version: 66.03
glider: 122
mission: 6
dive: 22
start: 2 20 108 4 9 49
data:
$ID,122
$MISSION,6
$DIVE,22
$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,330
$T_MISSION,396
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,410
$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,-27889.91
$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,14.76
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,035438,1247.429,12025.676,41,0.9,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.0
$GPS2,040857,1247.427,12025.882,11,1.7,11,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,2000.000
$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,79.5,31059,-23.3,-10.000
$D_GRID,786
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.73,-86.6,0.0,0.0,0,91,0.00,0.00,-71.57,0.000,2,0.000,0.000,251,2132,2814
$GC,93,-1.73,-90.4,3.6,-9.7,14,115,13.12,2.42,-1.73,0.000,4,0.171,0.059,2522,757,2911
$GC,234,-1.55,-90.4,47.8,-27.2,39,240,0.22,2.33,0.00,0.000,6,0.125,0.028,2561,2158,2912
$GC,577,-1.49,-90.4,104.5,-15.5,100,583,0.00,2.38,0.00,0.000,4,0.000,0.044,2561,3551,2913
$GC,640,-1.44,-90.4,113.3,-13.2,111,647,0.15,2.30,0.00,0.000,6,0.116,0.029,2588,2161,2913
$GC,985,-1.44,-90.4,155.9,-11.4,172,991,0.00,2.47,0.00,0.000,4,0.000,0.049,2587,746,2914
$GC,1187,-1.46,-90.4,178.5,-11.3,208,1193,0.00,2.35,0.00,0.000,6,0.000,0.030,2588,2152,2915
$GC,1530,-1.51,-101.8,214.1,-9.0,269,1536,0.00,2.40,0.00,0.000,4,0.000,0.046,2588,3554,2915
$GC,1598,-1.54,-101.8,221.0,-10.2,281,1604,0.00,2.33,0.00,0.000,6,0.000,0.030,2588,2149,2914
$GC,1942,-1.62,-125.7,250.3,-7.9,342,1943,0.17,0.00,0.00,0.000,6,0.052,0.000,2541,2148,2913
$GC,2261,-1.64,-137.2,282.0,-9.0,372,2265,0.00,2.47,0.00,0.000,4,0.000,0.052,2541,743,2912
$GC,2327,-1.62,-143.6,288.6,-9.4,377,2334,0.00,2.38,0.00,0.000,6,0.000,0.032,2541,2154,2912
$GC,2652,-1.63,-146.0,318.6,-9.0,408,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2153,2911
$GC,2971,-1.63,-146.0,347.5,-9.4,438,2975,0.00,2.42,0.00,0.000,4,0.000,0.050,2541,3554,2909
$GC,3021,-1.59,-146.0,352.5,-9.5,442,3025,0.00,2.35,0.00,0.000,6,0.000,0.032,2541,2150,2909
$GC,3345,-1.59,-146.0,382.9,-8.7,472,3349,0.00,2.47,0.00,0.000,4,0.000,0.054,2541,751,2907
$GC,3412,-1.57,-146.0,388.6,-8.2,477,3418,0.10,2.38,0.00,0.000,6,0.132,0.032,2557,2154,2906
$GC,3736,-1.57,-146.0,412.8,-8.0,508,3740,0.00,2.42,0.00,0.000,4,0.000,0.050,2557,3554,2905
$GC,3876,-1.57,-146.0,423.8,-8.1,520,3880,0.00,2.38,0.00,0.000,6,0.000,0.033,2557,2141,2904
$GC,4201,-1.59,-146.0,448.3,-7.2,550,4205,0.00,2.47,0.00,0.000,4,0.000,0.057,2557,752,2902
$GC,4228,-1.59,-146.0,450.5,-8.0,552,4232,0.00,2.38,0.00,0.000,6,0.000,0.035,2558,2151,2902
$GC,4558,-1.62,-146.0,475.8,-7.3,583,4562,0.00,2.45,0.00,0.000,4,0.000,0.053,2557,3554,2900
$GC,4596,-1.62,-146.0,478.7,-7.7,586,4600,0.00,2.38,0.00,0.000,6,0.000,0.034,2557,2147,2900
