version: 66.03
glider: 122
mission: 6
dive: 219
start: 4 1 108 20 23 1
data:
$ID,122
$MISSION,6
$DIVE,219
$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,-31236.967
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,201632,1246.753,12018.596,43,1.4,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.2
$GPS2,202227,1246.781,12018.589,16,0.9,16,-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,100.7,44229,-18.6,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,89,0.00,0.00,-65.43,0.000,2,0.000,0.000,249,2120,2504
$GC,92,-1.56,-146.0,3.8,-9.0,11,131,13.40,2.40,-15.23,0.000,4,0.171,0.055,2561,765,3346
$GC,178,-1.27,-146.0,25.1,-21.8,25,186,0.35,2.35,0.00,0.000,6,0.114,0.028,2625,2166,3348
$GC,524,-1.15,-146.0,85.2,-15.5,86,532,0.15,2.38,0.00,0.000,4,0.110,0.044,2657,3553,3349
$GC,589,-1.15,-146.0,94.5,-13.6,97,596,0.00,2.30,0.00,0.000,6,0.000,0.027,2657,2158,3350
$GC,934,-1.19,-146.0,131.2,-9.7,158,941,0.00,2.38,0.00,0.000,4,0.000,0.043,2657,3549,3351
$GC,1082,-1.25,-146.0,146.0,-9.5,184,1090,0.12,2.15,0.00,0.000,6,0.056,0.027,2618,2233,3352
$GC,1427,-1.25,-146.0,176.8,-8.7,245,1434,0.00,2.25,0.00,0.000,4,0.000,0.043,2619,3551,3353
$GC,1469,-1.25,-146.0,180.8,-9.9,252,1476,0.00,2.12,0.00,0.000,6,0.000,0.028,2618,2253,3353
$GC,1814,-1.28,-146.0,210.8,-8.5,313,1821,0.00,2.22,0.00,0.000,4,0.000,0.044,2619,3557,3353
$GC,1850,-1.28,-146.0,214.2,-9.2,319,1857,0.00,2.12,0.00,0.000,6,0.000,0.028,2618,2265,3353
$GC,2196,-1.32,-146.0,243.1,-8.1,380,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2264,3353
$GC,2529,-1.36,-146.0,270.0,-8.2,418,2533,0.00,2.22,0.00,0.000,4,0.000,0.046,2618,3557,3352
$GC,2570,-1.39,-146.0,273.6,-9.0,421,2574,0.00,2.15,0.00,0.000,6,0.000,0.030,2618,2256,3352
$GC,2896,-1.44,-146.0,301.5,-8.4,451,2898,0.12,0.00,0.00,0.000,6,0.055,0.000,2578,2254,3351
$GC,3215,-1.40,-146.0,332.9,-9.7,481,3220,0.10,2.62,0.00,0.000,4,0.110,0.049,2596,756,3349
$GC,3277,-1.40,-146.0,339.2,-10.2,486,3281,0.00,2.55,0.00,0.000,6,0.000,0.032,2597,2263,3349
$GC,3605,-1.40,-146.0,368.9,-9.0,516,3609,0.00,2.65,0.00,0.000,4,0.000,0.048,2596,755,3348
$GC,3633,-1.40,-146.0,371.9,-9.7,518,3637,0.00,2.55,0.00,0.000,6,0.000,0.033,2597,2263,3348
$GC,3959,-1.40,-146.0,401.6,-9.0,548,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2264,3345
$GC,4277,-1.40,-146.0,430.3,-9.0,578,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2265,3344
$GC,4594,-1.40,-146.0,459.5,-9.2,608,4599,0.00,2.67,0.00,0.000,4,0.000,0.051,2596,753,3342
$GC,4628,-1.43,-146.0,462.8,-9.0,610,4635,0.00,2.55,0.00,0.000,6,0.000,0.034,2597,2252,3342
