version: 66.03
glider: 122
mission: 6
dive: 29
start: 2 21 108 11 46 31
data:
$ID,122
$MISSION,6
$DIVE,29
$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,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,425
$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,-27992.072
$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,44
$R_STBD_OVSHOOT,34
$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,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
$GPS1,113926,1249.806,12038.732,41,1.1,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,114539,1249.884,12038.723,12,1.9,12,-0.8
$SPEED_LIMITS,0.156,0.166
$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,78.9,7431,-22.8,-9.016
$D_GRID,1395
$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,16,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.53,0.000,2,0.000,0.000,250,2135,2606
$GC,88,-1.69,-87.6,3.4,-8.0,13,115,13.20,2.47,-5.50,0.000,4,0.172,0.054,2530,3551,2899
$GC,212,-1.36,-87.6,39.8,-26.5,35,219,0.40,2.30,0.00,0.000,6,0.117,0.028,2603,2164,2900
$GC,556,-1.29,-87.6,101.8,-13.4,96,562,0.00,2.38,0.00,0.000,4,0.000,0.042,2604,3557,2901
$GC,707,-1.29,-87.6,122.0,-12.0,123,713,0.00,2.33,0.00,0.000,6,0.000,0.028,2604,2144,2903
$GC,1050,-1.29,-87.6,158.6,-9.4,184,1056,0.00,2.42,0.00,0.000,4,0.000,0.048,2604,750,2904
$GC,1231,-1.33,-90.6,176.2,-8.7,216,1237,0.00,2.35,0.00,0.000,6,0.000,0.028,2604,2170,2904
$GC,1574,-1.38,-94.4,206.9,-8.7,277,1580,0.00,2.47,0.00,0.000,4,0.000,0.049,2604,750,2904
$GC,1642,-1.46,-109.6,212.5,-7.6,289,1648,0.00,2.33,0.00,0.000,6,0.000,0.029,2604,2149,2904
$GC,1986,-1.55,-122.9,239.8,-7.8,350,1991,0.15,0.00,0.00,0.000,6,0.055,0.000,2558,2149,2903
$GC,2315,-1.55,-124.6,269.6,-8.9,390,2319,0.00,2.45,0.00,0.000,4,0.000,0.051,2557,753,2903
$GC,2392,-1.55,-124.6,276.9,-9.3,396,2399,0.00,2.35,0.00,0.000,6,0.000,0.031,2558,2154,2902
$GC,2716,-1.55,-124.6,304.4,-9.0,427,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2155,2901
$GC,3035,-1.57,-134.0,331.7,-8.2,457,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2154,2899
$GC,3355,-1.59,-146.0,358.0,-7.9,487,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2154,2898
$GC,3673,-1.59,-146.0,382.9,-8.2,517,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2155,2896
$GC,3992,-1.59,-146.0,407.1,-7.3,547,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2154,2895
$GC,4311,-1.59,-146.0,429.9,-6.9,577,4315,0.00,2.42,0.00,0.000,4,0.000,0.051,2557,3549,2893
$GC,4376,-1.59,-146.0,435.1,-8.1,582,4383,0.00,2.38,0.00,0.000,6,0.000,0.034,2558,2154,2892
$GC,4701,-1.59,-146.0,457.9,-7.0,613,4705,0.00,2.45,0.00,0.000,4,0.000,0.050,2558,3555,2890
$GC,4789,-1.59,-146.0,464.7,-7.1,620,4796,0.00,2.40,0.00,0.000,6,0.000,0.034,2558,2153,2890
$GC,5115,-1.59,-146.0,486.9,-6.9,651,5119,0.00,2.50,0.00,0.000,4,0.000,0.057,2557,752,2889
$GC,5203,-1.59,-146.0,494.0,-8.6,658,5209,0.00,2.40,0.00,0.000,6,0.000,0.034,2557,2142,2888
$GC,5521,-1.59,-146.0,516.7,-7.3,678,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2143,2887
