version: 66.03
glider: 122
mission: 6
dive: 138
start: 3 15 108 5 17 40
data:
$ID,122
$MISSION,6
$DIVE,138
$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,-29908.203
$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,57
$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
$GPS1,051137,1246.207,12023.922,29,1.2,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.3
$GPS2,051708,1246.176,12023.857,11,1.3,16,-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,63.4,35132,-17.4,-9.016
$D_GRID,577
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-63.15,0.000,2,0.000,0.000,252,2110,2481
$GC,88,-1.42,-146.0,3.6,-8.7,10,121,13.62,2.40,-14.15,0.000,4,0.173,0.055,2591,772,3277
$GC,189,-1.10,-146.0,31.3,-24.4,27,197,0.38,2.33,0.00,0.000,6,0.116,0.028,2661,2157,3278
$GC,535,-1.00,-146.0,85.7,-14.0,88,541,0.12,0.00,0.00,0.000,6,0.105,0.000,2684,2156,3279
$GC,879,-1.00,-146.0,127.3,-10.8,149,886,0.00,2.40,0.00,0.000,4,0.000,0.045,2684,3555,3281
$GC,954,-1.04,-146.0,135.5,-10.6,162,962,0.00,2.30,0.00,0.000,6,0.000,0.027,2684,2162,3281
$GC,1300,-1.12,-146.0,167.9,-9.7,223,1307,0.10,2.40,0.00,0.000,4,0.060,0.042,2649,3558,3283
$GC,1364,-1.12,-146.0,174.6,-10.5,234,1371,0.00,2.30,0.00,0.000,6,0.000,0.028,2649,2167,3283
$GC,1711,-1.16,-146.0,203.5,-8.4,295,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2165,3283
$GC,2055,-1.23,-146.0,230.9,-8.5,356,2063,0.00,2.38,0.00,0.000,4,0.000,0.044,2648,3556,3284
$GC,2159,-1.28,-146.0,239.8,-8.3,374,2167,0.10,2.28,0.00,0.000,6,0.059,0.029,2612,2188,3283
$GC,2497,-1.28,-146.0,270.2,-8.4,415,2501,0.00,2.53,0.00,0.000,4,0.000,0.049,2612,746,3282
$GC,2527,-1.28,-146.0,272.7,-9.3,417,2531,0.00,2.45,0.00,0.000,6,0.000,0.031,2612,2197,3282
$GC,2853,-1.28,-146.0,301.1,-8.4,447,2857,0.00,2.55,0.00,0.000,4,0.000,0.050,2612,749,3281
$GC,2892,-1.28,-146.0,304.7,-8.8,450,2896,0.00,2.42,0.00,0.000,6,0.000,0.032,2612,2178,3281
$GC,3218,-1.28,-146.0,333.3,-9.0,480,3222,0.00,2.35,0.00,0.000,4,0.000,0.050,2612,3548,3279
$GC,3295,-1.28,-146.0,341.0,-9.1,486,3303,0.00,2.30,0.00,0.000,6,0.000,0.031,2612,2194,3279
$GC,3622,-1.28,-146.0,369.8,-8.6,517,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2192,3277
$GC,3940,-1.28,-146.0,396.6,-8.1,547,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2192,3275
$GC,4258,-1.28,-146.0,424.4,-9.0,577,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2192,3272
$GC,4577,-1.28,-146.0,452.0,-8.9,607,4581,0.00,2.38,0.00,0.000,4,0.000,0.051,2612,3548,3270
$GC,4661,-1.28,-146.0,459.6,-8.8,614,4665,0.00,2.28,0.00,0.000,6,0.000,0.033,2612,2206,3270
$GC,4987,-1.28,-146.0,487.7,-8.2,644,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,3268
$GC,5299,-1.28,-146.0,514.6,-8.6,666,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,3267
$GC,5611,-1.28,-146.0,540.7,-8.0,681,5615,0.00,2.60,0.00,0.000,4,0.000,0.055,2612,750,3265
$GC,5638,-1.28,-146.0,543.2,-8.3,682,5642,0.00,2.55,0.00,0.000,6,0.000,0.035,2612,2216,3264
$GC,5960,-1.28,-146.0,569.2,-8.4,698,5964,0.00,2.33,0.00,0.000,4,0.000,0.055,2612,3545,3262
$GC,6027,-1.28,-146.0,575.2,-8.1,701,6031,0.00,2.25,0.00,0.000,6,0.000,0.035,2612,2221,3262
$STATE,6063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6063,begin apogee
$GC,6068,-0.34,0.0,578.3,8.0,703,6189,1.08,0.00,117.43,1.034,6,0.091,0.000,2830,2390,2678
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6192,1.42,146.0,581.8,0.0,709,6319,1.77,2.67,118.65,0.994,4,0.057,0.054,3220,976,2081
$GC,6352,1.20,146.0,571.6,13.0,716,6357,0.30,2.42,0.00,0.000,6,0.112,0.037,3166,2356,2081
