version: 66.03
glider: 122
mission: 6
dive: 51
start: 2 25 108 10 4 14
data:
$ID,122
$MISSION,6
$DIVE,51
$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,0.0020000001
$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,440
$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,-28359.02
$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,14.76
$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,48
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,095108,1246.677,12018.242,27,1.5,27,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.2
$GPS2,100321,1246.653,12018.316,14,1.9,14,-0.8
$SPEED_LIMITS,0.156,0.166
$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,126.1,44754,-22.8,-9.016
$D_GRID,891
$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,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.30,0.000,2,0.000,0.000,252,2132,2632
$GC,88,-1.70,-92.3,3.6,-7.6,10,114,13.05,2.42,-5.30,0.000,4,0.168,0.048,2530,3557,2916
$GC,251,-1.38,-92.3,49.8,-26.1,38,258,0.38,2.30,0.00,0.000,6,0.116,0.028,2599,2167,2917
$GC,598,-1.28,-92.3,112.7,-16.0,99,605,0.12,2.47,0.00,0.000,4,0.124,0.044,2620,736,2920
$GC,707,-1.28,-92.3,130.4,-13.5,118,713,0.00,2.40,0.00,0.000,6,0.000,0.028,2620,2178,2919
$GC,1051,-1.28,-92.3,173.6,-12.7,179,1058,0.00,2.47,0.00,0.000,4,0.000,0.044,2621,743,2920
$GC,1211,-1.34,-92.3,190.7,-9.5,207,1218,0.00,2.35,0.00,0.000,6,0.000,0.028,2621,2160,2920
$GC,1555,-1.46,-100.8,220.5,-8.2,268,1562,0.15,2.45,0.00,0.000,4,0.053,0.044,2572,747,2920
$GC,1726,-1.46,-100.8,237.0,-9.9,298,1733,0.00,2.35,0.00,0.000,6,0.000,0.029,2573,2159,2920
$GC,2060,-1.48,-118.3,264.3,-7.4,342,2064,0.00,2.47,0.00,0.000,4,0.000,0.048,2573,738,2919
$GC,2177,-1.49,-120.3,275.0,-8.8,352,2181,0.00,2.33,0.00,0.000,6,0.000,0.031,2573,2128,2918
$GC,2502,-1.50,-128.2,303.6,-8.3,382,2507,0.00,2.45,0.00,0.000,4,0.000,0.047,2573,3552,2917
$GC,2546,-1.51,-131.0,307.6,-8.8,385,2553,0.00,2.42,0.00,0.000,6,0.000,0.031,2573,2120,2917
$GC,2872,-1.54,-133.3,335.3,-8.8,416,2876,0.00,2.40,0.00,0.000,4,0.000,0.051,2573,749,2915
$GC,2900,-1.54,-133.3,338.0,-9.2,418,2904,0.00,2.30,0.00,0.000,6,0.000,0.031,2573,2117,2914
$GC,3225,-1.56,-146.0,365.3,-7.9,448,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2117,2913
$GC,3543,-1.60,-146.0,388.8,-7.1,478,3547,0.00,2.42,0.00,0.000,4,0.000,0.051,2572,741,2911
$GC,3711,-1.60,-146.0,402.9,-8.5,492,3718,0.00,2.28,0.00,0.000,6,0.000,0.033,2573,2085,2910
$GC,4037,-1.64,-146.0,428.5,-7.7,523,4042,0.12,2.55,0.00,0.000,4,0.061,0.048,2539,3555,2908
$GC,4144,-1.59,-146.0,438.4,-10.4,532,4148,0.00,2.42,0.00,0.000,6,0.000,0.033,2539,2118,2907
$GC,4470,-1.59,-146.0,463.0,-6.8,562,4474,0.00,2.50,0.00,0.000,4,0.000,0.049,2539,3546,2905
$GC,4515,-1.54,-146.0,466.9,-8.6,565,4522,0.17,2.42,0.00,0.000,6,0.115,0.034,2569,2111,2905
$GC,4839,-1.58,-146.0,492.3,-8.5,596,4844,0.00,2.53,0.00,0.000,4,0.000,0.049,2570,3552,2903
$GC,4939,-1.61,-146.0,501.7,-9.9,603,4946,0.00,2.40,0.00,0.000,6,0.000,0.034,2569,2131,2903
$GC,5255,-1.65,-146.0,528.7,-8.4,619,5257,0.12,0.00,0.00,0.000,6,0.063,0.000,2538,2130,2901
$GC,5564,-1.65,-146.0,554.7,-8.0,634,5568,0.00,2.45,0.00,0.000,4,0.000,0.055,2537,750,2899
