version: 66.03
glider: 122
mission: 6
dive: 274
start: 4 14 108 12 47 1
data:
$ID,122
$MISSION,6
$DIVE,274
$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,-33021.105
$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,67
$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
$GPS1,124038,1247.547,12022.685,33,1.0,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.1
$GPS2,124627,1247.552,12022.629,10,1.7,10,-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,260.2,13365,-18.6,-9.016
$D_GRID,797
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-61.85,0.000,2,0.000,0.000,251,2103,2513
$GC,89,-1.56,-146.0,3.7,-9.2,11,127,13.35,2.35,-15.48,0.000,4,0.170,0.053,2561,777,3346
$GC,220,-1.31,-146.0,32.3,-20.5,33,228,0.30,2.33,0.00,0.000,6,0.111,0.027,2617,2172,3348
$GC,567,-1.19,-146.0,86.6,-13.0,94,574,0.15,2.38,0.00,0.000,4,0.114,0.043,2648,3558,3350
$GC,642,-1.19,-146.0,96.0,-12.4,107,649,0.00,2.22,0.00,0.000,6,0.000,0.026,2648,2204,3351
$GC,987,-1.19,-146.0,132.4,-10.1,168,994,0.00,2.45,0.00,0.000,4,0.000,0.042,2648,781,3353
$GC,1029,-1.25,-146.0,136.4,-9.7,175,1036,0.00,2.45,0.00,0.000,6,0.000,0.028,2648,2245,3353
$GC,1375,-1.32,-146.0,165.9,-8.5,236,1382,0.15,2.55,0.00,0.000,4,0.050,0.042,2598,776,3353
$GC,1402,-1.32,-146.0,168.6,-9.4,240,1409,0.00,2.47,0.00,0.000,6,0.000,0.029,2598,2248,3354
$GC,1747,-1.32,-146.0,203.0,-9.7,301,1754,0.00,2.25,0.00,0.000,4,0.000,0.047,2598,3555,3354
$GC,1835,-1.28,-146.0,211.4,-9.8,316,1842,0.15,2.12,0.00,0.000,6,0.098,0.028,2627,2268,3354
$GC,2181,-1.33,-146.0,240.4,-8.9,377,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2267,3353
$GC,2518,-1.38,-146.0,268.9,-8.5,418,2522,0.00,2.22,0.00,0.000,4,0.000,0.047,2627,3553,3351
$GC,2582,-1.42,-146.0,274.5,-9.0,423,2586,0.15,2.12,0.00,0.000,6,0.054,0.031,2585,2274,3350
$GC,2907,-1.39,-146.0,305.8,-9.6,453,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2272,3349
$GC,3226,-1.39,-146.0,333.8,-9.3,483,3230,0.00,2.22,0.00,0.000,4,0.000,0.049,2585,3548,3347
$GC,3277,-1.35,-146.0,338.9,-9.5,487,3282,0.12,2.12,0.00,0.000,6,0.107,0.032,2608,2282,3346
$GC,3602,-1.35,-146.0,367.4,-8.7,517,3607,0.00,2.67,0.00,0.000,4,0.000,0.051,2608,775,3344
$GC,3646,-1.38,-146.0,371.6,-9.1,520,3653,0.00,2.50,0.00,0.000,6,0.000,0.033,2608,2240,3344
$GC,3974,-1.38,-146.0,399.7,-8.8,551,3978,0.00,2.28,0.00,0.000,4,0.000,0.051,2608,3544,3342
$GC,4029,-1.38,-146.0,405.2,-8.9,555,4036,0.00,2.15,0.00,0.000,6,0.000,0.033,2608,2267,3342
$GC,4356,-1.38,-146.0,431.1,-8.3,586,4360,0.00,2.65,0.00,0.000,4,0.000,0.052,2607,777,3340
$GC,4387,-1.43,-146.0,433.6,-8.7,588,4391,0.00,2.53,0.00,0.000,6,0.000,0.035,2608,2244,3339
$GC,4714,-1.46,-146.0,458.9,-7.8,618,4718,0.00,2.30,0.00,0.000,4,0.000,0.053,2608,3552,3337
$GC,4765,-1.46,-146.0,463.4,-8.7,622,4770,0.00,2.15,0.00,0.000,6,0.000,0.034,2608,2274,3336
$GC,5098,-1.50,-146.0,490.0,-7.7,653,5100,0.15,0.00,0.00,0.000,6,0.056,0.000,2568,2269,3335
$GC,5421,-1.46,-146.0,519.5,-9.3,674,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3333
$GC,5729,-1.41,-146.0,546.9,-8.6,689,5734,0.15,2.25,0.00,0.000,4,0.110,0.052,2599,3542,3332
