version: 66.03
glider: 122
mission: 6
dive: 112
start: 3 9 108 11 51 54
data:
$ID,122
$MISSION,6
$DIVE,112
$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,450
$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,-29441.355
$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,36
$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,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,9
$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
$GPS1,114601,1247.439,12027.101,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.7
$GPS2,115121,1247.459,12027.059,12,1.4,12,-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,79.0,28966,-17.4,-9.016
$D_GRID,634
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.97,0.000,2,0.000,0.000,251,2132,2547
$GC,94,-1.42,-146.0,3.4,-8.2,11,127,13.52,2.50,-13.52,0.000,4,0.171,0.051,2588,3557,3276
$GC,241,-1.10,-146.0,38.8,-21.9,36,248,0.40,2.35,0.00,0.000,6,0.117,0.027,2662,2135,3277
$GC,586,-1.00,-146.0,93.9,-14.4,97,593,0.12,2.45,0.00,0.000,4,0.123,0.041,2684,3564,3279
$GC,611,-0.93,-146.0,97.2,-13.6,101,618,0.00,2.30,0.00,0.000,6,0.000,0.026,2684,2172,3280
$GC,955,-0.93,-146.0,142.1,-13.5,162,962,0.00,2.45,0.00,0.000,4,0.000,0.044,2684,753,3281
$GC,980,-0.93,-146.0,145.0,-12.2,166,987,0.00,2.45,0.00,0.000,6,0.000,0.028,2684,2220,3281
$GC,1325,-1.00,-146.0,177.0,-8.7,227,1334,0.00,2.53,0.00,0.000,4,0.000,0.044,2684,755,3282
$GC,1358,-1.11,-146.0,179.8,-8.8,232,1364,0.00,2.40,0.00,0.000,6,0.000,0.028,2684,2197,3282
$GC,1702,-1.22,-146.0,208.1,-7.1,293,1709,0.17,2.30,0.00,0.000,4,0.047,0.044,2626,3548,3282
$GC,1760,-1.22,-146.0,213.3,-9.0,303,1766,0.00,2.25,0.00,0.000,6,0.000,0.028,2626,2190,3283
$GC,2104,-1.22,-146.0,243.5,-8.7,364,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2189,3282
$GC,2439,-1.22,-146.0,273.9,-8.8,402,2443,0.00,2.53,0.00,0.000,4,0.000,0.049,2626,747,3281
$GC,2489,-1.25,-146.0,279.0,-9.7,406,2493,0.00,2.47,0.00,0.000,6,0.000,0.032,2626,2209,3281
$GC,2815,-1.25,-146.0,306.7,-8.4,436,2819,0.00,2.33,0.00,0.000,4,0.000,0.048,2626,3553,3279
$GC,2865,-1.25,-146.0,311.0,-8.5,440,2869,0.00,2.28,0.00,0.000,6,0.000,0.031,2626,2195,3279
$GC,3190,-1.25,-146.0,339.1,-9.3,470,3195,0.00,2.55,0.00,0.000,4,0.000,0.051,2626,750,3277
$GC,3245,-1.30,-146.0,344.5,-8.9,474,3252,0.00,2.42,0.00,0.000,6,0.000,0.031,2626,2176,3277
$GC,3571,-1.30,-146.0,371.9,-8.2,505,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2177,3274
$GC,3889,-1.30,-146.0,397.3,-7.8,535,3893,0.00,2.40,0.00,0.000,4,0.000,0.050,2626,3554,3272
$GC,3943,-1.30,-146.0,402.0,-8.3,539,3950,0.00,2.33,0.00,0.000,6,0.000,0.033,2626,2178,3272
$GC,4269,-1.30,-146.0,427.9,-7.7,570,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2173,3270
$GC,4587,-1.30,-146.0,454.9,-8.6,600,4591,0.00,2.42,0.00,0.000,4,0.000,0.051,2626,3553,3268
$GC,4653,-1.34,-146.0,460.5,-8.3,605,4660,0.00,2.33,0.00,0.000,6,0.000,0.035,2626,2185,3268
$GC,4979,-1.38,-146.0,485.5,-7.9,636,4983,0.00,2.55,0.00,0.000,4,0.000,0.054,2626,752,3266
$GC,5011,-1.42,-146.0,488.5,-8.7,638,5019,0.15,2.47,0.00,0.000,6,0.053,0.035,2580,2192,3266
$GC,5343,-1.36,-146.0,521.5,-10.0,660,5345,0.15,0.00,0.00,0.000,6,0.107,0.000,2608,2192,3263
$GC,5650,-1.36,-146.0,547.7,-8.4,675,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2193,3262
$GC,5960,-1.36,-146.0,571.5,-7.8,690,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2193,3260
$GC,6269,-1.36,-146.0,595.9,-7.6,705,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2193,3258
$GC,6578,-1.36,-146.0,621.9,-8.7,720,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2193,3257
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6720,begin apogee
$GC,6725,-0.34,0.0,634.5,8.6,727,6846,1.08,0.00,117.57,1.090,6,0.094,0.000,2826,2388,2678
$STATE,6847,end apogee,CONTROL_FINISHED_OK