$GC,4954,-1.43,-146.0,490.2,-8.4,641,4958,0.00,2.25,0.00,0.000,4,0.000,0.050,2597,3551,3341
$GC,4995,-1.43,-146.0,493.8,-8.5,644,4999,0.00,2.15,0.00,0.000,6,0.000,0.032,2597,2267,3340
$GC,5323,-1.43,-146.0,519.7,-7.9,663,5328,0.00,2.67,0.00,0.000,4,0.000,0.053,2597,751,3337
$GC,5351,-1.46,-146.0,522.1,-8.1,664,5355,0.00,2.55,0.00,0.000,6,0.000,0.035,2597,2245,3337
$GC,5672,-1.46,-146.0,547.1,-8.0,680,5676,0.00,2.28,0.00,0.000,4,0.000,0.052,2597,3548,3336
$GC,5721,-1.46,-146.0,551.6,-7.9,682,5725,0.00,2.22,0.00,0.000,6,0.000,0.034,2596,2244,3335
$GC,6043,-1.46,-146.0,577.1,-8.0,698,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2242,3334
$GC,6352,-1.46,-146.0,602.4,-8.3,713,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2242,3332
$GC,6661,-1.46,-146.0,627.7,-8.3,728,6665,0.00,2.30,0.00,0.000,4,0.000,0.053,2597,3551,3331
$GC,6727,-1.46,-146.0,634.0,-9.5,731,6731,0.00,2.17,0.00,0.000,6,0.000,0.035,2597,2263,3330
$GC,7055,-1.46,-146.0,662.5,-8.9,747,7059,0.00,2.67,0.00,0.000,4,0.000,0.057,2596,761,3328
$GC,7077,-1.49,-146.0,664.5,-9.0,748,7081,0.00,2.58,0.00,0.000,6,0.000,0.035,2597,2263,3328
$GC,7397,-1.49,-146.0,692.0,-8.4,764,7401,0.00,2.25,0.00,0.000,4,0.000,0.056,2597,3545,3327
$GC,7441,-1.49,-146.0,696.3,-8.6,766,7445,0.00,2.15,0.00,0.000,6,0.000,0.035,2597,2276,3327
$GC,7769,-1.49,-146.0,724.5,-8.7,782,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2274,3326
$GC,8078,-1.53,-146.0,749.3,-7.6,797,8083,0.12,2.72,0.00,0.000,4,0.061,0.058,2563,753,3325
$GC,8111,-1.53,-146.0,752.4,-8.9,798,8119,0.00,2.62,0.00,0.000,6,0.000,0.037,2564,2274,3325
$GC,8427,-1.48,-146.0,779.8,-9.0,814,8435,0.00,2.25,0.00,0.000,4,0.000,0.058,2564,3551,3323
$GC,8485,-1.44,-146.0,785.4,-9.0,816,8489,0.15,2.15,0.00,0.000,6,0.113,0.035,2590,2284,3323
$GC,8807,-1.44,-146.0,812.0,-8.6,832,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2282,3322
$GC,9115,-1.44,-146.0,838.6,-8.1,847,9119,0.00,2.75,0.00,0.000,4,0.000,0.061,2590,756,3320
$GC,9148,-1.48,-146.0,841.5,-8.3,848,9155,0.00,2.62,0.00,0.000,6,0.000,0.038,2590,2278,3320
$GC,9464,-1.48,-146.0,867.0,-8.1,864,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2278,3319
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9777,-0.35,0.0,891.9,8.1,879,9902,1.15,0.00,121.80,1.302,6,0.095,0.000,2823,2373,2748
$STATE,9903,end apogee,CONTROL_FINISHED_OK
$STATE,9903,begin climb
$GC,9905,1.56,146.0,895.6,0.0,885,10040,1.95,2.53,125.60,1.259,4,0.057,0.060,3248,3716,2152
$GC,10119,1.27,146.0,879.9,13.6,894,10127,0.35,2.30,0.00,0.000,6,0.138,0.039,3188,2390,2151