$GC,6668,1.10,146.0,537.5,10.9,731,6673,0.12,2.45,0.00,0.000,4,0.124,0.058,3144,3724,2079
$GC,6723,1.02,146.0,531.4,10.5,733,6730,0.00,2.28,0.00,0.000,6,0.000,0.035,3144,2396,2079
$GC,7039,0.97,146.0,500.4,9.3,749,7043,0.15,2.55,0.00,0.000,4,0.114,0.054,3117,974,2077
$GC,7123,0.97,146.0,493.1,9.1,756,7127,0.00,2.47,0.00,0.000,6,0.000,0.037,3117,2396,2077
$GC,7449,1.02,175.4,468.2,7.5,786,7479,0.00,0.00,22.98,0.999,6,0.000,0.000,3117,2397,1960
$GC,7798,1.09,195.9,441.2,8.0,819,7824,0.12,2.65,16.33,0.987,4,0.068,0.054,3147,978,1878
$GC,7847,1.09,195.9,436.7,9.9,823,7852,0.00,2.47,0.00,0.000,6,0.000,0.038,3147,2388,1878
$GC,8174,1.11,209.4,407.9,8.3,853,8190,0.00,2.45,10.68,0.983,4,0.000,0.058,3147,3728,1824
$GC,8213,1.11,209.4,404.1,9.8,856,8217,0.00,2.33,0.00,0.000,6,0.000,0.035,3147,2383,1824
$GC,8540,1.11,209.4,375.8,9.2,886,8544,0.00,2.53,0.00,0.000,4,0.000,0.054,3147,972,1823
$GC,8590,1.11,209.4,370.6,9.7,890,8594,0.00,2.45,0.00,0.000,6,0.000,0.037,3147,2381,1823
$GC,8916,1.12,212.5,340.8,8.9,920,8928,0.00,2.58,2.53,0.956,4,0.000,0.053,3147,976,1810
$GC,8951,1.12,212.5,337.4,10.2,923,8955,0.00,2.42,0.00,0.000,6,0.000,0.037,3147,2370,1810
$GC,9276,1.14,222.0,308.0,8.5,953,9290,0.00,2.60,7.93,0.935,4,0.000,0.053,3147,972,1771
$GC,9328,1.14,222.0,303.1,9.9,957,9336,0.00,2.42,0.00,0.000,6,0.000,0.037,3147,2358,1771
$GC,9654,1.14,223.4,274.4,8.9,988,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2358,1771
$GC,9976,1.19,230.4,244.8,8.7,1023,9990,0.00,0.00,7.20,0.892,6,0.000,0.000,3147,2358,1738
$GC,10328,1.25,239.3,214.6,8.6,1085,10343,0.12,2.53,7.18,0.865,4,0.066,0.052,3181,966,1701
$GC,10372,1.21,239.3,210.1,10.6,1092,10380,0.00,2.42,0.00,0.000,6,0.000,0.036,3181,2357,1700
$GC,10718,1.27,275.2,180.1,7.2,1153,10753,0.00,2.53,28.73,0.776,4,0.000,0.053,3181,3721,1556
$GC,10777,1.29,285.0,175.5,8.5,1162,10791,0.00,2.35,8.07,0.782,6,0.000,0.035,3181,2355,1516
$GC,11126,1.37,290.1,147.3,8.8,1224,11135,0.00,0.00,3.83,0.806,6,0.000,0.000,3181,2353,1495
$GC,11470,1.59,353.5,123.3,5.8,1285,11530,0.28,2.53,50.58,0.696,4,0.048,0.051,3255,969,1236
$GC,11681,1.59,353.5,103.0,9.1,1322,11688,0.00,2.33,0.00,0.000,6,0.000,0.033,3254,2322,1232
$GC,12026,1.59,353.5,70.3,10.0,1383,12032,0.00,2.38,0.00,0.000,4,0.000,0.048,3255,967,1231
$GC,12100,1.63,353.5,62.8,9.9,1396,12107,0.00,2.25,0.00,0.000,6,0.000,0.031,3255,2285,1231
$GC,12444,1.78,403.8,38.0,6.4,1457,12492,0.15,2.58,39.50,0.601,4,0.053,0.047,3301,3732,1030
$GC,12621,1.78,403.8,20.7,9.7,1488,12627,0.00,2.45,0.00,0.000,6,0.000,0.031,3301,2280,1028
$STATE,12828,end climb,SURFACE_DEPTH_REACHED
$STATE,12828,begin surface coast
$FINISH,-0.0,1.021092
$STATE,12852,end surface coast,CONTROL_FINISHED_OK
$STATE,12852,begin surface
$SM_CCo,12874,35.05,0.559,0,0,740,475.15
$SM_GC,1.12,0.00,0.00,35.05,0.000,0.000,0.559,249,2117,740,-12.22,-0.93,475.15
$IRIDIUM_FIX,1243.25,12021.43,090697,000003
$TT8_MAMPS,0.023777
$HUMID,1934
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,478
$24V_AH,23.5,26.582
$10V_AH,10.2,13.022
$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,31.900,112.325,441.575,35.050,0.000,25.140,39.739,157.367,121.500,0.000,0.000,16.124,3145.060,6649.079,643.820,2385.255,422.745,0.000,1832.666,0.000,2353.629,0.000,15.446
$DEVICE_MAMPS,173.342,58.292,1033.916,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47177,1529
$CAP_FILE_SIZE,136642,0
$CFSIZE,260165632,246435840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,134.7,1
$GPS,150308,085401,1246.469,12025.268,37,1.7,37,-0.8