version: 66.03
glider: 122
mission: 6
dive: 28
start: 2 21 108 8 42 37
data:
$ID,122
$MISSION,6
$DIVE,28
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,425
$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,-27979.164
$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,46
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,083401,1249.734,12037.465,38,1.2,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.6
$GPS2,084145,1249.842,12037.459,12,1.2,12,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,2000.000
$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,81.2,9689,-22.8,-9.016
$D_GRID,1589
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.43,0.000,2,0.000,0.000,253,2136,2684
$GC,88,-1.68,-84.3,3.7,-8.3,13,111,13.23,2.47,-3.70,0.000,4,0.171,0.055,2535,753,2886
$GC,240,-1.39,-84.3,44.7,-25.2,40,247,0.35,2.35,0.00,0.000,6,0.127,0.029,2598,2154,2888
$GC,584,-1.33,-84.3,101.2,-12.4,101,590,0.00,2.40,0.00,0.000,4,0.000,0.043,2598,3564,2889
$GC,702,-1.28,-84.3,117.4,-12.4,122,709,0.15,2.33,0.00,0.000,6,0.104,0.028,2626,2154,2890
$GC,1046,-1.35,-84.3,152.6,-9.3,183,1052,0.00,2.45,0.00,0.000,4,0.000,0.048,2626,750,2892
$GC,1305,-1.43,-86.1,175.8,-8.8,229,1311,0.15,2.35,0.00,0.000,6,0.052,0.029,2581,2164,2892
$GC,1648,-1.44,-94.3,207.9,-8.3,290,1654,0.00,2.47,0.00,0.000,4,0.000,0.049,2582,753,2892
$GC,1755,-1.45,-99.3,217.7,-8.6,309,1761,0.00,2.33,0.00,0.000,6,0.000,0.030,2581,2149,2892
$GC,2098,-1.46,-104.6,248.8,-8.5,370,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2149,2892
$GC,2422,-1.48,-118.8,277.1,-7.7,402,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2149,2890
$GC,2742,-1.55,-134.7,301.7,-7.6,432,2746,0.00,2.42,0.00,0.000,4,0.000,0.048,2582,3553,2889
$GC,2774,-1.56,-141.4,304.4,-8.4,434,2781,0.00,2.38,0.00,0.000,6,0.000,0.031,2582,2150,2889
$GC,3100,-1.61,-146.0,327.8,-7.3,465,3104,0.12,2.47,0.00,0.000,4,0.058,0.052,2548,750,2888
$GC,3138,-1.57,-146.0,331.1,-9.0,468,3143,0.00,2.35,0.00,0.000,6,0.000,0.031,2548,2149,2888
$GC,3463,-1.54,-146.0,357.7,-8.1,498,3468,0.10,2.42,0.00,0.000,4,0.126,0.048,2564,3554,2886
$GC,3540,-1.54,-146.0,364.2,-8.4,504,3546,0.00,2.40,0.00,0.000,6,0.000,0.032,2564,2148,2885
$GC,3865,-1.54,-146.0,388.1,-7.4,535,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2147,2884
$GC,4183,-1.54,-146.0,412.6,-8.0,565,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2147,2882
$GC,4502,-1.54,-146.0,436.3,-7.1,595,4506,0.00,2.45,0.00,0.000,4,0.000,0.051,2564,3545,2881
$GC,4596,-1.54,-146.0,443.3,-7.2,603,4600,0.00,2.35,0.00,0.000,6,0.000,0.034,2564,2151,2881
$GC,4921,-1.54,-146.0,465.6,-6.6,633,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2149,2879
$GC,5240,-1.54,-146.0,486.2,-6.4,663,5244,0.00,2.45,0.00,0.000,4,0.000,0.051,2564,3543,2878
$GC,5283,-1.54,-146.0,489.6,-8.0,666,5290,0.00,2.38,0.00,0.000,6,0.000,0.035,2564,2146,2877
$STATE,5617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5617,begin apogee
