version: 66.03
glider: 122
mission: 6
dive: 140
start: 3 15 108 12 31 30
data:
$ID,122
$MISSION,6
$DIVE,140
$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,-29936.518
$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,26
$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
$GPS1,122308,1246.979,12026.568,32,1.3,32,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.8
$GPS2,123057,1246.949,12026.498,11,1.9,11,-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,81.0,30161,-17.4,-9.016
$D_GRID,634
$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,19,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-62.75,0.000,2,0.000,0.000,254,2119,2466
$GC,86,-1.42,-146.0,3.6,-8.4,10,125,13.50,2.53,-14.68,0.000,4,0.171,0.053,2589,3558,3277
$GC,239,-1.11,-146.0,42.5,-22.8,36,247,0.38,2.33,0.00,0.000,6,0.113,0.028,2659,2160,3278
$GC,585,-1.00,-146.0,92.7,-14.2,97,591,0.15,0.00,0.00,0.000,6,0.115,0.000,2690,2158,3280
$GC,928,-1.00,-146.0,133.7,-10.4,158,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2158,3281
$GC,1272,-1.07,-146.0,165.9,-8.7,219,1279,0.00,2.40,0.00,0.000,4,0.000,0.044,2690,3568,3282
$GC,1335,-1.15,-146.0,171.6,-8.7,230,1343,0.17,2.38,0.00,0.000,6,0.045,0.029,2636,2140,3282
$GC,1680,-1.15,-146.0,204.8,-9.3,291,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2139,3282
$GC,2024,-1.15,-146.0,236.2,-9.3,352,2030,0.00,2.45,0.00,0.000,4,0.000,0.045,2636,3558,3282
$GC,2070,-1.15,-146.0,240.8,-9.5,360,2077,0.00,2.35,0.00,0.000,6,0.000,0.031,2636,2151,3282
$GC,2402,-1.15,-146.0,271.0,-8.9,399,2406,0.00,2.45,0.00,0.000,4,0.000,0.047,2636,3563,3281
$GC,2456,-1.15,-146.0,276.2,-9.4,403,2463,0.00,2.38,0.00,0.000,6,0.000,0.031,2636,2162,3281
$GC,2783,-1.18,-146.0,304.8,-8.8,434,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2161,3280
$GC,3101,-1.18,-146.0,331.3,-8.7,464,3104,0.00,2.42,0.00,0.000,4,0.000,0.048,2636,3558,3278
$GC,3192,-1.22,-146.0,338.8,-8.2,472,3196,0.00,2.35,0.00,0.000,6,0.000,0.032,2636,2169,3277
$GC,3518,-1.25,-146.0,364.8,-7.9,502,3522,0.00,2.45,0.00,0.000,4,0.000,0.050,2636,3565,3274
$GC,3558,-1.29,-146.0,368.2,-8.1,505,3562,0.00,2.35,0.00,0.000,6,0.000,0.033,2636,2179,3274
$GC,3885,-1.34,-146.0,394.2,-7.5,535,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2177,3272
$GC,4202,-1.38,-146.0,420.2,-8.3,565,4207,0.15,2.42,0.00,0.000,4,0.052,0.050,2587,3556,3270
$GC,4264,-1.32,-146.0,426.4,-10.1,570,4269,0.15,2.30,0.00,0.000,6,0.106,0.033,2614,2200,3269
$GC,4588,-1.32,-146.0,455.8,-8.9,600,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3268
$GC,4908,-1.32,-146.0,484.2,-8.7,630,4912,0.00,2.40,0.00,0.000,4,0.000,0.052,2614,3558,3266
$GC,4951,-1.32,-146.0,488.6,-9.7,633,4958,0.00,2.30,0.00,0.000,6,0.000,0.034,2614,2222,3266
$GC,5271,-1.32,-146.0,516.0,-8.9,655,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2219,3263
$GC,5580,-1.32,-146.0,543.2,-8.5,670,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2219,3262
$GC,5889,-1.32,-146.0,569.8,-8.7,685,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2219,3260
$GC,6199,-1.32,-146.0,596.8,-8.9,700,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2219,3258
$GC,6509,-1.32,-146.0,621.1,-7.6,715,6513,0.00,2.38,0.00,0.000,4,0.000,0.055,2614,3559,3257
$GC,6541,-1.32,-146.0,624.1,-8.9,716,6548,0.00,2.28,0.00,0.000,6,0.000,0.035,2614,2219,3256
$STATE,6690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6690,begin apogee
$GC,6695,-0.34,0.0,635.2,7.3,724,6816,1.05,0.00,117.38,1.085,6,0.095,0.000,2827,2400,2678
$STATE,6817,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6819,1.42,146.0,638.2,0.0,730,6948,1.77,2.40,119.45,1.043,4,0.058,0.058,3217,3709,2081
$GC,6998,1.18,146.0,625.4,13.4,738,7003,0.28,2.33,0.00,0.000,6,0.123,0.038,3165,2388,2080
