version: 66.03
glider: 122
mission: 6
dive: 118
start: 3 10 108 20 31 48
data:
$ID,122
$MISSION,6
$DIVE,118
$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,-29563.264
$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,34
$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,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
$GPS1,201708,1249.737,12041.206,24,1.9,24,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.3
$GPS2,203115,1249.652,12041.213,33,1.7,33,-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,35.2,3398,-25.8,-9.016
$D_GRID,1166
$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,-1.86,-69.4,0.0,0.0,0,85,0.00,0.00,-63.83,0.000,2,0.000,0.000,251,2166,2467
$GC,88,-1.89,-88.6,3.1,-7.2,10,118,12.93,0.00,-11.23,0.000,6,0.171,0.000,2487,2166,3040
$GC,456,-1.66,-88.6,105.0,-22.2,75,463,0.28,2.38,0.00,0.000,4,0.149,0.040,2537,3557,3043
$GC,481,-1.49,-88.6,110.3,-20.9,79,488,0.22,2.35,0.00,0.000,6,0.129,0.028,2577,2141,3043
$GC,826,-1.52,-88.6,162.8,-12.6,140,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2141,3043
$GC,1169,-1.59,-88.6,201.1,-10.4,201,1176,0.00,2.42,0.00,0.000,4,0.000,0.046,2576,746,3045
$GC,1283,-1.68,-88.6,213.4,-10.1,221,1291,0.17,2.35,0.00,0.000,6,0.047,0.029,2528,2148,3045
$GC,1627,-1.68,-88.6,252.6,-10.6,280,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2148,3044
$GC,1945,-1.68,-88.6,291.4,-13.0,310,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2148,3043
$GC,2264,-1.68,-88.6,328.3,-11.8,340,2268,0.00,2.42,0.00,0.000,4,0.000,0.049,2528,3545,3041
$GC,2324,-1.68,-88.6,335.7,-12.1,345,2332,0.00,2.42,0.00,0.000,6,0.000,0.031,2528,2128,3041
$GC,2650,-1.68,-88.6,373.3,-11.2,376,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2126,3039
$GC,2969,-1.72,-88.6,408.5,-10.7,406,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2126,3038
$GC,3288,-1.76,-88.6,440.1,-9.4,436,3292,0.00,2.45,0.00,0.000,4,0.000,0.054,2528,751,3035
$GC,3394,-1.79,-88.6,451.0,-10.1,445,3399,0.00,2.35,0.00,0.000,6,0.000,0.034,2528,2123,3034
$GC,3720,-1.83,-88.6,483.5,-10.6,475,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2124,3032
$GC,4033,-1.88,-88.6,515.6,-9.8,498,4038,0.15,2.53,0.00,0.000,4,0.058,0.052,2489,3557,3030
$GC,4082,-1.83,-88.6,521.5,-12.0,500,4086,0.00,2.45,0.00,0.000,6,0.000,0.035,2488,2116,3029
$GC,4403,-1.79,-88.6,555.8,-10.7,516,4405,0.12,0.00,0.00,0.000,6,0.136,0.000,2508,2114,3027
$GC,4712,-1.79,-88.6,586.5,-10.3,531,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2114,3025
$GC,5022,-1.79,-88.6,621.3,-11.2,546,5026,0.00,2.45,0.00,0.000,4,0.000,0.057,2508,744,3023
$GC,5088,-1.79,-88.6,629.9,-12.9,549,5094,0.00,2.35,0.00,0.000,6,0.000,0.037,2509,2110,3024
$GC,5416,-1.79,-88.6,665.1,-10.5,565,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2111,3022
$GC,5724,-1.79,-88.6,696.8,-10.0,580,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2113,3018
$GC,6033,-1.79,-88.6,727.5,-10.5,595,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2112,3017
$GC,6343,-1.79,-88.6,760.3,-10.1,610,6347,0.00,2.45,0.00,0.000,4,0.000,0.057,2508,740,3016
$GC,6404,-1.79,-88.6,766.8,-9.9,612,6411,0.00,2.38,0.00,0.000,6,0.000,0.038,2509,2096,3015
$GC,6719,-1.79,-88.6,797.5,-9.9,628,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2096,3014
$STATE,6924,end dive,NO_VERTICAL_VELOCITY
$STATE,6924,begin apogee
$GC,6929,-0.34,0.0,797.5,0.0,638,7007,1.50,0.00,70.45,1.239,6,0.064,0.000,2834,2386,2677
$STATE,7007,end apogee,CONTROL_FINISHED_OK
$STATE,7008,begin climb
$GC,7009,1.89,88.6,799.1,0.0,642,7090,2.28,0.00,75.47,1.199,6,0.061,0.000,3319,2386,2316
$GC,7396,1.76,88.6,762.7,11.4,661,7401,0.15,2.58,0.00,0.000,4,0.146,0.057,3291,971,2313
$GC,7445,1.64,88.6,757.0,12.1,663,7450,0.17,2.47,0.00,0.000,6,0.138,0.040,3262,2374,2313
$GC,7761,1.60,88.6,726.6,9.7,678,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2374,2312
