version: 66.03
glider: 122
mission: 6
dive: 48
start: 2 24 108 22 12 38
data:
$ID,122
$MISSION,6
$DIVE,48
$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,-28280.381
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,220437,1246.139,12015.716,30,1.2,30,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.6
$GPS2,221144,1246.133,12015.670,12,1.2,17,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,1000.000
$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,123.2,49627,-22.8,-9.016
$D_GRID,875
$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,-76.7,0.0,0.0,0,100,0.00,0.00,-80.47,0.000,2,0.000,0.000,250,2121,2566
$GC,103,-1.71,-99.0,3.1,-7.0,12,129,13.05,2.53,-7.28,0.000,4,0.168,0.051,2528,3561,2946
$GC,371,-1.48,-99.0,73.5,-20.4,59,378,0.28,2.30,0.00,0.000,6,0.113,0.028,2579,2173,2948
$GC,716,-1.37,-99.0,129.8,-15.0,120,723,0.12,2.47,0.00,0.000,4,0.120,0.044,2601,749,2949
$GC,802,-1.37,-99.0,142.9,-15.5,135,809,0.00,2.33,0.00,0.000,6,0.000,0.028,2601,2143,2949
$GC,1147,-1.37,-99.0,186.5,-13.0,196,1154,0.00,2.40,0.00,0.000,4,0.000,0.044,2601,3549,2949
$GC,1238,-1.37,-99.0,198.5,-12.4,212,1245,0.00,2.38,0.00,0.000,6,0.000,0.029,2601,2122,2950
$GC,1583,-1.44,-100.8,233.5,-8.8,273,1590,0.00,2.40,0.00,0.000,4,0.000,0.047,2601,740,2950
$GC,1714,-1.50,-103.4,245.5,-8.8,296,1722,0.12,2.28,0.00,0.000,6,0.056,0.029,2563,2102,2950
$GC,2049,-1.51,-104.4,276.6,-8.9,331,2053,0.00,2.47,0.00,0.000,4,0.000,0.046,2563,3555,2949
$GC,2147,-1.51,-104.4,285.6,-9.1,339,2156,0.00,2.40,0.00,0.000,6,0.000,0.030,2563,2135,2949
$GC,2474,-1.51,-104.9,313.9,-9.0,370,2478,0.00,2.42,0.00,0.000,4,0.000,0.051,2563,751,2948
$GC,2503,-1.51,-104.9,316.7,-9.7,372,2507,0.00,2.33,0.00,0.000,6,0.000,0.031,2563,2129,2948
$GC,2828,-1.51,-105.1,345.1,-9.0,402,2832,0.00,2.42,0.00,0.000,4,0.000,0.051,2563,751,2947
$GC,2938,-1.51,-105.1,356.3,-9.7,411,2946,0.00,2.33,0.00,0.000,6,0.000,0.031,2563,2117,2946
$GC,3264,-1.54,-121.6,384.8,-7.5,442,3268,0.00,2.47,0.00,0.000,4,0.000,0.048,2563,3550,2944
$GC,3318,-1.54,-125.4,389.5,-8.7,446,3326,0.00,2.45,0.00,0.000,6,0.000,0.032,2563,2096,2943
$GC,3644,-1.56,-134.1,414.8,-8.2,477,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2095,2942
$GC,3963,-1.58,-146.0,441.0,-7.3,507,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2095,2939
$GC,4281,-1.58,-146.0,467.6,-7.5,537,4285,0.00,2.53,0.00,0.000,4,0.000,0.050,2563,3546,2937
$GC,4320,-1.58,-146.0,470.7,-8.4,540,4324,0.00,2.42,0.00,0.000,6,0.000,0.034,2563,2117,2937
$GC,4645,-1.61,-146.0,495.3,-7.5,570,4649,0.00,2.42,0.00,0.000,4,0.000,0.054,2563,750,2935
$GC,4665,-1.61,-146.0,497.1,-7.2,571,4673,0.00,2.35,0.00,0.000,6,0.000,0.033,2563,2113,2935
$GC,4994,-1.65,-146.0,521.8,-7.2,589,4998,0.00,2.53,0.00,0.000,4,0.000,0.051,2563,3558,2933
$GC,5134,-1.65,-146.0,533.1,-8.1,595,5138,0.00,2.40,0.00,0.000,6,0.000,0.035,2563,2140,2932
$GC,5450,-1.68,-146.0,556.0,-7.4,610,5455,0.12,2.47,0.00,0.000,4,0.061,0.055,2530,749,2930
$GC,5583,-1.63,-146.0,568.8,-10.0,616,5588,0.00,2.38,0.00,0.000,6,0.000,0.034,2530,2121,2930
$GC,5911,-1.60,-146.0,596.1,-8.0,632,5913,0.12,0.00,0.00,0.000,6,0.121,0.000,2551,2121,2928
$GC,6219,-1.60,-146.0,618.2,-7.4,647,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2122,2927
$GC,6529,-1.60,-146.0,641.5,-7.5,662,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2123,2926
$GC,6838,-1.60,-146.0,662.6,-7.1,677,6842,0.00,2.53,0.00,0.000,4,0.000,0.054,2551,3558,2925
$STATE,6946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6946,begin apogee
