version: 66.03
glider: 122
mission: 6
dive: 113
start: 3 9 108 16 4 47
data:
$ID,122
$MISSION,6
$DIVE,113
$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,554.62329
$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,-29453.182
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,154756,1247.399,12029.007,43,1.2,43,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.0
$GPS2,160415,1247.374,12028.879,11,1.8,11,-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,61.3,25797,-17.4,-9.016
$D_GRID,635
$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,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-62.53,0.000,2,0.000,0.000,251,2124,2563
$GC,87,-1.42,-146.0,3.4,-7.9,10,119,13.50,2.42,-13.12,0.000,4,0.170,0.053,2591,760,3276
$GC,217,-1.14,-146.0,36.7,-23.3,32,224,0.32,2.35,0.00,0.000,6,0.116,0.027,2652,2171,3277
$GC,563,-1.01,-146.0,95.0,-14.5,93,570,0.15,2.38,0.00,0.000,4,0.105,0.043,2684,3559,3278
$GC,660,-1.01,-146.0,106.8,-11.1,110,667,0.00,2.28,0.00,0.000,6,0.000,0.026,2684,2176,3278
$GC,1004,-1.01,-146.0,149.3,-13.6,171,1011,0.00,2.45,0.00,0.000,4,0.000,0.044,2684,755,3279
$GC,1064,-1.08,-146.0,156.7,-12.0,181,1071,0.00,2.35,0.00,0.000,6,0.000,0.028,2684,2169,3279
$GC,1407,-1.16,-146.0,187.3,-8.1,242,1417,0.15,2.38,0.00,0.000,4,0.049,0.043,2632,3558,3280
$GC,1463,-1.12,-146.0,193.1,-10.7,251,1470,0.15,2.25,0.00,0.000,6,0.090,0.028,2662,2192,3280
$GC,1809,-1.19,-146.0,223.8,-8.2,312,1816,0.00,2.47,0.00,0.000,4,0.000,0.046,2662,755,3279
$GC,1857,-1.29,-146.0,227.8,-8.3,320,1866,0.17,2.40,0.00,0.000,6,0.046,0.029,2606,2189,3279
$GC,2202,-1.24,-146.0,267.0,-11.3,368,2206,0.15,2.35,0.00,0.000,4,0.097,0.046,2639,3554,3279
$GC,2245,-1.28,-146.0,271.7,-10.1,371,2252,0.00,2.28,0.00,0.000,6,0.000,0.030,2639,2185,3279
$GC,2572,-1.31,-146.0,301.6,-8.8,402,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2184,3277
$GC,2890,-1.35,-146.0,327.8,-7.9,432,2894,0.15,2.38,0.00,0.000,4,0.052,0.047,2590,3554,3275
$GC,2927,-1.29,-146.0,331.8,-10.7,435,2936,0.17,2.28,0.00,0.000,6,0.095,0.031,2624,2196,3275
$GC,3252,-1.29,-146.0,358.1,-8.3,466,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2193,3272
$GC,3572,-1.29,-146.0,385.1,-8.7,496,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2193,3269
$GC,3890,-1.29,-146.0,412.6,-8.3,526,3894,0.00,2.38,0.00,0.000,4,0.000,0.051,2624,3549,3267
$GC,3922,-1.29,-146.0,415.5,-8.7,528,3930,0.00,2.28,0.00,0.000,6,0.000,0.033,2624,2206,3267
$GC,4248,-1.29,-146.0,441.7,-8.1,559,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2202,3265
$GC,4566,-1.29,-146.0,468.2,-8.2,589,4570,0.00,2.60,0.00,0.000,4,0.000,0.054,2624,746,3261
$GC,4610,-1.34,-146.0,472.2,-8.8,592,4617,0.00,2.50,0.00,0.000,6,0.000,0.035,2624,2204,3262
$GC,4936,-1.34,-146.0,499.9,-8.1,623,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2205,3259
$GC,5255,-1.37,-146.0,525.1,-7.5,639,5259,0.00,2.38,0.00,0.000,4,0.000,0.054,2624,3552,3257
$GC,5321,-1.42,-146.0,530.6,-8.1,642,5326,0.12,2.22,0.00,0.000,6,0.061,0.035,2590,2239,3256
$GC,5643,-1.38,-146.0,559.5,-9.2,658,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2237,3255
$GC,5951,-1.34,-146.0,588.5,-9.2,673,5956,0.12,2.65,0.00,0.000,4,0.112,0.055,2612,752,3253
$GC,5991,-1.37,-146.0,591.9,-9.0,675,5995,0.00,2.55,0.00,0.000,6,0.000,0.035,2612,2232,3253
$GC,6317,-1.37,-146.0,619.4,-8.8,691,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2231,3251
$STATE,6501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6501,begin apogee
$GC,6506,-0.34,0.0,635.6,8.6,700,6625,1.08,0.00,116.20,1.090,6,0.094,0.000,2831,2373,2678
$STATE,6626,end apogee,CONTROL_FINISHED_OK
$STATE,6626,begin climb
