version: 66.03
glider: 122
mission: 6
dive: 59
start: 2 26 108 20 14 32
data:
$ID,122
$MISSION,6
$DIVE,59
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,-28531.449
$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,58
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,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
$GPS1,195847,1246.910,12025.579,9,4.0,28,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-72.4
$GPS2,201401,1246.654,12025.520,45,1.4,45,-0.8
$SPEED_LIMITS,0.156,0.209
$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,70.4,32006,-17.4,-9.016
$D_GRID,535
$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,-1.42,-146.0,0.0,0.0,0,98,0.00,0.00,-77.65,0.000,2,0.000,0.000,252,2127,2504
$GC,100,-1.42,-146.0,3.2,-7.1,12,138,13.30,2.40,-14.77,0.000,4,0.166,0.055,2588,772,3276
$GC,217,-1.14,-146.0,32.2,-23.3,32,225,0.35,2.30,0.00,0.000,6,0.109,0.027,2655,2157,3276
$GC,563,-1.02,-146.0,91.9,-15.8,93,570,0.15,2.38,0.00,0.000,4,0.100,0.043,2687,3549,3277
$GC,661,-1.02,-146.0,105.3,-13.4,110,668,0.00,2.20,0.00,0.000,6,0.000,0.026,2687,2209,3278
$GC,1004,-1.02,-146.0,145.6,-10.2,171,1011,0.00,2.47,0.00,0.000,4,0.000,0.044,2686,772,3278
$GC,1091,-1.11,-146.0,154.8,-10.5,186,1098,0.12,2.38,0.00,0.000,6,0.054,0.028,2644,2198,3278
$GC,1435,-1.11,-146.0,191.0,-9.7,247,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,3278
$GC,1779,-1.11,-146.0,228.2,-10.8,308,1786,0.00,2.47,0.00,0.000,4,0.000,0.045,2644,772,3278
$GC,1814,-1.11,-146.0,232.4,-11.6,314,1820,0.00,2.38,0.00,0.000,6,0.000,0.030,2644,2191,3277
$GC,2153,-1.11,-146.0,269.2,-10.2,359,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2191,3277
$GC,2472,-1.15,-146.0,299.4,-10.0,389,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2191,3275
$GC,2792,-1.20,-146.0,325.1,-7.6,419,2795,0.00,2.33,0.00,0.000,4,0.000,0.049,2644,3545,3274
$GC,2830,-1.27,-146.0,328.4,-7.8,422,2837,0.00,2.22,0.00,0.000,6,0.000,0.031,2644,2208,3274
$GC,3157,-1.33,-146.0,351.0,-6.7,453,3158,0.12,0.00,0.00,0.000,6,0.057,0.000,2605,2204,3271
$GC,3473,-1.33,-146.0,379.6,-9.9,483,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2204,3269
$GC,3791,-1.33,-146.0,411.8,-10.1,513,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2204,3266
$GC,4109,-1.33,-146.0,442.4,-9.7,543,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2204,3264
$GC,4428,-1.33,-146.0,470.3,-7.9,573,4432,0.00,2.55,0.00,0.000,4,0.000,0.054,2605,772,3262
$GC,4539,-1.33,-146.0,479.7,-8.1,582,4547,0.00,2.45,0.00,0.000,6,0.000,0.034,2605,2204,3261
$GC,4864,-1.33,-146.0,503.8,-7.4,611,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2204,3259
$GC,5174,-1.33,-146.0,527.8,-7.8,626,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2204,3257
$STATE,5274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5274,begin apogee
$GC,5278,-0.34,0.0,535.7,7.7,631,5397,1.10,0.00,114.10,1.002,6,0.089,0.000,2830,2373,2678
$STATE,5398,end apogee,CONTROL_FINISHED_OK
$STATE,5398,begin climb
$GC,5399,1.42,146.0,537.9,0.0,637,5529,1.75,2.50,115.97,0.965,4,0.055,0.057,3219,3713,2082
