version: 66.03
glider: 122
mission: 6
dive: 217
start: 4 1 108 9 44 37
data:
$ID,122
$MISSION,6
$DIVE,217
$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,-31202.732
$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,61
$R_STBD_OVSHOOT,27
$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
$GPS1,093837,1245.554,12015.077,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.6
$GPS2,094403,1245.509,12015.014,15,1.2,15,-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,75.9,51000,-18.6,-9.016
$D_GRID,817
$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,21,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-59.22,0.000,2,0.000,0.000,253,2112,2438
$GC,85,-1.56,-146.0,3.5,-8.5,9,124,13.48,2.50,-16.73,0.000,4,0.174,0.051,2560,3561,3346
$GC,131,-0.75,-146.0,15.8,-25.2,16,139,0.95,2.33,0.00,0.000,6,0.124,0.027,2737,2162,3346
$GC,478,-0.83,-146.0,58.4,-9.7,77,485,0.00,2.45,0.00,0.000,4,0.000,0.044,2738,753,3348
$GC,542,-0.96,-146.0,65.1,-10.3,88,550,0.20,2.35,0.00,0.000,6,0.042,0.026,2676,2165,3348
$GC,887,-0.96,-146.0,106.0,-12.5,149,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2165,3350
$GC,1232,-1.05,-146.0,137.3,-9.0,210,1239,0.00,2.35,0.00,0.000,4,0.000,0.043,2675,3545,3352
$GC,1378,-1.15,-146.0,148.9,-7.9,235,1385,0.00,2.30,0.00,0.000,6,0.000,0.027,2675,2142,3352
$GC,1722,-1.40,-146.0,175.7,-7.9,296,1729,0.30,2.40,0.00,0.000,4,0.034,0.042,2579,751,3353
$GC,1809,-1.40,-146.0,184.6,-10.8,311,1816,0.10,2.60,0.00,0.000,6,0.111,0.029,2597,2299,3353
$GC,2154,-1.40,-146.0,216.2,-8.8,372,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,3353
$GC,2498,-1.40,-146.0,248.1,-9.0,433,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,3351
$GC,2824,-1.40,-146.0,280.5,-9.5,465,2828,0.00,2.70,0.00,0.000,4,0.000,0.047,2597,752,3350
$GC,2886,-1.40,-146.0,286.5,-9.7,470,2890,0.00,2.62,0.00,0.000,6,0.000,0.032,2597,2300,3350
$GC,3213,-1.40,-146.0,317.6,-9.8,500,3218,0.00,2.70,0.00,0.000,4,0.000,0.048,2597,762,3349
$GC,3279,-1.40,-146.0,324.7,-9.7,505,3286,0.00,2.55,0.00,0.000,6,0.000,0.031,2597,2263,3348
$GC,3605,-1.40,-146.0,355.5,-9.5,536,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2263,3346
$GC,3923,-1.40,-146.0,384.2,-9.0,566,3927,0.00,2.22,0.00,0.000,4,0.000,0.048,2597,3548,3345
$GC,3951,-1.40,-146.0,386.9,-9.8,568,3955,0.00,2.17,0.00,0.000,6,0.000,0.031,2597,2248,3344
$GC,4278,-1.40,-146.0,415.3,-8.9,598,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2247,3343
$GC,4594,-1.40,-146.0,444.9,-9.2,628,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2247,3341
$GC,4914,-1.40,-146.0,472.7,-8.5,658,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2247,3339
$GC,5232,-1.40,-146.0,499.3,-7.9,688,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2247,3337
$GC,5552,-1.40,-146.0,525.4,-8.1,704,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2247,3335
$GC,5862,-1.40,-146.0,551.0,-8.9,719,5866,0.00,2.28,0.00,0.000,4,0.000,0.052,2597,3539,3333
$GC,5895,-1.40,-146.0,554.3,-9.5,720,5903,0.00,2.20,0.00,0.000,6,0.000,0.035,2597,2261,3333
$GC,6213,-1.40,-146.0,581.5,-8.5,736,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2259,3331
