version: 66.03
glider: 122
mission: 6
dive: 224
start: 4 2 108 19 28 36
data:
$ID,122
$MISSION,6
$DIVE,224
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31313.348
$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,14.2
$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,45
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,192238,1247.156,12028.160,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.4
$GPS2,192802,1247.166,12028.172,10,1.0,15,-0.8
$SPEED_LIMITS,0.156,0.206
$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,77.2,27129,-18.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-58.97,0.000,2,0.000,0.000,251,2123,2424
$GC,85,-1.56,-146.0,3.4,-8.4,10,124,13.48,2.38,-17.02,0.000,4,0.174,0.052,2560,756,3345
$GC,137,-1.00,-146.0,17.0,-23.5,18,145,0.65,2.35,0.00,0.000,6,0.106,0.027,2687,2161,3346
$GC,482,-1.00,-146.0,66.5,-12.1,79,489,0.00,2.38,0.00,0.000,4,0.000,0.044,2687,3549,3348
$GC,580,-1.03,-146.0,78.1,-11.8,96,587,0.00,2.28,0.00,0.000,6,0.000,0.026,2687,2172,3348
$GC,925,-1.10,-146.0,114.7,-9.9,157,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2170,3350
$GC,1269,-1.21,-146.0,146.0,-9.2,218,1277,0.17,2.35,0.00,0.000,4,0.047,0.041,2630,3551,3352
$GC,1334,-1.21,-146.0,152.8,-10.3,229,1341,0.00,2.25,0.00,0.000,6,0.000,0.027,2630,2182,3352
$GC,1680,-1.26,-146.0,181.7,-8.2,290,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2180,3352
$GC,2025,-1.32,-146.0,211.1,-8.7,351,2032,0.00,2.35,0.00,0.000,4,0.000,0.043,2630,3555,3354
$GC,2062,-1.37,-146.0,214.5,-8.8,357,2069,0.00,2.22,0.00,0.000,6,0.000,0.028,2630,2206,3354
$GC,2407,-1.43,-146.0,243.5,-8.4,418,2415,0.15,2.30,0.00,0.000,4,0.051,0.043,2580,3549,3353
$GC,2472,-1.38,-146.0,250.0,-10.5,429,2480,0.12,2.15,0.00,0.000,6,0.103,0.029,2603,2250,3353
$GC,2799,-1.38,-146.0,280.8,-9.2,460,2802,0.00,2.25,0.00,0.000,4,0.000,0.045,2602,3556,3352
$GC,2849,-1.38,-146.0,285.7,-9.8,464,2853,0.00,2.15,0.00,0.000,6,0.000,0.030,2603,2260,3352
$GC,3176,-1.38,-146.0,314.2,-9.3,494,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2258,3350
$GC,3494,-1.38,-146.0,343.8,-8.9,524,3498,0.00,2.25,0.00,0.000,4,0.000,0.047,2602,3557,3349
$GC,3526,-1.38,-146.0,347.2,-9.7,526,3533,0.00,2.15,0.00,0.000,6,0.000,0.031,2603,2284,3349
$GC,3855,-1.38,-146.0,375.7,-9.3,557,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2282,3347
$GC,4180,-1.38,-146.0,406.4,-8.8,588,4184,0.00,2.70,0.00,0.000,4,0.000,0.051,2602,757,3345
$GC,4213,-1.42,-146.0,409.5,-9.0,590,4220,0.00,2.60,0.00,0.000,6,0.000,0.033,2602,2288,3345
$GC,4539,-1.42,-146.0,436.7,-8.5,621,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2288,3344
$GC,4858,-1.42,-146.0,465.9,-8.9,651,4862,0.00,2.70,0.00,0.000,4,0.000,0.051,2603,757,3341
$GC,4909,-1.46,-146.0,470.7,-8.9,655,4914,0.00,2.58,0.00,0.000,6,0.000,0.034,2603,2268,3341
$GC,5236,-1.46,-146.0,497.7,-8.3,685,5240,0.00,2.22,0.00,0.000,4,0.000,0.051,2603,3545,3339
$GC,5280,-1.49,-146.0,501.8,-8.5,688,5284,0.00,2.10,0.00,0.000,6,0.000,0.033,2603,2288,3339
$GC,5602,-1.52,-146.0,526.8,-8.0,704,5607,0.12,2.72,0.00,0.000,4,0.061,0.052,2568,752,3337
$GC,5636,-1.48,-146.0,530.0,-9.7,705,5643,0.00,2.60,0.00,0.000,6,0.000,0.035,2567,2273,3337
$GC,5952,-1.44,-146.0,558.7,-9.4,721,5953,0.12,0.00,0.00,0.000,6,0.114,0.000,2589,2273,3335
$GC,6261,-1.44,-146.0,584.4,-8.3,736,6265,0.00,2.22,0.00,0.000,4,0.000,0.054,2590,3545,3333
$GC,6300,-1.44,-146.0,587.9,-9.2,738,6304,0.00,2.17,0.00,0.000,6,0.000,0.034,2590,2260,3333
$GC,6628,-1.44,-146.0,615.8,-8.1,754,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2258,3332
$STATE,6871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6871,begin apogee
$GC,6877,-0.35,0.0,636.5,8.2,766,6999,1.17,0.00,118.55,1.078,6,0.096,0.000,2827,2384,2748
$STATE,7000,end apogee,CONTROL_FINISHED_OK
$STATE,7000,begin climb
