version: 66.03
glider: 122
mission: 6
dive: 46
start: 2 24 108 14 24 20
data:
$ID,122
$MISSION,6
$DIVE,46
$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,520.52661
$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,-28247.762
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,141137,1245.161,12019.105,39,1.0,39,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-70.4
$GPS2,142326,1245.067,12019.094,10,1.1,15,-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,289.1,6572,-22.8,-9.016
$D_GRID,819
$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,-76.7,0.0,0.0,0,87,0.00,0.00,-66.93,0.000,2,0.000,0.000,249,2127,2656
$GC,89,-1.69,-85.7,3.9,-8.2,10,115,13.10,2.45,-4.32,0.000,4,0.169,0.051,2533,3561,2891
$GC,252,-1.39,-85.7,46.2,-22.5,38,260,0.35,2.30,0.00,0.000,6,0.116,0.027,2597,2171,2892
$GC,599,-1.29,-85.7,103.0,-17.2,99,606,0.12,2.47,0.00,0.000,4,0.132,0.044,2618,744,2893
$GC,786,-1.29,-85.7,128.5,-11.4,132,793,0.00,2.25,0.00,0.000,6,0.000,0.028,2618,2098,2894
$GC,1131,-1.34,-85.7,165.2,-9.5,193,1138,0.00,2.35,0.00,0.000,4,0.000,0.045,2618,740,2895
$GC,1161,-1.39,-85.7,168.5,-10.7,198,1167,0.00,2.25,0.00,0.000,6,0.000,0.028,2618,2099,2895
$GC,1505,-1.45,-85.7,202.0,-10.2,259,1513,0.15,2.50,0.00,0.000,4,0.052,0.044,2570,3562,2895
$GC,1553,-1.41,-85.7,208.1,-13.3,267,1560,0.12,2.42,0.00,0.000,6,0.111,0.029,2592,2104,2894
$GC,1898,-1.48,-105.2,237.0,-7.3,328,1905,0.00,2.47,0.00,0.000,4,0.000,0.044,2592,3552,2894
$GC,1997,-1.52,-105.2,246.0,-10.5,345,2004,0.00,2.40,0.00,0.000,6,0.000,0.030,2592,2111,2894
$GC,2330,-1.59,-122.7,271.4,-7.4,380,2335,0.15,2.38,0.00,0.000,4,0.053,0.048,2546,750,2893
$GC,2419,-1.52,-122.7,280.0,-10.1,387,2427,0.15,2.25,0.00,0.000,6,0.117,0.030,2572,2095,2893
$GC,2743,-1.52,-122.7,307.8,-9.2,418,2747,0.00,2.53,0.00,0.000,4,0.000,0.048,2572,3555,2891
$GC,2831,-1.54,-133.2,315.3,-8.1,425,2839,0.00,2.45,0.00,0.000,6,0.000,0.031,2572,2112,2891
$GC,3157,-1.59,-146.0,339.6,-7.8,456,3161,0.00,2.40,0.00,0.000,4,0.000,0.051,2572,749,2890
$GC,3200,-1.59,-146.0,343.6,-9.0,459,3208,0.00,2.30,0.00,0.000,6,0.000,0.031,2573,2100,2889
$GC,3526,-1.59,-146.0,369.6,-8.3,490,3530,0.00,2.50,0.00,0.000,4,0.000,0.046,2573,3548,2887
$GC,3588,-1.59,-146.0,375.2,-9.8,495,3593,0.00,2.45,0.00,0.000,6,0.000,0.032,2573,2095,2887
$GC,3914,-1.62,-146.0,399.5,-7.1,525,3918,0.00,2.38,0.00,0.000,4,0.000,0.052,2572,749,2885
$GC,3964,-1.62,-146.0,403.2,-7.2,529,3968,0.00,2.33,0.00,0.000,6,0.000,0.031,2572,2122,2885
$GC,4290,-1.65,-146.0,426.3,-7.4,559,4291,0.12,0.00,0.00,0.000,6,0.060,0.000,2538,2122,2883
$GC,4608,-1.61,-146.0,450.9,-7.7,589,4612,0.00,2.42,0.00,0.000,4,0.000,0.053,2538,751,2882
$GC,4681,-1.56,-146.0,457.0,-9.0,595,4686,0.15,2.30,0.00,0.000,6,0.117,0.032,2564,2111,2882
$GC,5005,-1.56,-146.0,478.4,-6.0,625,5009,0.00,2.50,0.00,0.000,4,0.000,0.050,2564,3546,2879
$GC,5139,-1.56,-146.0,487.6,-6.5,636,5146,0.00,2.40,0.00,0.000,6,0.000,0.033,2564,2127,2879
$GC,5472,-1.56,-146.0,508.1,-6.6,662,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2124,2878
$GC,5780,-1.59,-146.0,528.8,-6.4,677,5785,0.00,2.50,0.00,0.000,4,0.000,0.051,2564,3551,2876
$GC,5915,-1.59,-146.0,537.3,-6.5,683,5919,0.00,2.40,0.00,0.000,6,0.000,0.034,2564,2133,2875
$GC,6236,-1.62,-146.0,558.0,-6.8,699,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2132,2874
$GC,6546,-1.65,-146.0,581.1,-7.1,714,6550,0.00,2.47,0.00,0.000,4,0.000,0.051,2564,3546,2872
$GC,6702,-1.65,-146.0,592.5,-6.8,721,6706,0.00,2.40,0.00,0.000,6,0.000,0.035,2564,2136,2872
$GC,7023,-1.69,-146.0,608.8,-4.8,737,7028,0.15,2.47,0.00,0.000,4,0.059,0.051,2525,3546,2870
