version: 66.03
glider: 122
mission: 6
dive: 139
start: 3 15 108 8 59 40
data:
$ID,122
$MISSION,6
$DIVE,139
$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,-29924.221
$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,28
$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
$GPS1,085401,1246.469,12025.268,37,1.7,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.1
$GPS2,085908,1246.445,12025.230,10,1.8,15,-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,68.9,32605,-17.4,-9.016
$D_GRID,535
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-61.05,0.000,2,0.000,0.000,249,2115,2415
$GC,85,-1.42,-146.0,3.6,-8.1,9,124,13.57,2.38,-15.73,0.000,4,0.173,0.055,2590,761,3276
$GC,232,-1.13,-146.0,39.7,-20.9,34,240,0.35,2.35,0.00,0.000,6,0.114,0.027,2655,2167,3277
$GC,578,-1.01,-146.0,93.6,-15.4,95,585,0.15,0.00,0.00,0.000,6,0.100,0.000,2688,2167,3279
$GC,923,-1.04,-146.0,134.8,-10.2,156,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2167,3280
$GC,1262,-1.12,-146.0,163.6,-8.2,217,1269,0.12,2.42,0.00,0.000,4,0.054,0.043,2648,768,3281
$GC,1304,-1.16,-146.0,167.5,-10.0,224,1310,0.00,2.28,0.00,0.000,6,0.000,0.028,2648,2138,3281
$GC,1648,-1.19,-146.0,200.2,-8.4,285,1655,0.00,2.40,0.00,0.000,4,0.000,0.044,2648,3544,3282
$GC,1729,-1.23,-146.0,207.7,-9.2,299,1735,0.00,2.30,0.00,0.000,6,0.000,0.028,2648,2151,3282
$GC,2073,-1.29,-146.0,236.8,-8.1,360,2080,0.12,2.40,0.00,0.000,4,0.054,0.042,2608,3548,3282
$GC,2120,-1.25,-146.0,241.3,-9.9,368,2127,0.12,2.30,0.00,0.000,6,0.095,0.029,2632,2161,3282
$GC,2458,-1.25,-146.0,269.8,-8.2,408,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2161,3282
$GC,2777,-1.28,-146.0,296.0,-8.0,438,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2158,3280
$GC,3095,-1.31,-146.0,320.7,-7.4,468,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2158,3279
$GC,3414,-1.35,-146.0,342.0,-7.0,498,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2158,3277
$GC,3732,-1.38,-146.0,366.7,-7.9,528,3737,0.15,2.42,0.00,0.000,4,0.054,0.048,2586,3548,3275
$GC,3805,-1.31,-146.0,374.2,-10.4,534,3810,0.17,2.30,0.00,0.000,6,0.097,0.032,2619,2185,3274
$GC,4135,-1.31,-146.0,402.5,-8.2,565,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2183,3272
$GC,4454,-1.31,-146.0,427.8,-7.9,595,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2183,3270
$GC,4772,-1.31,-146.0,453.7,-8.0,625,4776,0.00,2.40,0.00,0.000,4,0.000,0.051,2619,3547,3269
$GC,4812,-1.31,-146.0,456.8,-8.1,628,4816,0.00,2.33,0.00,0.000,6,0.000,0.033,2619,2180,3269
$GC,5138,-1.31,-146.0,482.7,-8.0,658,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2178,3267
$GC,5463,-1.31,-146.0,509.2,-8.4,684,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2177,3265
$STATE,5770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5770,begin apogee
$GC,5775,-0.34,0.0,535.8,8.4,699,5895,1.02,0.00,116.53,0.996,6,0.089,0.000,2829,2375,2678
$STATE,5896,end apogee,CONTROL_FINISHED_OK
$STATE,5896,begin climb
$GC,5898,1.42,146.0,540.1,0.0,705,6027,1.75,2.47,117.10,0.956,4,0.054,0.054,3219,3709,2082
$GC,6072,1.19,146.0,529.2,12.6,713,6078,0.30,2.33,0.00,0.000,6,0.125,0.036,3166,2369,2082