$GC,5600,1.19,146.0,517.3,16.4,646,5606,0.25,2.28,0.00,0.000,6,0.109,0.035,3169,2406,2081
$GC,5924,1.09,146.0,478.0,11.6,670,5926,0.15,0.00,0.00,0.000,6,0.115,0.000,3142,2402,2079
$GC,6242,1.04,146.0,446.5,9.1,700,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2402,2078
$GC,6560,1.00,146.0,416.6,9.5,730,6564,0.00,2.55,0.00,0.000,4,0.000,0.054,3142,964,2075
$GC,6592,0.93,146.0,413.5,9.6,732,6600,0.17,2.45,0.00,0.000,6,0.114,0.036,3110,2384,2075
$GC,6917,0.97,166.6,387.0,8.0,763,6938,0.00,0.00,15.15,0.956,6,0.000,0.000,3110,2383,1998
$GC,7257,1.04,187.8,360.0,7.9,795,7281,0.00,2.42,16.62,0.931,4,0.000,0.054,3110,3723,1911
$GC,7331,1.08,187.8,352.9,10.1,801,7340,0.08,2.35,0.00,0.000,6,0.056,0.034,3141,2366,1911
$GC,7655,1.08,187.8,321.7,9.6,832,7660,0.00,2.40,0.00,0.000,4,0.000,0.052,3141,3723,1910
$GC,7740,1.05,187.8,313.4,10.2,839,7744,0.00,2.28,0.00,0.000,6,0.000,0.034,3142,2383,1910
$GC,8065,1.08,205.6,285.9,8.1,869,8081,0.00,0.00,13.73,0.892,6,0.000,0.000,3141,2381,1838
$GC,8395,1.08,205.6,257.8,9.3,900,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2381,1838
$GC,8726,1.08,205.6,225.2,10.3,951,8732,0.00,2.35,0.00,0.000,4,0.000,0.050,3142,3723,1837
$GC,8811,1.08,205.6,216.4,10.4,966,8818,0.00,2.25,0.00,0.000,6,0.000,0.032,3141,2387,1837
$GC,9156,1.11,223.8,186.1,8.1,1027,9180,0.00,2.58,13.82,0.805,4,0.000,0.050,3142,974,1763
$GC,9214,1.18,243.4,181.9,8.0,1036,9236,0.00,2.45,15.70,0.787,6,0.000,0.034,3142,2396,1685
$GC,9572,1.38,310.9,153.4,5.6,1099,9631,0.25,2.42,52.88,0.723,4,0.051,0.049,3209,3721,1410
$GC,9665,1.35,310.9,144.7,11.6,1115,9672,0.00,2.30,0.00,0.000,6,0.000,0.030,3209,2366,1407
$GC,10009,1.35,310.9,106.4,10.4,1176,10016,0.00,2.45,0.00,0.000,4,0.000,0.048,3209,972,1405
$GC,10145,1.35,310.9,91.6,10.1,1200,10151,0.00,2.35,0.00,0.000,6,0.000,0.031,3209,2353,1404
$GC,10489,1.45,343.8,58.8,7.3,1261,10520,0.00,2.47,25.10,0.640,4,0.000,0.048,3209,3720,1275
$GC,10639,1.54,347.1,45.3,8.8,1287,10647,0.12,2.30,2.15,0.686,6,0.058,0.028,3246,2344,1262
$GC,10986,1.58,352.6,12.2,8.7,1348,10999,0.00,2.42,4.12,0.623,4,0.000,0.045,3246,983,1239
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,0.0,1.021612
$STATE,11122,end surface coast,CONTROL_FINISHED_OK
$STATE,11122,begin surface
$SM_CCo,11144,41.17,0.554,0,0,883,440.07
$SM_GC,0.63,0.00,0.00,41.17,0.000,0.000,0.554,251,2161,883,-12.20,0.31,440.07
$IRIDIUM_FIX,1243.25,12024.46,220597,202050
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.40
$XPDR_PINGS,539
$24V_AH,23.5,13.004
$10V_AH,10.2,5.742
$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,31.075,76.375,389.350,41.175,0.000,73.758,150.047,425.710,135.750,0.000,0.000,45.176,2751.771,5830.814,581.646,2138.679,812.356,0.000,1632.919,0.000,2086.689,0.000,8.190
$DEVICE_MAMPS,165.672,56.758,1001.702,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40881,1372
$CAP_FILE_SIZE,121051,0
$CFSIZE,260165632,252915712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,252.4,1
$GPS,260208,232202,1247.094,12026.226,13,1.9,31,-0.8