$GC,6952,-0.34,0.0,670.3,7.3,681,7039,1.38,0.00,78.35,1.143,6,0.107,0.000,2827,2364,2539
$STATE,7039,end apogee,CONTROL_FINISHED_OK
$STATE,7039,begin climb
$GC,7041,1.79,146.0,671.4,0.0,686,7166,2.17,0.00,120.55,1.102,6,0.058,0.000,3295,2364,1943
$GC,7468,1.63,146.0,604.6,17.2,707,7472,0.20,2.45,0.00,0.000,4,0.127,0.057,3259,3726,1939
$GC,7499,1.49,146.0,598.7,16.8,708,7508,0.12,2.33,0.00,0.000,6,0.119,0.036,3234,2391,1939
$GC,7815,1.44,146.0,551.9,14.6,724,7820,0.00,2.55,0.00,0.000,4,0.000,0.058,3234,970,1938
$GC,7877,1.37,146.0,542.3,15.6,727,7882,0.15,2.42,0.00,0.000,6,0.127,0.038,3208,2358,1938
$GC,8204,1.37,146.0,497.4,13.1,743,8208,0.00,2.45,0.00,0.000,4,0.000,0.058,3208,3732,1937
$GC,8277,1.37,146.0,487.4,13.1,749,8281,0.00,2.35,0.00,0.000,6,0.000,0.035,3208,2361,1937
$GC,8602,1.37,146.0,443.9,14.5,779,8606,0.00,2.45,0.00,0.000,4,0.000,0.055,3208,3732,1935
$GC,8689,1.37,146.0,429.9,14.9,786,8697,0.00,2.30,0.00,0.000,6,0.000,0.035,3208,2402,1935
$GC,9015,1.37,146.0,387.2,13.3,817,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2398,1935
$GC,9333,1.37,146.0,349.4,12.6,847,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2398,1935
$GC,9652,1.37,146.0,311.2,12.1,877,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2397,1934
$GC,9970,1.37,146.0,272.5,12.8,907,9974,0.00,2.33,0.00,0.000,4,0.000,0.052,3208,3725,1934
$GC,10121,1.37,146.0,254.8,11.1,920,10125,0.00,2.28,0.00,0.000,6,0.000,0.033,3208,2378,1934
$GC,10461,1.40,146.0,218.6,10.6,976,10468,0.00,2.47,0.00,0.000,4,0.000,0.051,3208,973,1934
$GC,10547,1.40,146.0,209.6,9.9,991,10554,0.00,2.42,0.00,0.000,6,0.000,0.034,3208,2392,1934
$GC,10892,1.48,156.0,178.5,8.1,1052,10906,0.00,0.00,6.35,0.825,6,0.000,0.000,3208,2393,1902
$GC,11243,1.58,166.7,151.2,8.1,1114,11259,0.15,2.60,8.32,0.801,4,0.064,0.048,3249,966,1858
$GC,11298,1.58,166.7,145.8,10.1,1123,11305,0.00,2.42,0.00,0.000,6,0.000,0.033,3249,2378,1858
$GC,11643,1.59,172.2,115.6,8.5,1184,11651,0.00,0.00,4.38,0.768,6,0.000,0.000,3249,2378,1837
$GC,11988,1.64,181.6,88.4,8.2,1245,12003,0.00,2.50,7.55,0.723,4,0.000,0.045,3248,966,1796
$GC,12257,1.73,203.7,66.3,7.0,1292,12280,0.15,2.40,17.20,0.669,6,0.061,0.031,3286,2385,1707
$GC,12618,1.83,242.3,40.0,5.5,1355,12657,0.00,2.38,29.40,0.617,4,0.000,0.046,3286,3715,1551
$GC,12681,1.86,242.5,35.5,9.0,1365,12688,0.10,2.12,0.00,0.000,6,0.071,0.027,3312,2432,1550
$GC,13027,1.94,270.9,5.9,6.4,1426,13055,0.00,2.65,21.67,0.584,4,0.000,0.044,3312,967,1433
$STATE,13071,end climb,SURFACE_DEPTH_REACHED
$STATE,13071,begin surface coast
$FINISH,-0.1,0.998475
$STATE,13093,end surface coast,CONTROL_FINISHED_OK
$STATE,13094,begin surface
$SM_CCo,13116,72.55,0.540,0,0,805,425.10
$SM_GC,0.75,0.00,0.00,72.55,0.000,0.000,0.540,251,2151,805,-12.20,0.06,425.10
$IRIDIUM_FIX,1238.83,12018.41,200597,181821
$TT8_MAMPS,0.02301
$HUMID,1807
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.50
$XPDR_PINGS,529
$ALTIM_BOTTOM_PING,670.3,8.6
$24V_AH,23.4,11.571
$10V_AH,10.2,4.877
$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,31.775,110.350,293.775,72.550,0.000,23.468,13.816,297.622,137.000,0.000,0.000,17.238,3012.781,7258.339,574.027,2323.775,482.001,0.000,1704.828,0.000,2287.093,0.000,36.211
$DEVICE_MAMPS,167.973,58.292,1142.830,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,43969,1437
$CAP_FILE_SIZE,138801,0
$CFSIZE,260165632,253673472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,354.4,1
$GPS,250208,015329,1245.592,12016.559,9,6.2,28,-0.8