$GC,6389,1.09,146.0,498.3,9.6,729,6394,0.12,2.53,0.00,0.000,4,0.127,0.054,3146,965,2080
$GC,6496,1.03,146.0,488.0,9.8,738,6500,0.00,2.40,0.00,0.000,6,0.000,0.037,3146,2341,2079
$GC,6822,0.98,146.0,458.3,9.0,768,6826,0.15,2.47,0.00,0.000,4,0.127,0.053,3115,966,2078
$GC,6872,1.01,161.0,453.9,8.3,772,6888,0.00,2.38,11.30,0.990,6,0.000,0.036,3116,2332,2021
$GC,7215,1.04,181.4,427.0,8.0,804,7240,0.00,2.55,16.40,0.968,4,0.000,0.057,3115,3731,1937
$GC,7267,1.04,181.4,422.5,9.8,808,7275,0.00,2.45,0.00,0.000,6,0.000,0.035,3115,2314,1937
$GC,7594,1.15,220.7,397.9,7.0,839,7633,0.15,2.53,31.27,0.927,4,0.064,0.055,3156,966,1777
$GC,7661,1.15,220.7,391.7,9.9,845,7665,0.00,2.38,0.00,0.000,6,0.000,0.035,3156,2323,1776
$GC,7986,1.15,220.7,360.8,9.4,875,7990,0.00,2.50,0.00,0.000,4,0.000,0.056,3156,3729,1774
$GC,8018,1.15,220.7,357.3,11.0,877,8025,0.00,2.42,0.00,0.000,6,0.000,0.035,3156,2334,1774
$GC,8344,1.15,220.7,327.3,9.8,908,8348,0.00,2.42,0.00,0.000,4,0.000,0.055,3156,973,1774
$GC,8394,1.15,220.7,322.0,10.6,912,8399,0.00,2.33,0.00,0.000,6,0.000,0.035,3156,2318,1773
$GC,8720,1.15,222.1,291.4,8.9,942,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2318,1773
$GC,9037,1.18,235.0,263.2,8.4,972,9050,0.00,0.00,11.32,0.885,6,0.000,0.000,3155,2318,1719
$GC,9376,1.18,235.0,232.2,9.2,1020,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2318,1718
$GC,9719,1.24,252.7,202.1,8.1,1081,9737,0.00,0.00,14.00,0.825,6,0.000,0.000,3155,2318,1647
$GC,10075,1.39,291.8,174.6,7.0,1144,10110,0.20,0.00,31.15,0.763,6,0.054,0.000,3209,2318,1488
$GC,10449,1.41,303.3,139.9,8.4,1210,10462,0.00,0.00,8.82,0.773,6,0.000,0.000,3210,2318,1441
$GC,10800,1.49,324.6,111.2,7.9,1272,10823,0.00,0.00,17.05,0.719,6,0.000,0.000,3209,2318,1353
$GC,11161,1.64,361.5,85.1,7.1,1336,11197,0.20,2.45,29.08,0.665,4,0.049,0.049,3270,967,1202
$GC,11283,1.64,361.5,72.9,10.6,1357,11289,0.00,2.33,0.00,0.000,6,0.000,0.033,3271,2319,1200
$GC,11627,1.74,394.5,41.6,7.3,1418,11658,0.00,2.58,25.88,0.618,4,0.000,0.049,3271,3732,1069
$GC,11795,1.82,401.9,28.0,8.6,1447,11808,0.15,2.28,5.50,0.650,6,0.054,0.031,3311,2381,1039
$STATE,12059,end climb,SURFACE_DEPTH_REACHED
$STATE,12059,begin surface coast
$FINISH,-0.1,1.010174
$STATE,12083,end surface coast,CONTROL_FINISHED_OK
$STATE,12083,begin surface
$SM_CCo,12105,35.67,0.558,0,0,740,475.15
$SM_GC,0.73,0.00,0.00,35.67,0.000,0.000,0.558,253,2118,740,-12.20,-0.90,475.15
$IRIDIUM_FIX,1241.04,12021.43,090697,050503
$TT8_MAMPS,0.023777
$HUMID,1958
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.20
$XPDR_PINGS,491
$24V_AH,23.5,26.723
$10V_AH,10.2,13.095
$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,32.350,72.775,435.400,35.675,0.000,23.620,37.223,142.312,123.750,0.000,0.000,15.389,2857.218,6324.243,575.450,2305.913,395.931,0.000,1721.271,0.000,2285.183,0.000,8.189
$DEVICE_MAMPS,172.575,56.758,996.333,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47154,1498
$CAP_FILE_SIZE,125770,0
$CFSIZE,260165632,246378496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,302.6,1
$GPS,150308,122308,1246.979,12026.568,32,1.3,32,-0.8