version: 66.03
glider: 122
mission: 6
dive: 220
start: 4 2 108 2 3 1
data:
$ID,122
$MISSION,6
$DIVE,220
$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,-31254.428
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,015638,1246.498,12020.994,38,1.0,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.6
$GPS2,020227,1246.547,12021.000,16,1.0,16,-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,81.5,40023,-18.6,-9.016
$D_GRID,821
$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,18,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-60.22,0.000,2,0.000,0.000,252,2184,2471
$GC,86,-1.56,-146.0,3.6,-8.2,10,118,13.40,0.00,-16.05,0.000,6,0.172,0.000,2559,2184,3345
$GC,456,-1.29,-146.0,89.3,-17.5,75,463,0.30,2.50,0.00,0.000,4,0.124,0.041,2617,740,3348
$GC,482,-1.15,-146.0,93.3,-16.4,79,490,0.17,2.35,0.00,0.000,6,0.099,0.027,2650,2153,3349
$GC,827,-1.15,-146.0,132.8,-11.1,140,834,0.00,2.40,0.00,0.000,4,0.000,0.046,2650,3551,3351
$GC,971,-1.19,-146.0,147.9,-10.5,165,978,0.00,2.28,0.00,0.000,6,0.000,0.027,2650,2169,3352
$GC,1317,-1.29,-146.0,175.7,-7.6,226,1325,0.12,2.38,0.00,0.000,4,0.054,0.042,2611,3555,3352
$GC,1381,-1.29,-146.0,182.1,-9.8,237,1388,0.00,2.22,0.00,0.000,6,0.000,0.028,2610,2206,3353
$GC,1727,-1.29,-146.0,211.4,-8.0,298,1734,0.00,2.30,0.00,0.000,4,0.000,0.044,2611,3548,3353
$GC,1830,-1.29,-146.0,220.2,-8.6,316,1837,0.00,2.17,0.00,0.000,6,0.000,0.028,2611,2231,3353
$GC,2175,-1.29,-146.0,249.4,-8.7,377,2182,0.00,2.28,0.00,0.000,4,0.000,0.044,2611,3555,3352
$GC,2217,-1.29,-146.0,253.2,-9.5,381,2224,0.00,2.17,0.00,0.000,6,0.000,0.030,2611,2242,3353
$GC,2543,-1.29,-146.0,280.0,-8.3,412,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2238,3352
$GC,2862,-1.29,-146.0,306.6,-8.8,442,2866,0.00,2.25,0.00,0.000,4,0.000,0.048,2611,3545,3350
$GC,2908,-1.32,-146.0,310.9,-9.6,446,2912,0.00,2.15,0.00,0.000,6,0.000,0.031,2611,2255,3350
$GC,3240,-1.35,-146.0,341.3,-9.6,477,3244,0.00,2.65,0.00,0.000,4,0.000,0.051,2611,750,3349
$GC,3268,-1.40,-146.0,344.2,-9.8,479,3273,0.00,2.55,0.00,0.000,6,0.000,0.032,2611,2253,3348
$GC,3594,-1.40,-146.0,374.3,-9.1,509,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2254,3347
$GC,3912,-1.40,-146.0,402.2,-8.6,539,3917,0.00,2.65,0.00,0.000,4,0.000,0.050,2611,754,3345
$GC,3945,-1.44,-146.0,405.3,-9.2,541,3953,0.00,2.53,0.00,0.000,6,0.000,0.034,2611,2241,3345
$GC,4272,-1.44,-146.0,432.1,-8.5,572,4276,0.00,2.28,0.00,0.000,4,0.000,0.049,2611,3553,3343
$GC,4324,-1.48,-146.0,436.7,-8.5,576,4328,0.12,2.20,0.00,0.000,6,0.058,0.032,2575,2245,3343
$GC,4649,-1.44,-146.0,467.0,-9.3,606,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2244,3341
$GC,4969,-1.40,-146.0,496.5,-9.0,636,4974,0.12,2.28,0.00,0.000,4,0.110,0.049,2597,3543,3339
$GC,5012,-1.40,-146.0,500.9,-9.5,639,5016,0.00,2.15,0.00,0.000,6,0.000,0.033,2598,2269,3339
$GC,5339,-1.40,-146.0,529.3,-8.9,655,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2266,3337
$GC,5648,-1.40,-146.0,555.9,-8.4,670,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2266,3335
$GC,5959,-1.40,-146.0,581.1,-7.9,685,5963,0.00,2.25,0.00,0.000,4,0.000,0.052,2597,3552,3333