$GC,5621,-0.34,0.0,510.6,6.1,690,5694,1.33,0.00,66.88,1.006,6,0.103,0.000,2828,2386,2538
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5696,1.79,146.0,511.7,0.0,694,5822,2.10,2.45,116.65,0.967,4,0.059,0.055,3294,3710,1943
$GC,5884,1.59,146.0,486.3,19.8,706,5889,0.22,2.30,0.00,0.000,6,0.130,0.036,3255,2375,1942
$GC,6208,1.51,146.0,433.3,15.9,736,6210,0.12,0.00,0.00,0.000,6,0.133,0.000,3234,2374,1940
$GC,6527,1.47,146.0,388.8,13.8,766,6531,0.00,2.38,0.00,0.000,4,0.000,0.054,3234,3713,1938
$GC,6565,1.39,146.0,383.4,14.8,769,6570,0.15,2.28,0.00,0.000,6,0.134,0.035,3209,2372,1939
$GC,6888,1.39,146.0,343.1,12.2,799,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2371,1937
$GC,7207,1.39,146.0,304.3,12.6,829,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2371,1936
$GC,7527,1.39,146.0,264.9,12.5,859,7532,0.00,2.50,0.00,0.000,4,0.000,0.053,3209,968,1934
$GC,7554,1.39,146.0,261.3,12.8,861,7558,0.00,2.40,0.00,0.000,6,0.000,0.035,3209,2367,1935
$GC,7891,1.39,146.0,224.1,11.4,912,7897,0.00,2.50,0.00,0.000,4,0.000,0.053,3209,967,1934
$GC,7936,1.39,146.0,219.1,10.9,920,7942,0.00,2.42,0.00,0.000,6,0.000,0.035,3209,2384,1934
$GC,8279,1.39,146.0,181.5,10.1,981,8285,0.00,2.50,0.00,0.000,4,0.000,0.051,3209,974,1934
$GC,8335,1.39,146.0,175.9,10.0,991,8341,0.00,2.40,0.00,0.000,6,0.000,0.034,3209,2378,1934
$GC,8678,1.45,146.8,145.6,8.9,1052,8684,0.00,2.50,0.00,0.000,4,0.000,0.051,3209,967,1934
$GC,8785,1.49,148.8,136.4,8.8,1071,8791,0.00,2.40,0.00,0.000,6,0.000,0.032,3209,2383,1934
$GC,9129,1.63,183.5,113.6,5.9,1132,9162,0.20,2.60,27.00,0.719,4,0.059,0.049,3260,973,1789
$GC,9414,1.63,184.7,87.0,8.9,1183,9420,0.00,2.38,0.00,0.000,6,0.000,0.031,3260,2376,1789
$GC,9757,1.79,243.6,63.7,3.7,1244,9810,0.15,2.45,46.55,0.647,4,0.064,0.048,3301,3729,1544
$GC,9933,1.79,243.6,49.9,10.2,1276,9939,0.00,2.28,0.00,0.000,6,0.000,0.028,3301,2364,1543
$GC,10276,1.79,243.6,13.1,11.3,1337,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2360,1542
$STATE,10399,end climb,SURFACE_DEPTH_REACHED
$STATE,10399,begin surface coast
$FINISH,-0.1,1.004967
$STATE,10427,end surface coast,CONTROL_FINISHED_OK
$STATE,10427,begin surface
$SM_CCo,10448,86.22,0.551,0,0,805,425.10
$SM_GC,0.57,0.00,0.00,86.22,0.000,0.000,0.551,249,2135,805,-12.21,-0.42,425.10
$IRIDIUM_FIX,1245.46,12035.45,170597,080812
$TT8_MAMPS,0.023777
$HUMID,1782
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,526
$ALTIM_BOTTOM_PING,510.6,6.7
$24V_AH,23.5,9.099
$10V_AH,10.2,3.331
$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,31.875,82.700,257.075,86.225,0.000,46.681,33.529,220.700,132.250,0.000,0.000,12.686,2100.225,5924.107,456.914,2097.346,446.160,0.000,1491.403,0.000,2074.684,0.000,7.185
$DEVICE_MAMPS,171.041,55.224,1005.537,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40990,1364
$CAP_FILE_SIZE,116109,0
$CFSIZE,260165632,255123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,113926,1249.806,12038.732,41,1.1,41,-0.8