version: 66.03
glider: 122
mission: 6
dive: 141
start: 3 15 108 16 38 53
data:
$ID,122
$MISSION,6
$DIVE,141
$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,-29948.855
$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,58
$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
$GPS1,162638,1247.257,12028.249,25,1.5,25,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.6
$GPS2,163821,1247.230,12028.184,11,1.5,11,-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,85.8,27080,-17.4,-9.016
$D_GRID,635
$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,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-62.10,0.000,2,0.000,0.000,252,2109,2449
$GC,86,-1.42,-146.0,3.3,-7.6,10,124,13.52,2.53,-15.40,0.000,4,0.172,0.051,2588,3557,3277
$GC,244,-1.10,-146.0,42.8,-23.8,37,252,0.40,2.30,0.00,0.000,6,0.116,0.027,2663,2166,3278
$GC,590,-1.00,-146.0,94.7,-13.9,98,598,0.12,2.38,0.00,0.000,4,0.120,0.041,2685,3561,3279
$GC,627,-0.95,-146.0,99.8,-13.4,104,634,0.00,2.38,0.00,0.000,6,0.000,0.028,2685,2128,3279
$GC,971,-0.95,-146.0,141.0,-9.9,165,978,0.00,2.38,0.00,0.000,4,0.000,0.044,2685,752,3280
$GC,1024,-1.02,-146.0,146.3,-9.9,174,1031,0.00,2.33,0.00,0.000,6,0.000,0.027,2685,2151,3280
$GC,1371,-1.10,-146.0,176.8,-7.2,235,1379,0.00,2.38,0.00,0.000,4,0.000,0.044,2685,3553,3281
$GC,1436,-1.19,-146.0,182.4,-8.3,246,1443,0.17,2.38,0.00,0.000,6,0.046,0.028,2633,2121,3281
$GC,1781,-1.19,-146.0,213.4,-8.7,307,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2121,3280
$GC,2124,-1.19,-146.0,245.2,-8.5,368,2130,0.00,2.45,0.00,0.000,4,0.000,0.044,2633,3544,3280
$GC,2185,-1.19,-146.0,251.3,-9.1,378,2193,0.00,2.33,0.00,0.000,6,0.000,0.030,2633,2168,3280
$GC,2512,-1.19,-146.0,279.2,-8.6,409,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2168,3279
$GC,2829,-1.19,-146.0,306.3,-8.4,439,2833,0.00,2.40,0.00,0.000,4,0.000,0.047,2633,3548,3277
$GC,2861,-1.19,-146.0,309.2,-8.9,441,2868,0.00,2.33,0.00,0.000,6,0.000,0.031,2633,2165,3277
$GC,3187,-1.19,-146.0,334.9,-7.4,472,3191,0.00,2.40,0.00,0.000,4,0.000,0.048,2633,3542,3274
$GC,3238,-1.19,-146.0,339.2,-8.4,476,3242,0.00,2.30,0.00,0.000,6,0.000,0.032,2633,2181,3274
$GC,3564,-1.19,-146.0,366.1,-8.7,506,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2177,3271
$GC,3883,-1.22,-146.0,392.1,-7.5,536,3887,0.00,2.40,0.00,0.000,4,0.000,0.050,2633,3548,3269
$GC,3915,-1.22,-146.0,394.9,-7.9,538,3922,0.00,2.30,0.00,0.000,6,0.000,0.033,2633,2192,3269
$GC,4241,-1.25,-146.0,421.5,-8.4,569,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2188,3267
$GC,4560,-1.29,-146.0,447.4,-7.9,599,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2188,3265
$GC,4878,-1.33,-146.0,472.3,-7.8,629,4883,0.00,2.38,0.00,0.000,4,0.000,0.051,2633,3541,3262
$GC,4923,-1.38,-146.0,476.2,-8.1,632,4930,0.12,2.28,0.00,0.000,6,0.060,0.034,2597,2199,3262
$GC,5257,-1.33,-146.0,505.7,-8.8,661,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2196,3260
$GC,5566,-1.29,-146.0,532.3,-8.7,676,5567,0.15,0.00,0.00,0.000,6,0.109,0.000,2624,2196,3258
$GC,5875,-1.32,-146.0,555.3,-7.5,691,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,3256
$GC,6184,-1.36,-146.0,577.7,-7.5,706,6189,0.00,2.38,0.00,0.000,4,0.000,0.054,2624,3542,3255
$GC,6213,-1.39,-146.0,579.9,-8.0,707,6218,0.00,2.25,0.00,0.000,6,0.000,0.035,2624,2216,3255
$GC,6535,-1.42,-146.0,602.1,-7.0,723,6537,0.15,0.00,0.00,0.000,6,0.057,0.000,2583,2214,3253
$GC,6843,-1.37,-146.0,629.3,-9.0,738,6845,0.12,0.00,0.00,0.000,6,0.111,0.000,2606,2213,3252
$STATE,6924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6924,begin apogee
$GC,6930,-0.34,0.0,636.1,8.3,742,7050,1.10,0.00,116.53,1.088,6,0.098,0.000,2827,2380,2678
$STATE,7050,end apogee,CONTROL_FINISHED_OK