$GC,6520,-1.40,-146.0,606.4,-7.4,751,6524,0.00,2.28,0.00,0.000,4,0.000,0.053,2597,3547,3329
$GC,6560,-1.40,-146.0,609.4,-7.4,753,6564,0.00,2.17,0.00,0.000,6,0.000,0.035,2597,2270,3329
$GC,6888,-1.40,-146.0,632.6,-7.4,769,6892,0.00,2.25,0.00,0.000,4,0.000,0.054,2597,3540,3328
$GC,6920,-1.40,-146.0,635.3,-7.7,770,6927,0.00,2.12,0.00,0.000,6,0.000,0.035,2597,2287,3328
$GC,7236,-1.40,-146.0,661.3,-8.4,786,7240,0.00,2.72,0.00,0.000,4,0.000,0.057,2597,762,3326
$GC,7263,-1.43,-146.0,663.8,-8.8,787,7268,0.00,2.60,0.00,0.000,6,0.000,0.037,2597,2268,3326
$GC,7579,-1.43,-146.0,691.2,-9.2,802,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2270,3325
$GC,7888,-1.43,-146.0,716.7,-7.9,817,7893,0.00,2.70,0.00,0.000,4,0.000,0.057,2597,765,3323
$GC,7921,-1.48,-146.0,719.5,-8.3,818,7928,0.00,2.58,0.00,0.000,6,0.000,0.038,2597,2257,3323
$GC,8237,-1.51,-146.0,744.8,-7.9,834,8241,0.00,2.28,0.00,0.000,4,0.000,0.058,2597,3542,3322
$GC,8300,-1.55,-146.0,750.3,-8.8,837,8305,0.15,2.12,0.00,0.000,6,0.061,0.036,2560,2295,3322
$GC,8627,-1.62,-146.0,780.1,-7.7,853,8632,0.00,2.75,0.00,0.000,4,0.000,0.058,2560,761,3321
$GC,8885,-1.89,-146.0,779.1,0.1,864,8892,0.30,2.62,0.00,0.000,6,0.048,0.038,2481,2274,3320
$STATE,8971,end dive,NO_VERTICAL_VELOCITY
$STATE,8972,begin apogee
$GC,8977,-0.35,0.0,778.6,0.0,869,9101,1.60,0.00,119.45,1.211,6,0.061,0.000,2829,2367,2748
$STATE,9101,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9104,1.56,146.0,778.3,0.0,875,9236,1.90,2.62,123.45,1.169,4,0.054,0.057,3246,990,2152
$GC,9342,1.30,146.0,759.8,12.1,885,9350,0.30,2.42,0.00,0.000,6,0.118,0.039,3192,2364,2150
$GC,9658,1.18,146.0,728.0,9.8,901,9663,0.17,2.50,0.00,0.000,4,0.119,0.056,3159,990,2149
$GC,9724,1.10,146.0,721.7,9.7,904,9728,0.00,2.42,0.00,0.000,6,0.000,0.039,3159,2367,2149
$GC,10052,1.09,174.3,696.1,7.7,920,10082,0.00,2.62,23.23,1.170,4,0.000,0.058,3158,990,2037
$GC,10173,1.03,174.3,684.7,10.0,925,10178,0.15,2.38,0.00,0.000,6,0.117,0.039,3132,2340,2036
$GC,10489,1.05,186.0,657.2,8.5,940,10504,0.00,2.50,10.02,1.173,4,0.000,0.058,3132,992,1989
$GC,10577,1.05,191.2,649.4,8.8,943,10586,0.00,2.33,4.65,1.162,6,0.000,0.038,3132,2313,1968
$GC,10897,1.08,208.2,623.1,8.3,958,10919,0.00,0.00,14.45,1.145,6,0.000,0.000,3132,2313,1899
$GC,11228,1.16,231.8,596.9,8.0,974,11256,0.12,2.50,19.92,1.121,4,0.070,0.058,3162,997,1802
$GC,11300,1.16,231.8,589.7,10.7,977,11304,0.00,2.28,0.00,0.000,6,0.000,0.038,3162,2294,1801
$GC,11628,1.16,231.8,559.4,9.2,993,11632,0.00,2.38,0.00,0.000,4,0.000,0.058,3162,986,1800
$GC,11660,1.16,231.8,556.2,9.7,994,11667,0.00,2.28,0.00,0.000,6,0.000,0.038,3162,2271,1800
$GC,11977,1.17,237.3,528.4,8.8,1010,11984,0.00,0.00,4.68,1.117,6,0.000,0.000,3162,2272,1780
$GC,12286,1.19,249.0,501.5,8.5,1025,12301,0.00,2.67,10.35,1.088,4,0.000,0.058,3161,3730,1732
$GC,12335,1.19,249.0,496.9,9.8,1027,12340,0.00,2.53,0.00,0.000,6,0.000,0.039,3162,2288,1732
$GC,12660,1.20,256.1,469.4,8.7,1057,12673,0.00,2.38,6.32,1.077,4,0.000,0.058,3162,991,1703
$GC,12788,1.20,256.1,457.5,9.1,1068,12792,0.00,2.20,0.00,0.000,6,0.000,0.037,3162,2252,1702
