version: 66.03
glider: 122
mission: 6
dive: 225
start: 4 2 108 23 37 1
data:
$ID,122
$MISSION,6
$DIVE,225
$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,-31326.289
$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,56
$R_STBD_OVSHOOT,28
$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
$GPS1,233108,1247.007,12030.365,40,1.1,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.2
$GPS2,233627,1247.026,12030.372,12,1.4,12,-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,57.1,23369,-18.6,-9.016
$D_GRID,725
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-59.47,0.000,2,0.000,0.000,249,2119,2441
$GC,86,-1.56,-146.0,3.6,-8.4,10,124,13.48,2.50,-16.60,0.000,4,0.174,0.052,2559,3567,3346
$GC,199,-1.23,-146.0,33.0,-24.6,29,207,0.40,2.33,0.00,0.000,6,0.120,0.028,2632,2169,3347
$GC,545,-1.15,-146.0,87.2,-12.8,90,552,0.10,2.40,0.00,0.000,4,0.121,0.042,2650,3567,3349
$GC,660,-1.15,-146.0,101.0,-12.2,110,667,0.00,2.28,0.00,0.000,6,0.000,0.027,2650,2190,3350
$GC,1004,-1.19,-146.0,137.7,-10.2,171,1011,0.00,2.35,0.00,0.000,4,0.000,0.042,2650,3565,3352
$GC,1041,-1.24,-146.0,141.5,-10.3,177,1048,0.00,2.17,0.00,0.000,6,0.000,0.027,2650,2238,3352
$GC,1386,-1.30,-146.0,171.8,-8.8,238,1393,0.15,2.28,0.00,0.000,4,0.051,0.041,2601,3570,3352
$GC,1452,-1.30,-146.0,178.6,-10.5,249,1459,0.10,2.10,0.00,0.000,6,0.104,0.027,2619,2283,3353
$GC,1797,-1.34,-146.0,206.1,-8.0,310,1804,0.00,2.65,0.00,0.000,4,0.000,0.044,2619,753,3354
$GC,1840,-1.39,-146.0,209.9,-9.0,317,1846,0.00,2.62,0.00,0.000,6,0.000,0.030,2619,2317,3354
$GC,2185,-1.42,-146.0,238.3,-8.5,378,2191,0.12,0.00,0.00,0.000,6,0.054,0.000,2580,2317,3353
$GC,2523,-1.38,-146.0,271.0,-9.7,420,2528,0.12,2.75,0.00,0.000,4,0.105,0.046,2603,747,3352
$GC,2544,-1.38,-146.0,273.2,-9.3,421,2551,0.00,2.62,0.00,0.000,6,0.000,0.032,2603,2300,3352
$GC,2870,-1.38,-146.0,300.7,-8.2,452,2874,0.00,2.15,0.00,0.000,4,0.000,0.048,2603,3557,3351
$GC,2899,-1.38,-146.0,303.4,-8.5,454,2903,0.00,2.10,0.00,0.000,6,0.000,0.030,2603,2281,3351
$GC,3231,-1.38,-146.0,330.3,-9.0,485,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2280,3349
$GC,3547,-1.38,-146.0,358.6,-8.8,515,3551,0.00,2.22,0.00,0.000,4,0.000,0.048,2603,3566,3348
$GC,3586,-1.38,-146.0,362.3,-9.8,518,3590,0.00,2.15,0.00,0.000,6,0.000,0.031,2603,2278,3347
$GC,3913,-1.38,-146.0,390.9,-8.8,548,3917,0.00,2.70,0.00,0.000,4,0.000,0.051,2602,749,3346
$GC,3953,-1.42,-146.0,394.5,-8.8,551,3958,0.00,2.62,0.00,0.000,6,0.000,0.032,2603,2289,3346
$GC,4279,-1.42,-146.0,420.7,-7.9,581,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2289,3344
$GC,4597,-1.42,-146.0,446.7,-8.1,611,4602,0.00,2.70,0.00,0.000,4,0.000,0.050,2603,750,3341
$GC,4626,-1.45,-146.0,449.2,-8.8,613,4630,0.00,2.62,0.00,0.000,6,0.000,0.033,2603,2288,3342
$GC,4953,-1.45,-146.0,474.7,-7.5,643,4957,0.00,2.72,0.00,0.000,4,0.000,0.051,2603,749,3340
$GC,4982,-1.49,-146.0,477.2,-8.2,645,4987,0.10,2.60,0.00,0.000,6,0.063,0.035,2572,2276,3340
