version: 66.03
glider: 122
mission: 6
dive: 120
start: 3 11 108 4 50 24
data:
$ID,122
$MISSION,6
$DIVE,120
$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,475
$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,-29594.357
$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,50
$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
$GPS1,044201,1250.535,12043.036,36,1.3,36,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.9
$GPS2,044951,1250.521,12043.049,14,1.2,14,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,288.8,50582,-17.4,-9.016
$D_GRID,1049
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.65,0.000,2,0.000,0.000,251,2131,2549
$GC,102,-1.42,-146.0,3.7,-8.5,12,135,13.40,2.45,-12.98,0.000,4,0.168,0.054,2587,758,3276
$GC,214,-1.10,-146.0,35.6,-24.6,31,222,0.40,2.33,0.00,0.000,6,0.117,0.027,2662,2151,3277
$GC,560,-0.98,-146.0,99.5,-14.7,92,567,0.15,2.40,0.00,0.000,4,0.100,0.044,2695,3550,3277
$GC,601,-0.98,-146.0,104.9,-12.6,99,609,0.00,2.30,0.00,0.000,6,0.000,0.026,2695,2156,3278
$GC,947,-1.06,-146.0,138.0,-7.7,160,956,0.00,2.40,0.00,0.000,4,0.000,0.041,2695,3559,3279
$GC,1041,-1.14,-146.0,145.8,-8.3,176,1050,0.17,2.25,0.00,0.000,6,0.046,0.027,2643,2193,3279
$GC,1388,-1.14,-146.0,178.4,-9.0,237,1395,0.00,2.50,0.00,0.000,4,0.000,0.044,2643,748,3279
$GC,1418,-1.18,-146.0,181.1,-9.0,242,1425,0.00,2.42,0.00,0.000,6,0.000,0.028,2643,2202,3279
$GC,1763,-1.18,-146.0,211.0,-8.7,303,1770,0.00,2.33,0.00,0.000,4,0.000,0.046,2643,3557,3279
$GC,1827,-1.18,-146.0,216.5,-8.7,314,1834,0.00,2.28,0.00,0.000,6,0.000,0.028,2643,2182,3279
$GC,2173,-1.18,-146.0,245.4,-8.6,375,2180,0.00,2.35,0.00,0.000,4,0.000,0.045,2643,3551,3278
$GC,2204,-1.18,-146.0,248.2,-8.8,380,2211,0.00,2.25,0.00,0.000,6,0.000,0.029,2643,2193,3278
$GC,2539,-1.18,-146.0,277.5,-9.2,413,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,3276
$GC,2855,-1.18,-146.0,306.8,-8.8,443,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2191,3275
$GC,3175,-1.21,-146.0,333.1,-7.5,473,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2190,3272
$GC,3493,-1.25,-146.0,355.5,-7.5,503,3497,0.00,2.55,0.00,0.000,4,0.000,0.051,2643,749,3271
$GC,3526,-1.32,-146.0,358.1,-7.5,505,3535,0.12,2.45,0.00,0.000,6,0.055,0.031,2603,2196,3270
$GC,3850,-1.27,-146.0,390.1,-9.5,536,3854,0.12,2.35,0.00,0.000,4,0.104,0.048,2626,3550,3269
$GC,3889,-1.27,-146.0,393.8,-9.3,539,3893,0.00,2.30,0.00,0.000,6,0.000,0.032,2626,2185,3268
$GC,4214,-1.27,-146.0,417.6,-7.0,569,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2184,3266
$GC,4532,-1.27,-146.0,442.7,-8.5,599,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2184,3265
$GC,4850,-1.27,-146.0,470.1,-9.2,629,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2182,3262
$GC,5171,-1.66,-146.0,491.3,0.5,659,5173,0.38,0.00,0.00,0.000,6,0.046,0.000,2536,2182,3260
$STATE,5251,end dive,NO_VERTICAL_VELOCITY
$STATE,5251,begin apogee
$GC,5256,-0.34,0.0,491.0,0.0,667,5375,1.35,0.00,114.60,0.960,6,0.055,0.000,2833,2382,2678
$STATE,5376,end apogee,CONTROL_FINISHED_OK
$STATE,5376,begin climb
$GC,5378,1.42,146.0,490.6,0.0,679,5499,1.75,0.00,116.50,0.924,6,0.060,0.000,3220,2381,2082