$GC,7002,1.56,146.0,641.0,0.0,772,7130,1.92,2.42,120.05,1.045,4,0.052,0.055,3250,3709,2152
$GC,7171,1.28,146.0,633.4,11.6,780,7176,0.35,2.30,0.00,0.000,6,0.127,0.037,3189,2379,2152
$GC,7492,1.18,152.1,604.0,8.7,796,7503,0.15,2.58,4.82,1.067,4,0.128,0.056,3159,964,2126
$GC,7594,1.13,164.9,594.9,8.4,800,7610,0.00,2.38,10.65,1.065,6,0.000,0.037,3159,2328,2075
$GC,7933,1.14,198.9,567.5,7.5,817,7962,0.00,0.00,27.50,1.041,6,0.000,0.000,3159,2327,1937
$GC,8262,1.17,218.9,541.9,8.1,833,8286,0.00,2.50,16.77,1.044,4,0.000,0.055,3159,963,1854
$GC,8313,1.17,218.9,537.4,9.7,835,8317,0.00,2.40,0.00,0.000,6,0.000,0.038,3160,2332,1853
$GC,8641,1.20,232.2,509.2,8.4,851,8656,0.00,2.50,10.50,1.045,4,0.000,0.055,3159,972,1800
$GC,8706,1.20,232.2,502.9,10.3,853,8710,0.00,2.33,0.00,0.000,6,0.000,0.036,3159,2304,1800
$GC,9033,1.21,242.7,474.2,8.5,882,9047,0.00,2.58,8.95,1.035,4,0.000,0.054,3159,3729,1757
$GC,9075,1.21,242.7,470.2,10.4,885,9082,0.00,2.50,0.00,0.000,6,0.000,0.037,3159,2290,1757
$GC,9401,1.21,242.7,440.9,9.5,916,9405,0.00,2.38,0.00,0.000,4,0.000,0.056,3159,965,1756
$GC,9463,1.21,242.8,435.2,9.0,921,9467,0.00,2.28,0.00,0.000,6,0.000,0.037,3159,2278,1755
$GC,9790,1.25,246.4,406.9,8.9,951,9802,0.00,2.40,2.88,1.002,4,0.000,0.054,3159,973,1743
$GC,9837,1.25,246.4,402.5,9.4,955,9841,0.00,2.28,0.00,0.000,6,0.000,0.036,3160,2282,1743
$GC,10164,1.32,266.9,375.1,8.1,985,10189,0.15,2.45,17.38,0.957,4,0.061,0.054,3196,973,1658
$GC,10218,1.28,266.9,369.8,10.3,990,10222,0.00,2.25,0.00,0.000,6,0.000,0.036,3196,2266,1658
$GC,10544,1.28,266.9,338.4,10.0,1020,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2266,1657
$GC,10863,1.29,272.6,308.9,8.8,1050,10872,0.00,0.00,4.30,0.945,6,0.000,0.000,3196,2266,1636
$GC,11191,1.29,272.6,277.5,10.0,1081,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2266,1636
$GC,11511,1.31,285.8,248.4,8.4,1112,11524,0.00,0.00,11.38,0.877,6,0.000,0.000,3196,2266,1582
$GC,11861,1.31,285.8,216.5,9.3,1174,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2266,1581
$GC,12204,1.31,285.8,185.0,9.2,1235,12211,0.00,2.33,0.00,0.000,4,0.000,0.053,3196,960,1581
$GC,12304,1.35,309.0,176.6,8.0,1252,12330,0.00,2.28,18.50,0.797,6,0.000,0.035,3197,2282,1488
$GC,12670,1.49,342.3,147.8,7.5,1316,12703,0.15,0.00,27.20,0.752,6,0.058,0.000,3239,2281,1351
$GC,13044,1.60,380.1,117.5,7.3,1381,13084,0.00,2.42,30.35,0.713,4,0.000,0.051,3239,973,1197
$GC,13165,1.69,397.4,107.7,8.2,1401,13187,0.15,2.30,13.93,0.719,6,0.051,0.034,3284,2307,1127
$GC,13526,1.69,400.2,75.2,8.9,1464,13533,0.00,2.47,0.00,0.000,4,0.000,0.050,3284,3723,1124
$GC,13574,1.69,400.2,70.6,9.2,1472,13581,0.00,2.65,0.00,0.000,6,0.000,0.033,3284,2171,1123
$GC,13919,1.79,459.5,42.8,6.4,1533,13978,0.00,2.78,50.40,0.611,4,0.000,0.045,3284,3724,873
$GC,14030,1.93,474.8,34.1,8.3,1551,14052,0.17,2.60,11.77,0.624,6,0.048,0.031,3334,2195,811
$STATE,14370,end climb,SURFACE_DEPTH_REACHED
$STATE,14370,begin surface coast
$FINISH,-0.0,1.005051
$STATE,14395,end surface coast,CONTROL_FINISHED_OK
$STATE,14395,begin surface
$SM_CCo,14478,0.00,0.000,0,0,803,477.11
$SM_GC,0.90,13.62,0.00,0.00,0.041,0.000,0.000,249,2119,803,-12.19,-0.88,477.11
$IRIDIUM_FIX,1241.04,12024.46,270697,151507
$TT8_MAMPS,0.02301
$HUMID,2016
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.50
$XPDR_PINGS,466
$24V_AH,23.4,41.232
$10V_AH,10.2,20.909
$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,32.675,115.000,505.875,0.000,0.000,25.864,38.003,143.554,120.000,0.000,0.000,15.192,3260.010,7861.192,666.225,2531.039,490.080,0.000,1940.213,0.000,2504.255,0.000,26.330
$DEVICE_MAMPS,174.109,110.448,1078.402,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50421,1615
$CAP_FILE_SIZE,147063,0
$CFSIZE,260165632,239251456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,107.9,1
$GPS,020408,233108,1247.007,12030.365,40,1.1,40,-0.8