version: 66.03
glider: 122
mission: 6
dive: 287
start: 4 17 108 13 2 43
data:
$ID,122
$MISSION,6
$DIVE,287
$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,-33201.863
$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,26
$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
$GPS1,125626,1246.968,12026.737,40,1.4,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.2
$GPS2,130209,1246.937,12026.729,13,1.4,13,-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,55.4,29760,-18.6,-9.016
$D_GRID,634
$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,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-62.10,0.000,2,0.000,0.000,252,2121,2514
$GC,89,-1.56,-146.0,3.6,-7.6,9,128,13.32,2.40,-15.75,0.000,4,0.170,0.053,2561,767,3345
$GC,163,-1.33,-146.0,19.9,-17.8,21,171,0.28,2.33,0.00,0.000,6,0.115,0.027,2612,2164,3346
$GC,509,-1.17,-146.0,74.5,-14.8,82,517,0.17,2.42,0.00,0.000,4,0.112,0.040,2644,762,3348
$GC,614,-1.13,-146.0,88.9,-12.6,100,621,0.00,2.50,0.00,0.000,6,0.000,0.028,2644,2252,3348
$GC,959,-1.13,-146.0,127.8,-9.4,161,966,0.00,2.22,0.00,0.000,4,0.000,0.044,2644,3556,3351
$GC,1028,-1.13,-146.0,135.0,-11.1,173,1035,0.00,2.12,0.00,0.000,6,0.000,0.026,2644,2253,3352
$GC,1374,-1.28,-146.0,163.8,-8.2,234,1381,0.00,2.22,0.00,0.000,4,0.000,0.044,2644,3551,3353
$GC,1485,-1.36,-146.0,173.2,-8.4,253,1492,0.17,1.95,0.00,0.000,6,0.048,0.027,2593,2350,3353
$GC,1830,-1.32,-146.0,206.6,-9.8,314,1837,0.12,2.75,0.00,0.000,4,0.102,0.044,2616,771,3353
$GC,1895,-1.32,-146.0,212.7,-9.0,325,1903,0.00,2.70,0.00,0.000,6,0.000,0.031,2616,2361,3353
$GC,2241,-1.32,-146.0,242.3,-8.0,386,2248,0.00,2.80,0.00,0.000,4,0.000,0.046,2616,764,3352
$GC,2266,-1.32,-146.0,244.6,-8.4,390,2273,0.00,2.67,0.00,0.000,6,0.000,0.031,2616,2340,3352
$GC,2602,-1.35,-146.0,272.8,-8.2,427,2606,0.00,2.08,0.00,0.000,4,0.000,0.049,2616,3545,3349
$GC,2637,-1.35,-146.0,275.6,-8.1,430,2640,0.00,1.95,0.00,0.000,6,0.000,0.030,2616,2364,3350
$GC,2970,-1.46,-146.0,303.5,-8.5,461,2974,0.15,2.05,0.00,0.000,4,0.051,0.047,2566,3545,3348
$GC,3003,-1.37,-146.0,307.0,-9.7,463,3011,0.20,2.15,0.00,0.000,6,0.103,0.031,2603,2254,3348
$GC,3330,-1.37,-146.0,335.2,-9.1,494,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2249,3346
$GC,3647,-1.37,-146.0,364.5,-8.7,524,3651,0.00,2.25,0.00,0.000,4,0.000,0.050,2603,3545,3344
$GC,3670,-1.37,-146.0,366.7,-9.6,526,3674,0.00,2.15,0.00,0.000,6,0.000,0.032,2604,2267,3344
$GC,3998,-1.37,-146.0,393.9,-8.0,556,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2264,3342
$GC,4315,-1.41,-146.0,418.7,-7.7,586,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2264,3339
$GC,4634,-1.52,-146.0,443.0,-7.7,616,4639,0.15,2.65,0.00,0.000,4,0.051,0.051,2556,770,3337
