version: 66.03
glider: 122
mission: 6
dive: 230
start: 4 4 108 5 53 44
data:
$ID,122
$MISSION,6
$DIVE,230
$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,-32284.896
$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,51
$R_STBD_OVSHOOT,23
$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
$GPS1,054708,1250.279,12041.543,28,1.0,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.0
$GPS2,055308,1250.356,12041.524,9,1.3,14,-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,91.0,2309,-26.0,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.96,-78.2,0.0,0.0,0,84,0.00,0.00,-61.50,0.000,2,0.000,0.000,252,2117,2519
$GC,87,-2.00,-98.9,3.6,-7.4,9,119,12.90,2.35,-11.65,0.000,4,0.173,0.051,2463,762,3154
$GC,255,-1.73,-98.9,52.5,-25.7,38,263,0.35,2.35,0.00,0.000,6,0.139,0.027,2523,2175,3155
$GC,601,-1.63,-98.9,120.1,-18.3,99,608,0.12,2.35,0.00,0.000,4,0.133,0.041,2544,3554,3157
$GC,733,-1.63,-98.9,139.7,-13.7,122,740,0.00,2.28,0.00,0.000,6,0.000,0.026,2544,2167,3157
$GC,1078,-1.68,-98.9,180.2,-11.4,183,1084,0.00,2.35,0.00,0.000,4,0.000,0.041,2544,3545,3159
$GC,1142,-1.68,-98.9,187.9,-11.7,194,1149,0.00,2.25,0.00,0.000,6,0.000,0.027,2544,2182,3159
$GC,1486,-1.74,-98.9,223.1,-10.2,255,1493,0.00,2.35,0.00,0.000,4,0.000,0.042,2544,3557,3160
$GC,1607,-1.78,-98.9,236.2,-11.6,276,1615,0.12,2.28,0.00,0.000,6,0.061,0.028,2511,2183,3159
$GC,1946,-1.78,-98.9,273.7,-10.9,318,1950,0.00,2.35,0.00,0.000,4,0.000,0.043,2511,3555,3159
$GC,2029,-1.78,-98.9,283.0,-10.7,325,2036,0.00,2.28,0.00,0.000,6,0.000,0.029,2511,2204,3159
$GC,2356,-1.78,-98.9,316.8,-10.1,356,2360,0.00,2.33,0.00,0.000,4,0.000,0.044,2511,3556,3158
$GC,2399,-1.78,-98.9,321.8,-11.3,359,2407,0.00,2.22,0.00,0.000,6,0.000,0.030,2510,2218,3158
$GC,2726,-1.78,-98.9,357.0,-10.8,390,2730,0.00,2.30,0.00,0.000,4,0.000,0.045,2511,3552,3157
$GC,2766,-1.78,-98.9,361.4,-11.1,393,2770,0.00,2.28,0.00,0.000,6,0.000,0.031,2511,2194,3156
$GC,3092,-1.78,-98.9,395.8,-10.7,423,3096,0.00,2.55,0.00,0.000,4,0.000,0.049,2510,745,3155
$GC,3135,-1.78,-98.9,400.9,-10.9,426,3142,0.00,2.47,0.00,0.000,6,0.000,0.032,2511,2205,3155
$GC,3462,-1.78,-98.9,434.6,-10.3,457,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2206,3153
$GC,3779,-1.78,-98.9,467.5,-10.8,487,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2206,3151
$GC,4098,-1.78,-98.9,500.9,-9.3,517,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2206,3149
$GC,4407,-1.78,-98.9,531.5,-9.9,532,4411,0.00,2.35,0.00,0.000,4,0.000,0.050,2511,3549,3147
