version: 66.03
glider: 122
mission: 6
dive: 45
start: 2 24 108 10 28 45
data:
$ID,122
$MISSION,6
$DIVE,45
$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,0.0020000001
$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,-28231.68
$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,48
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,6
$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
$GPS1,102326,1245.423,12020.645,41,1.7,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.0
$GPS2,102751,1245.386,12020.660,14,1.6,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,263.1,9331,-22.8,-9.016
$D_GRID,795
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.67,-76.7,0.0,0.0,0,81,0.00,0.00,-60.95,0.000,2,0.000,0.000,250,2120,2444
$GC,83,-1.71,-99.5,3.0,-7.0,9,115,13.02,2.38,-9.93,0.000,4,0.167,0.057,2527,765,2948
$GC,132,-1.15,-99.5,16.8,-26.2,17,140,0.68,2.33,0.00,0.000,6,0.130,0.028,2650,2154,2949
$GC,478,-1.15,-99.5,79.1,-13.3,78,485,0.00,2.40,0.00,0.000,4,0.000,0.044,2650,3556,2950
$GC,665,-1.20,-99.5,105.1,-13.1,111,672,0.00,2.38,0.00,0.000,6,0.000,0.028,2650,2126,2951
$GC,1010,-1.29,-99.5,146.9,-9.8,172,1017,0.12,2.45,0.00,0.000,4,0.058,0.041,2613,3557,2953
$GC,1045,-1.29,-99.5,151.1,-12.1,178,1052,0.00,2.38,0.00,0.000,6,0.000,0.028,2613,2126,2953
$GC,1390,-1.35,-99.5,188.6,-10.6,239,1397,0.00,2.45,0.00,0.000,4,0.000,0.044,2613,3556,2954
$GC,1437,-1.42,-99.5,193.7,-9.9,247,1444,0.00,2.35,0.00,0.000,6,0.000,0.029,2613,2141,2954
$GC,1782,-1.52,-110.4,222.4,-8.0,308,1790,0.15,2.42,0.00,0.000,4,0.052,0.043,2565,3554,2954
$GC,1897,-1.52,-110.4,235.4,-11.1,328,1903,0.00,2.30,0.00,0.000,6,0.000,0.030,2565,2173,2954
$GC,2235,-1.52,-110.4,269.7,-10.5,372,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2171,2953
$GC,2554,-1.52,-110.4,302.8,-9.5,402,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2170,2953
$GC,2873,-1.52,-113.1,331.0,-8.8,432,2877,0.00,2.53,0.00,0.000,4,0.000,0.052,2564,740,2951
$GC,2936,-1.52,-113.1,336.7,-9.8,437,2940,0.00,2.47,0.00,0.000,6,0.000,0.031,2565,2205,2951
$GC,3260,-1.54,-120.7,365.8,-8.3,467,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2206,2950
$GC,3578,-1.54,-121.1,393.8,-9.0,497,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2206,2949
$GC,3897,-1.54,-121.1,423.7,-10.0,527,3901,0.00,2.35,0.00,0.000,4,0.000,0.050,2565,3557,2946
$GC,3940,-1.54,-121.1,428.0,-9.6,530,3947,0.00,2.30,0.00,0.000,6,0.000,0.032,2565,2208,2946
$GC,4266,-1.54,-125.2,457.1,-8.6,561,4270,0.00,2.60,0.00,0.000,4,0.000,0.054,2564,746,2944
$GC,4376,-1.54,-125.2,467.2,-9.5,570,4384,0.00,2.50,0.00,0.000,6,0.000,0.034,2565,2191,2943
$GC,4702,-1.61,-143.9,492.1,-7.3,601,4706,0.00,2.58,0.00,0.000,4,0.000,0.054,2564,741,2941
$GC,4752,-1.61,-146.0,496.0,-7.8,605,4756,0.00,2.45,0.00,0.000,6,0.000,0.034,2565,2176,2941
$GC,5080,-1.65,-146.0,519.6,-7.1,623,5085,0.00,2.53,0.00,0.000,4,0.000,0.054,2565,751,2940
$GC,5117,-1.65,-146.0,522.6,-7.2,624,5125,0.00,2.40,0.00,0.000,6,0.000,0.035,2565,2143,2940
$GC,5434,-1.68,-146.0,546.9,-7.6,640,5439,0.12,2.47,0.00,0.000,4,0.062,0.051,2533,3560,2938
$GC,5505,-1.62,-146.0,553.6,-9.5,643,5509,0.00,2.38,0.00,0.000,6,0.000,0.034,2533,2157,2937
$GC,5828,-1.62,-146.0,580.8,-8.5,659,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2156,2936
$GC,6136,-1.62,-146.0,603.6,-7.2,674,6140,0.00,2.50,0.00,0.000,4,0.000,0.057,2533,751,2934
$GC,6201,-1.58,-146.0,608.9,-7.9,677,6206,0.15,2.40,0.00,0.000,6,0.122,0.035,2558,2158,2934
$GC,6529,-1.61,-146.0,628.4,-6.0,693,6533,0.00,2.42,0.00,0.000,4,0.000,0.054,2559,3551,2933
$GC,6573,-1.61,-146.0,631.7,-7.4,695,6578,0.00,2.35,0.00,0.000,6,0.000,0.035,2559,2165,2932
