version: 66.03
glider: 122
mission: 6
dive: 111
start: 3 9 108 7 44 35
data:
$ID,122
$MISSION,6
$DIVE,111
$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,500
$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,-29428.4
$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,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,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,1
$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
$GPS1,073907,1247.344,12025.349,29,1.1,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.5
$GPS2,074403,1247.389,12025.277,16,1.2,16,-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,80.1,32144,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,94,0.00,0.00,-72.40,0.000,2,0.000,0.000,254,2128,2591
$GC,96,-1.42,-146.0,3.6,-8.4,11,129,13.52,2.50,-12.32,0.000,4,0.171,0.051,2589,3552,3275
$GC,237,-1.09,-146.0,39.1,-23.1,35,245,0.40,2.30,0.00,0.000,6,0.121,0.027,2663,2164,3277
$GC,582,-1.00,-146.0,93.4,-13.5,96,589,0.12,0.00,0.00,0.000,6,0.116,0.000,2685,2162,3279
$GC,926,-1.00,-146.0,135.8,-11.5,157,933,0.00,2.38,0.00,0.000,4,0.000,0.042,2685,3551,3280
$GC,955,-1.00,-146.0,138.9,-11.0,162,962,0.00,2.38,0.00,0.000,6,0.000,0.028,2685,2119,3280
$GC,1302,-1.07,-146.0,171.9,-9.3,223,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2120,3281
$GC,1647,-1.16,-146.0,201.3,-9.0,284,1654,0.15,2.47,0.00,0.000,4,0.050,0.043,2634,3557,3282
$GC,1699,-1.16,-146.0,206.3,-10.1,293,1706,0.00,2.40,0.00,0.000,6,0.000,0.028,2634,2117,3281
$GC,2043,-1.16,-146.0,240.6,-10.4,354,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2116,3281
$GC,2373,-1.16,-146.0,270.3,-8.8,394,2377,0.00,2.47,0.00,0.000,4,0.000,0.045,2634,3548,3280
$GC,2438,-1.16,-146.0,276.4,-9.1,399,2445,0.00,2.40,0.00,0.000,6,0.000,0.031,2634,2120,3280
$GC,2764,-1.16,-146.0,303.9,-8.2,430,2768,0.00,2.50,0.00,0.000,4,0.000,0.046,2634,3557,3279
$GC,2804,-1.20,-146.0,307.5,-9.2,433,2808,0.00,2.38,0.00,0.000,6,0.000,0.031,2634,2146,3279
$GC,3129,-1.23,-146.0,337.0,-9.2,463,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2144,3277
$GC,3448,-1.26,-146.0,365.6,-8.2,493,3452,0.00,2.45,0.00,0.000,4,0.000,0.049,2634,3546,3275
$GC,3514,-1.29,-146.0,370.9,-7.5,498,3521,0.00,2.35,0.00,0.000,6,0.000,0.033,2634,2158,3274
$GC,3841,-1.33,-146.0,393.8,-7.1,529,3845,0.00,2.42,0.00,0.000,4,0.000,0.049,2634,3550,3272
$GC,3880,-1.37,-146.0,396.6,-6.9,532,3885,0.12,2.35,0.00,0.000,6,0.059,0.033,2598,2165,3272
$GC,4205,-1.32,-146.0,422.3,-8.6,562,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2162,3270
$GC,4523,-1.28,-146.0,451.1,-9.4,592,4525,0.12,0.00,0.00,0.000,6,0.112,0.000,2620,2161,3269
$GC,4842,-1.28,-146.0,480.0,-9.3,622,4847,0.00,2.42,0.00,0.000,4,0.000,0.051,2620,3549,3266
$GC,4874,-1.28,-146.0,483.4,-9.8,624,4882,0.00,2.38,0.00,0.000,6,0.000,0.034,2620,2174,3267
$GC,5195,-1.28,-146.0,513.7,-9.4,648,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2173,3265
$GC,5508,-1.28,-146.0,540.3,-8.4,663,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2173,3262
$GC,5814,-1.32,-146.0,565.7,-7.2,678,5818,0.00,2.42,0.00,0.000,4,0.000,0.054,2620,3549,3260
$GC,5847,-1.35,-146.0,568.3,-7.2,679,5851,0.00,2.33,0.00,0.000,6,0.000,0.035,2620,2186,3260
$GC,6170,-1.39,-146.0,592.1,-7.4,695,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2185,3259
$GC,6478,-1.42,-146.0,613.5,-7.2,710,6483,0.12,2.42,0.00,0.000,4,0.061,0.054,2585,3552,3257
$GC,6544,-1.39,-146.0,619.9,-10.0,713,6552,0.00,2.33,0.00,0.000,6,0.000,0.036,2585,2194,3257
$GC,6874,-1.34,-146.0,652.0,-10.3,729,6879,0.15,2.60,0.00,0.000,4,0.112,0.058,2615,746,3256
$GC,6913,-1.39,-146.0,655.8,-9.8,731,6918,0.00,2.47,0.00,0.000,6,0.000,0.038,2616,2180,3255
$STATE,6989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6989,begin apogee
$GC,6994,-0.34,0.0,662.9,8.9,735,7115,1.05,0.00,117.80,1.114,6,0.096,0.000,2827,2391,2678
$STATE,7116,end apogee,CONTROL_FINISHED_OK