$GC,4434,-1.78,-98.9,534.5,-10.5,533,4438,0.00,2.30,0.00,0.000,6,0.000,0.033,2511,2191,3147
$GC,4756,-1.78,-98.9,567.7,-10.5,549,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2189,3145
$GC,5065,-1.78,-98.9,599.4,-10.4,564,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2188,3143
$GC,5375,-1.79,-102.4,628.4,-8.7,579,5379,0.00,2.40,0.00,0.000,4,0.000,0.051,2511,3552,3142
$GC,5414,-1.79,-102.4,632.4,-10.4,581,5418,0.00,2.33,0.00,0.000,6,0.000,0.035,2510,2188,3142
$GC,5743,-1.83,-102.4,664.8,-10.3,597,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2187,3139
$STATE,5944,end dive,NO_VERTICAL_VELOCITY
$STATE,5944,begin apogee
$GC,5950,-0.35,0.0,664.1,0.0,607,6034,1.52,0.00,80.10,1.105,6,0.084,0.000,2827,2381,2748
$STATE,6035,end apogee,CONTROL_FINISHED_OK
$STATE,6035,begin climb
$GC,6037,2.01,102.4,664.0,0.0,611,6128,2.35,0.00,85.68,1.068,6,0.048,0.000,3344,2381,2330
$GC,6437,1.97,130.8,641.6,6.7,631,6466,0.00,2.62,23.27,1.081,4,0.000,0.056,3345,969,2213
$GC,6499,1.87,130.8,636.6,9.2,634,6504,0.17,2.45,0.00,0.000,6,0.133,0.038,3315,2363,2213
$GC,6821,1.88,140.8,610.9,8.2,650,6830,0.00,0.00,8.15,1.101,6,0.000,0.000,3315,2364,2174
$GC,7129,1.92,160.4,585.8,7.4,665,7152,0.00,2.58,15.98,1.081,4,0.000,0.056,3315,973,2093
$GC,7230,1.92,160.4,576.3,9.3,669,7234,0.00,2.45,0.00,0.000,6,0.000,0.038,3315,2370,2092
$GC,7553,1.92,160.4,546.4,9.9,685,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2370,2092
$GC,7861,1.92,160.4,517.5,9.4,700,7865,0.00,2.53,0.00,0.000,4,0.000,0.056,3315,970,2090
$GC,7938,1.92,160.4,509.9,9.5,703,7946,0.00,2.40,0.00,0.000,6,0.000,0.038,3315,2353,2090
$GC,8261,1.92,162.4,481.6,8.9,728,8265,0.00,2.47,0.00,0.000,4,0.000,0.055,3315,975,2090
$GC,8345,1.91,172.8,474.6,8.2,735,8361,0.00,2.35,9.95,1.051,6,0.000,0.037,3315,2331,2042
$GC,8687,1.91,174.9,445.2,8.9,767,8691,0.00,2.47,0.00,0.000,4,0.000,0.056,3315,3724,2040
$GC,8749,1.91,174.9,439.4,9.2,772,8753,0.00,2.35,0.00,0.000,6,0.000,0.037,3315,2357,2041
$GC,9075,1.91,174.9,409.4,9.9,802,9079,0.00,2.47,0.00,0.000,4,0.000,0.055,3315,972,2040
$GC,9129,1.91,174.9,403.7,10.5,806,9137,0.00,2.42,0.00,0.000,6,0.000,0.037,3315,2373,2039
$GC,9457,1.91,174.9,373.6,9.0,837,9461,0.00,2.50,0.00,0.000,4,0.000,0.054,3315,973,2039
$GC,9530,1.93,186.0,367.3,8.1,843,9545,0.00,2.38,10.38,0.981,6,0.000,0.036,3316,2354,1989
$GC,9871,1.95,200.4,339.4,7.9,875,9888,0.00,2.53,11.90,0.951,4,0.000,0.054,3315,974,1929
$GC,10012,1.95,200.4,326.1,9.9,887,10016,0.00,2.35,0.00,0.000,6,0.000,0.037,3315,2323,1928
$GC,10339,1.97,208.8,298.0,8.3,917,10352,0.00,2.58,7.00,0.937,4,0.000,0.054,3315,3727,1896
