version: 66.03
glider: 122
mission: 6
dive: 4
start: 2 17 108 11 43 0
data:
$ID,122
$MISSION,6
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,200
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,510.52661
$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,-27486.279
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2936
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.2
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,113609,1247.907,12031.485,10,1.6,11,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-67.2
$GPS2,114208,1247.862,12031.522,9,1.5,14,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,2000.000
$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,262.6,29237,-23.3,-9.980
$D_GRID,837
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.68,-86.4,0.0,0.0,0,111,0.00,0.00,-91.40,0.000,2,0.000,0.000,252,2288,2844
$GC,113,-1.70,-101.4,3.7,-8.7,18,136,13.15,2.30,-2.08,0.000,4,0.171,0.052,2558,3656,2954
$GC,320,-1.70,-101.4,57.5,-21.2,55,327,0.00,2.33,0.00,0.000,6,0.000,0.031,2558,2247,2956
$GC,663,-1.70,-101.4,118.2,-12.7,116,669,0.00,2.42,0.00,0.000,4,0.000,0.049,2558,841,2956
$GC,914,-1.70,-101.4,151.8,-11.8,161,920,0.00,2.35,0.00,0.000,6,0.000,0.031,2558,2260,2957
$GC,1257,-1.70,-101.4,191.9,-12.0,222,1263,0.00,2.35,0.00,0.000,4,0.000,0.047,2558,3648,2958
$GC,1307,-1.70,-101.4,198.1,-12.3,231,1314,0.00,2.33,0.00,0.000,6,0.000,0.031,2558,2233,2957
$GC,1649,-1.70,-101.4,234.0,-10.9,292,1655,0.00,2.40,0.00,0.000,4,0.000,0.051,2558,852,2957
$GC,1745,-1.70,-101.4,244.6,-11.0,309,1751,0.00,2.33,0.00,0.000,6,0.000,0.034,2558,2247,2956
$GC,2077,-1.70,-101.4,278.7,-10.8,345,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2248,2954
$GC,2397,-1.72,-111.5,308.4,-9.1,375,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2248,2953
$GC,2715,-1.75,-127.4,336.6,-8.6,405,2719,0.00,2.42,0.00,0.000,4,0.000,0.053,2558,3655,2951
$GC,2776,-1.76,-133.7,342.2,-9.4,410,2780,0.00,2.33,0.00,0.000,6,0.000,0.033,2558,2243,2950
$GC,3105,-1.77,-141.5,371.6,-9.3,441,3109,0.00,2.45,0.00,0.000,4,0.000,0.055,2558,849,2949
$GC,3159,-1.78,-146.0,376.9,-9.6,445,3166,0.00,2.38,0.00,0.000,6,0.000,0.035,2558,2247,2949
$GC,3484,-1.78,-146.0,405.0,-8.1,476,3488,0.00,2.45,0.00,0.000,4,0.000,0.054,2558,851,2946
$GC,3534,-1.78,-146.0,409.2,-8.7,480,3538,0.00,2.38,0.00,0.000,6,0.000,0.035,2558,2260,2946
$GC,3857,-1.78,-146.0,434.3,-7.5,510,3861,0.00,2.40,0.00,0.000,4,0.000,0.054,2558,3649,2944
$GC,3896,-1.78,-146.0,437.5,-8.3,513,3900,0.00,2.33,0.00,0.000,6,0.000,0.033,2558,2249,2943
$GC,4220,-1.78,-146.0,462.8,-8.0,543,4224,0.00,2.45,0.00,0.000,4,0.000,0.054,2558,3655,2942
$GC,4274,-1.78,-146.0,467.8,-9.6,547,4281,0.00,2.38,0.00,0.000,6,0.000,0.034,2558,2250,2941
$GC,4599,-1.78,-146.0,493.5,-7.6,578,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2246,2940
$STATE,4683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4683,begin apogee
$GC,4687,-0.33,0.0,500.2,7.8,586,4768,1.52,0.00,77.55,0.995,6,0.110,0.000,2861,2367,2539
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4770,1.78,146.0,501.0,0.0,590,4894,2.05,2.65,114.47,0.966,4,0.056,0.057,3323,947,1942
$GC,4916,1.78,146.0,482.9,20.9,603,4920,0.00,2.40,0.00,0.000,6,0.000,0.038,3323,2329,1941
$GC,5246,1.78,146.0,423.0,17.5,634,5250,0.00,2.47,0.00,0.000,4,0.000,0.057,3323,3734,1939
$GC,5295,1.78,146.0,413.7,18.0,638,5299,0.00,2.33,0.00,0.000,6,0.000,0.036,3323,2356,1939
$GC,5625,1.78,146.0,356.5,17.5,669,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2354,1938
$GC,5943,1.78,146.0,300.3,17.6,699,5947,0.00,2.40,0.00,0.000,4,0.000,0.054,3323,3725,1936
$GC,5971,1.78,146.0,295.2,19.9,701,5975,0.00,2.33,0.00,0.000,6,0.000,0.035,3323,2342,1936
$GC,6297,1.78,146.0,239.6,16.5,736,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2340,1934
$GC,6639,1.78,146.0,186.6,15.8,797,6645,0.00,2.42,0.00,0.000,4,0.000,0.053,3323,3731,1934
$GC,6667,1.78,146.0,181.9,16.6,802,6673,0.00,2.33,0.00,0.000,6,0.000,0.035,3323,2345,1934
$GC,7009,1.78,146.0,135.1,13.4,863,7015,0.00,2.40,0.00,0.000,4,0.000,0.049,3323,3729,1933
$GC,7268,1.80,161.6,103.4,8.6,909,7284,0.00,2.30,9.98,0.739,6,0.000,0.031,3323,2344,1880
$GC,7621,1.88,209.2,78.0,5.8,972,7664,0.10,2.47,36.28,0.693,4,0.082,0.050,3346,954,1684
$GC,7765,1.88,209.6,67.2,9.9,998,7772,0.00,2.38,0.00,0.000,6,0.000,0.032,3346,2357,1683
$GC,8108,1.93,235.0,36.5,7.8,1059,8135,0.00,2.40,19.42,0.645,4,0.000,0.047,3346,3729,1580
$GC,8331,1.93,235.0,13.3,13.6,1099,8337,0.00,2.28,0.00,0.000,6,0.000,0.030,3346,2351,1580
$STATE,8431,end climb,SURFACE_DEPTH_REACHED
$STATE,8431,begin surface coast
$FINISH,-0.1,1.007948
$STATE,8449,end surface coast,CONTROL_FINISHED_OK
$STATE,8449,begin surface
$SM_CCo,8469,126.35,0.569,0,0,456,510.71
$SM_GC,0.66,0.00,0.00,126.35,0.000,0.000,0.569,248,2210,456,-12.36,-1.13,510.71
$IRIDIUM_FIX,1243.25,12029.39,130597,111157
$TT8_MAMPS,0.023777
$HUMID,1987
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.30
$XPDR_PINGS,543
$24V_AH,23.7,6.076
$10V_AH,10.2,1.667
$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,30.475,76.625,257.700,126.350,0.000,44.868,48.580,130.415,146.750,0.000,0.000,14.916,1732.250,4678.607,505.866,1765.066,320.800,0.000,1376.474,0.000,1709.661,0.000,70.352
$DEVICE_MAMPS,171.041,56.758,994.799,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34710,1120
$CAP_FILE_SIZE,98204,0
$CFSIZE,260165632,256692224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170208,140731,1247.391,12030.989,37,1.9,42,-0.8