$GC,5603,-1.61,-146.0,558.1,-8.6,636,5607,0.00,2.38,0.00,0.000,6,0.000,0.034,2537,2144,2900
$GC,5930,-1.61,-146.0,583.9,-7.5,652,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2145,2899
$GC,6238,-1.61,-146.0,607.0,-6.9,667,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2146,2897
$GC,6550,-1.61,-146.0,630.3,-7.7,682,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2146,2896
$GC,6857,-1.61,-146.0,652.9,-7.2,697,6861,0.00,2.47,0.00,0.000,4,0.000,0.054,2538,3561,2894
$GC,6896,-1.57,-146.0,655.9,-7.8,699,6901,0.12,2.42,0.00,0.000,6,0.124,0.035,2558,2129,2894
$GC,7223,-1.57,-146.0,678.0,-6.4,715,7227,0.00,2.45,0.00,0.000,4,0.000,0.058,2558,751,2893
$GC,7277,-1.57,-146.0,682.2,-8.1,717,7285,0.00,2.35,0.00,0.000,6,0.000,0.036,2558,2111,2892
$GC,7594,-1.61,-146.0,703.6,-6.8,733,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2112,2891
$GC,7903,-1.64,-146.0,724.5,-6.5,748,7907,0.00,2.53,0.00,0.000,4,0.000,0.055,2559,3558,2890
$GC,7968,-1.64,-146.0,729.1,-6.7,751,7973,0.00,2.47,0.00,0.000,6,0.000,0.035,2558,2118,2890
$GC,8296,-1.68,-146.0,747.8,-6.0,767,8300,0.00,2.45,0.00,0.000,4,0.000,0.060,2558,748,2890
$GC,8373,-1.68,-146.0,753.3,-7.6,770,8381,0.00,2.33,0.00,0.000,6,0.000,0.035,2559,2110,2889
$GC,8689,-1.72,-146.0,774.4,-6.6,786,8694,0.15,2.53,0.00,0.000,4,0.058,0.055,2520,3549,2889
$GC,8789,-1.65,-146.0,782.7,-8.4,790,8796,0.12,2.47,0.00,0.000,6,0.128,0.037,2541,2097,2888
$GC,9104,-1.65,-146.0,803.0,-6.4,806,9108,0.00,2.58,0.00,0.000,4,0.000,0.055,2541,3556,2887
$GC,9158,-1.65,-146.0,806.8,-7.1,808,9166,0.00,2.50,0.00,0.000,6,0.000,0.037,2540,2105,2887
$GC,9474,-1.65,-146.0,825.5,-5.6,824,9479,0.00,2.55,0.00,0.000,4,0.000,0.054,2541,3552,2887
$GC,9627,-1.65,-146.0,834.4,-6.1,831,9632,0.00,2.42,0.00,0.000,6,0.000,0.038,2541,2133,2886
$GC,9954,-1.65,-146.0,851.1,-5.2,847,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2133,2886
$GC,10263,-1.65,-146.0,867.3,-5.5,862,10267,0.00,2.53,0.00,0.000,4,0.000,0.056,2541,3558,2884
$GC,10306,-1.65,-146.0,870.2,-6.7,864,10310,0.00,2.42,0.00,0.000,6,0.000,0.037,2540,2150,2884
$GC,10634,-1.65,-146.0,888.7,-5.9,880,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2150,2883
$STATE,10693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10698,-0.34,0.0,892.0,5.5,883,10776,1.45,0.00,72.75,1.344,6,0.113,0.000,2825,2382,2539
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10779,1.79,146.0,892.1,0.0,887,10909,2.20,0.00,125.55,1.294,6,0.060,0.000,3295,2382,1943
$GC,11205,1.61,146.0,820.4,18.5,908,11207,0.22,0.00,0.00,0.000,6,0.131,0.000,3257,2382,1939
$GC,11513,1.51,146.0,770.4,16.4,923,11515,0.12,0.00,0.00,0.000,6,0.133,0.000,3236,2382,1939
$GC,11824,1.45,146.0,723.0,15.3,938,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2382,1938
$GC,12132,1.38,146.0,679.2,13.6,953,12137,0.15,2.38,0.00,0.000,4,0.128,0.058,3207,3712,1937
$GC,12210,1.34,146.0,668.8,13.4,956,12217,0.00,2.30,0.00,0.000,6,0.000,0.038,3207,2372,1937
$GC,12525,1.34,146.0,628.1,12.8,972,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2370,1936
$GC,12834,1.34,146.0,589.8,11.9,987,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2370,1936
$GC,13144,1.34,146.0,550.0,13.2,1002,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2369,1936
