version: 66.03
glider: 122
mission: 6
dive: 55
start: 2 26 108 5 29 37
data:
$ID,122
$MISSION,6
$DIVE,55
$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,440
$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,-28422.143
$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,36
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,052356,1246.104,12023.283,37,1.9,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.4
$GPS2,052844,1246.037,12023.306,11,1.9,16,-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,54.5,36161,-22.8,-9.016
$D_GRID,636
$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,-76.7,0.0,0.0,0,90,0.00,0.00,-69.78,0.000,2,0.000,0.000,253,2130,2660
$GC,92,-1.69,-90.0,3.8,-7.8,11,118,13.05,2.38,-4.60,0.000,4,0.168,0.052,2529,759,2907
$GC,303,-1.42,-90.0,57.4,-20.9,48,311,0.35,2.33,0.00,0.000,6,0.117,0.028,2593,2155,2909
$GC,648,-1.31,-90.0,113.7,-15.3,109,655,0.12,2.40,0.00,0.000,4,0.118,0.043,2616,3557,2911
$GC,718,-1.28,-90.0,125.1,-16.2,121,725,0.00,2.28,0.00,0.000,6,0.000,0.028,2616,2182,2911
$GC,1061,-1.28,-90.0,170.1,-12.4,182,1068,0.00,2.47,0.00,0.000,4,0.000,0.044,2616,750,2912
$GC,1142,-1.31,-90.0,178.7,-10.8,196,1149,0.00,2.38,0.00,0.000,6,0.000,0.028,2615,2178,2912
$GC,1487,-1.37,-94.8,206.3,-8.6,257,1494,0.00,2.47,0.00,0.000,4,0.000,0.045,2616,750,2913
$GC,1624,-1.47,-112.7,217.0,-7.4,281,1632,0.15,2.35,0.00,0.000,6,0.052,0.028,2572,2161,2913
$GC,1968,-1.47,-112.7,252.7,-11.2,340,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2161,2913
$GC,2286,-1.48,-118.3,282.9,-8.5,370,2291,0.00,2.38,0.00,0.000,4,0.000,0.047,2572,3545,2912
$GC,2329,-1.48,-118.3,287.2,-9.6,373,2338,0.00,2.33,0.00,0.000,6,0.000,0.030,2572,2166,2912
$GC,2656,-1.50,-132.7,314.7,-7.7,404,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2164,2911
$GC,2974,-1.51,-137.6,341.0,-8.6,434,2978,0.00,2.40,0.00,0.000,4,0.000,0.047,2572,3552,2910
$GC,3016,-1.51,-139.0,345.0,-8.9,437,3024,0.00,2.33,0.00,0.000,6,0.000,0.031,2571,2176,2909
$GC,3343,-1.52,-146.0,370.8,-7.4,468,3347,0.00,2.53,0.00,0.000,4,0.000,0.051,2572,744,2908
$GC,3408,-1.52,-146.0,376.8,-9.3,473,3416,0.00,2.45,0.00,0.000,6,0.000,0.031,2572,2174,2907
$GC,3734,-1.52,-146.0,404.6,-7.8,504,3738,0.00,2.53,0.00,0.000,4,0.000,0.051,2572,743,2905
$GC,3800,-1.52,-146.0,410.4,-8.7,509,3808,0.00,2.40,0.00,0.000,6,0.000,0.032,2572,2162,2905
$GC,4126,-1.52,-146.0,436.2,-7.4,540,4130,0.00,2.40,0.00,0.000,4,0.000,0.049,2572,3548,2903
$GC,4187,-1.52,-146.0,441.0,-7.6,545,4192,0.00,2.33,0.00,0.000,6,0.000,0.033,2572,2167,2903
$GC,4513,-1.56,-146.0,463.5,-6.1,575,4517,0.00,2.50,0.00,0.000,4,0.000,0.053,2572,752,2901
$GC,4642,-1.56,-146.0,472.9,-7.5,586,4646,0.00,2.42,0.00,0.000,6,0.000,0.033,2572,2175,2901
$GC,4967,-1.59,-146.0,492.6,-5.9,616,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2177,2898
$GC,5279,-1.63,-146.0,512.5,-6.5,637,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2176,2897
$GC,5588,-1.67,-146.0,532.1,-6.3,652,5590,0.15,0.00,0.00,0.000,6,0.059,0.000,2534,2177,2896
$GC,5898,-1.64,-146.0,554.9,-7.4,667,5902,0.00,2.53,0.00,0.000,4,0.000,0.054,2534,753,2894
$GC,6027,-1.59,-146.0,565.2,-8.0,673,6032,0.12,2.42,0.00,0.000,6,0.124,0.035,2554,2173,2894
$GC,6354,-1.59,-146.0,586.6,-6.6,689,6358,0.00,2.42,0.00,0.000,4,0.000,0.054,2554,3556,2892
$GC,6441,-1.59,-146.0,593.4,-7.8,693,6446,0.00,2.35,0.00,0.000,6,0.000,0.035,2554,2184,2892
$GC,6769,-1.59,-146.0,616.6,-7.4,709,6773,0.00,2.55,0.00,0.000,4,0.000,0.057,2555,750,2891