$GC,5779,-1.41,-146.0,551.1,-7.5,691,5783,0.00,2.17,0.00,0.000,6,0.000,0.035,2599,2261,3331
$GC,6095,-1.45,-146.0,574.9,-7.6,706,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2259,3329
$GC,6404,-1.45,-146.0,599.8,-8.4,721,6409,0.00,2.28,0.00,0.000,4,0.000,0.054,2599,3542,3328
$GC,6428,-1.48,-146.0,601.9,-9.3,722,6432,0.00,2.17,0.00,0.000,6,0.000,0.035,2599,2265,3328
$GC,6757,-1.51,-146.0,629.1,-7.9,738,6762,0.12,2.28,0.00,0.000,4,0.061,0.053,2566,3547,3326
$GC,6798,-1.47,-146.0,633.0,-9.5,740,6802,0.00,2.15,0.00,0.000,6,0.000,0.035,2566,2286,3326
$GC,7127,-1.43,-146.0,663.7,-9.6,756,7129,0.15,0.00,0.00,0.000,6,0.111,0.000,2593,2285,3325
$GC,7437,-1.43,-146.0,690.2,-8.5,771,7441,0.00,2.25,0.00,0.000,4,0.000,0.055,2593,3552,3324
$GC,7465,-1.46,-146.0,692.8,-8.4,772,7469,0.00,2.12,0.00,0.000,6,0.000,0.035,2593,2301,3323
$GC,7787,-1.49,-146.0,718.6,-7.7,788,7792,0.00,2.72,0.00,0.000,4,0.000,0.059,2593,786,3322
$GC,7837,-1.53,-146.0,722.8,-8.1,790,7841,0.00,2.55,0.00,0.000,6,0.000,0.038,2593,2251,3321
$GC,8153,-1.57,-146.0,746.5,-8.0,805,8158,0.15,2.30,0.00,0.000,4,0.057,0.057,2554,3547,3320
$GC,8216,-1.51,-146.0,752.5,-10.1,808,8220,0.12,2.15,0.00,0.000,6,0.117,0.036,2575,2284,3319
$GC,8550,-1.51,-146.0,778.5,-7.8,824,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2282,3319
$STATE,8793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8793,begin apogee
$GC,8799,-0.35,0.0,798.8,8.5,836,8923,1.25,0.00,120.18,1.221,6,0.103,0.000,2825,2375,2748
$STATE,8924,end apogee,CONTROL_FINISHED_OK
$STATE,8924,begin climb
$GC,8926,1.56,146.0,804.3,0.0,842,9061,1.95,2.55,124.65,1.180,4,0.052,0.058,3253,1012,2151
$GC,9108,1.27,146.0,797.3,10.9,851,9114,0.38,2.40,0.00,0.000,6,0.120,0.040,3186,2361,2151
$GC,9437,1.15,156.4,769.2,8.6,867,9447,0.15,0.00,8.30,1.208,6,0.124,0.000,3160,2361,2110
$GC,9745,1.11,176.2,743.9,8.1,882,9769,0.00,2.58,17.15,1.197,4,0.000,0.058,3160,1013,2029
$GC,9865,1.03,185.5,733.3,8.6,887,9883,0.15,2.40,8.07,1.203,6,0.123,0.041,3134,2366,1990
$GC,10191,1.08,215.7,708.4,7.7,903,10224,0.00,2.60,25.95,1.174,4,0.000,0.059,3134,1010,1867
$GC,10259,1.08,215.7,702.2,9.9,906,10263,0.00,2.38,0.00,0.000,6,0.000,0.041,3134,2347,1866
$GC,10580,1.12,233.9,675.0,8.2,922,10603,0.00,2.50,15.20,1.174,4,0.000,0.058,3134,1012,1793
$GC,10695,1.13,240.9,665.1,8.7,927,10706,0.00,2.28,6.45,1.172,6,0.000,0.040,3134,2301,1765
$GC,11024,1.21,261.6,637.9,8.1,943,11045,0.15,0.00,18.05,1.152,6,0.069,0.000,3168,2301,1681
$GC,11352,1.21,261.6,605.1,10.0,959,11356,0.00,2.35,0.00,0.000,4,0.000,0.058,3168,1011,1679
$GC,11395,1.21,261.6,600.3,10.6,961,11399,0.00,2.25,0.00,0.000,6,0.000,0.038,3168,2292,1678
$GC,11723,1.21,261.6,567.1,10.1,977,11727,0.00,2.33,0.00,0.000,4,0.000,0.058,3168,1012,1677
$GC,11813,1.17,261.6,557.8,10.5,981,11817,0.00,2.17,0.00,0.000,6,0.000,0.038,3167,2262,1677
$GC,12134,1.17,261.6,526.9,9.1,997,12138,0.00,2.25,0.00,0.000,4,0.000,0.058,3167,1011,1677
$GC,12172,1.17,261.6,523.2,10.0,998,12179,0.00,2.17,0.00,0.000,6,0.000,0.038,3167,2262,1676
