version: 66.03
glider: 122
mission: 6
dive: 223
start: 4 2 108 15 25 19
data:
$ID,122
$MISSION,6
$DIVE,223
$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,-31297.529
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,151626,1246.893,12026.591,39,1.1,39,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.1
$GPS2,152445,1246.856,12026.552,12,1.1,12,-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,70.2,30107,-18.6,-9.016
$D_GRID,634
$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,22,-1.56,-146.0,0.0,0.0,0,80,0.00,0.00,-56.70,0.000,2,0.000,0.000,248,2171,2362
$GC,83,-1.56,-146.0,3.2,-7.5,9,123,13.43,2.55,-18.83,0.000,4,0.173,0.053,2558,743,3347
$GC,221,-1.26,-146.0,34.5,-22.3,32,228,0.35,2.35,0.00,0.000,6,0.108,0.028,2625,2152,3348
$GC,566,-1.16,-146.0,93.6,-13.7,93,574,0.15,2.40,0.00,0.000,4,0.100,0.043,2657,3555,3350
$GC,586,-1.09,-146.0,96.2,-13.5,96,593,0.00,2.40,0.00,0.000,6,0.000,0.027,2657,2103,3350
$GC,932,-1.13,-146.0,132.9,-10.5,157,939,0.00,2.47,0.00,0.000,4,0.000,0.042,2657,3550,3352
$GC,1025,-1.18,-146.0,141.7,-9.1,173,1032,0.00,2.33,0.00,0.000,6,0.000,0.027,2657,2142,3352
$GC,1370,-1.29,-146.0,170.3,-8.7,234,1378,0.15,2.42,0.00,0.000,4,0.051,0.041,2607,3557,3353
$GC,1508,-1.29,-146.0,184.8,-10.1,258,1515,0.00,2.28,0.00,0.000,6,0.000,0.028,2607,2175,3353
$GC,1853,-1.29,-146.0,215.3,-8.3,319,1860,0.00,2.35,0.00,0.000,4,0.000,0.043,2607,3549,3353
$GC,1900,-1.29,-146.0,219.3,-8.7,327,1907,0.00,2.28,0.00,0.000,6,0.000,0.028,2607,2174,3353
$GC,2245,-1.29,-146.0,250.3,-8.8,388,2249,0.00,2.35,0.00,0.000,4,0.000,0.044,2607,3553,3352
$GC,2306,-1.29,-146.0,256.0,-9.6,393,2313,0.00,2.22,0.00,0.000,6,0.000,0.029,2607,2205,3352
$GC,2634,-1.29,-146.0,283.3,-8.5,424,2638,0.00,2.33,0.00,0.000,4,0.000,0.044,2607,3558,3351
$GC,2688,-1.29,-146.0,288.9,-9.4,428,2696,0.00,2.20,0.00,0.000,6,0.000,0.030,2607,2246,3351
$GC,3017,-1.29,-146.0,316.4,-8.2,459,3021,0.00,2.25,0.00,0.000,4,0.000,0.046,2607,3549,3350
$GC,3061,-1.29,-146.0,320.8,-8.9,462,3068,0.00,2.12,0.00,0.000,6,0.000,0.031,2607,2266,3350
$GC,3388,-1.29,-146.0,347.9,-8.5,493,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2264,3347
$GC,3704,-1.29,-146.0,375.2,-8.2,523,3708,0.00,2.67,0.00,0.000,4,0.000,0.051,2606,751,3346
$GC,3744,-1.33,-146.0,378.5,-8.4,526,3749,0.00,2.62,0.00,0.000,6,0.000,0.034,2607,2292,3346
$GC,4070,-1.33,-146.0,406.6,-9.0,556,4074,0.00,2.17,0.00,0.000,4,0.000,0.049,2607,3548,3344
$GC,4109,-1.33,-146.0,410.6,-9.8,559,4113,0.00,2.12,0.00,0.000,6,0.000,0.032,2607,2280,3344
$GC,4436,-1.33,-146.0,440.2,-9.3,589,4440,0.00,2.70,0.00,0.000,4,0.000,0.051,2607,753,3341
