version: 66.03
glider: 122
mission: 6
dive: 222
start: 4 2 108 11 55 7
data:
$ID,122
$MISSION,6
$DIVE,222
$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,-31284.188
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,114901,1246.721,12025.522,38,1.0,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.5
$GPS2,115433,1246.666,12025.487,14,1.1,14,-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,63.9,32058,-18.6,-9.016
$D_GRID,535
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-61.28,0.000,2,0.000,0.000,253,2118,2506
$GC,87,-1.56,-146.0,3.8,-8.7,9,126,13.43,2.53,-15.10,0.000,4,0.173,0.054,2561,3560,3346
$GC,183,-1.23,-146.0,28.5,-23.0,25,191,0.40,2.33,0.00,0.000,6,0.121,0.027,2634,2155,3347
$GC,529,-1.14,-146.0,84.4,-14.7,86,536,0.12,2.42,0.00,0.000,4,0.115,0.042,2657,755,3349
$GC,593,-1.14,-146.0,92.3,-11.2,97,600,0.00,2.40,0.00,0.000,6,0.000,0.028,2657,2192,3350
$GC,938,-1.14,-146.0,128.7,-10.3,158,945,0.00,2.33,0.00,0.000,4,0.000,0.046,2657,3548,3352
$GC,1002,-1.14,-146.0,135.3,-10.1,169,1009,0.00,2.30,0.00,0.000,6,0.000,0.027,2657,2151,3352
$GC,1347,-1.22,-146.0,166.7,-8.5,230,1355,0.00,2.38,0.00,0.000,4,0.000,0.042,2657,3552,3353
$GC,1413,-1.31,-146.0,172.3,-8.2,241,1420,0.17,2.20,0.00,0.000,6,0.048,0.027,2606,2207,3353
$GC,1757,-1.31,-146.0,204.7,-10.4,302,1764,0.00,2.53,0.00,0.000,4,0.000,0.045,2606,749,3354
$GC,1782,-1.31,-146.0,207.2,-10.4,306,1788,0.00,2.45,0.00,0.000,6,0.000,0.030,2606,2215,3354
$GC,2127,-1.31,-146.0,239.0,-8.7,367,2133,0.00,2.28,0.00,0.000,4,0.000,0.046,2606,3545,3354
$GC,2196,-1.31,-146.0,245.4,-9.5,379,2203,0.00,2.22,0.00,0.000,6,0.000,0.029,2606,2202,3354
$GC,2530,-1.31,-146.0,273.8,-8.6,415,2534,0.00,2.33,0.00,0.000,4,0.000,0.045,2606,3554,3353
$GC,2582,-1.31,-146.0,278.6,-9.3,419,2586,0.00,2.15,0.00,0.000,6,0.000,0.030,2606,2255,3353
$GC,2908,-1.31,-146.0,306.9,-8.2,449,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2253,3352
$GC,3226,-1.31,-146.0,333.6,-8.5,479,3229,0.00,2.25,0.00,0.000,4,0.000,0.048,2606,3554,3351
$GC,3269,-1.31,-146.0,337.8,-9.0,482,3277,0.00,2.17,0.00,0.000,6,0.000,0.031,2606,2264,3350
$GC,3598,-1.31,-146.0,365.5,-8.7,513,3602,0.00,2.67,0.00,0.000,4,0.000,0.051,2606,749,3348
$GC,3627,-1.35,-146.0,368.4,-9.7,515,3631,0.00,2.58,0.00,0.000,6,0.000,0.033,2606,2267,3349
$GC,3953,-1.35,-146.0,397.6,-8.8,545,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2269,3347
$GC,4271,-1.35,-146.0,425.2,-8.6,575,4276,0.00,2.67,0.00,0.000,4,0.000,0.051,2606,752,3345
$GC,4293,-1.39,-146.0,427.5,-8.8,576,4300,0.00,2.55,0.00,0.000,6,0.000,0.034,2606,2248,3345
$GC,4621,-1.39,-146.0,455.9,-8.9,607,4625,0.00,2.25,0.00,0.000,4,0.000,0.050,2606,3544,3343
$GC,4662,-1.39,-146.0,459.8,-9.5,610,4666,0.00,2.20,0.00,0.000,6,0.000,0.033,2606,2239,3342
$GC,4989,-1.42,-146.0,488.3,-8.6,640,4993,0.00,2.62,0.00,0.000,4,0.000,0.053,2606,759,3340
$GC,5022,-1.47,-146.0,491.3,-8.7,642,5029,0.00,2.53,0.00,0.000,6,0.000,0.035,2606,2237,3340
$GC,5343,-1.50,-146.0,517.0,-8.4,663,5347,0.12,2.30,0.00,0.000,4,0.060,0.051,2570,3552,3338
$GC,5398,-1.45,-146.0,523.0,-10.6,665,5405,0.00,2.20,0.00,0.000,6,0.000,0.034,2570,2248,3337
$STATE,5525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5525,begin apogee
$GC,5531,-0.35,0.0,535.9,10.1,672,5652,1.27,0.00,117.85,0.986,6,0.096,0.000,2826,2391,2748
$STATE,5653,end apogee,CONTROL_FINISHED_OK
$STATE,5653,begin climb