$GC,5316,-1.45,-146.0,505.8,-8.6,673,5320,0.00,2.22,0.00,0.000,4,0.000,0.051,2572,3555,3337
$GC,5379,-1.40,-146.0,511.6,-9.3,676,5383,0.15,2.15,0.00,0.000,6,0.107,0.033,2599,2274,3336
$GC,5706,-1.40,-146.0,539.0,-8.3,692,5710,0.00,2.67,0.00,0.000,4,0.000,0.053,2599,754,3335
$GC,5733,-1.43,-146.0,541.6,-9.4,693,5738,0.00,2.62,0.00,0.000,6,0.000,0.035,2599,2287,3335
$GC,6049,-1.43,-146.0,566.7,-7.7,708,6053,0.00,2.22,0.00,0.000,4,0.000,0.054,2599,3562,3333
$GC,6076,-1.43,-146.0,569.2,-8.3,709,6080,0.00,2.17,0.00,0.000,6,0.000,0.033,2599,2265,3332
$GC,6398,-1.43,-146.0,592.0,-7.2,725,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2262,3331
$GC,6707,-1.43,-146.0,614.7,-7.4,740,6711,0.00,2.28,0.00,0.000,4,0.000,0.052,2599,3562,3329
$GC,6747,-1.43,-146.0,617.9,-8.5,742,6751,0.00,2.17,0.00,0.000,6,0.000,0.035,2599,2272,3329
$GC,7075,-1.43,-146.0,644.4,-8.4,758,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2270,3328
$GC,7385,-1.47,-146.0,671.7,-8.8,773,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2270,3327
$GC,7693,-1.47,-146.0,698.1,-8.2,788,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2270,3326
$GC,8002,-1.50,-146.0,723.6,-8.0,803,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2270,3325
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8027,-0.35,0.0,725.2,8.0,804,8151,1.10,0.00,119.68,1.162,6,0.093,0.000,2823,2394,2748
$STATE,8151,end apogee,CONTROL_FINISHED_OK
$STATE,8151,begin climb
$GC,8153,1.56,146.0,729.6,0.0,810,8286,1.92,2.42,122.15,1.125,4,0.054,0.057,3258,3714,2152
$GC,8370,1.26,146.0,714.3,13.4,819,8378,0.43,2.30,0.00,0.000,6,0.134,0.038,3184,2387,2151
$GC,8686,1.15,146.0,683.2,9.4,835,8691,0.15,2.58,0.00,0.000,4,0.124,0.057,3157,961,2150
$GC,8730,1.07,146.0,679.2,9.6,837,8734,0.00,2.45,0.00,0.000,6,0.000,0.039,3157,2362,2149
$GC,9053,1.07,180.9,654.8,7.5,853,9084,0.00,0.00,28.75,1.126,6,0.000,0.000,3158,2362,2010
$GC,9380,1.10,199.0,627.9,8.2,869,9403,0.00,2.60,14.95,1.124,4,0.000,0.058,3157,963,1936
$GC,9459,1.07,199.0,620.6,9.5,872,9463,0.00,2.45,0.00,0.000,6,0.000,0.038,3157,2365,1936
$GC,9774,1.07,199.0,592.1,9.0,887,9779,0.00,2.53,0.00,0.000,4,0.000,0.057,3157,971,1935
$GC,9863,1.03,199.0,583.6,9.6,891,9868,0.15,2.40,0.00,0.000,6,0.117,0.038,3131,2345,1935
$GC,10187,1.12,230.4,558.4,7.6,907,10217,0.00,2.58,25.88,1.085,4,0.000,0.057,3130,965,1808
$GC,10246,1.17,230.4,553.4,9.2,909,10254,0.15,2.40,0.00,0.000,6,0.067,0.038,3165,2331,1807
$GC,10562,1.17,230.4,524.3,9.1,925,10566,0.00,2.47,0.00,0.000,4,0.000,0.057,3165,962,1806
$GC,10606,1.17,230.4,519.9,9.7,927,10610,0.00,2.35,0.00,0.000,6,0.000,0.037,3166,2313,1805
$GC,10926,1.17,230.4,489.7,9.8,947,10930,0.00,2.42,0.00,0.000,4,0.000,0.056,3166,966,1805
$GC,10981,1.17,230.4,484.1,10.3,951,10988,0.00,2.28,0.00,0.000,6,0.000,0.037,3166,2289,1805
$GC,11307,1.19,239.9,455.1,8.6,982,11317,0.00,0.00,7.97,1.060,6,0.000,0.000,3166,2289,1769
$GC,11636,1.21,251.1,427.9,8.5,1013,11651,0.00,2.45,9.52,1.033,4,0.000,0.056,3165,976,1723