$GC,4674,-1.44,-146.0,446.6,-9.1,619,4679,0.17,2.55,0.00,0.000,6,0.107,0.034,2587,2256,3337
$GC,4999,-1.44,-146.0,472.3,-8.0,649,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2257,3335
$GC,5318,-1.44,-146.0,497.2,-7.8,679,5322,0.00,2.28,0.00,0.000,4,0.000,0.053,2587,3547,3332
$GC,5381,-1.41,-146.0,502.3,-7.8,683,5385,0.00,2.17,0.00,0.000,6,0.000,0.035,2587,2269,3332
$GC,5709,-1.41,-146.0,528.2,-8.0,699,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2265,3330
$GC,6017,-1.41,-146.0,554.6,-8.6,714,6021,0.00,2.28,0.00,0.000,4,0.000,0.054,2587,3551,3328
$GC,6050,-1.41,-146.0,557.6,-9.1,715,6056,0.00,2.15,0.00,0.000,6,0.000,0.034,2587,2282,3328
$GC,6365,-1.41,-146.0,583.7,-8.1,731,6370,0.00,2.70,0.00,0.000,4,0.000,0.055,2587,771,3327
$GC,6392,-1.41,-146.0,586.1,-8.5,732,6397,0.00,2.58,0.00,0.000,6,0.000,0.036,2587,2263,3327
$GC,6711,-1.41,-146.0,611.4,-8.1,747,6715,0.00,2.28,0.00,0.000,4,0.000,0.056,2587,3552,3326
$GC,6767,-1.41,-146.0,616.7,-8.3,749,6774,0.00,2.10,0.00,0.000,6,0.000,0.035,2587,2311,3326
$STATE,6998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6998,begin apogee
$GC,7004,-0.35,0.0,634.5,7.3,761,7126,1.17,0.00,117.88,1.076,6,0.098,0.000,2823,2380,2748
$STATE,7126,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7129,1.56,146.0,639.3,0.0,767,7261,1.90,2.45,120.38,1.044,4,0.051,0.058,3244,3710,2152
$GC,7295,1.27,146.0,632.8,10.2,774,7300,0.35,2.28,0.00,0.000,6,0.127,0.037,3183,2402,2151
$GC,7611,1.22,194.7,609.0,6.8,789,7657,0.00,2.72,39.50,1.042,4,0.000,0.058,3183,964,1954
$GC,7690,1.11,194.7,602.1,10.2,792,7695,0.20,2.47,0.00,0.000,6,0.118,0.037,3148,2375,1953
$GC,8007,1.18,234.1,579.4,7.3,807,8050,0.00,2.62,32.45,1.039,4,0.000,0.057,3148,962,1792
$GC,8158,1.22,259.0,567.4,7.9,813,8188,0.10,2.40,20.77,1.042,6,0.071,0.037,3176,2335,1692
$GC,8496,1.22,259.0,535.8,9.6,830,8500,0.00,2.47,0.00,0.000,4,0.000,0.057,3176,971,1690
$GC,8568,1.18,259.0,528.3,10.2,833,8572,0.00,2.28,0.00,0.000,6,0.000,0.038,3176,2275,1688
$GC,8884,1.18,259.0,499.1,9.3,848,8888,0.00,2.38,0.00,0.000,4,0.000,0.058,3176,964,1688
$GC,8913,1.14,259.0,496.2,10.5,850,8918,0.12,2.25,0.00,0.000,6,0.114,0.038,3155,2254,1688
$GC,9244,1.17,272.0,468.1,8.4,881,9256,0.00,0.00,10.18,1.036,6,0.000,0.000,3155,2255,1639
$GC,9574,1.17,276.0,439.7,8.8,912,9586,0.00,2.38,3.85,1.032,4,0.000,0.056,3155,976,1622
$GC,9659,1.18,279.2,431.8,8.9,919,9667,0.00,2.20,3.08,1.020,6,0.000,0.036,3155,2245,1609
$GC,9987,1.24,295.1,404.7,8.3,950,10005,0.00,0.00,13.48,0.986,6,0.000,0.000,3155,2245,1545
$GC,10326,1.37,333.1,378.5,7.3,982,10364,0.20,2.42,31.95,0.930,4,0.054,0.056,3207,967,1388
