version: 66.03
glider: 122
mission: 6
dive: 27
start: 2 21 108 3 1 1
data:
$ID,122
$MISSION,6
$DIVE,27
$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,-27965.85
$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,0.029999999
$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,45
$R_STBD_OVSHOOT,33
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$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
$GPS1,025032,1248.853,12035.426,39,1.3,39,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.0
$GPS2,030009,1249.051,12035.459,13,1.3,13,-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,77.7,13519,-23.3,-10.000
$D_GRID,1620
$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,-86.6,0.0,0.0,0,81,0.00,0.00,-61.78,0.000,2,0.000,0.000,253,2132,2536
$GC,83,-1.73,-88.5,3.3,-9.8,12,109,13.18,0.00,-7.10,0.000,6,0.172,0.000,2524,2132,2901
$GC,447,-1.51,-88.5,88.2,-20.0,77,453,0.22,2.42,0.00,0.000,4,0.122,0.040,2568,3554,2904
$GC,548,-1.39,-88.5,105.2,-15.8,95,555,0.17,2.30,0.00,0.000,6,0.119,0.028,2598,2160,2904
$GC,891,-1.39,-88.5,147.4,-10.1,156,897,0.00,2.45,0.00,0.000,4,0.000,0.048,2599,752,2906
$GC,1067,-1.43,-97.4,165.9,-9.2,187,1073,0.00,2.35,0.00,0.000,6,0.000,0.029,2599,2165,2906
$GC,1410,-1.50,-102.3,198.6,-9.6,248,1416,0.00,2.47,0.00,0.000,4,0.000,0.049,2599,753,2906
$GC,1529,-1.59,-118.7,209.2,-8.6,269,1535,0.17,2.33,0.00,0.000,6,0.050,0.029,2551,2151,2907
$GC,1872,-1.59,-122.7,242.8,-9.6,330,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2151,2906
$GC,2205,-1.61,-133.6,274.7,-9.1,368,2209,0.00,2.42,0.00,0.000,4,0.000,0.048,2551,3555,2905
$GC,2305,-1.62,-141.3,284.4,-9.3,376,2311,0.00,2.38,0.00,0.000,6,0.000,0.031,2551,2154,2905
$GC,2630,-1.63,-146.0,312.0,-8.4,407,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2153,2903
$GC,2948,-1.63,-146.0,338.7,-7.9,437,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2153,2901
$GC,3267,-1.63,-146.0,366.4,-8.6,467,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2153,2900
$GC,3587,-1.63,-146.0,391.4,-8.1,497,3591,0.00,2.42,0.00,0.000,4,0.000,0.049,2551,3543,2898
$GC,3652,-1.63,-146.0,397.2,-8.5,502,3659,0.00,2.38,0.00,0.000,6,0.000,0.033,2551,2154,2898
$GC,3978,-1.63,-146.0,420.7,-7.3,533,3982,0.00,2.50,0.00,0.000,4,0.000,0.056,2551,751,2896
$GC,4043,-1.63,-146.0,426.2,-8.3,538,4050,0.00,2.38,0.00,0.000,6,0.000,0.033,2551,2149,2896
$GC,4369,-1.63,-146.0,449.0,-6.4,569,4373,0.00,2.50,0.00,0.000,4,0.000,0.056,2551,747,2895
$GC,4407,-1.63,-146.0,451.9,-7.5,572,4411,0.00,2.40,0.00,0.000,6,0.000,0.034,2551,2154,2894
$GC,4732,-1.63,-146.0,473.6,-7.1,602,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2154,2893
$GC,5050,-1.63,-146.0,497.2,-7.7,632,5054,0.00,2.45,0.00,0.000,4,0.000,0.054,2551,3552,2891
$GC,5104,-1.63,-146.0,501.6,-8.3,635,5111,0.00,2.40,0.00,0.000,6,0.000,0.035,2551,2151,2890
$GC,5419,-1.63,-146.0,523.9,-7.1,651,5424,0.00,2.50,0.00,0.000,4,0.000,0.058,2551,751,2890
$GC,5649,-1.63,-146.0,541.8,-8.4,661,5654,0.00,2.40,0.00,0.000,6,0.000,0.035,2551,2154,2888
$GC,5964,-1.63,-146.0,565.5,-7.3,676,5968,0.00,2.45,0.00,0.000,4,0.000,0.055,2551,3552,2887
$GC,6012,-1.63,-146.0,569.2,-7.7,678,6016,0.00,2.40,0.00,0.000,6,0.000,0.035,2551,2153,2887
$GC,6333,-1.63,-146.0,593.2,-7.7,694,6337,0.00,2.53,0.00,0.000,4,0.000,0.058,2551,743,2885