$GC,12490,1.19,273.1,495.4,8.5,1016,12502,0.00,0.00,9.62,1.086,6,0.000,0.000,3167,2263,1634
$GC,12821,1.19,273.1,464.9,9.6,1047,12825,0.00,2.28,0.00,0.000,4,0.000,0.057,3168,1004,1632
$GC,12899,1.19,273.1,457.2,9.3,1053,12906,0.00,2.20,0.00,0.000,6,0.000,0.037,3168,2272,1632
$GC,13225,1.19,273.1,426.8,9.3,1084,13229,0.00,2.28,0.00,0.000,4,0.000,0.056,3168,1008,1632
$GC,13269,1.19,273.1,422.3,9.6,1087,13276,0.00,2.15,0.00,0.000,6,0.000,0.036,3168,2248,1632
$GC,13597,1.20,278.5,393.7,8.8,1118,13610,0.00,2.28,4.75,1.023,4,0.000,0.056,3168,1006,1612
$GC,13659,1.20,278.5,387.8,9.2,1123,13667,0.00,2.08,0.00,0.000,6,0.000,0.035,3168,2205,1612
$GC,13987,1.23,301.2,360.2,8.0,1154,14009,0.00,0.00,19.45,0.955,6,0.000,0.000,3168,2205,1520
$GC,14324,1.29,315.6,330.4,8.4,1186,14341,0.00,2.20,12.12,0.943,4,0.000,0.054,3168,1009,1460
$GC,14443,1.29,315.6,319.0,9.9,1196,14447,0.00,2.05,0.00,0.000,6,0.000,0.035,3168,2191,1459
$GC,14776,1.35,320.5,289.0,8.8,1227,14785,0.15,0.00,4.22,0.941,6,0.064,0.000,3205,2191,1441
$GC,15102,1.35,320.5,256.0,9.9,1258,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2191,1440
$GC,15436,1.37,329.9,224.8,8.6,1312,15450,0.00,2.20,8.10,0.871,4,0.000,0.053,3204,1011,1402
$GC,15468,1.39,346.0,222.2,8.3,1317,15488,0.00,2.03,13.75,0.828,6,0.000,0.034,3204,2183,1337
$GC,15826,1.39,346.0,188.8,9.8,1380,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2183,1334
$GC,16171,1.39,346.0,155.0,9.4,1441,16177,0.00,2.10,0.00,0.000,4,0.000,0.051,3205,1002,1334
$GC,16252,1.39,346.0,147.2,9.1,1455,16259,0.00,2.00,0.00,0.000,6,0.000,0.033,3204,2177,1333
$GC,16597,1.55,402.1,118.5,6.5,1516,16650,0.15,2.17,46.30,0.703,4,0.058,0.050,3247,1010,1107
$GC,16719,1.55,402.1,107.7,10.2,1536,16726,0.00,1.95,0.00,0.000,6,0.000,0.031,3247,2152,1104
$GC,17065,1.65,424.3,77.8,8.0,1597,17091,0.00,2.10,17.65,0.680,4,0.000,0.048,3247,1010,1017
$GC,17140,1.78,477.9,72.3,6.6,1609,17192,0.20,1.88,44.28,0.638,6,0.050,0.031,3298,2119,799
$GC,17533,1.87,482.3,36.7,8.8,1677,17541,0.00,2.03,2.53,0.660,4,0.000,0.045,3298,1001,782
$GC,17639,1.93,482.3,26.1,9.7,1695,17646,0.12,1.92,0.00,0.000,6,0.058,0.028,3335,2154,781
$STATE,17880,end climb,SURFACE_DEPTH_REACHED
$STATE,17881,begin surface coast
$FINISH,-0.1,1.021241
$STATE,17899,end surface coast,CONTROL_FINISHED_OK
$STATE,17899,begin surface
$SM_CCo,17982,0.00,0.000,0,0,776,483.73
$SM_GC,0.68,13.57,0.00,0.00,0.040,0.000,0.000,251,2155,776,-12.17,0.14,483.73
$IRIDIUM_FIX,1243.25,12026.36,090797,070716
$TT8_MAMPS,0.023777
$HUMID,1967
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,386
$24V_AH,23.2,50.532
$10V_AH,10.1,25.822
$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,33.450,150.125,526.775,0.000,0.000,23.343,37.822,160.549,104.000,0.000,0.000,10.643,3626.077,10562.825,715.001,2835.246,593.891,0.000,2149.914,0.000,2800.630,0.000,55.328
$DEVICE_MAMPS,169.507,62.894,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53552,1741
$CAP_FILE_SIZE,178306,0
$CFSIZE,260165632,234803200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,347.5,1
$GPS,140408,174801,1247.971,12020.947,38,1.1,43,-0.8