$GC,4932,-1.65,-146.0,503.9,-7.7,615,4936,0.00,2.47,0.00,0.000,4,0.000,0.053,2557,3551,2898
$GC,4964,-1.65,-146.0,506.9,-8.2,616,4970,0.00,2.40,0.00,0.000,6,0.000,0.034,2557,2152,2899
$GC,5279,-1.68,-146.0,530.8,-7.2,632,5284,0.00,2.53,0.00,0.000,4,0.000,0.059,2557,742,2897
$GC,5358,-1.70,-146.0,537.3,-8.0,635,5365,0.12,2.40,0.00,0.000,6,0.064,0.035,2526,2148,2896
$GC,5673,-1.70,-146.0,562.2,-7.5,651,5677,0.00,2.47,0.00,0.000,4,0.000,0.054,2526,3561,2894
$GC,5806,-1.67,-146.0,573.3,-8.1,657,5810,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2149,2893
$GC,6127,-1.67,-146.0,597.5,-7.2,673,6131,0.00,2.47,0.00,0.000,4,0.000,0.054,2526,3555,2892
$GC,6166,-1.64,-146.0,600.5,-8.0,675,6171,0.10,2.40,0.00,0.000,6,0.132,0.035,2541,2143,2892
$GC,6491,-1.64,-146.0,622.9,-6.9,691,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2142,2891
$GC,6800,-1.64,-146.0,644.5,-7.4,706,6804,0.00,2.50,0.00,0.000,4,0.000,0.054,2541,3560,2890
$GC,6883,-1.64,-146.0,651.3,-7.8,710,6888,0.00,2.40,0.00,0.000,6,0.000,0.036,2541,2152,2890
$GC,7209,-1.64,-146.0,673.2,-6.5,726,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2152,2888
$GC,7518,-1.64,-146.0,693.4,-6.7,741,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2152,2887
$GC,7827,-1.64,-146.0,714.4,-7.1,756,7832,0.00,2.47,0.00,0.000,4,0.000,0.055,2542,3552,2887
$GC,7938,-1.64,-146.0,723.4,-8.4,761,7943,0.00,2.42,0.00,0.000,6,0.000,0.037,2541,2148,2886
$GC,8265,-1.64,-146.0,746.6,-7.0,777,8269,0.00,2.53,0.00,0.000,4,0.000,0.063,2541,748,2885
$GC,8303,-1.64,-146.0,749.3,-7.1,779,8307,0.00,2.40,0.00,0.000,6,0.000,0.036,2541,2154,2884
$GC,8629,-1.64,-146.0,770.9,-6.3,795,8633,0.00,2.47,0.00,0.000,4,0.000,0.057,2542,3560,2884
$GC,8705,-1.64,-146.0,776.2,-6.8,798,8712,0.00,2.42,0.00,0.000,6,0.000,0.038,2542,2152,2884
$STATE,8854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8854,begin apogee
$GC,8858,-0.34,0.0,786.2,6.6,806,8937,1.45,0.00,71.50,1.248,6,0.111,0.000,2826,2414,2538
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8939,1.83,146.0,786.6,0.0,810,9067,2.17,0.00,122.93,1.202,6,0.059,0.000,3303,2413,1943
$GC,9370,1.71,146.0,715.3,18.3,831,9372,0.15,0.00,0.00,0.000,6,0.143,0.000,3279,2413,1939
$GC,9679,1.62,146.0,662.1,17.1,846,9683,0.00,2.33,0.00,0.000,4,0.000,0.060,3280,3713,1938
$GC,9717,1.51,146.0,655.2,18.3,848,9722,0.25,2.28,0.00,0.000,6,0.137,0.038,3236,2396,1938
$GC,10043,1.47,146.0,606.4,14.8,864,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2393,1937
$GC,10352,1.44,146.0,560.9,14.5,879,10356,0.00,2.38,0.00,0.000,4,0.000,0.059,3235,3719,1937
$GC,10394,1.38,146.0,554.4,15.5,881,10399,0.12,2.30,0.00,0.000,6,0.130,0.037,3211,2397,1937
$GC,10721,1.38,146.0,512.7,12.2,897,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2396,1936