$GC,6443,-1.63,-146.0,602.2,-7.6,699,6448,0.00,2.45,0.00,0.000,6,0.000,0.036,2551,2151,2886
$GC,6770,-1.63,-146.0,625.2,-7.3,715,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2152,2884
$GC,7080,-1.66,-146.0,646.4,-6.9,730,7084,0.00,2.47,0.00,0.000,4,0.000,0.056,2551,3555,2883
$GC,7147,-1.66,-146.0,651.3,-6.9,733,7151,0.00,2.40,0.00,0.000,6,0.000,0.036,2551,2146,2883
$GC,7468,-1.69,-146.0,672.8,-6.7,749,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2145,2882
$GC,7776,-1.72,-146.0,691.7,-5.9,764,7780,0.00,2.50,0.00,0.000,4,0.000,0.055,2551,3557,2881
$GC,7892,-1.72,-146.0,699.4,-6.8,769,7896,0.00,2.42,0.00,0.000,6,0.000,0.037,2551,2153,2880
$GC,8213,-1.76,-146.0,718.6,-6.1,785,8215,0.15,0.00,0.00,0.000,6,0.060,0.000,2512,2153,2879
$GC,8524,-1.72,-146.0,740.6,-7.3,800,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2153,2878
$GC,8832,-1.68,-146.0,763.3,-7.0,815,8834,0.15,0.00,0.00,0.000,6,0.127,0.000,2537,2153,2877
$GC,9141,-1.68,-146.0,783.6,-6.6,830,9145,0.00,2.47,0.00,0.000,4,0.000,0.056,2537,3551,2877
$GC,9179,-1.68,-146.0,786.4,-7.3,832,9183,0.00,2.40,0.00,0.000,6,0.000,0.038,2537,2147,2877
$GC,9504,-1.68,-146.0,807.5,-6.2,848,9508,0.00,2.50,0.00,0.000,4,0.000,0.057,2538,3554,2875
$GC,9559,-1.68,-146.0,811.2,-6.5,850,9565,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2150,2875
$GC,9874,-1.68,-146.0,829.7,-5.9,866,9879,0.00,2.55,0.00,0.000,4,0.000,0.065,2537,741,2875
$GC,9986,-1.68,-146.0,836.9,-6.2,871,9990,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2149,2874
$GC,10311,-1.68,-146.0,857.0,-6.3,887,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2149,2874
$GC,10621,-1.68,-146.0,875.7,-5.8,902,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2149,2873
$GC,10930,-1.68,-146.0,893.0,-5.9,917,10934,0.00,2.50,0.00,0.000,4,0.000,0.060,2538,3557,2872
$GC,10972,-1.68,-146.0,895.7,-6.5,919,10977,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2153,2872
$GC,11299,-1.68,-146.0,916.3,-6.5,935,11300,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2153,2871
$GC,11608,-1.68,-146.0,937.4,-6.9,950,11613,0.00,2.50,0.00,0.000,4,0.000,0.058,2538,3558,2870
$GC,11652,-1.68,-146.0,940.7,-7.9,952,11656,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2147,2871
$STATE,11894,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11894,begin apogee
$GC,11898,-0.34,0.0,956.7,6.4,964,11977,1.48,0.00,71.05,1.394,6,0.116,0.000,2825,2392,2538
$STATE,11978,end apogee,CONTROL_FINISHED_OK
$STATE,11978,begin climb
$GC,11979,1.83,146.0,957.9,0.0,968,12112,2.22,0.00,127.47,1.344,6,0.058,0.000,3303,2391,1943
$GC,12407,1.64,146.0,887.6,18.9,989,12408,0.22,0.00,0.00,0.000,6,0.137,0.000,3265,2392,1938
$GC,12715,1.53,146.0,834.7,16.6,1004,12720,0.15,2.60,0.00,0.000,4,0.139,0.061,3240,974,1937
$GC,12758,1.46,146.0,827.5,16.4,1006,12763,0.00,2.45,0.00,0.000,6,0.000,0.041,3240,2362,1937
$GC,13085,1.39,146.0,777.4,15.2,1022,13087,0.17,0.00,0.00,0.000,6,0.131,0.000,3210,2363,1937
$GC,13394,1.39,146.0,734.4,13.8,1037,13398,0.00,2.47,0.00,0.000,4,0.000,0.064,3210,3732,1937
$GC,13432,1.32,146.0,729.1,14.0,1039,13437,0.00,2.35,0.00,0.000,6,0.000,0.040,3210,2378,1937
$GC,13759,1.32,146.0,683.9,13.6,1055,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2377,1936
