version: 66.03
glider: 122
mission: 6
dive: 147
start: 3 17 108 2 56 2
data:
$ID,122
$MISSION,6
$DIVE,147
$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,-30056.719
$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,37
$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
$GPS1,024956,1249.995,12042.358,41,1.4,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.2
$GPS2,025527,1250.049,12042.340,13,1.7,13,-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,41.6,1431,-25.8,-9.016
$D_GRID,1049
$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,-1.86,-69.4,0.0,0.0,0,81,0.00,0.00,-60.33,0.000,2,0.000,0.000,251,2166,2378
$GC,84,-1.90,-91.0,3.1,-7.0,10,117,13.05,2.55,-13.23,0.000,4,0.175,0.054,2485,745,3052
$GC,268,-1.59,-91.0,57.8,-28.8,42,276,0.40,2.38,0.00,0.000,6,0.138,0.028,2555,2157,3055
$GC,614,-1.54,-91.0,126.6,-15.4,103,621,0.00,2.40,0.00,0.000,4,0.000,0.043,2555,3560,3056
$GC,683,-1.54,-91.0,137.2,-14.3,115,690,0.00,2.40,0.00,0.000,6,0.000,0.028,2555,2122,3056
$GC,1027,-1.59,-91.0,180.7,-10.8,176,1034,0.00,2.40,0.00,0.000,4,0.000,0.046,2555,743,3057
$GC,1057,-1.63,-91.0,184.0,-11.1,181,1064,0.00,2.33,0.00,0.000,6,0.000,0.028,2555,2134,3057
$GC,1401,-1.69,-91.0,223.4,-11.6,242,1408,0.00,2.42,0.00,0.000,4,0.000,0.044,2556,3551,3058
$GC,1460,-1.73,-91.0,230.3,-11.8,252,1468,0.12,2.38,0.00,0.000,6,0.058,0.029,2520,2125,3057
$GC,1795,-1.73,-91.0,271.8,-12.3,297,1799,0.00,2.45,0.00,0.000,4,0.000,0.043,2520,3550,3057
$GC,1884,-1.73,-91.0,283.4,-12.6,304,1891,0.00,2.35,0.00,0.000,6,0.000,0.030,2520,2144,3057
$GC,2210,-1.73,-91.0,320.0,-10.9,335,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2144,3057
$GC,2528,-1.73,-91.0,355.7,-11.3,365,2532,0.00,2.45,0.00,0.000,4,0.000,0.051,2520,752,3055
$GC,2582,-1.73,-91.0,362.1,-11.5,369,2590,0.00,2.35,0.00,0.000,6,0.000,0.031,2520,2124,3055
$GC,2909,-1.73,-91.0,394.8,-10.2,400,2913,0.00,2.42,0.00,0.000,4,0.000,0.051,2520,751,3054
$GC,2949,-1.73,-91.0,399.2,-11.0,403,2953,0.00,2.33,0.00,0.000,6,0.000,0.031,2520,2124,3054
$GC,3274,-1.73,-91.0,433.9,-10.3,433,3278,0.00,2.45,0.00,0.000,4,0.000,0.051,2520,745,3052
$GC,3324,-1.73,-91.0,439.4,-11.0,437,3328,0.00,2.33,0.00,0.000,6,0.000,0.032,2520,2110,3052
$GC,3651,-1.73,-91.0,474.1,-11.2,467,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2111,3049
$GC,3975,-1.73,-91.0,507.3,-10.7,495,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2111,3047
$GC,4285,-1.73,-91.0,541.0,-10.8,510,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2111,3045
$GC,4594,-1.73,-91.0,572.4,-9.8,525,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2111,3043
$GC,4904,-1.85,-91.0,604.0,-9.9,540,4908,0.00,2.53,0.00,0.000,4,0.000,0.052,2520,3548,3041
$GC,4953,-2.38,-146.0,604.3,-0.3,542,4959,0.60,2.45,0.00,0.000,6,0.033,0.035,2369,2111,3041
$STATE,5060,end dive,NO_VERTICAL_VELOCITY
$STATE,5061,begin apogee
$GC,5066,-0.34,0.0,603.8,0.0,547,5144,2.17,0.00,73.40,1.059,6,0.072,0.000,2831,2376,2677
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5147,1.99,146.0,603.8,0.0,551,5271,2.20,0.00,119.47,1.012,6,0.033,0.000,3349,2376,2082
$GC,5579,1.82,146.0,544.4,17.6,572,5581,0.28,0.00,0.00,0.000,6,0.131,0.000,3301,2376,2079
