version: 66.03
glider: 122
mission: 6
dive: 86
start: 3 3 108 12 15 45
data:
$ID,122
$MISSION,6
$DIVE,86
$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,-28995.178
$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,52
$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
$GPS1,120255,1247.317,12025.459,39,1.8,39,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.9
$GPS2,121514,1247.292,12025.511,18,1.9,35,-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,77.9,31766,-17.4,-9.016
$D_GRID,662
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-63.33,0.000,2,0.000,0.000,249,2120,2631
$GC,86,-1.42,-146.0,3.7,-8.0,11,119,13.40,2.35,-11.52,0.000,4,0.167,0.052,2592,765,3274
$GC,288,-1.10,-146.0,54.4,-24.6,46,295,0.38,2.33,0.00,0.000,6,0.110,0.028,2664,2166,3275
$GC,633,-1.00,-146.0,107.4,-14.8,107,640,0.12,2.38,0.00,0.000,4,0.106,0.042,2687,3557,3277
$GC,685,-1.00,-146.0,114.5,-12.6,116,692,0.00,2.30,0.00,0.000,6,0.000,0.027,2687,2162,3277
$GC,1029,-1.00,-146.0,153.1,-10.4,177,1036,0.00,2.38,0.00,0.000,4,0.000,0.042,2687,3556,3278
$GC,1082,-1.05,-146.0,159.0,-11.2,186,1089,0.00,2.28,0.00,0.000,6,0.000,0.027,2687,2177,3278
$GC,1420,-1.13,-146.0,188.9,-7.9,247,1430,0.15,2.47,0.00,0.000,4,0.051,0.044,2639,749,3278
$GC,1458,-1.13,-146.0,192.7,-10.2,253,1466,0.00,2.40,0.00,0.000,6,0.000,0.028,2639,2190,3278
$GC,1803,-1.13,-146.0,224.3,-9.4,314,1810,0.00,2.33,0.00,0.000,4,0.000,0.045,2639,3549,3279
$GC,1838,-1.13,-146.0,227.7,-9.8,320,1845,0.00,2.25,0.00,0.000,6,0.000,0.029,2640,2189,3278
$GC,2175,-1.13,-146.0,260.2,-9.2,371,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2188,3278
$GC,2495,-1.17,-146.0,289.3,-9.5,401,2499,0.00,2.35,0.00,0.000,4,0.000,0.046,2639,3550,3276
$GC,2534,-1.22,-146.0,293.2,-9.9,404,2538,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2200,3277
$GC,2860,-1.26,-146.0,319.9,-7.6,434,2865,0.00,2.55,0.00,0.000,4,0.000,0.051,2639,750,3274
$GC,2934,-1.34,-146.0,325.8,-8.2,440,2939,0.12,2.42,0.00,0.000,6,0.055,0.031,2600,2183,3273
$GC,3259,-1.29,-146.0,356.6,-9.7,470,3263,0.12,2.35,0.00,0.000,4,0.104,0.048,2624,3549,3271
$GC,3297,-1.29,-146.0,360.3,-9.3,473,3302,0.00,2.33,0.00,0.000,6,0.000,0.032,2624,2169,3271
$GC,3624,-1.29,-146.0,387.9,-8.7,503,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2165,3268
$GC,3940,-1.29,-146.0,415.9,-8.9,533,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2165,3267
$GC,4259,-1.29,-146.0,441.9,-7.1,563,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2166,3265
$GC,4578,-1.33,-146.0,465.8,-7.5,593,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2165,3262
$GC,4897,-1.36,-146.0,489.5,-7.3,623,4901,0.00,2.53,0.00,0.000,4,0.000,0.054,2624,750,3260
$GC,4926,-1.40,-146.0,492.1,-8.7,625,4931,0.12,2.45,0.00,0.000,6,0.058,0.035,2585,2176,3260
$GC,5245,-1.34,-146.0,523.4,-10.1,644,5249,0.12,2.42,0.00,0.000,4,0.114,0.053,2607,3555,3258
$GC,5276,-1.34,-146.0,526.7,-9.4,645,5284,0.00,2.38,0.00,0.000,6,0.000,0.034,2608,2174,3258
$GC,5592,-1.34,-146.0,554.5,-8.6,661,5597,0.00,2.55,0.00,0.000,4,0.000,0.056,2607,746,3256
$GC,5624,-1.34,-146.0,557.4,-9.1,662,5632,0.00,2.45,0.00,0.000,6,0.000,0.036,2608,2152,3256
$GC,5941,-1.34,-146.0,584.3,-8.5,678,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2152,3254
$GC,6250,-1.34,-146.0,610.9,-8.8,693,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2152,3253
$GC,6560,-1.34,-146.0,637.6,-8.4,708,6565,0.00,2.47,0.00,0.000,4,0.000,0.058,2608,3552,3251
$GC,6601,-1.34,-146.0,641.2,-8.6,710,6605,0.00,2.40,0.00,0.000,6,0.000,0.036,2608,2147,3251
$STATE,6863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6868,-0.34,0.0,662.0,7.6,723,6987,1.08,0.00,116.18,1.114,6,0.092,0.000,2827,2381,2677
$STATE,6988,end apogee,CONTROL_FINISHED_OK
$STATE,6988,begin climb
$GC,6990,1.42,146.0,665.0,0.0,729,7121,1.77,2.47,119.03,1.072,4,0.056,0.059,3218,3720,2082