$GC,13454,1.34,146.0,511.6,12.3,1017,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2369,1936
$GC,13768,1.34,146.0,470.5,12.0,1042,13772,0.00,2.50,0.00,0.000,4,0.000,0.055,3207,966,1936
$GC,13807,1.34,146.0,465.6,12.7,1045,13811,0.00,2.42,0.00,0.000,6,0.000,0.038,3207,2369,1935
$GC,14130,1.34,146.0,426.3,12.2,1075,14134,0.00,2.40,0.00,0.000,4,0.000,0.057,3207,3723,1935
$GC,14203,1.34,146.0,416.8,13.3,1081,14207,0.00,2.33,0.00,0.000,6,0.000,0.037,3207,2358,1935
$GC,14527,1.34,146.0,377.5,12.5,1111,14531,0.00,2.47,0.00,0.000,4,0.000,0.054,3207,965,1935
$GC,14581,1.34,146.0,370.4,13.4,1115,14590,0.00,2.42,0.00,0.000,6,0.000,0.035,3207,2356,1935
$GC,14909,1.34,146.0,332.5,10.7,1146,14913,0.00,2.47,0.00,0.000,4,0.000,0.053,3207,964,1935
$GC,14949,1.34,146.0,327.9,11.3,1149,14953,0.00,2.35,0.00,0.000,6,0.000,0.035,3207,2338,1935
$GC,15273,1.34,146.0,291.5,10.5,1179,15277,0.00,2.42,0.00,0.000,4,0.000,0.054,3207,3722,1936
$GC,15394,1.34,146.0,277.4,11.5,1189,15402,0.00,2.33,0.00,0.000,6,0.000,0.034,3207,2359,1936
$GC,15722,1.34,146.0,243.1,9.3,1226,15729,0.00,2.40,0.00,0.000,4,0.000,0.052,3207,3729,1936
$GC,15802,1.34,146.0,235.6,9.3,1240,15809,0.00,2.33,0.00,0.000,6,0.000,0.035,3207,2350,1936
$GC,16146,1.40,157.1,204.9,8.0,1301,16161,0.00,2.50,7.82,0.848,4,0.000,0.051,3207,3728,1898
$GC,16195,1.40,157.1,200.3,9.5,1309,16202,0.00,2.28,0.00,0.000,6,0.000,0.032,3207,2382,1898
$GC,16540,1.47,158.1,167.9,8.9,1370,16548,0.00,2.45,0.00,0.000,4,0.000,0.051,3207,974,1898
$GC,16695,1.58,190.8,154.9,6.1,1397,16730,0.20,2.40,26.58,0.777,6,0.061,0.035,3253,2383,1761
$GC,17068,1.60,202.0,123.6,8.0,1462,17082,0.00,2.58,9.07,0.756,4,0.000,0.049,3253,973,1714
$GC,17144,1.60,202.0,116.8,9.2,1475,17152,0.00,2.33,0.00,0.000,6,0.000,0.032,3253,2337,1713
$GC,17490,1.69,225.4,85.3,6.9,1536,17518,0.00,2.47,18.38,0.689,4,0.000,0.048,3254,979,1618
$GC,17558,1.77,225.4,78.5,10.5,1547,17566,0.15,2.22,0.00,0.000,6,0.059,0.031,3291,2290,1618
$GC,17904,1.85,248.3,44.5,6.9,1608,17925,0.00,0.00,17.55,0.641,6,0.000,0.000,3291,2289,1525
$GC,18263,1.92,248.3,14.8,9.6,1671,18271,0.15,2.47,0.00,0.000,4,0.060,0.047,3334,3722,1525
$STATE,18393,end climb,SURFACE_DEPTH_REACHED
$STATE,18393,begin surface coast
$FINISH,0.3,1.021484
$STATE,18410,end surface coast,CONTROL_FINISHED_OK
$STATE,18411,begin surface
$SM_CCo,18434,95.32,0.550,0,0,744,440.07
$SM_GC,0.59,0.00,0.00,95.32,0.000,0.000,0.550,251,2138,744,-12.20,-0.34,440.07
$IRIDIUM_FIX,1241.04,12018.41,210597,101059
$TT8_MAMPS,0.023777
$HUMID,1803
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.50
$XPDR_PINGS,495
$ALTIM_BOTTOM_PING,651.4,8.1
$24V_AH,23.2,11.971
$10V_AH,10.2,5.125
$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,32.775,155.750,277.700,95.325,0.000,101.193,100.058,251.206,128.000,0.000,0.000,15.271,3633.109,11592.669,620.078,2794.870,655.435,0.000,1990.108,0.000,2754.325,0.000,32.583
$DEVICE_MAMPS,167.973,59.826,1343.784,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53513,1697
$CAP_FILE_SIZE,177700,0
$CFSIZE,260165632,253407232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,267.4,1
$GPS,250208,151408,1245.813,12019.537,31,1.1,31,-0.8