$GC,4490,-1.38,-146.0,445.7,-9.2,593,4498,0.00,2.58,0.00,0.000,6,0.000,0.033,2607,2264,3341
$GC,4817,-1.38,-146.0,474.8,-8.6,624,4821,0.00,2.22,0.00,0.000,4,0.000,0.050,2607,3546,3339
$GC,4858,-1.41,-146.0,478.6,-8.9,627,4862,0.00,2.15,0.00,0.000,6,0.000,0.033,2607,2269,3339
$GC,5185,-1.44,-146.0,503.4,-7.2,655,5190,0.00,2.70,0.00,0.000,4,0.000,0.053,2607,749,3337
$GC,5218,-1.49,-146.0,506.4,-7.9,656,5226,0.12,2.60,0.00,0.000,6,0.058,0.035,2570,2270,3337
$GC,5536,-1.45,-146.0,535.9,-9.3,672,5540,0.00,2.25,0.00,0.000,4,0.000,0.052,2570,3555,3334
$GC,5568,-1.40,-146.0,539.4,-9.8,673,5576,0.15,2.17,0.00,0.000,6,0.106,0.033,2597,2263,3335
$GC,5886,-1.40,-146.0,566.2,-8.7,689,5890,0.00,2.67,0.00,0.000,4,0.000,0.054,2597,758,3333
$GC,5926,-1.44,-146.0,569.9,-9.3,691,5933,0.00,2.55,0.00,0.000,6,0.000,0.035,2597,2246,3332
$GC,6261,-1.44,-146.0,598.0,-8.9,707,6265,0.00,2.28,0.00,0.000,4,0.000,0.054,2597,3545,3331
$GC,6310,-1.44,-146.0,602.9,-9.4,709,6314,0.00,2.20,0.00,0.000,6,0.000,0.035,2597,2261,3330
$GC,6634,-1.44,-146.0,631.4,-8.8,725,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2258,3328
$STATE,6671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6671,begin apogee
$GC,6676,-0.35,0.0,634.9,8.8,727,6798,1.12,0.00,118.25,1.076,6,0.093,0.000,2826,2387,2748
$STATE,6799,end apogee,CONTROL_FINISHED_OK
$STATE,6799,begin climb
$GC,6802,1.56,146.0,640.3,0.0,733,6934,1.90,2.45,119.72,1.042,4,0.052,0.055,3248,3707,2152
$GC,6995,1.28,146.0,631.3,11.2,741,7003,0.35,2.30,0.00,0.000,6,0.126,0.038,3187,2379,2151
$GC,7311,1.17,146.0,603.0,9.0,757,7313,0.15,0.00,0.00,0.000,6,0.127,0.000,3161,2378,2150
$GC,7621,1.12,151.4,576.2,8.8,772,7630,0.00,2.58,3.92,1.070,4,0.000,0.056,3161,969,2129
$GC,7773,1.08,168.8,563.1,8.2,778,7794,0.12,2.35,14.75,1.061,6,0.123,0.038,3140,2327,2058
$GC,8111,1.15,209.3,537.4,7.2,795,8149,0.00,2.53,32.83,1.030,4,0.000,0.056,3140,963,1894
$GC,8205,1.15,209.5,529.8,9.0,798,8209,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,2325,1892
$GC,8526,1.18,229.6,503.1,8.1,814,8549,0.00,2.50,16.42,1.032,4,0.000,0.055,3140,969,1810
$GC,8577,1.21,229.6,498.5,9.2,816,8584,0.12,2.35,0.00,0.000,6,0.064,0.037,3173,2313,1809
$GC,8905,1.21,229.6,466.6,9.9,847,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2312,1808
$GC,9229,1.21,229.6,435.4,9.3,878,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2312,1808
$GC,9548,1.21,229.6,406.7,9.2,908,9553,0.00,2.42,0.00,0.000,4,0.000,0.055,3173,963,1807
$GC,9622,1.21,229.6,399.9,9.2,914,9626,0.00,2.28,0.00,0.000,6,0.000,0.036,3173,2285,1807