$GC,8071,1.57,91.5,699.3,8.7,693,8075,0.00,2.55,0.00,0.000,4,0.000,0.058,3262,970,2311
$GC,8182,1.53,101.4,689.8,8.1,698,8201,0.12,2.47,10.18,1.213,6,0.140,0.041,3242,2380,2263
$GC,8508,1.54,109.6,662.2,8.3,714,8516,0.00,0.00,6.90,1.202,6,0.000,0.000,3242,2379,2231
$GC,8817,1.54,109.6,632.3,9.6,729,8821,0.00,2.42,0.00,0.000,4,0.000,0.064,3242,3724,2230
$GC,8888,1.54,109.6,625.4,9.5,732,8892,0.00,2.35,0.00,0.000,6,0.000,0.038,3242,2384,2230
$GC,9210,1.54,109.6,596.1,9.7,748,9214,0.00,2.55,0.00,0.000,4,0.000,0.058,3241,966,2229
$GC,9264,1.54,109.6,590.4,10.4,750,9271,0.00,2.50,0.00,0.000,6,0.000,0.040,3242,2394,2229
$GC,9580,1.55,115.3,562.6,8.5,766,9590,0.00,2.42,4.93,1.151,4,0.000,0.061,3241,3723,2207
$GC,9650,1.55,115.3,556.0,9.3,769,9655,0.00,2.33,0.00,0.000,6,0.000,0.038,3242,2397,2207
$GC,9973,1.60,122.3,529.0,8.4,785,9980,0.00,0.00,5.97,1.132,6,0.000,0.000,3242,2396,2179
$GC,10282,1.65,132.6,503.6,8.1,800,10293,0.10,0.00,8.93,1.106,6,0.089,0.000,3262,2395,2137
$GC,10599,1.65,132.6,471.1,11.0,828,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2395,2137
$GC,10917,1.65,132.6,438.9,9.8,858,10921,0.00,2.58,0.00,0.000,4,0.000,0.058,3262,965,2136
$GC,10960,1.65,132.6,434.4,10.3,861,10968,0.00,2.50,0.00,0.000,6,0.000,0.038,3263,2401,2136
$GC,11286,1.65,132.6,401.7,9.8,892,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2401,2136
$GC,11605,1.67,141.3,371.2,8.2,922,11618,0.00,2.67,7.15,1.017,4,0.000,0.054,3262,962,2102
$GC,11802,1.67,141.3,352.4,9.6,939,11810,0.00,2.55,0.00,0.000,6,0.000,0.037,3263,2410,2101
$GC,12129,1.71,151.3,324.6,8.1,970,12139,0.00,0.00,8.48,0.973,6,0.000,0.000,3262,2410,2061
$GC,12457,1.72,154.5,293.8,8.7,1001,12469,0.00,2.38,2.88,0.960,4,0.000,0.055,3263,3716,2048
$GC,12560,1.72,154.5,283.6,10.4,1010,12564,0.00,2.22,0.00,0.000,6,0.000,0.036,3263,2416,2048
$GC,12885,1.80,167.5,256.5,7.8,1040,12898,0.15,0.00,10.60,0.905,6,0.072,0.000,3296,2414,1995
$GC,13227,1.80,167.5,220.9,9.8,1095,13234,0.00,2.58,0.00,0.000,4,0.000,0.052,3296,968,1994
$GC,13336,1.80,167.5,208.9,11.4,1114,13343,0.00,2.50,0.00,0.000,6,0.000,0.037,3296,2413,1994
$GC,13681,1.80,170.0,177.2,8.8,1175,13689,0.00,2.38,2.65,0.857,4,0.000,0.053,3296,3723,1983
$GC,13757,1.80,171.9,170.8,8.8,1188,13763,0.00,2.17,0.00,0.000,6,0.000,0.034,3296,2442,1983
$GC,14102,1.93,223.3,148.0,4.2,1249,14150,0.12,2.72,41.58,0.745,4,0.075,0.049,3324,972,1765
$GC,14403,1.97,244.1,125.2,7.1,1301,14429,0.00,2.47,16.35,0.736,6,0.000,0.034,3325,2410,1681
$GC,14768,2.10,272.2,93.7,6.4,1365,14794,0.15,0.00,22.12,0.690,6,0.067,0.000,3365,2411,1568
$GC,15133,2.16,278.5,62.6,8.4,1429,15147,0.00,2.60,4.68,0.691,4,0.000,0.046,3365,972,1541
$GC,15181,2.22,289.3,58.8,8.0,1437,15196,0.10,2.42,8.40,0.673,6,0.077,0.031,3389,2392,1498
$GC,15535,2.29,299.9,29.5,8.0,1499,15549,0.00,2.58,8.20,0.634,4,0.000,0.044,3390,969,1453
$GC,15640,2.33,299.9,19.4,10.0,1517,15647,0.00,2.38,0.00,0.000,6,0.000,0.029,3390,2367,1453
$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15830,begin surface coast
$FINISH,-0.1,1.021332
$STATE,15854,end surface coast,CONTROL_FINISHED_OK
$STATE,15854,begin surface
$SM_CCo,15876,127.78,0.530,0,0,416,554.62
$SM_GC,0.80,0.00,0.00,127.78,0.000,0.000,0.530,253,2123,416,-12.20,-0.76,554.62
$IRIDIUM_FIX,1245.46,12042.28,040697,202026
$TT8_MAMPS,0.023777
$HUMID,1848
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,364
$ALTIM_BOTTOM_PING,791.7,10.9
$24V_AH,23.3,23.196
$10V_AH,10.1,11.194
$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,32.575,98.975,315.900,127.775,0.000,132.969,114.419,208.176,99.000,0.000,0.000,33.686,3160.493,9874.602,621.816,2525.350,670.958,0.000,1834.893,0.000,2448.481,0.000,61.750
$DEVICE_MAMPS,171.041,63.661,1238.705,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50334,1555
$CAP_FILE_SIZE,149254,0
$CFSIZE,260165632,248033280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,141.1,1
$GPS,110308,005937,1250.396,12042.366,30,0.9,30,-0.8