version: 66.03
glider: 122
mission: 6
dive: 132
start: 3 13 108 22 42 49
data:
$ID,122
$MISSION,6
$DIVE,132
$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,-29823.77
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,223526,1246.228,12015.150,42,0.9,42,-0.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.3
$GPS2,224215,1246.229,12015.124,15,1.2,15,-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,152.7,1316,-25.8,-9.016
$D_GRID,872
$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,-1.86,-69.4,0.0,0.0,0,83,0.00,0.00,-60.67,0.000,2,0.000,0.000,248,2117,2388
$GC,85,-1.89,-84.8,3.1,-7.6,10,117,13.02,2.40,-12.52,0.000,4,0.173,0.054,2489,772,3025
$GC,303,-1.67,-84.8,66.8,-24.6,48,311,0.28,2.33,0.00,0.000,6,0.130,0.028,2537,2159,3027
$GC,648,-1.56,-84.8,136.3,-17.1,109,655,0.15,2.40,0.00,0.000,4,0.120,0.042,2567,772,3028
$GC,729,-1.56,-84.8,149.6,-15.5,123,736,0.00,2.28,0.00,0.000,6,0.000,0.027,2568,2135,3028
$GC,1074,-1.64,-84.8,191.2,-9.7,184,1081,0.00,2.35,0.00,0.000,4,0.000,0.043,2567,775,3030
$GC,1098,-1.72,-84.8,193.6,-9.7,188,1106,0.17,2.22,0.00,0.000,6,0.048,0.027,2517,2116,3030
$GC,1443,-1.72,-84.8,232.7,-10.2,249,1450,0.00,2.45,0.00,0.000,4,0.000,0.043,2517,3551,3030
$GC,1479,-1.72,-84.8,236.3,-10.3,255,1486,0.00,2.35,0.00,0.000,6,0.000,0.028,2517,2134,3030
$GC,1817,-1.72,-84.8,272.1,-10.5,297,1821,0.00,2.40,0.00,0.000,4,0.000,0.048,2517,755,3030
$GC,1860,-1.72,-84.8,276.7,-10.6,300,1867,0.00,2.30,0.00,0.000,6,0.000,0.029,2517,2112,3030
$GC,2186,-1.72,-84.8,311.3,-10.9,331,2190,0.00,2.38,0.00,0.000,4,0.000,0.048,2517,753,3029
$GC,2217,-1.72,-84.8,315.2,-11.5,333,2225,0.00,2.28,0.00,0.000,6,0.000,0.030,2517,2088,3029
$GC,2544,-1.72,-84.8,350.7,-10.7,364,2548,0.00,2.53,0.00,0.000,4,0.000,0.047,2517,3551,3026
$GC,2571,-1.72,-84.8,353.8,-11.1,366,2576,0.00,2.47,0.00,0.000,6,0.000,0.031,2517,2079,3027
$GC,2898,-1.72,-84.8,388.2,-10.7,396,2902,0.00,2.33,0.00,0.000,4,0.000,0.051,2517,755,3025
$GC,2948,-1.72,-84.8,393.8,-10.5,400,2952,0.00,2.22,0.00,0.000,6,0.000,0.030,2517,2076,3024
$GC,3273,-1.72,-84.8,426.6,-9.9,430,3277,0.00,2.33,0.00,0.000,4,0.000,0.050,2516,756,3022
$GC,3323,-1.72,-84.8,432.3,-10.9,434,3327,0.00,2.20,0.00,0.000,6,0.000,0.031,2517,2059,3022
$GC,3649,-1.72,-84.8,465.8,-10.9,464,3653,0.00,2.60,0.00,0.000,4,0.000,0.048,2517,3554,3020
$GC,3691,-1.72,-84.8,471.2,-11.9,467,3699,0.00,2.53,0.00,0.000,6,0.000,0.034,2516,2085,3020
$GC,4016,-1.72,-84.8,506.8,-11.1,495,4020,0.00,2.58,0.00,0.000,4,0.000,0.048,2517,3552,3017