$GC,11703,1.21,251.1,421.5,9.2,1019,11707,0.00,2.25,0.00,0.000,6,0.000,0.037,3166,2274,1722
$GC,12035,1.21,251.1,391.4,9.2,1050,12039,0.00,2.35,0.00,0.000,4,0.000,0.056,3166,966,1722
$GC,12063,1.21,251.1,388.7,9.2,1052,12067,0.00,2.25,0.00,0.000,6,0.000,0.037,3165,2266,1721
$GC,12389,1.24,270.1,360.1,8.2,1082,12408,0.00,0.00,15.85,0.967,6,0.000,0.000,3166,2266,1647
$GC,12728,1.28,270.1,329.9,9.0,1114,12732,0.00,2.33,0.00,0.000,4,0.000,0.055,3166,971,1645
$GC,12767,1.28,270.1,326.0,9.3,1117,12771,0.00,2.22,0.00,0.000,6,0.000,0.036,3165,2259,1645
$GC,13095,1.38,305.1,300.3,7.4,1147,13132,0.15,2.67,29.08,0.894,4,0.061,0.054,3208,3727,1503
$GC,13170,1.38,305.1,292.6,10.6,1153,13178,0.00,2.55,0.00,0.000,6,0.000,0.037,3208,2260,1501
$GC,13497,1.38,305.1,260.8,9.9,1184,13501,0.00,2.30,0.00,0.000,4,0.000,0.055,3208,971,1499
$GC,13531,1.35,305.1,257.1,9.9,1186,13538,0.00,2.25,0.00,0.000,6,0.000,0.036,3208,2277,1499
$GC,13869,1.35,305.1,223.0,9.9,1240,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2277,1499
$GC,14213,1.35,305.1,189.7,10.1,1301,14220,0.00,2.33,0.00,0.000,4,0.000,0.053,3208,970,1499
$GC,14254,1.35,305.1,185.8,9.3,1308,14261,0.00,2.22,0.00,0.000,6,0.000,0.035,3208,2265,1499
$GC,14599,1.42,345.6,155.6,7.2,1369,14639,0.00,2.65,32.83,0.769,4,0.000,0.052,3209,3732,1338
$GC,14663,1.49,345.6,150.2,9.1,1379,14670,0.00,2.58,0.00,0.000,6,0.000,0.035,3208,2243,1336
$GC,15008,1.70,397.5,125.0,6.7,1440,15057,0.28,2.38,42.03,0.719,4,0.048,0.052,3280,965,1126
$GC,15132,1.70,397.5,113.2,9.6,1460,15139,0.00,2.15,0.00,0.000,6,0.000,0.033,3280,2217,1124
$GC,15477,1.74,402.6,82.6,8.8,1521,15486,0.00,2.72,3.47,0.735,4,0.000,0.050,3280,3730,1105
$GC,15515,1.80,402.6,79.2,9.6,1527,15522,0.00,2.62,0.00,0.000,6,0.000,0.033,3280,2196,1105
$GC,15861,1.93,442.4,52.0,7.2,1588,15900,0.17,0.00,32.67,0.636,6,0.051,0.000,3331,2194,943
$GC,16237,1.93,442.4,16.9,9.4,1654,16244,0.00,2.67,0.00,0.000,4,0.000,0.044,3332,3734,939
$GC,16278,1.93,442.4,13.0,10.0,1661,16285,0.00,2.67,0.00,0.000,6,0.000,0.031,3332,2152,938
$STATE,16396,end climb,SURFACE_DEPTH_REACHED
$STATE,16396,begin surface coast
$FINISH,-0.1,1.020493
$STATE,16423,end surface coast,CONTROL_FINISHED_OK
$STATE,16424,begin surface
$SM_CCo,16446,16.55,0.591,0,0,810,475.15
$SM_GC,0.70,0.00,0.00,16.55,0.000,0.000,0.591,253,2149,810,-12.19,-0.06,475.15
$IRIDIUM_FIX,1243.25,12026.36,270697,191909
$TT8_MAMPS,0.023777
$HUMID,2028
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.50
$XPDR_PINGS,427
$24V_AH,23.3,41.398
$10V_AH,10.1,20.996
$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,32.850,155.225,484.825,16.550,0.000,24.660,37.650,141.522,112.500,0.000,0.000,12.310,3452.512,9436.563,674.798,2725.954,501.479,0.000,2056.804,0.000,2676.952,0.000,42.636
$DEVICE_MAMPS,174.109,57.525,1162.005,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53402,1686
$CAP_FILE_SIZE,166788,0
$CFSIZE,260165632,239153152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 87.4,1
$GPS,030408,041237,1247.854,12032.273,37,1.6,37,-0.8