$GC,5991,-1.40,-146.0,584.1,-8.5,686,5995,0.00,2.17,0.00,0.000,6,0.000,0.034,2597,2269,3333
$GC,6313,-1.40,-146.0,609.5,-7.9,702,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2266,3331
$GC,6622,-1.40,-146.0,634.8,-8.2,717,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2266,3330
$GC,6932,-1.40,-146.0,660.6,-8.6,732,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2264,3328
$GC,7241,-1.40,-146.0,685.9,-7.9,747,7245,0.00,2.25,0.00,0.000,4,0.000,0.054,2597,3542,3327
$GC,7285,-1.40,-146.0,689.6,-7.7,749,7293,0.00,2.15,0.00,0.000,6,0.000,0.035,2597,2278,3327
$GC,7615,-1.40,-146.0,715.2,-8.0,765,7620,0.00,2.72,0.00,0.000,4,0.000,0.059,2597,759,3326
$GC,7659,-1.45,-146.0,719.0,-7.9,767,7663,0.00,2.58,0.00,0.000,6,0.000,0.036,2597,2254,3326
$GC,7982,-1.48,-146.0,743.8,-7.3,783,7986,0.00,2.28,0.00,0.000,4,0.000,0.057,2598,3544,3325
$GC,8015,-1.51,-146.0,746.6,-7.4,784,8022,0.00,2.20,0.00,0.000,6,0.000,0.035,2597,2251,3325
$GC,8333,-1.55,-146.0,770.2,-8.3,800,8338,0.15,2.67,0.00,0.000,4,0.058,0.058,2560,761,3323
$GC,8383,-1.52,-146.0,775.0,-9.5,802,8387,0.00,2.55,0.00,0.000,6,0.000,0.038,2560,2240,3322
$GC,8699,-1.46,-146.0,803.6,-9.1,817,8703,0.12,2.30,0.00,0.000,4,0.117,0.056,2581,3543,3321
$GC,8775,-1.46,-146.0,810.9,-9.1,820,8779,0.00,2.20,0.00,0.000,6,0.000,0.037,2581,2251,3321
$STATE,8891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8897,-0.35,0.0,821.2,8.9,826,9021,1.23,0.00,120.78,1.243,6,0.100,0.000,2827,2386,2748
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9024,1.56,146.0,826.2,0.0,832,9156,1.92,2.50,124.10,1.204,4,0.058,0.058,3249,3717,2152
$GC,9247,1.28,146.0,812.5,12.6,842,9252,0.38,2.33,0.00,0.000,6,0.137,0.038,3184,2380,2152
$GC,9574,1.16,146.0,781.6,9.6,858,9579,0.15,2.55,0.00,0.000,4,0.123,0.058,3155,972,2150
$GC,9637,1.10,158.8,776.3,8.4,861,9653,0.00,2.40,10.73,1.221,6,0.000,0.038,3154,2358,2100
$GC,9964,1.09,180.3,749.9,8.1,876,9988,0.00,2.65,18.40,1.210,4,0.000,0.059,3154,967,2011
$GC,10035,1.04,180.3,743.9,9.7,879,10040,0.12,2.42,0.00,0.000,6,0.123,0.038,3133,2344,2011
$GC,10361,1.06,189.0,716.6,8.6,895,10376,0.00,2.60,7.35,1.219,4,0.000,0.058,3133,970,1977
$GC,10443,1.06,189.0,708.8,9.7,898,10450,0.00,2.38,0.00,0.000,6,0.000,0.038,3133,2325,1976
$GC,10759,1.06,191.0,680.1,8.9,914,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2324,1976
$GC,11068,1.12,230.3,656.7,7.3,929,11113,0.00,2.58,34.80,1.155,4,0.000,0.060,3133,971,1808
$GC,11137,1.17,230.3,651.4,9.4,932,11142,0.12,2.35,0.00,0.000,6,0.065,0.038,3167,2304,1807
$GC,11463,1.17,230.3,619.3,10.2,948,11467,0.00,2.42,0.00,0.000,4,0.000,0.059,3167,969,1806
$GC,11512,1.17,230.3,614.0,10.4,950,11517,0.00,2.28,0.00,0.000,6,0.000,0.038,3167,2272,1806
$GC,11835,1.17,230.3,582.2,9.6,966,11839,0.00,2.60,0.00,0.000,4,0.000,0.059,3167,3726,1806
$GC,11861,1.13,230.3,579.3,10.0,967,11865,0.00,2.53,0.00,0.000,6,0.000,0.039,3167,2263,1806
$GC,12183,1.16,246.7,550.6,8.3,983,12205,0.00,2.42,13.85,1.119,4,0.000,0.060,3167,970,1741
$GC,12233,1.16,246.7,546.2,9.3,985,12237,0.00,2.28,0.00,0.000,6,0.000,0.038,3167,2268,1740
$GC,12555,1.16,248.2,518.5,8.9,1001,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2267,1740
