version: 66.03
glider: 122
mission: 6
dive: 148
start: 3 17 108 6 18 48
data:
$ID,122
$MISSION,6
$DIVE,148
$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,-30071.287
$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,48
$R_STBD_OVSHOOT,33
$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
$GPS1,060702,1251.027,12043.104,42,0.9,42,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.5
$GPS2,061814,1251.129,12043.102,13,1.0,13,-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,213.3,1002,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.86,-69.4,0.0,0.0,0,86,0.00,0.00,-63.83,0.000,2,0.000,0.000,252,2131,2503
$GC,89,-1.87,-71.7,3.5,-8.8,11,121,13.05,2.47,-8.85,0.000,4,0.173,0.050,2492,3556,2974
$GC,200,-1.54,-71.7,36.9,-28.2,30,208,0.40,2.33,0.00,0.000,6,0.137,0.028,2563,2156,2974
$GC,545,-1.45,-71.7,105.9,-18.3,91,553,0.12,2.45,0.00,0.000,4,0.135,0.043,2582,742,2975
$GC,600,-1.45,-71.7,114.4,-16.0,100,607,0.00,2.35,0.00,0.000,6,0.000,0.026,2583,2159,2975
$GC,946,-1.52,-71.7,155.2,-11.7,161,953,0.00,2.38,0.00,0.000,4,0.000,0.042,2583,3557,2976
$GC,1015,-1.58,-71.7,163.4,-12.0,173,1023,0.00,2.35,0.00,0.000,6,0.000,0.027,2583,2131,2976
$GC,1360,-1.67,-71.7,195.0,-9.7,234,1368,0.17,2.38,0.00,0.000,4,0.050,0.044,2531,755,2977
$GC,1413,-1.67,-71.7,200.9,-11.2,243,1420,0.00,2.35,0.00,0.000,6,0.000,0.028,2532,2167,2977
$GC,1757,-1.67,-71.7,238.2,-10.5,304,1764,0.00,2.45,0.00,0.000,4,0.000,0.045,2532,756,2976
$GC,1798,-1.67,-71.7,242.8,-11.5,311,1805,0.00,2.30,0.00,0.000,6,0.000,0.028,2532,2135,2976
$GC,2133,-1.67,-71.7,278.1,-9.6,348,2137,0.00,2.40,0.00,0.000,4,0.000,0.047,2532,757,2975
$GC,2196,-1.67,-71.7,283.9,-9.3,353,2200,0.00,2.33,0.00,0.000,6,0.000,0.029,2532,2145,2975
$GC,2521,-1.67,-71.7,315.2,-10.3,383,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2146,2973
$GC,2839,-1.68,-76.9,342.0,-8.5,413,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2146,2971
$GC,3158,-1.70,-87.0,371.7,-8.1,443,3162,0.00,2.45,0.00,0.000,4,0.000,0.050,2531,752,2969
$GC,3253,-1.70,-87.0,381.4,-9.2,451,3257,0.00,2.33,0.00,0.000,6,0.000,0.031,2532,2127,2969
$GC,3579,-1.70,-87.0,409.8,-9.1,481,3583,0.00,2.45,0.00,0.000,4,0.000,0.047,2532,3549,2967
$GC,3667,-1.70,-90.9,418.4,-8.6,488,3675,0.00,2.40,0.00,0.000,6,0.000,0.032,2532,2126,2966
$GC,3994,-1.74,-90.9,449.2,-10.1,519,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2123,2964
$GC,4312,-1.77,-90.9,478.0,-9.2,549,4316,0.00,2.50,0.00,0.000,4,0.000,0.049,2532,3552,2962
$GC,4373,-1.77,-90.9,484.0,-9.9,554,4377,0.00,2.42,0.00,0.000,6,0.000,0.034,2532,2119,2961
$GC,4702,-1.80,-90.9,513.4,-9.2,578,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2117,2960
$GC,5009,-2.15,-146.0,529.3,-2.6,593,5014,0.40,2.53,0.00,0.000,4,0.041,0.053,2429,3543,2957
$GC,5267,-1.85,-146.0,529.2,0.7,604,5274,0.40,2.42,0.00,0.000,6,0.144,0.034,2498,2119,2954
$STATE,5291,end dive,NO_VERTICAL_VELOCITY
$STATE,5291,begin apogee
$GC,5297,-0.34,0.0,529.3,0.0,606,5356,1.70,0.00,55.50,1.011,6,0.120,0.000,2824,2376,2677
$STATE,5357,end apogee,CONTROL_FINISHED_OK
$STATE,5357,begin climb