$STATE,5584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5584,begin apogee
$GC,5588,-0.34,0.0,521.4,7.5,681,5664,1.35,0.00,68.75,1.013,6,0.105,0.000,2826,2388,2538
$STATE,5664,end apogee,CONTROL_FINISHED_OK
$STATE,5664,begin climb
$GC,5666,1.79,146.0,523.3,0.0,685,5788,2.12,0.00,116.88,0.976,6,0.059,0.000,3297,2388,1944
$GC,6102,1.63,146.0,456.4,17.1,717,6107,0.17,2.55,0.00,0.000,4,0.130,0.054,3265,971,1940
$GC,6152,1.52,146.0,448.3,16.2,721,6157,0.15,2.42,0.00,0.000,6,0.133,0.038,3240,2367,1939
$GC,6476,1.46,146.0,402.7,13.7,751,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2367,1938
$GC,6794,1.41,146.0,358.1,14.5,781,6799,0.15,2.50,0.00,0.000,4,0.127,0.054,3210,972,1937
$GC,6837,1.41,146.0,352.0,13.6,784,6844,0.00,2.45,0.00,0.000,6,0.000,0.037,3210,2374,1937
$GC,7162,1.41,146.0,311.4,12.5,815,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2375,1936
$GC,7480,1.41,146.0,272.5,11.8,845,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2375,1935
$GC,7805,1.41,146.0,237.2,9.9,886,7811,0.00,2.50,0.00,0.000,4,0.000,0.053,3210,967,1934
$GC,7867,1.41,146.0,230.2,11.4,897,7873,0.00,2.42,0.00,0.000,6,0.000,0.035,3210,2387,1934
$GC,8210,1.41,146.0,193.0,11.6,958,8216,0.00,2.53,0.00,0.000,4,0.000,0.051,3210,966,1933
$GC,8350,1.41,146.0,177.9,11.1,983,8356,0.00,2.42,0.00,0.000,6,0.000,0.035,3211,2383,1933
$GC,8693,1.46,152.1,144.8,8.5,1044,8705,0.00,2.55,3.28,0.802,4,0.000,0.051,3210,976,1918
$GC,8823,1.51,156.1,133.4,8.7,1067,8835,0.12,2.40,3.30,0.812,6,0.070,0.032,3240,2385,1901
$GC,9172,1.53,165.4,106.1,8.2,1129,9183,0.00,0.00,7.15,0.759,6,0.000,0.000,3240,2386,1864
$GC,9520,1.64,212.2,86.3,4.8,1191,9563,0.10,2.38,36.05,0.677,4,0.076,0.048,3266,3723,1673
$GC,9816,1.71,232.4,67.1,7.2,1244,9838,0.00,2.25,15.50,0.664,6,0.000,0.028,3266,2364,1591
$GC,10175,1.80,237.5,40.7,8.6,1308,10187,0.15,2.40,3.85,0.651,4,0.061,0.044,3309,3723,1570
$GC,10360,1.80,237.5,19.7,11.9,1341,10367,0.00,2.22,0.00,0.000,6,0.000,0.028,3309,2377,1570
$STATE,10528,end climb,SURFACE_DEPTH_REACHED
$STATE,10528,begin surface coast
$FINISH,-0.0,1.021951
$STATE,10546,end surface coast,CONTROL_FINISHED_OK
$STATE,10546,begin surface
$SM_CCo,10566,88.47,0.545,0,0,805,425.10
$SM_GC,0.74,0.00,0.00,88.47,0.000,0.000,0.545,253,2126,805,-12.20,-0.68,425.10
$IRIDIUM_FIX,1245.46,12037.35,170597,111131
$TT8_MAMPS,0.023777
$HUMID,1779
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,536
$ALTIM_BOTTOM_PING,521.4,6.8
$24V_AH,23.5,9.205
$10V_AH,10.2,3.394
$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,31.650,73.175,254.750,88.475,0.000,56.640,55.211,118.674,135.000,0.000,0.000,12.278,2108.976,6028.728,479.267,2104.345,344.075,0.000,1497.472,0.000,2070.049,0.000,9.000
$DEVICE_MAMPS,171.808,56.758,1013.207,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,917.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40974,1374
$CAP_FILE_SIZE,111609,0
$CFSIZE,260165632,255066112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,144508,1249.729,12040.256,28,1.2,28,-0.8