$GC,10434,1.14,146.0,847.5,10.1,910,10439,0.17,2.40,0.00,0.000,4,0.122,0.057,3154,3725,2149
$GC,10468,1.04,146.0,844.1,10.3,911,10477,0.08,2.33,0.00,0.000,6,0.127,0.039,3138,2379,2149
$GC,10784,1.09,173.1,818.6,7.8,927,10812,0.00,2.62,22.85,1.262,4,0.000,0.061,3138,971,2041
$GC,10862,1.09,173.1,811.7,9.5,930,10870,0.00,2.47,0.00,0.000,6,0.000,0.040,3138,2373,2040
$GC,11179,1.11,185.2,784.4,8.5,946,11191,0.00,0.00,10.52,1.267,6,0.000,0.000,3138,2373,1992
$GC,11487,1.12,191.0,757.5,8.8,961,11497,0.00,2.60,5.15,1.256,4,0.000,0.060,3138,964,1968
$GC,11526,1.12,191.0,753.8,9.5,963,11530,0.00,2.47,0.00,0.000,6,0.000,0.040,3138,2366,1968
$GC,11853,1.14,203.5,725.9,8.5,979,11869,0.00,2.60,11.00,1.243,4,0.000,0.060,3138,971,1917
$GC,11937,1.14,203.5,718.2,9.5,982,11941,0.00,2.42,0.00,0.000,6,0.000,0.039,3138,2350,1917
$GC,12264,1.15,207.3,689.3,8.8,998,12273,0.00,2.58,3.72,1.218,4,0.000,0.061,3138,973,1902
$GC,12301,1.15,207.3,685.8,9.8,999,12309,0.00,2.38,0.00,0.000,6,0.000,0.039,3138,2327,1902
$GC,12618,1.20,221.6,659.7,8.4,1015,12638,0.12,0.00,12.48,1.205,6,0.075,0.000,3168,2327,1844
$GC,12946,1.20,221.6,628.6,9.3,1031,12951,0.00,2.47,0.00,0.000,4,0.000,0.061,3168,969,1843
$GC,13036,1.16,221.6,619.5,10.7,1035,13040,0.00,2.35,0.00,0.000,6,0.000,0.039,3168,2315,1843
$GC,13357,1.16,221.6,588.6,9.5,1051,13361,0.00,2.53,0.00,0.000,4,0.000,0.061,3168,3734,1843
$GC,13389,1.12,221.6,585.1,10.8,1052,13396,0.00,2.45,0.00,0.000,6,0.000,0.039,3168,2316,1843
$GC,13705,1.12,221.6,555.2,9.7,1068,13709,0.00,2.42,0.00,0.000,4,0.000,0.059,3168,971,1843
$GC,13794,1.09,221.6,546.2,10.2,1072,13799,0.15,2.33,0.00,0.000,6,0.117,0.038,3142,2311,1842
$GC,14116,1.15,233.5,518.4,8.5,1088,14130,0.00,2.47,9.82,1.117,4,0.000,0.058,3141,973,1796
$GC,14165,1.18,233.9,514.3,9.0,1089,14169,0.00,2.33,0.00,0.000,6,0.000,0.038,3142,2303,1795
$GC,14486,1.28,263.1,489.2,7.7,1110,14522,0.15,2.55,25.45,1.059,4,0.066,0.058,3183,963,1674
$GC,14549,1.28,263.1,482.8,11.0,1115,14557,0.00,2.30,0.00,0.000,6,0.000,0.037,3183,2275,1673
$GC,14878,1.28,263.1,450.7,9.7,1146,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2274,1673
$GC,15203,1.28,263.1,418.6,9.9,1177,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2274,1673
$GC,15521,1.28,263.1,388.3,9.5,1207,15525,0.00,2.35,0.00,0.000,4,0.000,0.056,3183,970,1673
$GC,15564,1.28,263.1,384.0,9.5,1210,15571,0.00,2.25,0.00,0.000,6,0.000,0.037,3183,2270,1672
$GC,15891,1.28,263.1,353.4,9.0,1241,15895,0.00,2.33,0.00,0.000,4,0.000,0.056,3183,969,1672