$GC,7170,1.18,146.0,650.1,14.9,737,7175,0.25,2.35,0.00,0.000,6,0.113,0.037,3162,2383,2081
$GC,7497,1.08,146.0,613.7,10.7,753,7502,0.12,2.40,0.00,0.000,4,0.120,0.057,3140,3714,2080
$GC,7546,0.99,146.0,608.4,10.6,755,7550,0.00,2.30,0.00,0.000,6,0.000,0.037,3140,2382,2079
$GC,7867,0.94,146.0,577.4,9.6,771,7869,0.15,0.00,0.00,0.000,6,0.120,0.000,3114,2380,2078
$GC,8177,0.96,157.5,550.8,8.4,786,8191,0.00,2.62,8.70,1.091,4,0.000,0.058,3114,973,2035
$GC,8229,0.96,157.5,545.9,9.2,788,8234,0.00,2.47,0.00,0.000,6,0.000,0.038,3114,2373,2034
$GC,8551,0.96,157.5,516.2,9.2,804,8555,0.00,2.53,0.00,0.000,4,0.000,0.055,3114,970,2034
$GC,8612,0.96,157.5,510.6,9.8,807,8616,0.00,2.45,0.00,0.000,6,0.000,0.038,3114,2376,2033
$GC,8933,0.98,167.5,482.7,8.5,831,8945,0.00,0.00,7.72,1.071,6,0.000,0.000,3114,2376,1995
$GC,9263,0.99,177.4,455.1,8.5,862,9277,0.00,2.62,8.60,1.047,4,0.000,0.054,3114,971,1954
$GC,9334,0.99,177.4,448.6,9.3,868,9338,0.00,2.45,0.00,0.000,6,0.000,0.038,3114,2372,1953
$GC,9660,1.02,191.3,420.0,8.3,898,9673,0.00,0.00,11.32,1.015,6,0.000,0.000,3114,2373,1898
$GC,9988,1.09,216.4,393.3,7.7,929,10011,0.12,0.00,20.35,0.969,6,0.068,0.000,3144,2373,1795
$GC,10324,1.09,216.4,361.4,9.9,961,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2373,1793
$GC,10643,1.09,216.4,330.8,9.6,991,10647,0.00,2.50,0.00,0.000,4,0.000,0.052,3144,970,1793
$GC,10671,1.09,216.4,328.1,10.3,993,10676,0.00,2.42,0.00,0.000,6,0.000,0.036,3144,2370,1793
$GC,10995,1.09,216.4,298.0,9.3,1023,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2370,1793
$GC,11314,1.09,216.4,269.7,9.1,1053,11318,0.00,2.50,0.00,0.000,4,0.000,0.051,3144,961,1793
$GC,11347,1.09,216.4,266.4,9.8,1056,11351,0.00,2.40,0.00,0.000,6,0.000,0.035,3144,2356,1793
$GC,11680,1.10,219.7,235.1,8.8,1100,11688,0.00,2.47,2.70,0.895,4,0.000,0.053,3144,3724,1782
$GC,11750,1.10,222.9,228.4,8.9,1112,11759,0.00,2.33,2.78,0.895,6,0.000,0.034,3144,2356,1769
$GC,12096,1.12,230.5,198.3,8.6,1173,12109,0.00,0.00,6.68,0.854,6,0.000,0.000,3144,2355,1738
$GC,12444,1.24,266.5,170.5,7.2,1235,12480,0.12,0.00,28.85,0.767,6,0.061,0.000,3179,2353,1590
$GC,12818,1.33,301.7,138.2,7.2,1300,12853,0.00,2.50,27.62,0.729,4,0.000,0.049,3179,969,1446
$GC,12901,1.39,301.7,131.2,9.2,1313,12909,0.12,2.42,0.00,0.000,6,0.059,0.032,3212,2377,1445
$GC,13248,1.43,328.1,100.6,7.7,1374,13276,0.00,2.53,20.62,0.692,4,0.000,0.048,3212,975,1338
$GC,13349,1.43,328.1,91.0,9.5,1391,13356,0.00,2.35,0.00,0.000,6,0.000,0.031,3212,2350,1336
$GC,13695,1.54,358.7,59.9,7.5,1452,13725,0.12,2.47,23.95,0.637,4,0.061,0.047,3247,3717,1214
$GC,13775,1.54,358.7,52.3,9.9,1465,13783,0.00,2.28,0.00,0.000,6,0.000,0.029,3247,2363,1213
$GC,14120,1.58,358.7,19.9,10.3,1526,14128,0.00,2.40,0.00,0.000,4,0.000,0.046,3247,976,1211
$GC,14298,1.63,358.7,3.0,9.1,1557,14306,0.00,2.28,0.00,0.000,6,0.000,0.028,3247,2335,1211
$STATE,14310,end climb,SURFACE_DEPTH_REACHED
$STATE,14310,begin surface coast
$FINISH,-0.0,1.021591
$STATE,14333,end surface coast,CONTROL_FINISHED_OK
$STATE,14333,begin surface
$SM_CCo,14354,38.55,0.557,0,0,884,440.07
$SM_GC,0.57,0.00,0.00,38.55,0.000,0.000,0.557,250,2097,884,-12.21,-1.50,440.07
$IRIDIUM_FIX,1243.25,12024.46,280597,121254
$TT8_MAMPS,0.023777
$HUMID,1822
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.40
$XPDR_PINGS,489
$ALTIM_BOTTOM_PING,561.4,8.1
$24V_AH,23.4,17.423
$10V_AH,10.2,8.127
$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,31.575,116.600,405.100,38.550,0.000,100.594,109.526,220.401,124.250,0.000,0.000,35.800,3283.706,8163.567,598.289,2473.134,621.487,0.000,1826.312,0.000,2419.748,0.000,16.262
$DEVICE_MAMPS,167.206,59.059,1114.451,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47179,1563
$CAP_FILE_SIZE,147979,0
$CFSIZE,260165632,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,325.6,1
$GPS,030308,161637,1247.825,12026.916,25,1.3,25,-0.8