$GC,14067,1.32,146.0,643.1,13.6,1070,14071,0.00,2.58,0.00,0.000,4,0.000,0.063,3210,964,1936
$GC,14099,1.32,146.0,638.6,14.0,1071,14106,0.00,2.50,0.00,0.000,6,0.000,0.039,3210,2378,1936
$GC,14414,1.32,146.0,597.8,13.3,1087,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2378,1936
$GC,14724,1.32,146.0,558.1,12.3,1102,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2378,1936
$GC,15032,1.32,146.0,520.0,12.2,1117,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2378,1936
$GC,15346,1.32,146.0,480.1,12.5,1139,15350,0.00,2.55,0.00,0.000,4,0.000,0.057,3210,962,1936
$GC,15412,1.32,146.0,471.4,12.7,1144,15419,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,2373,1936
$GC,15737,1.32,146.0,431.4,13.4,1175,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2373,1936
$GC,16056,1.32,146.0,391.2,12.2,1205,16060,0.00,2.40,0.00,0.000,4,0.000,0.058,3210,3726,1936
$GC,16100,1.32,146.0,385.0,13.3,1208,16106,0.00,2.33,0.00,0.000,6,0.000,0.035,3209,2375,1936
$GC,16424,1.32,146.0,345.5,12.2,1239,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2374,1936
$GC,16743,1.32,146.0,310.9,10.7,1269,16747,0.00,2.40,0.00,0.000,4,0.000,0.054,3210,3734,1936
$GC,16781,1.32,146.0,306.4,12.5,1272,16785,0.00,2.30,0.00,0.000,6,0.000,0.034,3210,2373,1936
$GC,17104,1.32,146.0,270.5,10.6,1302,17108,0.00,2.47,0.00,0.000,4,0.000,0.054,3210,976,1937
$GC,17147,1.32,146.0,265.5,11.7,1305,17155,0.00,2.42,0.00,0.000,6,0.000,0.035,3210,2378,1937
$GC,17483,1.36,146.0,228.8,10.8,1353,17489,0.00,2.50,0.00,0.000,4,0.000,0.052,3210,967,1938
$GC,17539,1.36,146.0,222.7,10.1,1363,17545,0.00,2.40,0.00,0.000,6,0.000,0.035,3210,2375,1938
$GC,17883,1.39,146.3,186.6,10.0,1424,17889,0.00,2.35,0.00,0.000,4,0.000,0.052,3210,3723,1938
$GC,17956,1.42,160.1,179.2,8.8,1437,17972,0.00,2.28,10.50,0.822,6,0.000,0.032,3210,2364,1885
$GC,18310,1.51,176.9,145.3,8.5,1500,18332,0.10,2.53,13.35,0.794,4,0.075,0.051,3234,982,1816
$GC,18445,1.51,179.2,131.1,9.8,1524,18451,0.00,2.40,0.00,0.000,6,0.000,0.032,3234,2386,1817
$GC,18788,1.65,221.2,101.7,6.4,1585,18831,0.15,2.55,35.10,0.714,4,0.061,0.048,3274,975,1635
$GC,18909,1.65,221.2,88.8,11.8,1607,18915,0.00,2.40,0.00,0.000,6,0.000,0.031,3274,2374,1635
$GC,19252,1.78,265.6,59.3,6.1,1668,19294,0.00,2.40,34.20,0.655,4,0.000,0.048,3274,3722,1455
$GC,19535,1.85,265.6,31.3,10.9,1719,19542,0.15,2.25,0.00,0.000,6,0.064,0.028,3311,2368,1454
$STATE,19798,end climb,SURFACE_DEPTH_REACHED
$STATE,19799,begin surface coast
$FINISH,0.2,1.021603
$STATE,19817,end surface coast,CONTROL_FINISHED_OK
$STATE,19817,begin surface
$SM_CCo,19837,70.90,0.565,0,0,866,410.14
$SM_GC,0.50,0.00,0.00,70.90,0.000,0.000,0.565,253,2137,866,-12.20,-0.37,410.14
$IRIDIUM_FIX,1241.04,12036.22,170597,030342
$TT8_MAMPS,0.023777
$HUMID,1831
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,502
$24V_AH,23.1,8.988
$10V_AH,10.1,3.267
$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,32.225,146.850,291.675,70.900,0.000,82.492,60.708,213.827,137.000,0.000,0.000,13.980,2836.861,13645.993,559.947,2937.229,534.771,0.000,1987.213,0.000,2862.292,0.000,84.335
$DEVICE_MAMPS,171.808,65.195,1393.639,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56676,1769
$CAP_FILE_SIZE,179937,0
$CFSIZE,260165632,255131648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,083401,1249.734,12037.465,38,1.2,38,-0.8