version: 66.03
glider: 122
mission: 6
dive: 30
start: 2 21 108 14 52 55
data:
$ID,122
$MISSION,6
$DIVE,30
$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,-28004.953
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,144508,1249.729,12040.256,28,1.2,28,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.5
$GPS2,145203,1249.837,12040.225,12,1.6,12,-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,71.3,4838,-22.8,-9.016
$D_GRID,1352
$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,16,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.38,0.000,2,0.000,0.000,253,2125,2572
$GC,88,-1.69,-86.0,3.1,-8.2,13,115,13.15,2.40,-6.40,0.000,4,0.171,0.060,2531,768,2892
$GC,154,-1.36,-86.0,21.2,-25.0,25,161,0.40,2.33,0.00,0.000,6,0.131,0.028,2603,2157,2893
$GC,498,-1.30,-86.0,88.8,-12.5,86,504,0.00,2.38,0.00,0.000,4,0.000,0.044,2603,3551,2894
$GC,690,-1.25,-86.0,115.2,-11.6,120,696,0.15,2.28,0.00,0.000,6,0.106,0.028,2631,2168,2896
$GC,1034,-1.33,-88.9,149.5,-8.8,181,1040,0.00,2.47,0.00,0.000,4,0.000,0.048,2631,742,2898
$GC,1135,-1.43,-88.9,159.3,-9.5,199,1141,0.17,2.35,0.00,0.000,6,0.048,0.028,2579,2159,2898
$GC,1478,-1.43,-88.9,191.8,-9.3,260,1484,0.00,2.47,0.00,0.000,4,0.000,0.049,2578,741,2898
$GC,1551,-1.44,-92.1,198.3,-8.7,273,1557,0.00,2.35,0.00,0.000,6,0.000,0.029,2579,2152,2898
$GC,1894,-1.44,-95.6,228.2,-8.7,334,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2152,2897
$GC,2231,-1.45,-100.8,257.5,-8.6,387,2235,0.00,2.45,0.00,0.000,4,0.000,0.051,2578,751,2896
$GC,2330,-1.46,-105.3,266.5,-8.6,395,2337,0.00,2.38,0.00,0.000,6,0.000,0.031,2579,2150,2896
$GC,2656,-1.52,-121.8,292.2,-7.5,426,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2150,2895
$GC,2974,-1.59,-142.8,315.9,-7.1,456,2978,0.00,2.42,0.00,0.000,4,0.000,0.048,2579,3557,2893
$GC,3013,-1.59,-146.0,318.8,-7.7,459,3017,0.00,2.35,0.00,0.000,6,0.000,0.032,2579,2147,2893
$GC,3338,-1.63,-146.0,344.1,-8.1,489,3343,0.15,2.47,0.00,0.000,4,0.055,0.053,2533,749,2891
$GC,3376,-1.56,-146.0,347.7,-10.1,492,3381,0.15,2.38,0.00,0.000,6,0.120,0.032,2559,2154,2891
$GC,3700,-1.56,-146.0,373.3,-7.0,522,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2154,2890
$GC,4018,-1.56,-146.0,396.2,-7.8,552,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2154,2888
$GC,4337,-1.56,-146.0,421.0,-7.7,582,4341,0.00,2.42,0.00,0.000,4,0.000,0.050,2560,3551,2886
$GC,4386,-1.56,-146.0,425.0,-8.3,586,4390,0.00,2.38,0.00,0.000,6,0.000,0.033,2559,2141,2886
$GC,4711,-1.56,-146.0,447.9,-7.2,616,4715,0.00,2.47,0.00,0.000,4,0.000,0.056,2559,749,2885
$GC,4765,-1.56,-146.0,452.3,-8.1,620,4772,0.00,2.40,0.00,0.000,6,0.000,0.035,2559,2143,2884
$GC,5091,-1.56,-146.0,474.4,-6.7,651,5095,0.00,2.45,0.00,0.000,4,0.000,0.051,2559,3550,2883
$GC,5145,-1.56,-146.0,478.3,-7.1,655,5152,0.00,2.40,0.00,0.000,6,0.000,0.034,2559,2148,2882
$GC,5470,-1.56,-146.0,499.0,-6.8,686,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2146,2881
$GC,5780,-1.56,-146.0,519.2,-6.2,702,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2144,2879