$GC,4078,-1.72,-84.8,514.0,-11.2,498,4082,0.00,2.50,0.00,0.000,6,0.000,0.034,2517,2084,3017
$GC,4403,-1.72,-84.8,547.2,-9.6,514,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2082,3015
$GC,4713,-1.72,-84.8,576.7,-9.5,529,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2082,3013
$GC,5022,-1.72,-85.3,606.2,-9.0,544,5026,0.00,2.58,0.00,0.000,4,0.000,0.051,2517,3545,3011
$GC,5099,-1.72,-85.3,613.7,-9.8,547,5106,0.00,2.50,0.00,0.000,6,0.000,0.035,2516,2085,3011
$GC,5416,-1.72,-85.3,642.2,-9.1,563,5420,0.00,2.38,0.00,0.000,4,0.000,0.056,2516,752,3009
$GC,5500,-1.72,-85.3,651.3,-11.2,567,5503,0.00,2.25,0.00,0.000,6,0.000,0.035,2516,2072,3009
$GC,5833,-1.72,-85.3,686.2,-10.1,583,5837,0.00,2.58,0.00,0.000,4,0.000,0.052,2516,3542,3008
$GC,5903,-1.72,-85.3,694.1,-10.4,586,5908,0.00,2.50,0.00,0.000,6,0.000,0.037,2516,2096,3007
$GC,6226,-1.72,-85.3,727.1,-9.1,602,6230,0.00,2.38,0.00,0.000,4,0.000,0.056,2516,759,3005
$GC,6269,-1.72,-85.3,731.7,-9.7,604,6273,0.00,2.30,0.00,0.000,6,0.000,0.035,2516,2081,3005
$STATE,6574,end dive,NO_VERTICAL_VELOCITY
$STATE,6574,begin apogee
$GC,6579,-0.34,0.0,740.8,0.0,619,6650,1.52,0.00,67.55,1.186,6,0.093,0.000,2827,2383,2678
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6651,begin climb
$GC,6653,1.89,85.3,740.6,0.0,622,6733,2.25,2.62,71.43,1.144,4,0.060,0.055,3317,984,2330
$GC,6755,1.71,115.3,737.8,6.2,627,6787,0.22,2.45,25.25,1.142,6,0.143,0.038,3280,2370,2207
$GC,7094,1.63,115.3,692.1,14.9,644,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2370,2205
$GC,7402,1.55,115.3,649.8,12.7,659,7404,0.20,0.00,0.00,0.000,6,0.133,0.000,3246,2370,2204
$GC,7711,1.55,115.3,614.2,11.7,674,7715,0.00,2.50,0.00,0.000,4,0.000,0.056,3246,983,2203
$GC,7761,1.50,115.3,608.3,11.6,676,7765,0.00,2.40,0.00,0.000,6,0.000,0.038,3246,2365,2203
$GC,8078,1.50,115.3,571.2,11.8,691,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2366,2202
$GC,8385,1.50,115.3,537.3,10.1,706,8390,0.00,2.42,0.00,0.000,4,0.000,0.060,3246,3725,2202
$GC,8448,1.45,115.3,530.4,11.4,709,8453,0.15,2.30,0.00,0.000,6,0.155,0.038,3222,2375,2201
$GC,8774,1.45,115.3,498.2,9.3,725,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2373,2201
$GC,9093,1.47,128.2,470.5,7.8,755,9104,0.00,0.00,9.30,1.072,6,0.000,0.000,3222,2373,2155
$GC,9422,1.51,128.2,441.3,9.6,786,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2373,2154
$GC,9741,1.55,128.2,410.5,9.9,816,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2373,2154
$GC,10059,1.59,128.2,380.9,9.6,846,10064,0.15,2.50,0.00,0.000,4,0.074,0.054,3259,970,2154
