version: 66.03
glider: 122
mission: 6
dive: 31
start: 2 21 108 18 2 37
data:
$ID,122
$MISSION,6
$DIVE,31
$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,-28017.125
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,175737,1250.410,12041.431,34,0.8,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.4
$GPS2,180145,1250.474,12041.395,11,2.0,11,-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,80.7,2486,-24.7,-9.016
$D_GRID,1049
$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,-1.78,-65.8,0.0,0.0,0,91,0.00,0.00,-72.03,0.000,2,0.000,0.000,253,2134,2759
$GC,93,-1.78,-65.8,3.9,-9.3,14,115,13.05,2.45,-0.95,0.000,4,0.172,0.056,2510,756,2810
$GC,132,-1.01,-65.8,18.5,-36.3,21,138,0.93,2.35,0.00,0.000,6,0.127,0.028,2682,2163,2810
$GC,475,-1.07,-65.8,73.9,-14.3,82,481,0.00,2.45,0.00,0.000,4,0.000,0.046,2682,757,2812
$GC,520,-1.16,-65.8,80.7,-15.0,90,527,0.15,2.33,0.00,0.000,6,0.052,0.027,2638,2162,2812
$GC,864,-1.26,-65.8,115.2,-9.3,151,870,0.00,2.38,0.00,0.000,4,0.000,0.044,2638,3555,2814
$GC,1039,-1.37,-65.8,134.1,-9.9,182,1045,0.15,2.30,0.00,0.000,6,0.054,0.028,2595,2154,2816
$GC,1383,-1.46,-82.3,163.4,-7.3,243,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2154,2817
$GC,1725,-1.56,-91.1,190.6,-8.1,304,1731,0.15,2.45,0.00,0.000,4,0.051,0.048,2548,750,2817
$GC,1984,-1.53,-92.6,215.9,-8.9,350,1991,0.12,2.33,0.00,0.000,6,0.119,0.029,2569,2151,2816
$GC,2328,-1.58,-97.7,244.9,-8.5,411,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2152,2816
$GC,2656,-1.67,-125.8,267.4,-6.1,448,2658,0.15,0.00,0.00,0.000,6,0.056,0.000,2529,2152,2814
$GC,2975,-1.69,-136.2,292.8,-8.0,478,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2152,2813
$GC,3293,-1.71,-146.0,316.6,-8.0,508,3297,0.00,2.42,0.00,0.000,4,0.000,0.049,2529,3555,2811
$GC,3354,-1.65,-146.0,322.2,-9.5,513,3358,0.00,2.35,0.00,0.000,6,0.000,0.032,2529,2151,2811
$GC,3678,-1.65,-146.0,350.9,-8.0,543,3682,0.00,2.47,0.00,0.000,4,0.000,0.054,2529,750,2810
$GC,3935,-1.62,-146.0,372.5,-8.2,565,3942,0.12,2.38,0.00,0.000,6,0.126,0.032,2549,2155,2808
$GC,4260,-1.62,-146.0,394.9,-7.0,596,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2158,2807
$GC,4579,-1.62,-146.0,418.7,-6.8,626,4583,0.00,2.42,0.00,0.000,4,0.000,0.049,2549,3551,2805
$GC,4628,-1.62,-146.0,422.1,-6.8,630,4633,0.00,2.38,0.00,0.000,6,0.000,0.033,2549,2139,2804
$GC,4953,-1.65,-146.0,441.6,-5.3,660,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2138,2804
$GC,5272,-1.69,-146.0,461.2,-6.6,690,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2138,2802
$GC,5590,-1.72,-146.0,484.4,-6.7,720,5595,0.00,2.47,0.00,0.000,4,0.000,0.051,2549,3548,2801
$GC,5708,-1.72,-146.0,493.0,-7.1,730,5712,0.00,2.35,0.00,0.000,6,0.000,0.035,2549,2152,2800