$GC,10402,1.97,208.8,291.6,10.0,922,10409,0.00,2.38,0.00,0.000,6,0.000,0.036,3315,2347,1896
$GC,10729,2.00,208.8,262.1,9.1,953,10731,0.12,0.00,0.00,0.000,6,0.077,0.000,3342,2346,1895
$GC,11056,2.00,208.8,231.0,9.5,1001,11062,0.00,2.45,0.00,0.000,4,0.000,0.052,3342,3735,1895
$GC,11080,2.00,208.8,228.6,9.6,1005,11088,0.00,2.35,0.00,0.000,6,0.000,0.035,3343,2358,1896
$GC,11427,2.03,228.3,198.8,7.5,1066,11447,0.00,2.58,15.30,0.831,4,0.000,0.053,3342,971,1817
$GC,11499,2.04,235.0,192.9,8.5,1078,11513,0.00,2.40,5.62,0.846,6,0.000,0.035,3342,2360,1789
$GC,11851,2.06,245.0,165.1,8.2,1140,11865,0.00,2.47,8.10,0.815,4,0.000,0.050,3342,3721,1749
$GC,11950,2.06,245.0,155.8,9.3,1157,11957,0.00,2.33,0.00,0.000,6,0.000,0.034,3342,2357,1748
$GC,12295,2.18,277.0,129.9,6.5,1218,12329,0.15,2.50,26.10,0.733,4,0.067,0.050,3381,977,1617
$GC,12381,2.20,290.8,123.1,7.9,1232,12401,0.00,2.38,10.98,0.741,6,0.000,0.033,3382,2353,1561
$GC,12741,2.32,318.7,98.7,6.8,1295,12769,0.12,2.50,21.80,0.692,4,0.067,0.048,3411,3725,1448
$GC,13000,2.34,331.8,75.6,8.0,1340,13019,0.00,2.40,10.18,0.684,6,0.000,0.031,3410,2306,1394
$GC,13357,2.48,366.7,49.4,6.2,1403,13391,0.15,2.58,27.60,0.617,4,0.063,0.043,3455,3730,1252
$GC,13432,2.48,366.7,43.3,9.0,1415,13439,0.00,2.42,0.00,0.000,6,0.000,0.030,3455,2295,1251
$GC,13778,2.51,366.7,12.4,9.7,1476,13785,0.00,2.30,0.00,0.000,4,0.000,0.045,3455,971,1250
$GC,13813,2.51,366.7,8.8,10.1,1482,13820,0.00,2.22,0.00,0.000,6,0.000,0.029,3455,2298,1249
$STATE,13897,end climb,SURFACE_DEPTH_REACHED
$STATE,13898,begin surface coast
$FINISH,0.0,1.021057
$STATE,13921,end surface coast,CONTROL_FINISHED_OK
$STATE,13922,begin surface
$SM_CCo,13945,52.83,0.541,0,0,810,475.15
$SM_GC,0.71,0.00,0.00,52.83,0.000,0.000,0.541,250,2116,810,-12.21,-0.96,475.15
$IRIDIUM_FIX,1243.25,12037.35,280697,232323
$TT8_MAMPS,0.023777
$HUMID,1921
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.10
$XPDR_PINGS,375
$ALTIM_BOTTOM_PING,660.5,10.1
$24V_AH,23.4,42.322
$10V_AH,10.2,21.511
$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,32.125,125.425,378.075,52.825,0.000,25.509,46.013,162.105,98.250,0.000,0.000,14.299,3040.083,7824.729,613.662,2388.409,494.841,0.000,1797.264,0.000,2348.067,0.000,34.421
$DEVICE_MAMPS,173.342,55.991,1105.247,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47197,1501
$CAP_FILE_SIZE,141224,0
$CFSIZE,260165632,238735360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 22.3,1
$GPS,040408,094807,1250.317,12042.617,28,1.2,28,-0.8