$GC,7095,-1.63,-146.0,613.7,-7.1,740,7100,0.12,2.38,0.00,0.000,6,0.126,0.035,2546,2147,2869
$GC,7411,-1.63,-146.0,632.9,-6.0,755,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2146,2868
$GC,7719,-1.63,-146.0,650.0,-5.3,770,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2146,2868
$STATE,7742,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7742,begin apogee
$GC,7746,-0.34,0.0,651.2,5.6,771,7821,1.42,0.00,66.57,1.135,6,0.113,0.000,2825,2385,2539
$STATE,7822,end apogee,CONTROL_FINISHED_OK
$STATE,7822,begin climb
$GC,7823,1.79,146.0,651.7,0.0,775,7949,2.17,0.00,120.65,1.093,6,0.059,0.000,3294,2385,1942
$GC,8250,1.63,146.0,582.0,18.5,796,8252,0.17,0.00,0.00,0.000,6,0.128,0.000,3264,2385,1939
$GC,8559,1.53,146.0,530.7,16.3,811,8563,0.12,2.38,0.00,0.000,4,0.131,0.055,3243,3717,1937
$GC,8591,1.44,146.0,525.2,16.0,812,8599,0.12,2.33,0.00,0.000,6,0.130,0.036,3222,2365,1938
$GC,8910,1.44,146.0,481.5,13.0,834,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2364,1937
$GC,9228,1.44,146.0,438.0,13.8,864,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2363,1936
$GC,9547,1.44,146.0,395.8,13.7,894,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2363,1935
$GC,9865,1.44,146.0,351.7,13.2,924,9870,0.00,2.50,0.00,0.000,4,0.000,0.054,3222,963,1934
$GC,9920,1.44,146.0,344.1,13.7,928,9928,0.00,2.45,0.00,0.000,6,0.000,0.035,3222,2367,1934
$GC,10246,1.44,146.0,304.7,12.7,959,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2367,1934
$GC,10564,1.44,146.0,268.3,11.2,989,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2367,1934
$GC,10890,1.44,146.0,230.8,11.2,1033,10897,0.00,2.50,0.00,0.000,4,0.000,0.051,3222,959,1933
$GC,10937,1.44,146.0,225.9,10.4,1041,10944,0.00,2.45,0.00,0.000,6,0.000,0.034,3222,2395,1933
$GC,11281,1.44,146.0,191.2,9.9,1102,11288,0.00,2.33,0.00,0.000,4,0.000,0.051,3222,3728,1933
$GC,11378,1.45,151.1,182.2,8.6,1119,11387,0.00,2.28,2.62,0.841,6,0.000,0.031,3222,2368,1921
$GC,11725,1.53,169.3,153.4,7.4,1180,11747,0.00,2.47,14.30,0.785,4,0.000,0.048,3222,3729,1847
$GC,11820,1.56,169.3,144.6,10.1,1196,11828,0.10,2.30,0.00,0.000,6,0.074,0.031,3246,2365,1847
$GC,12166,1.60,169.3,111.9,9.3,1257,12173,0.00,2.45,0.00,0.000,4,0.000,0.048,3246,964,1847
$GC,12252,1.61,177.7,104.4,8.3,1272,12266,0.00,2.38,6.53,0.746,6,0.000,0.032,3246,2362,1813
$GC,12604,1.71,206.6,81.7,6.4,1334,12631,0.15,0.00,22.50,0.673,6,0.060,0.000,3286,2363,1696
$GC,12969,1.73,214.9,45.3,8.3,1398,12983,0.00,2.38,6.25,0.663,4,0.000,0.048,3286,3723,1662
$GC,13236,1.75,227.6,20.9,7.9,1445,13252,0.00,2.20,9.93,0.625,6,0.000,0.028,3286,2390,1611
$STATE,13557,end climb,SURFACE_DEPTH_REACHED
$STATE,13557,begin surface coast
$FINISH,-0.1,0.998873
$STATE,13599,end surface coast,CONTROL_FINISHED_OK
$STATE,13600,begin surface
$SM_CCo,13620,143.57,0.536,0,0,416,520.53
$SM_GC,0.59,0.00,0.00,143.57,0.000,0.000,0.536,253,2137,416,-12.19,-0.37,520.53
$IRIDIUM_FIX,1238.83,12020.32,200597,141458
$TT8_MAMPS,0.023777
$HUMID,1766
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,563
$ALTIM_BOTTOM_PING,651.2,8.5
$24V_AH,23.4,11.309
$10V_AH,10.2,4.726
$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,32.375,106.250,249.350,143.575,0.000,126.047,154.061,86.061,145.000,0.000,0.000,15.456,3209.164,7776.042,598.688,2394.780,528.010,0.000,1753.971,0.000,2360.869,0.000,32.579
$DEVICE_MAMPS,168.740,55.224,1135.160,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47246,1509
$CAP_FILE_SIZE,142739,0
$CFSIZE,260165632,253784064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,282.6,1
$GPS,240208,181456,1245.574,12017.484,39,1.1,39,-0.8