$GC,6800,-1.59,-146.0,619.3,-7.6,710,6808,0.00,2.45,0.00,0.000,6,0.000,0.035,2554,2184,2890
$STATE,7032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7032,begin apogee
$GC,7036,-0.34,0.0,637.2,8.1,722,7115,1.38,0.00,70.93,1.118,6,0.105,0.000,2829,2382,2538
$STATE,7116,end apogee,CONTROL_FINISHED_OK
$STATE,7116,begin climb
$GC,7117,1.79,146.0,638.8,0.0,726,7242,2.15,0.00,119.68,1.076,6,0.056,0.000,3294,2382,1943
$GC,7544,1.63,146.0,574.2,17.3,747,7546,0.20,0.00,0.00,0.000,6,0.126,0.000,3260,2382,1940
$GC,7853,1.53,146.0,525.5,15.6,762,7855,0.12,0.00,0.00,0.000,6,0.127,0.000,3238,2382,1939
$GC,8166,1.47,146.0,479.9,14.4,783,8170,0.00,2.38,0.00,0.000,4,0.000,0.058,3238,3716,1938
$GC,8238,1.39,146.0,469.3,14.7,789,8243,0.17,2.33,0.00,0.000,6,0.122,0.036,3208,2361,1938
$GC,8562,1.39,146.0,430.3,12.4,819,8567,0.00,2.50,0.00,0.000,4,0.000,0.055,3208,961,1936
$GC,8617,1.39,146.0,423.5,12.6,823,8625,0.00,2.42,0.00,0.000,6,0.000,0.035,3208,2342,1936
$GC,8943,1.39,146.0,384.3,11.7,854,8947,0.00,2.45,0.00,0.000,4,0.000,0.055,3208,3726,1936
$GC,8993,1.36,146.0,378.2,12.4,858,8997,0.00,2.38,0.00,0.000,6,0.000,0.035,3208,2335,1935
$GC,9317,1.36,146.0,340.2,11.5,888,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2333,1935
$GC,9635,1.36,146.0,301.8,12.4,918,9640,0.00,2.47,0.00,0.000,4,0.000,0.052,3208,3735,1935
$GC,9764,1.36,146.0,285.4,13.2,929,9768,0.00,2.40,0.00,0.000,6,0.000,0.034,3208,2321,1935
$GC,10089,1.36,146.0,249.3,11.8,959,10096,0.00,2.47,0.00,0.000,4,0.000,0.051,3208,3728,1935
$GC,10152,1.36,146.0,241.8,11.1,970,10160,0.00,2.35,0.00,0.000,6,0.000,0.033,3208,2337,1935
$GC,10497,1.41,146.0,206.7,12.2,1031,10504,0.00,2.45,0.00,0.000,4,0.000,0.049,3208,3733,1935
$GC,10634,1.41,147.9,190.8,8.8,1055,10641,0.00,2.33,0.00,0.000,6,0.000,0.032,3208,2349,1935
$GC,10979,1.52,166.2,161.3,7.4,1116,11002,0.12,2.45,14.15,0.792,4,0.068,0.048,3237,977,1861
$GC,11228,1.55,181.0,140.5,7.7,1159,11249,0.00,2.38,11.52,0.772,6,0.000,0.032,3238,2368,1800
$GC,11588,1.65,212.9,113.4,6.1,1222,11623,0.12,2.53,25.12,0.709,4,0.068,0.047,3269,983,1669
$GC,11726,1.65,212.9,101.1,10.7,1245,11732,0.00,2.33,0.00,0.000,6,0.000,0.031,3269,2351,1668
$GC,12071,1.70,216.9,70.0,8.7,1306,12079,0.00,2.45,3.08,0.695,4,0.000,0.048,3269,3722,1653
$GC,12321,1.75,216.9,44.6,9.9,1350,12328,0.00,2.30,0.00,0.000,6,0.000,0.029,3269,2338,1654
$GC,12667,1.89,243.5,16.3,6.6,1411,12697,0.17,2.45,20.42,0.601,4,0.058,0.046,3320,979,1545
$STATE,12848,end climb,SURFACE_DEPTH_REACHED
$STATE,12848,begin surface coast
$FINISH,-0.2,1.021594
$STATE,12871,end surface coast,CONTROL_FINISHED_OK
$STATE,12871,begin surface
$SM_CCo,12893,97.40,0.542,0,0,744,440.07
$SM_GC,0.67,0.00,0.00,97.40,0.000,0.000,0.542,246,2168,744,-12.23,0.48,440.07
$IRIDIUM_FIX,1238.83,12021.43,220597,010133
$TT8_MAMPS,0.023777
$HUMID,1776
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.40
$XPDR_PINGS,533
$24V_AH,23.4,12.490
$10V_AH,10.2,5.452
$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,31.775,110.900,264.900,97.400,0.000,24.299,13.344,152.030,136.750,0.000,0.000,16.627,3017.090,7081.195,571.670,2290.677,347.837,0.000,1684.961,0.000,2261.678,0.000,26.314
$DEVICE_MAMPS,167.973,57.525,1118.286,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44067,1446
$CAP_FILE_SIZE,132374,0
$CFSIZE,260165632,253165568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,265.8,1
$GPS,260208,090726,1246.742,12023.679,44,1.1,44,-0.8