$STATE,7116,begin climb
$GC,7118,1.42,146.0,667.5,0.0,741,7243,1.80,0.00,120.10,1.069,6,0.057,0.000,3219,2390,2082
$GC,7546,1.22,146.0,626.8,12.5,762,7548,0.25,0.00,0.00,0.000,6,0.113,0.000,3173,2391,2080
$GC,7855,1.11,146.0,592.1,11.2,777,7857,0.15,0.00,0.00,0.000,6,0.118,0.000,3147,2391,2078
$GC,8165,1.05,146.0,559.8,10.6,792,8169,0.00,2.58,0.00,0.000,4,0.000,0.057,3147,966,2078
$GC,8208,0.98,146.0,555.2,10.8,794,8213,0.15,2.42,0.00,0.000,6,0.120,0.038,3121,2358,2077
$GC,8535,1.01,159.2,526.8,8.3,810,8547,0.00,0.00,10.12,1.080,6,0.000,0.000,3121,2358,2028
$GC,8844,1.01,159.2,498.9,9.1,825,8848,0.00,2.50,0.00,0.000,4,0.000,0.056,3120,971,2027
$GC,8950,1.01,159.2,488.9,9.1,834,8954,0.00,2.40,0.00,0.000,6,0.000,0.037,3121,2353,2026
$GC,9276,1.04,179.4,462.1,8.0,864,9296,0.00,0.00,16.30,1.032,6,0.000,0.000,3121,2353,1946
$GC,9614,1.04,182.1,433.9,8.9,896,9623,0.00,0.00,2.30,1.019,6,0.000,0.000,3120,2354,1934
$GC,9942,1.08,203.3,407.1,7.9,927,9963,0.00,0.00,17.40,0.987,6,0.000,0.000,3120,2354,1848
$GC,10280,1.13,207.7,377.9,8.8,959,10294,0.15,2.53,3.72,0.996,4,0.066,0.054,3160,978,1831
$GC,10310,1.13,207.7,374.6,10.9,961,10317,0.00,2.40,0.00,0.000,6,0.000,0.035,3160,2362,1831
$GC,10636,1.10,207.7,339.8,11.0,992,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2362,1830
$GC,10954,1.06,207.7,305.0,10.5,1022,10959,0.12,2.47,0.00,0.000,4,0.112,0.052,3138,972,1830
$GC,11038,1.06,207.7,296.6,9.2,1029,11042,0.00,2.35,0.00,0.000,6,0.000,0.035,3138,2341,1830
$GC,11362,1.06,210.1,268.2,8.9,1059,11374,0.00,2.50,2.20,0.915,4,0.000,0.054,3139,3722,1821
$GC,11396,1.06,210.1,264.8,10.7,1062,11401,0.00,2.30,0.00,0.000,6,0.000,0.034,3138,2368,1821
$GC,11730,1.12,221.9,234.2,8.4,1107,11748,0.00,2.55,9.62,0.877,4,0.000,0.052,3138,976,1772
$GC,11777,1.15,221.9,230.0,9.1,1115,11784,0.00,2.45,0.00,0.000,6,0.000,0.035,3138,2389,1772
$GC,12121,1.26,261.0,201.6,7.0,1176,12163,0.15,2.62,31.80,0.798,4,0.058,0.051,3184,972,1611
$GC,12209,1.23,261.0,192.8,10.8,1191,12215,0.00,2.45,0.00,0.000,6,0.000,0.035,3184,2385,1610
$GC,12552,1.23,261.0,159.2,9.4,1252,12559,0.00,2.50,0.00,0.000,4,0.000,0.049,3184,974,1609
$GC,12615,1.24,266.1,153.7,8.8,1263,12628,0.00,2.40,3.70,0.815,6,0.000,0.034,3184,2371,1593
$GC,12967,1.42,336.1,126.8,5.4,1325,13031,0.12,2.55,55.62,0.699,4,0.061,0.049,3217,974,1305
$GC,13043,1.43,343.6,120.9,8.6,1338,13056,0.00,2.42,5.90,0.715,6,0.000,0.032,3216,2374,1277
$GC,13395,1.48,350.4,89.2,8.7,1400,13407,0.00,2.50,4.90,0.719,4,0.000,0.046,3216,970,1248
$GC,13527,1.53,350.4,75.7,9.4,1423,13533,0.00,2.30,0.00,0.000,6,0.000,0.030,3216,2324,1247
$GC,13871,1.67,379.7,46.5,7.5,1484,13902,0.20,2.42,23.25,0.620,4,0.048,0.044,3275,966,1127
$GC,13947,1.67,379.7,38.5,11.1,1497,13953,0.00,2.30,0.00,0.000,6,0.000,0.029,3274,2324,1126
$GC,14290,1.67,379.7,3.7,9.8,1558,14297,0.00,2.40,0.00,0.000,4,0.000,0.044,3274,3723,1126
$STATE,14306,end climb,SURFACE_DEPTH_REACHED
$STATE,14307,begin surface coast
$FINISH,-0.1,1.021589
$STATE,14330,end surface coast,CONTROL_FINISHED_OK
$STATE,14330,begin surface
$SM_CCo,14353,57.17,0.540,0,0,638,500.17
$SM_GC,0.78,0.00,0.00,57.17,0.000,0.000,0.540,250,2132,638,-12.21,-0.51,500.17
$IRIDIUM_FIX,1238.83,12023.34,030697,030346
$TT8_MAMPS,0.023777
$HUMID,1855
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,476
$ALTIM_BOTTOM_PING,631.6,4.2
$24V_AH,23.4,21.985
$10V_AH,10.2,10.543
$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,32.025,112.500,424.750,57.175,0.000,26.279,13.819,148.114,123.250,0.000,0.000,16.769,2991.976,8218.025,664.110,2450.108,390.513,0.000,1887.815,0.000,2410.192,0.000,34.599
$DEVICE_MAMPS,171.041,58.292,1114.451,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47171,1565
$CAP_FILE_SIZE,145596,0
$CFSIZE,260165632,248643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,259.8,1
$GPS,090308,114601,1247.439,12027.101,40,1.3,40,-0.8