$GC,10415,1.33,333.1,370.2,9.4,989,10422,0.00,2.17,0.00,0.000,6,0.000,0.037,3207,2215,1385
$GC,10742,1.33,333.1,338.0,10.3,1020,10746,0.00,2.25,0.00,0.000,4,0.000,0.056,3207,968,1384
$GC,10764,1.30,333.1,335.5,10.4,1021,10770,0.00,2.15,0.00,0.000,6,0.000,0.036,3207,2206,1383
$GC,11090,1.30,333.1,301.4,10.7,1052,11094,0.00,2.70,0.00,0.000,4,0.000,0.054,3207,3724,1384
$GC,11119,1.27,333.1,298.2,10.7,1054,11124,0.15,2.67,0.00,0.000,6,0.124,0.037,3183,2179,1383
$GC,11446,1.31,341.6,268.0,8.6,1084,11459,0.00,2.17,6.25,0.912,4,0.000,0.055,3182,964,1355
$GC,11472,1.36,353.1,265.7,8.5,1086,11487,0.00,2.15,10.38,0.869,6,0.000,0.035,3182,2205,1307
$GC,11819,1.41,353.1,232.7,9.9,1133,11826,0.12,2.22,0.00,0.000,4,0.067,0.054,3215,966,1304
$GC,11901,1.37,353.1,223.4,11.1,1147,11908,0.00,2.00,0.00,0.000,6,0.000,0.035,3216,2133,1303
$GC,12245,1.37,353.1,189.7,9.2,1208,12252,0.00,2.83,0.00,0.000,4,0.000,0.051,3215,3736,1303
$GC,12321,1.33,353.1,182.5,9.5,1221,12328,0.00,2.70,0.00,0.000,6,0.000,0.035,3215,2164,1303
$GC,12666,1.33,353.1,149.0,9.2,1282,12673,0.00,2.12,0.00,0.000,4,0.000,0.054,3215,966,1303
$GC,12702,1.33,353.1,145.1,10.8,1288,12708,0.00,2.08,0.00,0.000,6,0.000,0.033,3215,2181,1303
$GC,13047,1.46,391.0,115.8,7.3,1349,13087,0.00,2.25,30.83,0.713,4,0.000,0.051,3215,969,1152
$GC,13213,1.60,420.6,103.1,7.7,1377,13242,0.17,1.95,24.52,0.693,6,0.044,0.031,3266,2126,1033
$GC,13583,1.82,500.1,72.7,5.5,1441,13656,0.15,2.10,65.22,0.627,4,0.058,0.049,3306,965,707
$GC,13809,1.86,500.1,51.2,10.9,1479,13816,0.00,1.83,0.00,0.000,6,0.000,0.029,3306,2050,702
$GC,14154,1.92,500.1,18.6,9.1,1540,14161,0.00,2.92,0.00,0.000,4,0.000,0.044,3306,3730,701
$GC,14185,1.99,500.1,15.1,11.0,1545,14193,0.12,2.92,0.00,0.000,6,0.056,0.031,3346,2007,700
$STATE,14304,end climb,SURFACE_DEPTH_REACHED
$STATE,14304,begin surface coast
$FINISH,0.0,1.021211
$STATE,14324,end surface coast,CONTROL_FINISHED_OK
$STATE,14325,begin surface
$SM_CCo,14409,0.00,0.000,0,0,697,502.86
$SM_GC,0.79,13.50,0.00,0.00,0.035,0.000,0.000,250,2203,697,-12.18,1.50,502.86
$IRIDIUM_FIX,1243.25,12024.46,120797,080831
$TT8_MAMPS,0.023777
$HUMID,1980
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,397
$24V_AH,23.4,52.943
$10V_AH,10.2,27.089
$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,33.025,141.325,530.700,0.000,0.000,25.404,37.651,154.192,102.750,0.000,0.000,13.055,3215.386,7796.490,691.941,2514.111,537.342,0.000,1984.652,0.000,2483.367,0.000,26.315
$DEVICE_MAMPS,169.507,69.030,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50380,1569
$CAP_FILE_SIZE,152879,0
$CFSIZE,260165632,233680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,158.6,1
$GPS,170408,170408,1247.264,12027.782,41,1.4,41,-0.8