$GC,11036,1.38,146.0,474.4,12.4,921,11040,0.00,2.53,0.00,0.000,4,0.000,0.058,3211,990,1936
$GC,11090,1.38,146.0,467.6,11.9,925,11097,0.00,2.45,0.00,0.000,6,0.000,0.038,3211,2391,1935
$GC,11415,1.38,146.0,429.9,12.2,956,11419,0.00,2.38,0.00,0.000,4,0.000,0.058,3211,3726,1935
$GC,11476,1.38,146.0,422.0,13.3,961,11481,0.00,2.30,0.00,0.000,6,0.000,0.035,3211,2392,1935
$GC,11805,1.38,146.0,384.2,11.4,992,11810,0.00,2.50,0.00,0.000,4,0.000,0.056,3211,990,1935
$GC,11837,1.38,146.0,380.3,12.4,994,11845,0.00,2.47,0.00,0.000,6,0.000,0.038,3211,2405,1935
$GC,12163,1.38,146.0,342.8,11.6,1025,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2405,1935
$GC,12482,1.38,146.0,306.3,11.4,1055,12486,0.00,2.50,0.00,0.000,4,0.000,0.054,3211,998,1935
$GC,12547,1.38,146.0,297.5,13.4,1060,12554,0.00,2.42,0.00,0.000,6,0.000,0.035,3211,2402,1935
$GC,12872,1.38,146.0,258.8,11.7,1091,12876,0.00,2.50,0.00,0.000,4,0.000,0.053,3211,993,1935
$GC,12937,1.38,146.0,251.3,10.9,1096,12944,0.00,2.42,0.00,0.000,6,0.000,0.035,3211,2396,1935
$GC,13279,1.38,146.0,214.7,10.1,1156,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2396,1936
$GC,13621,1.42,146.0,179.4,11.0,1217,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2396,1936
$GC,13963,1.47,155.8,147.9,9.1,1278,13975,0.00,2.55,6.72,0.796,4,0.000,0.051,3211,997,1903
$GC,14004,1.51,160.8,144.1,9.6,1285,14015,0.10,2.40,4.18,0.818,6,0.077,0.033,3234,2405,1883
$GC,14353,1.62,211.7,113.3,5.6,1347,14400,0.10,2.58,39.70,0.718,4,0.079,0.050,3258,989,1675
$GC,14451,1.62,211.7,104.3,10.6,1365,14457,0.00,2.42,0.00,0.000,6,0.000,0.033,3258,2404,1674
$GC,14794,1.64,211.7,65.7,10.2,1426,14800,0.00,2.30,0.00,0.000,4,0.000,0.050,3258,3725,1674
$GC,15053,1.75,243.7,44.8,7.2,1472,15085,0.12,2.22,24.90,0.649,6,0.065,0.029,3290,2382,1544
$GC,15423,1.83,267.1,12.6,8.0,1538,15450,0.00,2.42,17.58,0.612,4,0.000,0.044,3290,3732,1449
$STATE,15532,end climb,SURFACE_DEPTH_REACHED
$STATE,15532,begin surface coast
$FINISH,-0.1,1.021819
$STATE,15556,end surface coast,CONTROL_FINISHED_OK
$STATE,15556,begin surface
$SM_CCo,15578,66.65,0.558,0,0,866,410.14
$SM_GC,0.78,0.00,0.00,66.65,0.000,0.000,0.558,249,2149,866,-12.22,-0.06,410.14
$IRIDIUM_FIX,1238.83,12029.39,160597,040456
$TT8_MAMPS,0.023777
$HUMID,1833
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.30
$XPDR_PINGS,468
$ALTIM_BOTTOM_PING,120.6,13.1
$24V_AH,23.3,8.315
$10V_AH,10.1,2.868
$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,31.875,140.900,287.500,66.650,0.000,133.387,165.583,223.293,119.000,0.000,0.000,11.744,2487.417,10263.936,521.469,2576.101,687.511,0.000,1805.693,0.000,2538.186,0.000,15.907
$DEVICE_MAMPS,171.041,62.894,1247.909,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47236,1562
$CAP_FILE_SIZE,156581,0
$CFSIZE,260165632,255533056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,083138,1247.473,12027.754,30,1.2,30,-0.8