version: 66.03
glider: 122
mission: 6
dive: 277
start: 4 15 108 5 37 21
data:
$ID,122
$MISSION,6
$DIVE,277
$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,-33064.543
$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,25
$R_STBD_OVSHOOT,70
$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
$GPS1,052625,1246.775,12016.877,24,1.1,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.4
$GPS2,053632,1247.059,12016.764,11,1.2,11,-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,200.5,3510,-21.0,-9.016
$D_GRID,933
$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,18,begin dive
$GC,21,-1.68,-117.4,0.0,0.0,0,88,0.00,0.00,-64.82,0.000,2,0.000,0.000,249,2197,2610
$GC,91,-1.71,-139.5,3.8,-7.8,10,123,13.18,2.60,-13.10,0.000,4,0.170,0.051,2526,739,3320
$GC,153,-1.45,-139.5,19.4,-21.4,20,161,0.32,2.33,0.00,0.000,6,0.125,0.027,2584,2128,3321
$GC,499,-1.31,-139.5,81.2,-16.0,81,506,0.15,0.00,0.00,0.000,6,0.123,0.000,2613,2128,3322
$GC,843,-1.31,-139.5,121.5,-11.0,142,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2128,3324
$GC,1189,-1.36,-146.0,154.9,-8.7,203,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2128,3326
$GC,1533,-1.42,-146.0,189.6,-9.9,264,1540,0.00,2.45,0.00,0.000,4,0.000,0.048,2614,3546,3326
$GC,1620,-1.47,-146.0,198.2,-9.3,279,1627,0.15,2.38,0.00,0.000,6,0.055,0.029,2573,2122,3326
$GC,1965,-1.47,-146.0,230.3,-9.4,340,1972,0.00,2.45,0.00,0.000,4,0.000,0.044,2573,3543,3325
$GC,2012,-1.47,-146.0,235.0,-9.8,348,2019,0.00,2.28,0.00,0.000,6,0.000,0.031,2573,2183,3325
$GC,2352,-1.47,-146.0,269.1,-10.8,393,2356,0.00,2.38,0.00,0.000,4,0.000,0.046,2573,3554,3323
$GC,2419,-1.47,-146.0,276.5,-11.1,398,2426,0.00,2.25,0.00,0.000,6,0.000,0.031,2573,2211,3322
$GC,2746,-1.47,-146.0,309.7,-9.8,429,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2208,3320
$GC,3062,-1.47,-146.0,340.3,-9.8,459,3066,0.00,2.33,0.00,0.000,4,0.000,0.048,2574,3542,3318
$GC,3128,-1.47,-146.0,347.4,-10.2,464,3135,0.00,2.22,0.00,0.000,6,0.000,0.032,2573,2220,3318
$GC,3455,-1.47,-146.0,379.2,-9.9,495,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2215,3316
$GC,3773,-1.47,-146.0,408.5,-9.0,525,3776,0.00,2.33,0.00,0.000,4,0.000,0.051,2573,3551,3314
$GC,3823,-1.47,-146.0,413.2,-8.8,529,3830,0.00,2.22,0.00,0.000,6,0.000,0.033,2573,2237,3313
$GC,4150,-1.47,-146.0,439.0,-7.8,560,4154,0.00,2.30,0.00,0.000,4,0.000,0.051,2574,3541,3311
$GC,4206,-1.47,-146.0,443.9,-8.0,564,4213,0.00,2.17,0.00,0.000,6,0.000,0.033,2574,2257,3310
$GC,4533,-1.47,-146.0,469.5,-8.0,595,4537,0.00,2.28,0.00,0.000,4,0.000,0.052,2574,3544,3308
$GC,4577,-1.47,-146.0,473.6,-8.9,598,4584,0.00,2.15,0.00,0.000,6,0.000,0.034,2573,2273,3308
$GC,4914,-1.50,-146.0,502.0,-8.5,629,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2270,3306
$GC,5222,-1.50,-146.0,529.9,-9.3,644,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2269,3304
$GC,5531,-1.50,-146.0,555.7,-7.8,659,5535,0.00,2.25,0.00,0.000,4,0.000,0.054,2574,3542,3301
$GC,5571,-1.50,-146.0,558.8,-8.2,661,5575,0.00,2.12,0.00,0.000,6,0.000,0.035,2573,2290,3301
$GC,5900,-1.54,-146.0,584.7,-8.3,677,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2287,3299
$GC,6207,-1.57,-146.0,612.4,-8.3,692,6211,0.00,2.22,0.00,0.000,4,0.000,0.054,2573,3542,3298
$GC,6249,-1.61,-146.0,615.8,-8.2,694,6253,0.00,2.12,0.00,0.000,6,0.000,0.035,2573,2294,3298