$GC,5888,1.72,146.0,497.4,14.5,587,5890,0.12,0.00,0.00,0.000,6,0.143,0.000,3282,2376,2078
$GC,6207,1.66,146.0,454.7,13.8,617,6211,0.00,2.53,0.00,0.000,4,0.000,0.055,3281,977,2076
$GC,6270,1.59,146.0,445.6,14.4,622,6275,0.17,2.40,0.00,0.000,6,0.137,0.036,3252,2356,2076
$GC,6594,1.59,146.0,404.0,11.5,652,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2356,2075
$GC,6913,1.59,146.0,367.7,10.2,682,6918,0.00,2.50,0.00,0.000,4,0.000,0.055,3252,972,2074
$GC,6975,1.59,146.0,360.3,11.9,687,6979,0.00,2.40,0.00,0.000,6,0.000,0.037,3252,2353,2074
$GC,7302,1.59,146.2,326.5,9.0,717,7306,0.00,2.45,0.00,0.000,4,0.000,0.057,3252,3729,2073
$GC,7342,1.59,146.2,322.3,10.1,720,7346,0.00,2.35,0.00,0.000,6,0.000,0.037,3252,2358,2073
$GC,7667,1.60,151.5,291.1,8.5,750,7680,0.00,2.53,2.67,0.932,4,0.000,0.054,3252,974,2060
$GC,7738,1.60,151.5,284.3,10.7,756,7742,0.00,2.38,0.00,0.000,6,0.000,0.036,3252,2340,2060
$GC,8064,1.65,152.3,253.2,8.9,786,8068,0.00,2.45,0.00,0.000,4,0.000,0.055,3252,3726,2060
$GC,8148,1.65,153.7,245.3,8.9,797,8155,0.00,2.35,0.00,0.000,6,0.000,0.036,3252,2351,2059
$GC,8494,1.70,157.6,218.0,8.7,858,8508,0.10,2.47,5.10,0.877,4,0.081,0.052,3273,3731,2035
$GC,8570,1.70,157.6,210.1,10.6,871,8577,0.00,2.33,0.00,0.000,6,0.000,0.035,3274,2371,2035
$GC,8914,1.72,171.2,179.7,7.8,932,8933,0.00,2.45,10.85,0.816,4,0.000,0.050,3274,3717,1979
$GC,8951,1.72,171.2,176.5,9.3,938,8958,0.00,2.35,0.00,0.000,6,0.000,0.034,3274,2348,1979
$GC,9295,1.80,185.0,147.6,7.7,999,9315,0.10,2.53,10.93,0.780,4,0.082,0.051,3297,973,1923
$GC,9540,1.84,208.8,129.7,6.8,1042,9567,0.00,2.42,18.42,0.736,6,0.000,0.034,3297,2388,1826
$GC,9905,1.99,244.6,105.6,5.7,1106,9938,0.15,0.00,27.90,0.691,6,0.065,0.000,3337,2387,1679
$GC,10277,2.04,257.4,77.8,7.8,1171,10296,0.00,2.40,9.90,0.687,4,0.000,0.048,3337,3723,1627
$GC,10428,2.10,266.7,65.9,8.2,1197,10442,0.12,2.35,7.28,0.683,6,0.069,0.031,3367,2329,1590
$GC,10782,2.16,281.9,38.1,7.6,1259,10801,0.00,2.45,11.50,0.631,4,0.000,0.044,3367,3720,1528
$GC,10903,2.16,281.9,27.3,9.1,1280,10909,0.00,2.30,0.00,0.000,6,0.000,0.030,3367,2349,1528
$STATE,11228,end climb,SURFACE_DEPTH_REACHED
$STATE,11228,begin surface coast
$FINISH,-0.1,1.021279
$STATE,11257,end surface coast,CONTROL_FINISHED_OK
$STATE,11257,begin surface
$SM_CCo,11279,103.07,0.534,0,0,741,475.15
$SM_GC,0.81,0.00,0.00,103.07,0.000,0.000,0.534,252,2131,741,-12.20,-0.54,475.15
$IRIDIUM_FIX,1243.25,12039.25,100697,212139
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.90
$XPDR_PINGS,416
$ALTIM_BOTTOM_PING,591.7,10.9
$24V_AH,23.5,28.054
$10V_AH,10.2,13.819
$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,33.375,92.500,297.425,103.075,0.000,24.667,38.842,152.883,106.750,0.000,0.000,13.927,2685.667,5985.018,563.439,2076.293,407.433,0.000,1587.592,0.000,2049.612,0.000,21.724
$DEVICE_MAMPS,174.876,56.758,1059.227,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,898.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40929,1343
$CAP_FILE_SIZE,118934,0
$CFSIZE,260165632,245723136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 14.7,1
$GPS,170308,060702,1251.027,12043.104,42,0.9,42,-0.8