$GC,12867,1.16,248.2,488.5,9.3,1021,12871,0.00,2.35,0.00,0.000,4,0.000,0.058,3167,967,1739
$GC,12917,1.16,248.2,483.5,10.2,1025,12921,0.00,2.25,0.00,0.000,6,0.000,0.038,3167,2264,1739
$GC,13243,1.16,248.2,453.3,9.3,1055,13248,0.00,2.60,0.00,0.000,4,0.000,0.057,3167,3726,1739
$GC,13287,1.16,248.2,448.6,10.2,1058,13295,0.00,2.53,0.00,0.000,6,0.000,0.038,3167,2264,1739
$GC,13614,1.19,261.8,420.5,8.4,1089,13632,0.00,2.38,12.90,1.030,4,0.000,0.058,3167,970,1679
$GC,13716,1.19,261.8,410.9,9.8,1097,13723,0.00,2.20,0.00,0.000,6,0.000,0.037,3167,2237,1678
$GC,14042,1.23,271.3,382.1,8.6,1128,14052,0.00,0.00,7.95,1.009,6,0.000,0.000,3167,2238,1642
$GC,14372,1.28,276.9,353.3,8.8,1159,14385,0.00,2.33,5.25,0.992,4,0.000,0.055,3167,960,1617
$GC,14435,1.29,281.2,347.4,8.8,1164,14443,0.00,2.20,4.00,0.984,6,0.000,0.037,3167,2229,1601
$GC,14760,1.37,299.8,320.2,8.2,1195,14786,0.15,2.33,15.85,0.931,4,0.064,0.055,3207,971,1524
$GC,14836,1.34,299.8,312.3,11.1,1201,14843,0.00,2.12,0.00,0.000,6,0.000,0.035,3207,2198,1523
$GC,15163,1.34,299.8,280.9,9.6,1232,15166,0.00,2.20,0.00,0.000,4,0.000,0.055,3207,970,1523
$GC,15207,1.31,299.8,276.0,9.9,1235,15214,0.00,2.10,0.00,0.000,6,0.000,0.036,3207,2191,1522
$GC,15535,1.31,299.8,242.0,10.6,1272,15542,0.00,2.72,0.00,0.000,4,0.000,0.054,3207,3730,1522
$GC,15576,1.31,299.8,237.5,11.6,1279,15583,0.00,2.67,0.00,0.000,6,0.000,0.038,3207,2177,1522
$GC,15921,1.32,305.1,204.9,8.8,1340,15928,0.00,0.00,4.20,0.877,6,0.000,0.000,3207,2177,1504
$GC,16266,1.36,331.7,175.0,7.8,1401,16298,0.00,2.85,22.25,0.794,4,0.000,0.050,3207,3728,1394
$GC,16366,1.40,331.7,165.6,9.4,1418,16374,0.00,2.65,0.00,0.000,6,0.000,0.036,3207,2195,1393
$GC,16712,1.51,354.8,135.6,8.0,1479,16740,0.12,2.78,18.80,0.755,4,0.064,0.049,3240,3733,1300
$GC,16775,1.57,388.8,130.7,7.5,1489,16808,0.00,2.58,28.17,0.726,6,0.000,0.035,3240,2237,1163
$GC,17149,1.68,403.3,99.3,8.4,1554,17170,0.15,2.33,11.45,0.721,4,0.055,0.052,3286,969,1102
$GC,17193,1.68,403.3,94.2,11.4,1561,17201,0.00,2.20,0.00,0.000,6,0.000,0.033,3285,2250,1101
$GC,17540,1.76,417.0,62.7,8.4,1622,17554,0.00,0.00,10.77,0.684,6,0.000,0.000,3285,2250,1048
$GC,17891,1.89,455.5,35.1,7.3,1684,17926,0.12,0.00,31.08,0.618,6,0.055,0.000,3322,2250,890
$STATE,18261,end climb,SURFACE_DEPTH_REACHED
$STATE,18261,begin surface coast
$FINISH,0.5,1.021211
$STATE,18279,end surface coast,CONTROL_FINISHED_OK
$STATE,18279,begin surface
$SM_CCo,18302,10.38,0.605,0,0,810,475.15
$SM_GC,1.07,0.00,0.00,10.38,0.000,0.000,0.605,251,2124,810,-12.21,-0.74,475.15
$IRIDIUM_FIX,1243.25,12021.43,260697,202022
$TT8_MAMPS,0.023777
$HUMID,2014
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.40
$XPDR_PINGS,415
$24V_AH,23.2,40.596
$10V_AH,10.1,20.585
$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,32.500,163.075,502.675,10.375,0.000,25.437,39.111,157.082,112.000,0.000,0.000,16.834,3636.628,10892.835,684.061,2892.262,559.478,0.000,2157.488,0.000,2842.128,0.000,60.780
$DEVICE_MAMPS,171.808,59.826,1242.540,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53444,1752
$CAP_FILE_SIZE,180105,0
$CFSIZE,260165632,239517696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 67.8,1
$GPS,020408,070932,1246.886,12023.337,42,1.5,42,-0.8