$GC,15925,1.28,263.1,349.8,9.8,1244,15929,0.00,2.22,0.00,0.000,6,0.000,0.036,3183,2265,1672
$GC,16252,1.28,263.1,320.3,9.1,1274,16256,0.00,2.33,0.00,0.000,4,0.000,0.055,3183,965,1672
$GC,16291,1.28,263.1,316.5,9.2,1277,16295,0.00,2.20,0.00,0.000,6,0.000,0.036,3183,2243,1672
$GC,16618,1.28,264.8,287.9,8.9,1307,16622,0.00,2.28,0.00,0.000,4,0.000,0.054,3183,970,1672
$GC,16661,1.28,264.8,283.5,9.9,1310,16669,0.00,2.17,0.00,0.000,6,0.000,0.036,3183,2219,1672
$GC,16986,1.31,283.0,255.4,8.2,1341,17011,0.00,2.75,16.67,0.887,4,0.000,0.054,3182,3736,1593
$GC,17046,1.34,297.0,250.1,8.4,1346,17065,0.00,2.62,11.55,0.875,6,0.000,0.037,3182,2218,1537
$GC,17404,1.38,297.0,218.8,9.2,1408,17412,0.10,2.22,0.00,0.000,4,0.071,0.054,3208,969,1535
$GC,17435,1.38,297.0,215.4,11.0,1413,17442,0.00,2.15,0.00,0.000,6,0.000,0.035,3208,2223,1535
$GC,17780,1.38,297.0,182.0,9.1,1474,17787,0.00,2.65,0.00,0.000,4,0.000,0.053,3208,3727,1535
$GC,17883,1.38,297.0,171.9,9.1,1492,17890,0.00,2.60,0.00,0.000,6,0.000,0.037,3208,2211,1535
$GC,18228,1.50,338.8,143.2,7.1,1553,18267,0.10,0.00,34.08,0.752,6,0.070,0.000,3234,2209,1366
$GC,18606,1.63,387.4,114.6,6.8,1619,18651,0.12,0.00,39.33,0.709,6,0.065,0.000,3267,2209,1168
$GC,18990,1.75,430.8,83.2,7.1,1686,19031,0.00,2.80,35.25,0.670,4,0.000,0.048,3267,3737,990
$GC,19141,1.86,439.0,70.5,8.7,1711,19156,0.20,2.55,6.05,0.701,6,0.053,0.032,3318,2240,958
$GC,19495,1.86,439.0,35.8,9.5,1773,19501,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2240,957
$GC,19839,1.91,448.3,5.7,8.6,1834,19854,0.00,2.25,7.20,0.613,4,0.000,0.048,3318,967,919
$STATE,19881,end climb,SURFACE_DEPTH_REACHED
$STATE,19881,begin surface coast
$FINISH,-0.1,0.997255
$STATE,19904,end surface coast,CONTROL_FINISHED_OK
$STATE,19904,begin surface
$SM_CCo,19928,13.93,0.591,0,0,810,475.15
$SM_GC,0.59,0.00,0.00,13.93,0.000,0.000,0.591,252,2184,810,-12.20,0.96,475.15
$IRIDIUM_FIX,1243.25,12016.50,260697,141404
$TT8_MAMPS,0.023777
$HUMID,2011
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.50
$XPDR_PINGS,404
$24V_AH,23.2,40.417
$10V_AH,10.1,20.492
$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,32.725,182.875,498.525,13.925,0.000,31.098,42.330,154.800,111.000,0.000,0.000,16.621,3836.865,12114.336,724.797,3051.854,573.125,0.000,2278.403,0.000,2993.139,0.000,73.462
$DEVICE_MAMPS,171.041,65.195,1301.599,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56621,1845
$CAP_FILE_SIZE,193162,0
$CFSIZE,260165632,239591424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 71.7,1
$GPS,020408,015638,1246.498,12020.994,38,1.0,38,-0.8