$GC,6578,-1.65,-146.0,641.9,-8.6,710,6583,0.12,2.78,0.00,0.000,4,0.061,0.056,2541,750,3296
$GC,6606,-1.65,-146.0,644.9,-10.5,711,6611,0.00,2.67,0.00,0.000,6,0.000,0.038,2541,2286,3296
$GC,6922,-1.65,-146.0,677.1,-10.4,726,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2286,3293
$GC,7231,-1.65,-146.0,707.0,-9.4,741,7235,0.00,2.22,0.00,0.000,4,0.000,0.058,2541,3540,3292
$GC,7261,-1.61,-146.0,709.8,-10.0,742,7265,0.00,2.12,0.00,0.000,6,0.000,0.035,2541,2287,3292
$GC,7582,-1.61,-146.0,738.9,-9.0,758,7586,0.00,2.75,0.00,0.000,4,0.000,0.058,2541,756,3291
$GC,7626,-1.61,-146.0,742.9,-8.4,760,7630,0.00,2.62,0.00,0.000,6,0.000,0.038,2541,2267,3290
$GC,7949,-1.61,-146.0,771.8,-9.5,776,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2267,3290
$GC,8256,-1.61,-146.0,799.1,-8.7,791,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2267,3288
$GC,8565,-1.61,-146.0,826.2,-8.9,806,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2267,3287
$GC,8874,-1.61,-146.0,856.5,-9.6,821,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2269,3286
$GC,9184,-1.61,-146.0,885.4,-9.2,836,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2269,3285
$STATE,9449,end dive,NO_VERTICAL_VELOCITY
$STATE,9449,begin apogee
$GC,9455,-0.35,0.0,890.8,0.0,849,9574,1.33,0.00,114.75,1.298,6,0.063,0.000,2829,2377,2748
$STATE,9575,end apogee,CONTROL_FINISHED_OK
$STATE,9575,begin climb
$GC,9577,1.72,146.0,890.6,0.0,855,9708,2.08,0.00,126.40,1.253,6,0.044,0.000,3285,2377,2151
$GC,10004,1.50,146.0,851.0,11.7,876,10006,0.30,0.00,0.00,0.000,6,0.125,0.000,3233,2377,2149
$GC,10314,1.37,146.0,818.3,10.3,891,10319,0.15,2.55,0.00,0.000,4,0.130,0.058,3207,976,2148
$GC,10381,1.26,146.0,811.3,10.5,894,10386,0.15,2.45,0.00,0.000,6,0.124,0.041,3182,2364,2148
$GC,10702,1.23,146.0,781.5,9.6,910,10706,0.00,2.53,0.00,0.000,4,0.000,0.058,3181,981,2148
$GC,10765,1.17,146.0,775.5,9.7,913,10770,0.12,2.42,0.00,0.000,6,0.125,0.041,3161,2351,2147
$GC,11092,1.20,167.2,748.8,7.9,929,11115,0.00,2.62,17.42,1.246,4,0.000,0.058,3160,982,2066
$GC,11154,1.20,167.2,743.0,10.0,931,11161,0.00,2.40,0.00,0.000,6,0.000,0.041,3160,2332,2066
$GC,11471,1.24,191.0,717.2,7.7,947,11497,0.00,2.58,20.35,1.220,4,0.000,0.059,3160,985,1969
$GC,11561,1.24,191.0,709.3,9.7,951,11565,0.00,2.38,0.00,0.000,6,0.000,0.041,3160,2320,1968
$GC,11891,1.29,202.5,680.6,8.4,967,11907,0.12,2.50,10.10,1.214,4,0.075,0.059,3189,983,1921
$GC,11970,1.26,202.5,673.0,9.4,969,11977,0.00,2.33,0.00,0.000,6,0.000,0.040,3189,2299,1921
$GC,12286,1.27,204.3,644.6,8.9,985,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2299,1921
$GC,12595,1.27,204.6,617.9,9.0,1000,12599,0.00,2.40,0.00,0.000,4,0.000,0.059,3189,983,1920
$GC,12689,1.27,204.6,608.8,9.2,1004,12693,0.00,2.25,0.00,0.000,6,0.000,0.040,3190,2263,1920
$GC,13013,1.27,208.8,580.6,8.8,1020,13023,0.00,2.38,5.78,1.170,4,0.000,0.058,3189,978,1895
$GC,13079,1.28,212.5,574.3,8.8,1023,13088,0.00,2.22,3.50,1.145,6,0.000,0.038,3190,2250,1880
$GC,13406,1.30,227.0,546.8,8.2,1039,13429,0.00,2.75,12.50,1.127,4,0.000,0.060,3190,3718,1822
$GC,13453,1.30,227.0,542.6,9.9,1041,13457,0.00,2.55,0.00,0.000,6,0.000,0.039,3189,2270,1822
$GC,13779,1.31,229.7,515.0,8.9,1057,13788,0.00,2.40,2.45,1.090,4,0.000,0.059,3189,982,1811
$GC,13817,1.31,229.7,511.3,9.8,1058,13824,0.00,2.25,0.00,0.000,6,0.000,0.038,3190,2262,1811
$GC,14139,1.33,242.1,482.8,8.3,1083,14154,0.00,2.38,10.90,1.081,4,0.000,0.058,3189,983,1761