$GC,5813,1.24,146.0,452.5,10.4,721,5818,0.20,2.53,0.00,0.000,4,0.115,0.053,3181,970,2079
$GC,5857,1.11,146.0,447.9,10.7,724,5865,0.17,2.42,0.00,0.000,6,0.118,0.038,3150,2360,2080
$GC,6182,1.11,165.3,420.8,8.0,755,6203,0.00,0.00,14.57,0.954,6,0.000,0.000,3150,2361,2004
$GC,6522,1.14,186.4,391.3,7.9,787,6546,0.00,2.55,16.73,0.937,4,0.000,0.054,3150,975,1917
$GC,6607,1.14,186.4,383.1,9.2,794,6614,0.00,2.45,0.00,0.000,6,0.000,0.038,3150,2378,1916
$GC,6933,1.16,194.5,353.1,8.6,825,6946,0.00,2.42,6.18,0.953,4,0.000,0.057,3150,3723,1885
$GC,6985,1.16,194.5,348.3,9.2,829,6992,0.00,2.35,0.00,0.000,6,0.000,0.035,3150,2374,1885
$GC,7311,1.18,210.6,322.3,8.2,860,7329,0.00,2.55,12.95,0.913,4,0.000,0.054,3150,973,1818
$GC,7409,1.21,224.7,314.2,8.3,868,7425,0.00,2.42,11.20,0.902,6,0.000,0.037,3150,2364,1761
$GC,7751,1.26,235.5,286.4,8.5,900,7766,0.15,2.60,8.68,0.896,4,0.064,0.053,3190,965,1717
$GC,7812,1.20,235.5,280.2,10.7,905,7816,0.12,2.42,0.00,0.000,6,0.114,0.036,3169,2357,1717
$GC,8136,1.20,235.5,247.8,9.8,937,8143,0.00,2.47,0.00,0.000,4,0.000,0.053,3169,969,1716
$GC,8211,1.20,235.5,239.9,10.7,950,8218,0.00,2.38,0.00,0.000,6,0.000,0.036,3169,2341,1716
$GC,8555,1.22,247.9,208.6,8.4,1011,8569,0.00,0.00,9.93,0.838,6,0.000,0.000,3169,2341,1667
$GC,8907,1.30,271.6,179.5,7.8,1073,8931,0.00,2.55,18.95,0.785,4,0.000,0.051,3169,972,1569
$GC,8966,1.36,277.0,174.7,8.7,1082,8981,0.15,2.38,4.38,0.813,6,0.056,0.035,3206,2337,1547
$GC,9320,1.41,304.8,140.2,7.6,1144,9348,0.00,2.50,21.95,0.738,4,0.000,0.052,3206,3725,1434
$GC,9423,1.44,304.8,131.4,9.9,1161,9430,0.00,2.35,0.00,0.000,6,0.000,0.034,3207,2351,1433
$GC,9763,1.61,360.0,105.0,6.2,1222,9815,0.20,2.53,43.25,0.680,4,0.053,0.051,3261,979,1210
$GC,9927,1.61,360.0,89.7,10.2,1251,9934,0.00,2.33,0.00,0.000,6,0.000,0.034,3262,2328,1206
$GC,10271,1.65,360.9,57.9,9.0,1312,10278,0.00,2.40,0.00,0.000,4,0.000,0.049,3261,971,1205
$GC,10312,1.69,360.9,54.2,9.3,1319,10319,0.00,2.33,0.00,0.000,6,0.000,0.031,3261,2337,1204
$GC,10657,1.81,394.1,28.9,7.3,1380,10694,0.15,2.47,26.15,0.604,4,0.057,0.048,3307,3712,1069
$GC,10741,1.81,394.1,20.2,12.0,1394,10747,0.00,2.33,0.00,0.000,6,0.000,0.030,3307,2332,1069
$STATE,10915,end climb,SURFACE_DEPTH_REACHED
$STATE,10915,begin surface coast
$FINISH,0.2,1.021341
$STATE,10932,end surface coast,CONTROL_FINISHED_OK
$STATE,10932,begin surface
$SM_CCo,10954,39.10,0.553,0,0,740,475.15
$SM_GC,0.56,0.00,0.00,39.10,0.000,0.000,0.553,251,2138,740,-12.21,-0.34,475.15
$IRIDIUM_FIX,1245.46,12045.31,050697,040420
$TT8_MAMPS,0.023777
$HUMID,1929
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.30
$XPDR_PINGS,523
$24V_AH,23.6,23.479
$10V_AH,10.2,11.342
$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,32.500,92.250,426.000,39.100,0.000,54.059,47.438,209.431,130.750,0.000,0.000,14.815,2916.818,5281.967,638.418,2144.382,493.505,0.000,1718.822,0.000,2135.560,0.000,0.932
$DEVICE_MAMPS,167.973,56.758,959.517,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44098,1428
$CAP_FILE_SIZE,124905,0
$CFSIZE,260165632,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,246.8,1
$GPS,110308,075426,1250.996,12041.833,9,1.7,14,-0.8