$GC,13115,1.23,272.5,429.0,8.3,1098,13134,0.00,0.00,14.07,1.025,6,0.000,0.000,3162,2252,1636
$GC,13453,1.28,277.5,398.2,8.8,1130,13467,0.10,2.67,4.30,1.023,4,0.077,0.056,3185,3729,1616
$GC,13479,1.28,277.5,395.6,9.8,1132,13483,0.00,2.58,0.00,0.000,6,0.000,0.038,3185,2254,1616
$GC,13805,1.31,291.3,365.8,8.4,1162,13824,0.00,0.00,12.07,0.977,6,0.000,0.000,3185,2254,1559
$GC,14143,1.31,291.3,335.5,9.1,1194,14147,0.00,2.28,0.00,0.000,4,0.000,0.057,3185,986,1558
$GC,14209,1.31,291.3,328.9,9.2,1199,14217,0.00,2.22,0.00,0.000,6,0.000,0.036,3185,2254,1557
$GC,14535,1.34,291.3,299.7,9.4,1230,14539,0.00,2.28,0.00,0.000,4,0.000,0.055,3185,988,1557
$GC,14575,1.34,291.3,296.0,9.5,1233,14579,0.00,2.20,0.00,0.000,6,0.000,0.036,3185,2261,1557
$GC,14901,1.38,295.8,266.1,8.8,1263,14914,0.00,2.33,3.60,0.927,4,0.000,0.054,3185,995,1542
$GC,14960,1.38,295.8,260.5,9.5,1268,14964,0.00,2.15,0.00,0.000,6,0.000,0.035,3185,2238,1542
$GC,15297,1.41,295.8,229.6,9.5,1317,15305,0.12,2.65,0.00,0.000,4,0.065,0.053,3217,3734,1542
$GC,15318,1.41,295.8,227.4,10.0,1320,15325,0.00,2.58,0.00,0.000,6,0.000,0.037,3218,2239,1542
$GC,15664,1.41,295.8,193.3,9.6,1381,15671,0.00,2.62,0.00,0.000,4,0.000,0.051,3217,3729,1542
$GC,15757,1.38,295.8,183.7,10.3,1397,15764,0.00,2.45,0.00,0.000,6,0.000,0.036,3217,2300,1542
$GC,16102,1.40,304.7,152.7,8.6,1458,16116,0.00,2.42,7.75,0.818,4,0.000,0.053,3217,985,1505
$GC,16139,1.40,304.7,149.5,9.1,1464,16146,0.00,2.22,0.00,0.000,6,0.000,0.035,3217,2272,1505
$GC,16484,1.54,353.3,122.7,6.8,1525,16531,0.00,2.70,39.72,0.726,4,0.000,0.051,3217,3736,1306
$GC,16629,1.63,372.4,111.1,8.2,1549,16651,0.20,2.47,15.38,0.729,6,0.053,0.034,3268,2294,1228
$GC,16991,1.75,410.1,81.7,7.3,1612,17031,0.00,2.40,30.42,0.678,4,0.000,0.049,3268,988,1073
$GC,17141,1.83,423.4,71.1,8.4,1637,17161,0.15,2.20,10.50,0.685,6,0.054,0.031,3310,2274,1020
$GC,17501,1.90,437.7,36.2,8.4,1700,17521,0.00,2.35,11.25,0.640,4,0.000,0.047,3310,985,962
$GC,17551,1.93,437.7,31.7,9.7,1708,17558,0.00,2.25,0.00,0.000,6,0.000,0.029,3310,2310,961
$GC,17897,2.02,454.1,2.5,8.3,1769,17913,0.15,2.40,10.15,0.594,4,0.051,0.044,3360,988,895
$STATE,17918,end climb,SURFACE_DEPTH_REACHED
$STATE,17918,begin surface coast
$FINISH,-0.1,1.008156
$STATE,17941,end surface coast,CONTROL_FINISHED_OK
$STATE,17941,begin surface
$SM_CCo,17965,10.05,0.595,0,0,811,475.15
$SM_GC,0.77,0.00,0.00,10.05,0.000,0.000,0.595,253,2168,811,-12.20,0.54,475.15
$IRIDIUM_FIX,1241.04,12013.48,260697,050522
$TT8_MAMPS,0.023777
$HUMID,2006
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.50
$XPDR_PINGS,425
$ALTIM_BOTTOM_PING,600.3,82.1
$24V_AH,23.3,40.045
$10V_AH,10.1,20.296
$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,34.200,159.525,495.750,10.050,0.000,30.039,37.035,140.606,109.250,0.000,0.000,15.992,3662.251,10485.111,705.043,2937.112,521.159,0.000,2190.902,0.000,2898.992,0.000,23.730
$DEVICE_MAMPS,174.109,65.962,1211.093,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56615,1776
$CAP_FILE_SIZE,176442,0
$CFSIZE,260165632,239783936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,  1.0,1
$GPS,010408,144531,1246.144,12016.543,41,0.8,41,-0.8