$GC,14211,1.33,242.1,475.7,9.6,1089,14218,0.00,2.20,0.00,0.000,6,0.000,0.037,3190,2242,1760
$GC,14539,1.37,249.4,447.3,8.6,1120,14552,0.00,2.38,6.45,1.068,4,0.000,0.058,3189,983,1731
$GC,14568,1.37,249.4,444.3,9.6,1122,14576,0.00,2.17,0.00,0.000,6,0.000,0.038,3189,2224,1730
$GC,14898,1.43,264.8,416.3,8.2,1153,14918,0.12,2.83,13.45,1.019,4,0.070,0.058,3220,3729,1668
$GC,14942,1.43,264.8,411.6,10.7,1157,14946,0.00,2.67,0.00,0.000,6,0.000,0.038,3220,2208,1668
$GC,15268,1.43,264.8,379.2,10.0,1187,15272,0.00,2.20,0.00,0.000,4,0.000,0.058,3220,982,1668
$GC,15300,1.43,264.8,375.4,10.4,1189,15307,0.00,2.10,0.00,0.000,6,0.000,0.037,3220,2190,1668
$GC,15627,1.43,264.8,344.6,9.1,1220,15632,0.00,2.75,0.00,0.000,4,0.000,0.056,3220,3730,1668
$GC,15691,1.43,264.8,338.2,10.1,1225,15695,0.00,2.67,0.00,0.000,6,0.000,0.038,3220,2190,1668
$GC,16016,1.46,281.5,310.2,8.1,1255,16039,0.00,2.28,13.93,0.937,4,0.000,0.057,3220,973,1600
$GC,16056,1.46,283.1,306.5,8.9,1258,16063,0.00,2.15,0.00,0.000,6,0.000,0.036,3220,2208,1600
$GC,16384,1.47,285.0,277.1,8.9,1289,16396,0.00,2.28,3.30,0.941,4,0.000,0.056,3220,982,1586
$GC,16458,1.47,285.0,269.3,10.6,1295,16465,0.00,2.08,0.00,0.000,6,0.000,0.036,3220,2181,1586
$GC,16789,1.48,293.8,240.1,8.5,1336,16804,0.00,2.85,7.88,0.896,4,0.000,0.054,3220,3726,1550
$GC,16827,1.48,293.8,236.3,10.0,1342,16834,0.00,2.72,0.00,0.000,6,0.000,0.038,3220,2168,1549
$GC,17173,1.54,301.4,204.7,8.6,1403,17186,0.00,2.15,6.53,0.871,4,0.000,0.055,3220,980,1517
$GC,17227,1.58,308.8,199.9,8.6,1412,17242,0.15,2.08,6.18,0.860,6,0.062,0.035,3256,2178,1489
$GC,17581,1.58,308.8,166.3,9.0,1474,17588,0.00,2.75,0.00,0.000,4,0.000,0.052,3256,3729,1488
$GC,17635,1.60,315.6,161.1,8.6,1483,17649,0.00,2.60,5.85,0.831,6,0.000,0.036,3256,2223,1460
$GC,17987,1.63,333.8,131.0,8.0,1545,18007,0.00,2.33,14.93,0.763,4,0.000,0.054,3257,977,1386
$GC,18115,1.63,333.8,118.8,9.4,1567,18122,0.00,2.12,0.00,0.000,6,0.000,0.034,3257,2208,1384
$GC,18461,1.88,411.7,91.0,4.8,1628,18534,0.22,2.25,63.83,0.673,4,0.052,0.051,3316,980,1068
$GC,18692,1.88,411.7,72.0,10.1,1667,18699,0.00,2.25,0.00,0.000,6,0.000,0.034,3316,2284,1064
$GC,19038,2.03,463.7,45.0,6.2,1728,19085,0.15,2.42,41.83,0.611,4,0.055,0.047,3362,976,857
$GC,19193,2.03,463.7,30.5,10.6,1754,19200,0.00,2.10,0.00,0.000,6,0.000,0.030,3362,2211,853
$STATE,19473,end climb,SURFACE_DEPTH_REACHED
$STATE,19473,begin surface coast
$FINISH,0.0,1.021229
$STATE,19492,end surface coast,CONTROL_FINISHED_OK
$STATE,19492,begin surface
$SM_CCo,19515,5.82,0.619,0,0,811,475.15
$SM_GC,1.45,0.00,0.00,5.82,0.000,0.000,0.619,250,2117,811,-12.21,-0.93,475.15
$IRIDIUM_FIX,1245.46,12016.50,100797,050517
$TT8_MAMPS,0.023777
$HUMID,2071
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.60
$XPDR_PINGS,387
$24V_AH,23.1,51.101
$10V_AH,10.1,26.123
$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,32.400,166.975,508.275,5.825,0.000,49.912,92.299,257.126,106.750,0.000,0.000,11.970,3760.080,11921.841,723.563,2965.638,772.109,0.000,2217.453,0.000,2902.806,0.000,75.011
$DEVICE_MAMPS,169.507,63.661,1297.764,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1213.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56694,1807
$CAP_FILE_SIZE,188158,0
$CFSIZE,260165632,234528768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,306.2,1
$GPS,150408,110402,1245.942,12015.434,42,1.2,42,-0.8