369,2016
$GC,9715,1.13,210.8,705.9,7.6,876,9747,0.00,2.60,27.02,1.160,4,0.000,0.058,3143,982,1887
$GC,9776,1.13,210.8,700.9,9.1,879,9780,0.00,2.45,0.00,0.000,6,0.000,0.040,3142,2357,1886
$GC,10103,1.16,227.3,672.9,8.3,895,10126,0.00,2.60,13.75,1.166,4,0.000,0.058,3142,987,1820
$GC,10182,1.16,227.3,665.6,9.2,898,10186,0.00,2.38,0.00,0.000,6,0.000,0.039,3142,2312,1819
$GC,10503,1.21,258.0,639.9,7.6,914,10535,0.12,2.50,26.23,1.135,4,0.070,0.058,3173,986,1695
$GC,10610,1.17,258.0,628.0,11.6,918,10617,0.00,2.33,0.00,0.000,6,0.000,0.040,3173,2304,1694
$GC,10927,1.17,258.0,593.8,10.5,934,10931,0.00,2.55,0.00,0.000,4,0.000,0.059,3173,3725,1693
$GC,10960,1.13,258.0,589.9,11.4,935,10967,0.12,2.47,0.00,0.000,6,0.131,0.039,3153,2299,1693
$GC,11275,1.13,258.0,559.9,9.2,951,11280,0.00,2.38,0.00,0.000,4,0.000,0.058,3153,985,1693
$GC,11338,1.13,258.0,553.9,9.5,954,11342,0.00,2.22,0.00,0.000,6,0.000,0.038,3153,2265,1693
$GC,11671,1.15,269.0,524.8,8.5,970,11685,0.00,2.38,9.12,1.111,4,0.000,0.058,3153,985,1651
$GC,11725,1.15,269.0,519.8,9.2,972,11729,0.00,2.17,0.00,0.000,6,0.000,0.037,3153,2227,1650
$GC,12050,1.19,294.4,492.9,7.9,992,12082,0.00,2.83,22.27,1.056,4,0.000,0.056,3153,3734,1546
$GC,12100,1.23,294.4,488.4,9.8,996,12107,0.00,2.65,0.00,0.000,6,0.000,0.038,3153,2222,1545
$GC,12428,1.29,308.4,460.3,8.4,1027,12445,0.15,2.30,11.77,1.046,4,0.065,0.058,3193,976,1489
$GC,12505,1.25,308.4,452.3,9.7,1033,12509,0.00,2.15,0.00,0.000,6,0.000,0.036,3193,2205,1487
$GC,12830,1.25,308.4,418.5,9.9,1063,12834,0.00,2.72,0.00,0.000,4,0.000,0.056,3193,3730,1487
$GC,12873,1.25,308.4,413.7,10.5,1066,12880,0.00,2.65,0.00,0.000,6,0.000,0.038,3193,2203,1487
$GC,13200,1.25,308.4,380.0,10.4,1097,13204,0.00,2.20,0.00,0.000,4,0.000,0.057,3193,976,1486
$GC,13233,1.20,308.4,376.3,10.6,1099,13241,0.15,2.10,0.00,0.000,6,0.117,0.035,3167,2193,1485
$GC,13558,1.24,308.4,347.4,9.0,1130,13563,0.00,2.72,0.00,0.000,4,0.000,0.054,3167,3732,1486
$GC,13591,1.27,308.4,344.1,9.9,1132,13599,0.00,2.65,0.00,0.000,6,0.000,0.038,3167,2198,1486
$GC,13919,1.32,308.4,314.7,9.1,1163,13924,0.12,2.17,0.00,0.000,4,0.070,0.055,3196,982,1486
$GC,13996,1.28,308.4,306.0,10.8,1169,14004,0.00,2.03,0.00,0.000,6,0.000,0.034,3196,2163,1486
$GC,14323,1.28,308.4,273.9,9.9,1200,14328,0.00,2.78,0.00,0.000,4,0.000,0.052,3196,3735,1486
$GC,14363,1.28,308.4,269.7,10.3,1203,14367,0.00,2.70,0.00,0.000,6,0.000,0.037,3196,2167,1486
$GC,14694,1.28,308.4,238.0,9.2,1244,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2167,1486
$GC,15038,1.28,308.4,207.3,9.0,1305,15045,0.00,2.75,0.00,0.000,4,0.000,0.050,3196,3727,1486
$GC,15069,1.28,308.4,204.3,9.9,1310,15076,0.00,2.62,0.00,0.000,6,0.000,0.035,3196,2197,1486
$GC,15414,1.29,312.5,173.1,8.8,1371,15422,0.00,2.22,2.97,0.839,4,0.000,0.052,3196,979,1474
$GC,15463,1.29,314.6,168.8,8.9,1379,15471,0.00,2.10,2.35,0.841,6,0.000,0.034,3196,2203,1465
$GC,15810,1.35,326.6,139.7,8.5,1440,15830,0.00,2.78,9.93,0.785,4,0.000,0.050,3197,3727,1416
$GC,15860,1.41,326.6,135.3,9.4,1448,15868,0.00,2.67,0.00,0.000,6,0.000,0.034,3197,2176,1415
$GC,16206,1.59,363.4,109.4,7.4,1509,16248,0.20,2.85,30.40,0.706,4,0.051,0.047,3253,3729,1265
$GC,16330,1.64,396.6,100.1,7.5,1529,16363,0.00,2.45,27.02,0.691,6,0.000,0.032,3254,2292,1131
$GC,16703,1.82,462.7,72.5,6.1,1594,16763,0.17,2.65,53.95,0.632,4,0.055,0.047,3304,3734,861
$GC,16876,1.82,462.7,57.3,9.2,1623,16883,0.00,2.65,0.00,0.000,6,0.000,0.031,3305,2184,856
$GC,17221,1.87,462.7,27.2,9.3,1684,17228,0.00,2.12,0.00,0.000,4,0.000,0.048,3305,973,854
$GC,17241,1.91,462.7,25.3,9.3,1687,17248,0.00,2.15,0.00,0.000,6,0.000,0.028,3305,2251,854
$STATE,17500,end climb,SURFACE_DEPTH_REACHED
$STATE,17500,begin surface coast
$FINISH,-0.1,1.021202
$STATE,17523,end surface coast,CONTROL_FINISHED_OK
$STATE,17523,begin surface
$SM_CCo,17546,6.12,0.598,0,0,810,475.15
$SM_GC,1.22,0.00,0.00,6.12,0.000,0.000,0.598,250,2104,810,-12.21,-1.33,475.15
$IRIDIUM_FIX,1245.46,12026.36,090797,020257
$TT8_MAMPS,0.023777
$HUMID,1996
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,414
$24V_AH,23.2,50.351
$10V_AH,10.1,25.730
$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,32.025,183.775,506.600,6.125,0.000,24.538,37.105,156.296,110.250,0.000,0.000,15.731,3623.856,10116.123,719.113,2872.852,574.422,0.000,2192.059,0.000,2820.155,0.000,49.884
$DEVICE_MAMPS,167.973,75.166,1201.889,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53499,1737
$CAP_FILE_SIZE,179250,0
$CFSIZE,260165632,234889216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,190.8,1
$GPS,140408,124038,1247.547,12022.685,33,1.0,33,-0.8