$STATE,6847,begin climb
$GC,6849,1.42,146.0,638.2,0.0,733,6979,1.77,2.47,119.25,1.046,4,0.055,0.059,3217,3723,2082
$GC,7041,1.19,146.0,624.1,13.7,741,7049,0.30,2.33,0.00,0.000,6,0.114,0.038,3163,2381,2081
$GC,7356,1.09,146.0,591.3,9.8,757,7361,0.00,2.55,0.00,0.000,4,0.000,0.057,3163,972,2080
$GC,7396,0.98,146.0,587.4,10.2,759,7401,0.22,2.42,0.00,0.000,6,0.112,0.037,3122,2359,2079
$GC,7723,0.99,151.5,558.6,8.7,775,7728,0.00,0.00,4.00,1.069,6,0.000,0.000,3122,2360,2060
$GC,8031,1.01,166.2,532.0,8.3,790,8045,0.00,0.00,12.10,1.067,6,0.000,0.000,3122,2359,2000
$GC,8340,1.03,174.6,506.4,8.6,805,8354,0.00,2.60,7.07,1.068,4,0.000,0.054,3122,970,1966
$GC,8388,1.03,174.6,502.1,9.2,807,8392,0.00,2.50,0.00,0.000,6,0.000,0.038,3122,2378,1965
$GC,8714,1.04,181.3,473.5,8.7,836,8727,0.00,2.58,5.80,1.055,4,0.000,0.054,3122,966,1937
$GC,8765,1.04,181.3,468.6,10.1,840,8772,0.00,2.45,0.00,0.000,6,0.000,0.038,3122,2351,1937
$GC,9091,1.05,190.9,440.5,8.5,871,9102,0.00,0.00,7.80,1.039,6,0.000,0.000,3122,2351,1899
$GC,9420,1.05,190.9,409.0,9.9,902,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2350,1898
$GC,9737,1.06,193.5,379.8,8.9,932,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2351,1898
$GC,10056,1.06,195.2,353.1,8.9,962,10067,0.00,0.00,3.47,0.989,6,0.000,0.000,3122,2351,1882
$GC,10386,1.11,204.9,323.8,8.5,993,10397,0.12,0.00,8.18,0.962,6,0.071,0.000,3151,2351,1842
$GC,10713,1.11,204.9,292.1,9.3,1024,10717,0.00,2.47,0.00,0.000,4,0.000,0.052,3151,965,1841
$GC,10756,1.11,204.9,287.9,9.4,1027,10764,0.00,2.42,0.00,0.000,6,0.000,0.036,3151,2348,1841
$GC,11082,1.13,212.7,259.6,8.6,1058,11095,0.00,2.53,6.45,0.915,4,0.000,0.053,3151,3732,1809
$GC,11141,1.13,212.7,254.0,9.5,1063,11145,0.00,2.40,0.00,0.000,6,0.000,0.035,3151,2332,1809
$GC,11482,1.14,220.9,223.7,8.6,1119,11496,0.00,2.45,6.72,0.881,4,0.000,0.051,3151,967,1777
$GC,11525,1.14,220.9,219.8,9.1,1126,11532,0.00,2.40,0.00,0.000,6,0.000,0.035,3151,2349,1776
$GC,11869,1.25,269.9,192.7,6.5,1187,11914,0.12,2.58,39.40,0.781,4,0.067,0.050,3182,969,1576
$GC,11949,1.25,269.9,185.3,10.0,1200,11955,0.00,2.35,0.00,0.000,6,0.000,0.035,3182,2322,1574
$GC,12294,1.30,296.3,153.0,7.7,1261,12322,0.00,2.50,20.88,0.755,4,0.000,0.049,3182,973,1466
$GC,12357,1.39,314.9,148.0,8.1,1271,12379,0.12,2.28,14.55,0.751,6,0.058,0.032,3215,2293,1394
$GC,12718,1.41,325.6,117.7,8.5,1334,12731,0.00,0.00,8.10,0.739,6,0.000,0.000,3215,2293,1350
$GC,13069,1.46,325.6,88.3,9.6,1396,13077,0.00,2.33,0.00,0.000,4,0.000,0.045,3215,967,1349
$GC,13215,1.52,325.6,74.4,9.0,1421,13222,0.00,2.15,0.00,0.000,6,0.000,0.029,3215,2246,1348
$GC,13558,1.69,376.4,49.9,6.4,1482,13605,0.22,0.00,40.33,0.605,6,0.046,0.000,3278,2247,1142
$GC,13942,1.69,376.4,9.7,9.6,1550,13948,0.00,2.55,0.00,0.000,4,0.000,0.044,3279,3727,1139
$GC,13971,1.69,376.4,6.3,11.6,1555,13978,0.00,2.50,0.00,0.000,6,0.000,0.028,3278,2232,1138
$STATE,14010,end climb,SURFACE_DEPTH_REACHED
$STATE,14010,begin surface coast
$FINISH,0.1,1.020189
$STATE,14028,end surface coast,CONTROL_FINISHED_OK
$STATE,14028,begin surface
$SM_CCo,14049,34.88,0.548,0,0,842,450.13
$SM_GC,0.66,0.00,0.00,34.88,0.000,0.000,0.548,250,2125,842,-12.21,-0.74,450.13
$IRIDIUM_FIX,1245.46,12026.36,030697,070726
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.80
$XPDR_PINGS,480
$24V_AH,23.4,22.131
$10V_AH,10.2,10.622
$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,31.775,107.300,421.675,34.875,0.000,25.034,18.572,175.726,123.500,0.000,0.000,12.326,3114.544,7820.379,632.220,2431.978,415.688,0.000,1851.602,0.000,2403.249,0.000,27.485
$DEVICE_MAMPS,171.041,59.826,1089.907,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47231,1565
$CAP_FILE_SIZE,142861,0
$CFSIZE,260165632,248573952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,138.8,1
$GPS,090308,154756,1247.399,12029.007,43,1.2,43,-0.8