$GC,9949,1.23,241.8,372.3,8.5,944,9960,0.00,0.00,9.40,0.983,6,0.000,0.000,3173,2285,1762
$GC,10276,1.27,261.8,345.1,8.1,975,10301,0.00,2.40,16.77,0.939,4,0.000,0.054,3173,968,1679
$GC,10340,1.27,266.5,339.5,8.8,980,10349,0.00,2.25,3.85,0.956,6,0.000,0.037,3173,2266,1661
$GC,10665,1.32,292.6,313.1,7.8,1011,10692,0.00,2.65,21.98,0.898,4,0.000,0.054,3173,3721,1554
$GC,10714,1.32,292.6,308.7,9.4,1015,10722,0.00,2.58,0.00,0.000,6,0.000,0.037,3173,2242,1553
$GC,11044,1.39,297.8,280.4,8.8,1046,11052,0.15,0.00,3.85,0.916,6,0.058,0.000,3214,2241,1533
$GC,11370,1.39,297.8,246.3,11.0,1080,11377,0.00,2.62,0.00,0.000,4,0.000,0.051,3214,3726,1533
$GC,11417,1.35,297.8,241.0,11.7,1088,11424,0.00,2.58,0.00,0.000,6,0.000,0.037,3214,2230,1533
$GC,11762,1.35,297.8,205.6,10.5,1149,11769,0.00,2.65,0.00,0.000,4,0.000,0.051,3213,3730,1533
$GC,11803,1.35,297.8,201.3,11.0,1156,11810,0.00,2.53,0.00,0.000,6,0.000,0.036,3214,2256,1533
$GC,12147,1.35,297.8,168.1,9.8,1217,12154,0.00,2.28,0.00,0.000,4,0.000,0.054,3214,970,1532
$GC,12194,1.35,297.8,163.5,9.7,1225,12201,0.00,2.25,0.00,0.000,6,0.000,0.035,3214,2282,1532
$GC,12540,1.47,342.4,134.9,7.0,1286,12586,0.00,2.42,36.30,0.738,4,0.000,0.052,3214,973,1349
$GC,12722,1.60,364.1,120.9,8.0,1317,12750,0.17,2.20,17.48,0.733,6,0.056,0.034,3258,2255,1262
$GC,13090,1.64,390.6,90.4,7.8,1381,13117,0.00,2.40,20.90,0.693,4,0.000,0.050,3259,961,1155
$GC,13203,1.72,409.7,81.1,8.2,1400,13223,0.00,2.10,15.68,0.683,6,0.000,0.032,3259,2192,1076
$GC,13562,1.89,449.4,52.4,7.2,1463,13596,0.22,0.00,31.80,0.630,6,0.048,0.000,3322,2193,915
$GC,13936,1.93,451.7,17.1,8.9,1528,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2193,912
$STATE,14104,end climb,SURFACE_DEPTH_REACHED
$STATE,14104,begin surface coast
$FINISH,-0.1,1.021485
$STATE,14128,end surface coast,CONTROL_FINISHED_OK
$STATE,14129,begin surface
$SM_CCo,14151,12.98,0.596,0,0,810,475.15
$SM_GC,0.48,0.00,0.00,12.98,0.000,0.000,0.596,251,2123,810,-12.21,-0.76,475.15
$IRIDIUM_FIX,1243.25,12026.36,270697,151551
$TT8_MAMPS,0.023777
$HUMID,2037
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,468
$24V_AH,23.4,41.072
$10V_AH,10.2,20.827
$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,32.200,134.250,483.900,12.975,0.000,48.700,75.879,199.444,120.500,0.000,0.000,12.712,3179.402,7698.330,662.370,2519.858,616.777,0.000,1944.787,0.000,2487.503,0.000,26.339
$DEVICE_MAMPS,172.575,80.535,1076.101,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47158,1562
$CAP_FILE_SIZE,151574,0
$CFSIZE,260165632,239321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 74.8,1
$GPS,020408,192238,1247.156,12028.160,37,1.0,37,-0.8