$GC,10315,1.54,128.2,352.8,11.0,868,10323,0.00,2.45,0.00,0.000,6,0.000,0.038,3259,2388,2154
$GC,10641,1.54,128.2,321.1,10.0,899,10646,0.00,2.53,0.00,0.000,4,0.000,0.054,3258,972,2154
$GC,10685,1.50,128.2,316.6,10.1,902,10693,0.15,2.40,0.00,0.000,6,0.132,0.037,3234,2364,2154
$GC,11010,1.50,132.8,287.6,8.6,933,11021,0.00,0.00,3.85,0.954,6,0.000,0.000,3234,2363,2135
$GC,11340,1.55,137.8,258.1,8.5,964,11349,0.00,0.00,4.20,0.937,6,0.000,0.000,3234,2363,2116
$GC,11680,1.61,151.7,230.8,7.7,1016,11700,0.00,2.55,11.32,0.878,4,0.000,0.052,3234,965,2059
$GC,11757,1.65,154.7,224.6,8.7,1029,11765,0.15,2.47,2.78,0.908,6,0.070,0.036,3269,2389,2047
$GC,12102,1.65,154.7,191.5,9.3,1090,12109,0.00,2.53,0.00,0.000,4,0.000,0.051,3269,967,2047
$GC,12362,1.69,175.9,169.7,7.0,1136,12389,0.00,2.42,16.95,0.801,6,0.000,0.035,3269,2376,1959
$GC,12727,1.81,214.6,143.0,5.4,1200,12761,0.15,0.00,29.92,0.748,6,0.069,0.000,3307,2376,1802
$GC,13100,1.90,242.4,117.1,6.4,1265,13127,0.00,2.60,21.83,0.718,4,0.000,0.048,3307,967,1688
$GC,13201,1.95,242.4,108.5,9.5,1282,13208,0.00,2.45,0.00,0.000,6,0.000,0.033,3307,2391,1687
$GC,13546,2.05,256.6,81.6,7.7,1343,13567,0.15,2.58,11.15,0.691,4,0.066,0.046,3349,969,1630
$GC,13658,2.05,256.6,69.7,10.4,1362,13665,0.00,2.35,0.00,0.000,6,0.000,0.031,3349,2348,1629
$GC,14003,2.16,290.8,41.1,5.8,1423,14037,0.12,2.47,26.52,0.615,4,0.064,0.044,3380,963,1491
$GC,14134,2.17,301.3,30.5,8.0,1445,14148,0.00,2.22,7.68,0.630,6,0.000,0.029,3380,2283,1448
$STATE,14427,end climb,SURFACE_DEPTH_REACHED
$STATE,14427,begin surface coast
$FINISH,-0.1,1.020928
$STATE,14450,end surface coast,CONTROL_FINISHED_OK
$STATE,14451,begin surface
$SM_CCo,14473,86.62,0.537,0,0,740,475.15
$SM_GC,0.83,0.00,0.00,86.62,0.000,0.000,0.537,253,2107,740,-12.20,-1.22,475.15
$IRIDIUM_FIX,1241.04,12018.41,070697,181841
$TT8_MAMPS,0.023777
$HUMID,1862
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.40
$XPDR_PINGS,412
$ALTIM_BOTTOM_PING,682.0,52.5
$24V_AH,23.4,25.592
$10V_AH,10.2,12.488
$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,32.700,121.825,309.725,86.625,0.000,28.146,35.690,240.587,108.250,0.000,0.000,15.318,3091.837,8376.253,581.983,2422.727,508.079,0.000,1774.319,0.000,2377.704,0.000,41.068
$DEVICE_MAMPS,172.575,59.826,1185.782,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47186,1501
$CAP_FILE_SIZE,145264,0
$CFSIZE,260165632,246923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,140.6,1
$GPS,140308,024638,1244.625,12016.152,35,1.0,35,-0.8