$GC,7324,1.08,146.0,591.8,9.9,754,7329,0.12,2.58,0.00,0.000,4,0.130,0.057,3144,965,2078
$GC,7374,1.01,146.0,586.8,9.7,756,7379,0.00,2.45,0.00,0.000,6,0.000,0.038,3144,2369,2078
$GC,7690,0.96,146.0,557.3,9.8,771,7695,0.17,2.53,0.00,0.000,4,0.117,0.055,3109,969,2077
$GC,7729,0.96,150.6,553.7,8.8,773,7738,0.00,2.42,3.10,1.064,6,0.000,0.038,3110,2357,2064
$GC,8061,1.01,176.2,527.9,7.7,789,8084,0.00,0.00,21.08,1.045,6,0.000,0.000,3109,2358,1959
$GC,8390,1.10,211.9,503.5,7.2,805,8422,0.15,0.00,29.02,1.019,6,0.065,0.000,3145,2358,1813
$GC,8728,1.10,211.9,469.1,10.5,834,8733,0.00,2.50,0.00,0.000,4,0.000,0.055,3145,970,1811
$GC,8783,1.10,211.9,463.1,10.5,838,8790,0.00,2.42,0.00,0.000,6,0.000,0.036,3145,2347,1811
$GC,9109,1.10,211.9,430.5,10.2,869,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2347,1811
$GC,9426,1.10,211.9,398.5,10.4,899,9431,0.00,2.47,0.00,0.000,4,0.000,0.054,3145,969,1810
$GC,9477,1.10,211.9,393.4,9.5,903,9481,0.00,2.38,0.00,0.000,6,0.000,0.036,3145,2339,1809
$GC,9802,1.10,211.9,362.7,9.3,933,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2340,1810
$GC,10121,1.12,222.1,334.9,8.5,963,10134,0.00,2.55,7.82,0.966,4,0.000,0.053,3145,966,1771
$GC,10195,1.12,222.1,327.9,9.6,969,10202,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,2326,1771
$GC,10521,1.13,231.7,298.7,8.5,1000,10534,0.00,2.58,8.18,0.934,4,0.000,0.054,3145,3727,1733
$GC,10557,1.13,231.7,295.1,10.3,1003,10562,0.00,2.42,0.00,0.000,6,0.000,0.035,3145,2320,1733
$GC,10883,1.13,231.7,265.0,9.2,1033,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2318,1732
$GC,11208,1.14,235.1,235.8,8.8,1076,11215,0.00,0.00,2.92,0.901,6,0.000,0.000,3145,2317,1719
$GC,11552,1.17,235.1,206.4,9.1,1137,11559,0.00,2.40,0.00,0.000,4,0.000,0.051,3145,962,1718
$GC,11599,1.22,235.1,202.1,9.9,1145,11606,0.12,2.38,0.00,0.000,6,0.060,0.034,3181,2343,1719
$GC,11943,1.23,240.0,171.0,8.8,1206,11956,0.00,2.50,4.07,0.844,4,0.000,0.050,3181,966,1698
$GC,12007,1.23,245.6,165.4,8.7,1217,12020,0.00,2.38,4.88,0.831,6,0.000,0.034,3181,2345,1675
$GC,12358,1.31,288.8,138.4,6.8,1279,12400,0.00,2.50,34.55,0.732,4,0.000,0.049,3181,968,1498
$GC,12447,1.39,308.2,131.7,8.0,1294,12472,0.12,2.33,15.52,0.735,6,0.056,0.032,3214,2320,1419
$GC,12811,1.40,315.2,100.1,8.7,1358,12823,0.00,2.42,5.03,0.736,4,0.000,0.048,3215,966,1391
$GC,12852,1.41,324.6,96.5,8.5,1365,12865,0.00,2.30,7.53,0.713,6,0.000,0.031,3215,2312,1354
$GC,13203,1.49,342.3,67.8,8.1,1427,13222,0.00,2.47,13.73,0.667,4,0.000,0.046,3215,959,1281
$GC,13291,1.61,357.1,60.8,8.3,1442,13310,0.17,2.28,11.65,0.660,6,0.048,0.029,3268,2304,1221
$GC,13648,1.61,357.1,26.8,9.1,1505,13654,0.00,2.45,0.00,0.000,4,0.000,0.045,3268,3725,1221
$GC,13711,1.61,357.1,20.8,9.4,1516,13717,0.00,2.42,0.00,0.000,6,0.000,0.030,3268,2277,1221
$STATE,13946,end climb,SURFACE_DEPTH_REACHED
$STATE,13946,begin surface coast
$FINISH,-0.3,1.021135
$STATE,13970,end surface coast,CONTROL_FINISHED_OK
$STATE,13970,begin surface
$SM_CCo,13991,57.15,0.547,0,0,741,475.15
$SM_GC,0.88,0.00,0.00,57.15,0.000,0.000,0.547,252,2109,741,-12.20,-1.16,475.15
$IRIDIUM_FIX,1245.46,12026.36,090697,121223
$TT8_MAMPS,0.023777
$HUMID,1892
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,490
$24V_AH,23.5,26.874
$10V_AH,10.2,13.173
$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,31.775,106.625,405.900,57.150,0.000,50.838,72.016,184.155,126.000,0.000,0.000,11.668,3034.271,7912.252,619.296,2438.880,526.401,0.000,1837.683,0.000,2411.955,0.000,26.314
$DEVICE_MAMPS,171.041,57.525,1085.305,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47243,1562
$CAP_FILE_SIZE,142688,0
$CFSIZE,260165632,246296576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,335.6,1
$GPS,150308,162638,1247.257,12028.249,25,1.5,25,-0.8