$GC,6628,1.42,146.0,639.3,0.0,706,6758,1.75,2.47,119.18,1.045,4,0.054,0.058,3218,3719,2082
$GC,6803,1.18,146.0,627.1,13.7,714,6808,0.30,2.33,0.00,0.000,6,0.115,0.037,3164,2380,2080
$GC,7130,1.08,146.0,593.5,9.9,730,7132,0.12,0.00,0.00,0.000,6,0.117,0.000,3142,2378,2079
$GC,7439,1.02,146.0,565.1,9.4,745,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2378,2077
$GC,7750,0.97,146.0,536.7,9.0,760,7755,0.15,2.53,0.00,0.000,4,0.112,0.055,3111,970,2076
$GC,7789,0.97,148.4,533.1,8.9,762,7793,0.00,2.42,0.00,0.000,6,0.000,0.038,3111,2358,2075
$GC,8115,0.99,160.9,506.9,8.4,778,8131,0.00,2.50,11.27,1.065,4,0.000,0.058,3111,3726,2020
$GC,8180,0.99,160.9,500.8,9.4,780,8185,0.00,2.35,0.00,0.000,6,0.000,0.036,3111,2363,2020
$GC,8507,1.02,175.1,472.1,8.3,810,8520,0.00,0.00,11.25,1.045,6,0.000,0.000,3111,2361,1964
$GC,8836,1.09,195.7,444.6,8.0,841,8856,0.15,0.00,16.90,1.014,6,0.066,0.000,3146,2361,1880
$GC,9173,1.10,201.6,413.5,8.7,873,9185,0.00,2.55,4.82,1.019,4,0.000,0.055,3146,963,1855
$GC,9212,1.10,201.6,409.7,9.9,876,9219,0.00,2.50,0.00,0.000,6,0.000,0.038,3146,2391,1855
$GC,9538,1.10,201.6,378.8,9.5,907,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2391,1855
$GC,9855,1.10,201.6,348.5,9.4,937,9860,0.00,2.55,0.00,0.000,4,0.000,0.053,3146,963,1854
$GC,9887,1.10,201.6,345.3,10.0,939,9895,0.00,2.50,0.00,0.000,6,0.000,0.037,3147,2387,1854
$GC,10213,1.10,201.6,314.5,9.8,970,10217,0.00,2.53,0.00,0.000,4,0.000,0.052,3146,971,1854
$GC,10264,1.10,201.6,309.4,11.0,974,10268,0.00,2.45,0.00,0.000,6,0.000,0.036,3146,2389,1854
$GC,10589,1.10,201.6,278.8,9.2,1004,10593,0.00,2.35,0.00,0.000,4,0.000,0.054,3146,3722,1854
$GC,10667,1.10,201.6,271.0,9.4,1011,10671,0.00,2.25,0.00,0.000,6,0.000,0.035,3147,2397,1854
$GC,10996,1.10,205.5,241.7,8.8,1049,11002,0.00,0.00,3.08,0.903,6,0.000,0.000,3146,2394,1839
$GC,11340,1.15,231.8,211.0,7.7,1110,11370,0.00,2.60,21.25,0.823,4,0.000,0.051,3146,980,1732
$GC,11449,1.18,231.8,201.6,9.1,1129,11456,0.00,2.50,0.00,0.000,6,0.000,0.035,3147,2422,1731
$GC,11794,1.27,254.2,174.5,7.9,1190,11819,0.15,2.62,18.23,0.786,4,0.061,0.048,3190,975,1639
$GC,11887,1.27,254.2,165.1,10.5,1206,11894,0.00,2.47,0.00,0.000,6,0.000,0.034,3190,2408,1638
$GC,12232,1.35,301.0,139.1,6.6,1267,12272,0.00,0.00,36.58,0.720,6,0.000,0.000,3190,2408,1449
$GC,12611,1.48,335.5,112.1,7.3,1334,12648,0.15,2.62,26.88,0.686,4,0.057,0.046,3234,975,1308
$GC,12794,1.48,335.5,92.8,11.1,1366,12801,0.00,2.47,0.00,0.000,6,0.000,0.031,3234,2419,1306
$GC,13139,1.53,335.5,60.5,9.3,1427,13146,0.00,2.25,0.00,0.000,4,0.000,0.048,3234,3720,1306
$GC,13191,1.57,335.5,55.9,9.2,1436,13198,0.00,2.17,0.00,0.000,6,0.000,0.028,3234,2410,1306
$GC,13536,1.69,364.7,28.6,7.5,1497,13566,0.15,0.00,22.67,0.595,6,0.054,0.000,3281,2405,1190
$STATE,13794,end climb,SURFACE_DEPTH_REACHED
$STATE,13795,begin surface coast
$FINISH,-0.0,1.008777
$STATE,13813,end surface coast,CONTROL_FINISHED_OK
$STATE,13813,begin surface
$SM_CCo,13834,89.80,0.525,0,0,417,554.62
$SM_GC,0.79,0.00,0.00,89.80,0.000,0.000,0.525,250,2144,417,-12.21,-0.17,554.62
$IRIDIUM_FIX,1243.25,12026.36,030697,161653
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.70
$XPDR_PINGS,510
$24V_AH,23.5,22.303
$10V_AH,10.2,10.705
$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,32.325,107.200,408.300,89.800,0.000,130.669,88.328,398.700,131.000,0.000,0.000,11.198,3007.648,8000.287,646.600,2403.417,855.172,0.000,1858.646,0.000,2387.154,0.000,26.318
$DEVICE_MAMPS,170.274,58.292,1089.907,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47214,1546
$CAP_FILE_SIZE,149911,0
$CFSIZE,260165632,248487936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,251.9,1
$GPS,090308,195807,1248.006,12030.280,37,1.3,42,-0.8