$STATE,5968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5968,begin apogee
$GC,5972,-0.34,0.0,531.3,6.7,711,6046,1.35,0.00,67.43,1.024,6,0.104,0.000,2828,2387,2538
$STATE,6047,end apogee,CONTROL_FINISHED_OK
$STATE,6047,begin climb
$GC,6049,1.79,146.0,532.6,0.0,715,6171,2.17,0.00,117.62,0.985,6,0.058,0.000,3297,2387,1943
$GC,6480,1.62,146.0,465.4,17.8,745,6485,0.20,2.53,0.00,0.000,4,0.130,0.054,3260,977,1940
$GC,6523,1.51,146.0,458.0,16.4,748,6531,0.10,2.42,0.00,0.000,6,0.128,0.038,3234,2355,1939
$GC,6848,1.45,146.0,411.4,14.6,779,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2355,1938
$GC,7167,1.41,146.0,367.3,13.5,809,7169,0.12,0.00,0.00,0.000,6,0.136,0.000,3213,2355,1937
$GC,7485,1.41,146.0,325.0,12.8,839,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2355,1936
$GC,7805,1.41,146.0,286.9,12.2,869,7809,0.00,2.47,0.00,0.000,4,0.000,0.054,3213,970,1935
$GC,7836,1.41,146.0,282.7,13.1,871,7843,0.00,2.45,0.00,0.000,6,0.000,0.036,3213,2377,1934
$GC,8164,1.41,146.0,243.4,11.5,907,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2378,1934
$GC,8505,1.41,146.0,205.6,11.2,968,8511,0.00,2.50,0.00,0.000,4,0.000,0.052,3213,971,1933
$GC,8595,1.41,146.0,195.1,11.7,984,8601,0.00,2.40,0.00,0.000,6,0.000,0.035,3213,2378,1933
$GC,8938,1.41,146.0,159.6,10.9,1045,8944,0.00,2.50,0.00,0.000,4,0.000,0.051,3213,970,1934
$GC,9106,1.41,146.0,141.6,10.2,1075,9112,0.00,2.38,0.00,0.000,6,0.000,0.033,3213,2376,1933
$GC,9449,1.51,183.1,115.0,5.7,1136,9481,0.00,2.58,26.67,0.732,4,0.000,0.048,3213,976,1791
$GC,9515,1.57,184.9,110.1,8.8,1148,9522,0.15,2.40,0.00,0.000,6,0.061,0.032,3248,2385,1790
$GC,9859,1.70,228.2,86.0,5.1,1209,9901,0.12,2.38,35.15,0.681,4,0.068,0.048,3278,3726,1607
$GC,10154,1.71,231.1,65.6,8.8,1262,10161,0.00,2.28,2.03,0.700,6,0.000,0.029,3278,2360,1595
$GC,10498,1.76,231.1,39.5,9.1,1323,10504,0.00,2.35,0.00,0.000,4,0.000,0.043,3278,3726,1595
$GC,10537,1.76,231.1,35.4,10.9,1330,10543,0.00,2.25,0.00,0.000,6,0.000,0.028,3278,2366,1595
$STATE,10878,end climb,SURFACE_DEPTH_REACHED
$STATE,10878,begin surface coast
$FINISH,-0.0,1.021994
$STATE,10898,end surface coast,CONTROL_FINISHED_OK
$STATE,10898,begin surface
$SM_CCo,10918,92.62,0.548,0,0,805,425.10
$SM_GC,0.85,0.00,0.00,92.62,0.000,0.000,0.548,253,2135,805,-12.20,-0.42,425.10
$IRIDIUM_FIX,1245.46,12039.25,170597,141409
$TT8_MAMPS,0.023777
$HUMID,1783
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,535
$ALTIM_BOTTOM_PING,531.3,6.6
$24V_AH,23.5,9.315
$10V_AH,10.2,3.458
$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,31.625,82.625,248.900,92.625,0.000,55.472,32.743,179.110,135.000,0.000,0.000,12.253,2146.062,6307.659,495.019,2120.078,394.614,0.000,1518.993,0.000,2090.619,0.000,10.812
$DEVICE_MAMPS,171.041,59.826,1023.945,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40964,1394
$CAP_FILE_SIZE,116884,0
$CFSIZE,260165632,255004672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,175737,1250.410,12041.431,34,0.8,38,-0.8