$GC,5359,1.99,146.0,530.6,0.0,609,5489,2.33,2.62,117.45,0.965,4,0.055,0.058,3341,972,2081
$GC,5580,1.80,146.0,519.2,16.3,619,5585,0.25,2.45,0.00,0.000,6,0.137,0.038,3299,2366,2080
$GC,5902,1.71,146.0,471.3,15.2,643,5904,0.12,0.00,0.00,0.000,6,0.145,0.000,3279,2366,2078
$GC,6220,1.65,146.0,428.1,13.5,673,6225,0.00,2.42,0.00,0.000,4,0.000,0.057,3279,3729,2077
$GC,6264,1.56,146.0,421.4,14.9,676,6272,0.20,2.33,0.00,0.000,6,0.150,0.036,3246,2374,2076
$GC,6589,1.56,146.0,382.6,12.2,707,6593,0.00,2.50,0.00,0.000,4,0.000,0.054,3246,972,2075
$GC,6639,1.56,146.0,376.4,12.3,711,6643,0.00,2.45,0.00,0.000,6,0.000,0.037,3246,2382,2075
$GC,6964,1.56,146.0,339.4,11.0,741,6968,0.00,2.38,0.00,0.000,4,0.000,0.056,3246,3726,2074
$GC,7009,1.56,146.0,333.7,13.0,745,7013,0.00,2.33,0.00,0.000,6,0.000,0.036,3246,2363,2074
$GC,7341,1.60,146.0,299.5,9.7,776,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2360,2074
$GC,7659,1.65,147.1,269.6,8.9,806,7663,0.00,2.47,0.00,0.000,4,0.000,0.054,3246,961,2073
$GC,7765,1.65,147.1,259.6,9.3,815,7772,0.00,2.40,0.00,0.000,6,0.000,0.036,3246,2352,2073
$GC,8102,1.71,147.1,229.5,9.0,866,8110,0.15,2.47,0.00,0.000,4,0.072,0.051,3285,962,2072
$GC,8161,1.66,147.1,223.8,9.5,876,8168,0.00,2.38,0.00,0.000,6,0.000,0.035,3285,2341,2072
$GC,8505,1.66,148.5,192.6,8.9,937,8512,0.00,2.42,0.00,0.000,4,0.000,0.051,3285,970,2072
$GC,8659,1.66,148.5,178.8,9.2,964,8666,0.00,2.30,0.00,0.000,6,0.000,0.035,3285,2310,2071
$GC,9005,1.73,188.2,155.8,5.3,1025,9045,0.00,2.45,30.83,0.757,4,0.000,0.050,3285,966,1909
$GC,9153,1.74,198.2,144.2,8.1,1050,9167,0.00,2.25,7.62,0.779,6,0.000,0.034,3285,2274,1870
$GC,9505,1.86,217.9,117.0,7.2,1112,9527,0.10,2.65,15.40,0.725,4,0.074,0.050,3309,3726,1789
$GC,9662,1.92,237.6,106.8,7.2,1139,9683,0.00,2.50,15.43,0.709,6,0.000,0.032,3309,2255,1709
$GC,10021,2.03,240.9,81.0,8.7,1202,10030,0.15,2.33,2.60,0.717,4,0.063,0.048,3349,969,1694
$GC,10284,2.07,267.2,61.7,6.6,1248,10310,0.00,2.22,20.52,0.641,6,0.000,0.030,3349,2286,1588
$GC,10649,2.17,288.9,34.0,7.0,1312,10676,0.12,2.38,16.42,0.609,4,0.065,0.044,3380,970,1498
$GC,10705,2.17,288.9,28.4,10.9,1321,10711,0.00,2.22,0.00,0.000,6,0.000,0.030,3380,2280,1497
$STATE,11018,end climb,SURFACE_DEPTH_REACHED
$STATE,11018,begin surface coast
$FINISH,-0.1,1.021164
$STATE,11053,end surface coast,CONTROL_FINISHED_OK
$STATE,11053,begin surface
$SM_CCo,11075,98.88,0.533,0,0,740,475.15
$SM_GC,0.79,0.00,0.00,98.88,0.000,0.000,0.533,252,2116,740,-12.20,-0.96,475.15
$IRIDIUM_FIX,1247.67,12040.38,110697,060644
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,23.80
$XPDR_PINGS,467
$24V_AH,23.5,28.174
$10V_AH,10.2,13.892
$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,33.450,101.625,281.775,98.875,0.000,82.300,136.520,219.917,117.750,0.000,0.000,13.939,2828.319,5643.772,534.505,2215.265,639.863,0.000,1630.120,0.000,2188.004,0.000,8.189
$DEVICE_MAMPS,173.342,58.292,1010.906,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44008,1383
$CAP_FILE_SIZE,127414,0
$CFSIZE,260165632,245649408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,164.2,1
$GPS,170308,092607,1250.308,12042.571,13,1.0,29,-0.8