$GC,5655,1.56,146.0,541.4,0.0,678,5787,1.90,2.45,118.10,0.957,4,0.054,0.053,3247,3712,2152
$GC,5871,1.31,146.0,529.8,11.2,687,5879,0.32,2.28,0.00,0.000,6,0.126,0.036,3190,2386,2151
$GC,6188,1.21,153.8,502.5,8.7,703,6198,0.00,2.58,5.53,0.994,4,0.000,0.054,3190,966,2121
$GC,6265,1.08,153.8,495.2,9.3,708,6273,0.25,2.42,0.00,0.000,6,0.112,0.037,3145,2359,2120
$GC,6590,1.13,182.7,470.6,7.7,739,6619,0.00,2.55,23.35,0.966,4,0.000,0.054,3144,973,2002
$GC,6687,1.16,201.3,463.1,8.2,747,6711,0.00,2.40,15.07,0.966,6,0.000,0.036,3144,2354,1926
$GC,7029,1.21,230.3,438.5,7.7,779,7057,0.12,2.55,23.10,0.953,4,0.071,0.054,3173,969,1808
$GC,7161,1.21,230.3,425.7,10.2,790,7164,0.00,2.35,0.00,0.000,6,0.000,0.036,3173,2323,1807
$GC,7493,1.21,230.3,394.8,9.1,821,7497,0.00,2.42,0.00,0.000,4,0.000,0.054,3173,970,1806
$GC,7536,1.21,230.3,390.6,9.2,824,7544,0.00,2.30,0.00,0.000,6,0.000,0.037,3173,2280,1805
$GC,7865,1.23,243.3,362.4,8.4,855,7882,0.00,0.00,10.12,0.948,6,0.000,0.000,3173,2281,1756
$GC,8201,1.24,246.1,332.0,8.9,887,8214,0.00,2.40,2.62,0.941,4,0.000,0.054,3173,973,1744
$GC,8252,1.24,246.1,327.0,9.2,891,8260,0.00,2.25,0.00,0.000,6,0.000,0.036,3173,2273,1743
$GC,8580,1.25,253.6,297.9,8.7,922,8589,0.00,0.00,6.28,0.920,6,0.000,0.000,3173,2274,1714
$GC,8907,1.31,286.1,270.3,7.6,953,8937,0.00,0.00,26.75,0.852,6,0.000,0.000,3173,2274,1580
$GC,9261,1.37,290.8,240.1,8.8,996,9270,0.12,0.00,3.42,0.882,6,0.068,0.000,3204,2274,1562
$GC,9607,1.37,290.8,207.1,9.2,1057,9614,0.00,2.33,0.00,0.000,4,0.000,0.053,3205,971,1560
$GC,9654,1.37,290.8,202.5,10.0,1065,9661,0.00,2.22,0.00,0.000,6,0.000,0.035,3205,2266,1560
$GC,9998,1.37,290.8,169.8,9.4,1126,10005,0.00,2.30,0.00,0.000,4,0.000,0.051,3205,971,1560
$GC,10044,1.37,290.8,165.2,9.9,1134,10051,0.00,2.20,0.00,0.000,6,0.000,0.035,3205,2255,1560
$GC,10390,1.49,325.7,138.3,7.5,1195,10424,0.10,2.40,27.58,0.745,4,0.070,0.051,3233,970,1420
$GC,10465,1.54,355.6,132.4,7.7,1207,10497,0.00,2.28,24.45,0.729,6,0.000,0.035,3233,2285,1297
$GC,10837,1.68,393.0,104.3,7.3,1272,10878,0.15,2.62,30.02,0.693,4,0.055,0.050,3278,3724,1144
$GC,10976,1.68,393.0,90.9,10.3,1295,10983,0.00,2.45,0.00,0.000,6,0.000,0.034,3278,2291,1141
$GC,11321,1.78,418.2,62.6,7.9,1356,11348,0.00,2.38,19.75,0.655,4,0.000,0.049,3278,970,1042
$GC,11490,1.89,452.8,49.0,7.5,1385,11525,0.17,2.15,27.88,0.627,6,0.048,0.031,3329,2239,901
$GC,11864,1.89,452.8,12.2,10.4,1450,11871,0.00,2.22,0.00,0.000,4,0.000,0.046,3328,970,898
$STATE,11960,end climb,SURFACE_DEPTH_REACHED
$STATE,11960,begin surface coast
$FINISH,1.2,1.021250
$STATE,11967,end surface coast,CONTROL_FINISHED_OK
$STATE,11967,begin surface
$SM_CCo,11992,11.57,0.597,0,0,811,475.15
$SM_GC,0.75,0.00,0.00,11.57,0.000,0.000,0.597,248,2171,811,-12.22,0.59,475.15
$IRIDIUM_FIX,1243.25,12024.46,270697,070708
$TT8_MAMPS,0.023777
$HUMID,1989
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,451
$24V_AH,23.5,40.909
$10V_AH,10.2,20.745
$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,32.325,118.600,481.875,11.575,0.000,24.286,44.958,145.270,113.750,0.000,0.000,14.146,2934.799,5967.159,662.623,2311.940,467.357,0.000,1836.517,0.000,2283.564,0.000,8.189
$DEVICE_MAMPS,172.575,53.690,994.032,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44087,1468
$CAP_FILE_SIZE,132374,0
$CFSIZE,260165632,239415296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,140.5,1
$GPS,020408,151626,1246.893,12026.591,39,1.1,39,-0.8