$STATE,7051,begin climb
$GC,7052,1.42,146.0,638.9,0.0,748,7178,1.80,0.00,119.53,1.043,6,0.060,0.000,3219,2380,2082
$GC,7485,1.22,146.0,595.5,11.9,769,7487,0.25,0.00,0.00,0.000,6,0.115,0.000,3174,2380,2080
$GC,7795,1.09,146.0,564.6,9.9,784,7800,0.15,2.55,0.00,0.000,4,0.120,0.057,3144,979,2078
$GC,7883,1.02,146.0,555.7,9.9,788,7887,0.00,2.42,0.00,0.000,6,0.000,0.038,3144,2366,2078
$GC,8211,0.96,146.0,525.2,9.3,804,8216,0.15,2.53,0.00,0.000,4,0.130,0.057,3114,969,2077
$GC,8254,0.96,146.0,521.0,9.3,806,8258,0.00,2.45,0.00,0.000,6,0.000,0.038,3114,2355,2076
$GC,8573,0.99,163.5,494.3,8.1,824,8592,0.00,0.00,13.30,1.052,6,0.000,0.000,3115,2356,2011
$GC,8912,1.01,177.0,466.4,8.3,856,8928,0.00,2.55,11.20,1.038,4,0.000,0.055,3114,970,1956
$GC,8996,1.03,186.8,459.2,8.5,863,9010,0.00,2.40,8.30,1.031,6,0.000,0.038,3114,2339,1915
$GC,9337,1.08,198.8,431.1,8.4,895,9349,0.12,0.00,9.82,1.020,6,0.069,0.000,3145,2339,1867
$GC,9664,1.08,198.8,399.6,9.4,926,9668,0.00,2.45,0.00,0.000,4,0.000,0.055,3145,970,1866
$GC,9720,1.08,198.8,394.3,10.0,931,9724,0.00,2.40,0.00,0.000,6,0.000,0.038,3145,2346,1865
$GC,10045,1.08,198.8,364.4,10.3,961,10049,0.00,2.45,0.00,0.000,4,0.000,0.054,3145,978,1865
$GC,10096,1.08,198.8,359.3,10.5,965,10100,0.00,2.40,0.00,0.000,6,0.000,0.037,3145,2358,1865
$GC,10421,1.08,198.8,329.8,9.1,995,10425,0.00,2.47,0.00,0.000,4,0.000,0.054,3145,976,1865
$GC,10464,1.08,198.8,325.5,9.9,998,10471,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,2337,1865
$GC,10790,1.09,200.3,297.3,8.9,1029,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2337,1864
$GC,11109,1.10,204.9,269.9,8.8,1059,11118,0.00,0.00,4.78,0.928,6,0.000,0.000,3145,2337,1842
$GC,11441,1.12,220.3,241.2,8.2,1099,11460,0.00,2.47,12.30,0.874,4,0.000,0.051,3145,977,1779
$GC,11517,1.14,232.6,234.8,8.4,1112,11536,0.00,2.40,10.52,0.864,6,0.000,0.035,3145,2358,1728
$GC,11875,1.23,267.8,204.6,7.2,1175,11910,0.12,0.00,28.40,0.802,6,0.063,0.000,3177,2358,1585
$GC,12249,1.26,287.3,169.8,8.0,1241,12274,0.00,2.55,15.02,0.790,4,0.000,0.051,3177,978,1505
$GC,12319,1.26,287.3,163.3,9.9,1253,12326,0.00,2.38,0.00,0.000,6,0.000,0.033,3177,2351,1504
$GC,12663,1.37,313.5,135.2,7.7,1314,12688,0.12,0.00,20.92,0.740,6,0.060,0.000,3210,2352,1398
$GC,13026,1.42,319.0,103.4,8.7,1378,13039,0.00,2.50,4.07,0.752,4,0.000,0.048,3210,972,1377
$GC,13089,1.42,322.3,97.5,8.8,1389,13097,0.00,2.38,2.45,0.755,6,0.000,0.031,3210,2358,1364
$GC,13434,1.57,373.5,68.7,6.4,1450,13481,0.15,0.00,40.95,0.639,6,0.053,0.000,3259,2359,1155
$GC,13820,1.67,411.2,34.6,7.1,1518,13856,0.00,2.47,29.83,0.604,4,0.000,0.044,3260,976,1000
$GC,13953,1.74,411.2,22.7,9.6,1541,13960,0.10,2.33,0.00,0.000,6,0.058,0.029,3292,2348,997
$STATE,14155,end climb,SURFACE_DEPTH_REACHED
$STATE,14155,begin surface coast
$FINISH,-0.2,1.004386
$STATE,14179,end surface coast,CONTROL_FINISHED_OK
$STATE,14179,begin surface
$SM_CCo,14200,30.60,0.558,0,0,740,475.15
$SM_GC,0.75,0.00,0.00,30.60,0.000,0.000,0.558,252,2112,740,-12.20,-1.07,475.15
$IRIDIUM_FIX,1243.25,12026.36,090697,161631
$TT8_MAMPS,0.023777
$HUMID,1884
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,485
$24V_AH,23.5,27.036
$10V_AH,10.2,13.253
$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,32.225,96.725,447.925,30.600,0.000,86.027,115.975,264.104,124.750,0.000,0.000,11.710,2963.174,8220.178,620.076,2442.817,697.545,0.000,1841.601,0.000,2414.355,0.000,26.324
$DEVICE_MAMPS,171.808,56.758,1087.606,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50298,1581
$CAP_FILE_SIZE,146378,0
$CFSIZE,260165632,246214656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,316.7,1
$GPS,150308,203707,1247.459,12029.899,28,1.1,28,-0.8