$STATE,5816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5816,begin apogee
$GC,5820,-0.34,0.0,500.7,7.3,740,5876,1.42,0.00,51.47,0.999,6,0.110,0.000,2829,2393,2539
$STATE,5877,end apogee,CONTROL_FINISHED_OK
$STATE,5877,begin climb
$GC,5878,1.92,146.0,502.4,0.0,743,6000,2.25,0.00,116.65,0.959,6,0.060,0.000,3326,2392,1943
$GC,6317,1.76,146.0,432.9,18.0,782,6319,0.20,0.00,0.00,0.000,6,0.140,0.000,3293,2393,1941
$GC,6637,1.66,146.0,378.7,17.6,812,6638,0.15,0.00,0.00,0.000,6,0.136,0.000,3268,2393,1939
$GC,6955,1.62,146.0,330.4,14.0,842,6959,0.00,2.33,0.00,0.000,4,0.000,0.053,3268,3713,1938
$GC,7010,1.54,146.0,322.3,14.9,846,7017,0.10,2.30,0.00,0.000,6,0.127,0.035,3247,2380,1938
$GC,7334,1.54,146.0,278.0,14.8,877,7338,0.00,2.50,0.00,0.000,4,0.000,0.054,3247,972,1936
$GC,7366,1.54,146.0,273.1,15.1,879,7373,0.00,2.42,0.00,0.000,6,0.000,0.035,3247,2361,1936
$GC,7699,1.54,146.0,228.4,13.2,924,7706,0.00,2.50,0.00,0.000,4,0.000,0.053,3247,961,1935
$GC,7739,1.54,146.0,223.0,14.0,931,7745,0.00,2.42,0.00,0.000,6,0.000,0.035,3247,2379,1935
$GC,8081,1.54,146.0,182.1,11.4,992,8087,0.00,2.50,0.00,0.000,4,0.000,0.051,3247,971,1935
$GC,8217,1.54,146.0,167.0,11.4,1016,8223,0.00,2.40,0.00,0.000,6,0.000,0.035,3247,2376,1935
$GC,8560,1.59,146.0,131.2,10.0,1077,8566,0.00,2.35,0.00,0.000,4,0.000,0.051,3247,3722,1934
$GC,8639,1.60,150.7,124.0,8.5,1091,8646,0.00,2.28,2.17,0.785,6,0.000,0.031,3247,2358,1924
$GC,8983,1.71,177.4,99.1,6.3,1152,9009,0.15,0.00,20.58,0.719,6,0.066,0.000,3288,2355,1814
$GC,9347,1.88,247.4,82.2,1.9,1217,9409,0.12,2.45,53.85,0.660,4,0.065,0.046,3320,3732,1530
$GC,9661,1.88,247.4,53.2,10.7,1274,9667,0.00,2.28,0.00,0.000,6,0.000,0.029,3320,2371,1527
$GC,10004,1.92,247.4,13.0,11.9,1335,10010,0.00,2.33,0.00,0.000,4,0.000,0.043,3320,3725,1527
$STATE,10087,end climb,SURFACE_DEPTH_REACHED
$STATE,10087,begin surface coast
$FINISH,-0.1,1.022009
$STATE,10099,end surface coast,CONTROL_FINISHED_OK
$STATE,10099,begin surface
$SM_CCo,10122,83.12,0.548,0,0,805,425.10
$SM_GC,0.70,0.00,0.00,83.12,0.000,0.000,0.548,251,2146,805,-12.20,-0.11,425.10
$IRIDIUM_FIX,1245.46,12042.28,170597,141456
$TT8_MAMPS,0.023777
$HUMID,1822
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.50
$XPDR_PINGS,549
$ALTIM_BOTTOM_PING,500.7,6.7
$24V_AH,23.5,9.415
$10V_AH,10.2,3.519
$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,32.750,72.425,244.725,83.125,0.000,25.171,17.847,122.973,137.750,0.000,0.000,11.543,2072.271,5595.284,454.648,2083.628,284.048,0.000,1465.175,0.000,2055.953,0.000,5.371
$DEVICE_MAMPS,171.808,55.991,999.401,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40951,1352
$CAP_FILE_SIZE,109672,0
$CFSIZE,260165632,254955520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,205407,1251.399,12042.078,40,1.1,51,-0.8