$GC,6901,-1.65,-146.0,654.5,-7.1,711,6905,0.00,2.53,0.00,0.000,4,0.000,0.058,2558,749,2931
$GC,7039,-1.65,-146.0,664.6,-7.3,717,7044,0.00,2.40,0.00,0.000,6,0.000,0.035,2559,2136,2930
$STATE,7135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7135,begin apogee
$GC,7139,-0.34,0.0,670.6,6.2,722,7223,1.35,0.00,79.57,1.141,6,0.110,0.000,2825,2393,2539
$STATE,7223,end apogee,CONTROL_FINISHED_OK
$STATE,7223,begin climb
$GC,7225,1.79,146.0,671.8,0.0,726,7356,2.20,0.00,120.82,1.096,6,0.059,0.000,3296,2393,1942
$GC,7663,1.62,146.0,601.2,18.6,748,7668,0.17,2.58,0.00,0.000,4,0.132,0.056,3263,972,1939
$GC,7690,1.49,146.0,596.1,18.6,749,7695,0.17,2.42,0.00,0.000,6,0.131,0.038,3234,2362,1938
$GC,8011,1.44,146.0,548.2,14.5,765,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2362,1938
$GC,8320,1.39,146.0,505.3,13.3,780,8322,0.15,0.00,0.00,0.000,6,0.127,0.000,3208,2362,1937
$GC,8636,1.39,146.0,464.8,14.2,807,8640,0.00,2.50,0.00,0.000,4,0.000,0.054,3208,968,1936
$GC,8675,1.39,146.0,459.2,14.8,810,8680,0.00,2.45,0.00,0.000,6,0.000,0.038,3208,2378,1936
$GC,9000,1.39,146.0,416.5,12.8,840,9004,0.00,2.53,0.00,0.000,4,0.000,0.053,3208,969,1935
$GC,9038,1.39,146.0,411.4,13.7,843,9042,0.00,2.40,0.00,0.000,6,0.000,0.037,3208,2353,1935
$GC,9363,1.39,146.0,373.6,11.0,873,9367,0.00,2.42,0.00,0.000,4,0.000,0.055,3208,3723,1935
$GC,9424,1.39,146.0,365.7,12.5,878,9428,0.00,2.33,0.00,0.000,6,0.000,0.035,3208,2356,1935
$GC,9748,1.39,146.0,327.5,11.5,908,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2353,1935
$GC,10066,1.39,146.0,292.6,12.1,938,10070,0.00,2.45,0.00,0.000,4,0.000,0.052,3208,969,1934
$GC,10165,1.39,146.0,279.6,12.7,946,10173,0.00,2.45,0.00,0.000,6,0.000,0.035,3208,2379,1934
$GC,10492,1.39,146.0,245.6,11.5,980,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2379,1933
$GC,10834,1.39,146.0,206.0,9.7,1041,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2379,1934
$GC,11178,1.48,169.9,177.1,6.9,1102,11198,0.00,0.00,17.20,0.802,6,0.000,0.000,3208,2379,1845
$GC,11536,1.59,181.7,146.5,7.9,1165,11552,0.17,2.42,8.93,0.786,4,0.061,0.048,3254,3725,1798
$GC,11599,1.56,181.7,140.0,11.4,1175,11606,0.00,2.30,0.00,0.000,6,0.000,0.031,3253,2362,1798
$GC,11944,1.56,181.7,104.4,9.2,1236,11951,0.00,2.42,0.00,0.000,4,0.000,0.048,3254,977,1798
$GC,12047,1.58,196.6,95.2,7.7,1254,12068,0.00,2.33,12.15,0.721,6,0.000,0.031,3254,2348,1736
$GC,12407,1.66,210.8,66.9,7.7,1317,12427,0.00,2.47,10.95,0.683,4,0.000,0.047,3254,978,1678
$GC,12512,1.72,210.8,56.3,10.6,1335,12520,0.12,2.28,0.00,0.000,6,0.060,0.029,3291,2325,1678
$GC,12857,1.77,241.7,27.5,6.2,1396,12891,0.00,2.47,23.75,0.614,4,0.000,0.044,3291,3713,1553
$GC,13139,1.85,264.6,3.9,6.9,1445,13161,0.00,2.25,16.65,0.590,6,0.000,0.028,3290,2355,1459
$STATE,13166,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,-0.2,1.008377
$STATE,13200,end surface coast,CONTROL_FINISHED_OK
$STATE,13201,begin surface
$SM_CCo,13221,78.43,0.545,0,0,805,425.10
$SM_GC,0.65,0.00,0.00,78.43,0.000,0.000,0.545,249,2129,805,-12.21,-0.62,425.10
$IRIDIUM_FIX,1241.04,12023.34,200597,060616
$TT8_MAMPS,0.023777
$HUMID,1798
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,495
$ALTIM_BOTTOM_PING,670.6,8.5
$24V_AH,23.4,11.183
$10V_AH,10.2,4.648
$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,32.050,112.200,290.025,78.425,0.000,28.496,13.547,132.120,128.500,0.000,0.000,15.012,3053.577,7340.381,569.967,2309.273,326.042,0.000,1701.244,0.000,2277.675,0.000,36.213
$DEVICE_MAMPS,167.206,58.292,1141.296,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44058,1455
$CAP_FILE_SIZE,136596,0
$CFSIZE,260165632,253878272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,252.1,1
$GPS,240208,141137,1245.161,12019.105,39,1.0,39,-0.8