version: 66.03
glider: 122
mission: 6
dive: 39
start: 2 23 108 13 28 54
data:
$ID,122
$MISSION,6
$DIVE,39
$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,-28132.295
$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,34
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,132108,1247.464,12028.557,37,1.8,37,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.4
$GPS2,132802,1247.411,12028.688,11,1.9,11,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,262.9,24052,-22.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,81,0.00,0.00,-61.83,0.000,2,0.000,0.000,249,2163,2488
$GC,83,-1.69,-88.8,3.1,-7.9,12,111,13.12,2.35,-8.23,0.000,4,0.169,0.050,2532,3542,2902
$GC,156,-1.36,-88.8,22.7,-24.8,25,162,0.38,2.33,0.00,0.000,6,0.111,0.029,2602,2147,2903
$GC,499,-1.27,-88.8,81.0,-13.1,86,506,0.12,2.45,0.00,0.000,4,0.115,0.045,2625,738,2906
$GC,629,-1.27,-88.8,100.1,-14.5,109,635,0.00,2.28,0.00,0.000,6,0.000,0.028,2624,2107,2906
$GC,972,-1.31,-88.8,145.2,-10.7,170,978,0.00,2.47,0.00,0.000,4,0.000,0.044,2625,3551,2907
$GC,1046,-1.34,-88.8,153.5,-10.8,183,1052,0.00,2.40,0.00,0.000,6,0.000,0.028,2625,2109,2908
$GC,1389,-1.46,-108.0,186.3,-7.3,244,1396,0.15,2.47,0.00,0.000,4,0.054,0.042,2578,3552,2908
$GC,1575,-1.46,-108.0,205.5,-10.7,277,1581,0.00,2.38,0.00,0.000,6,0.000,0.030,2578,2127,2908
$GC,1918,-1.46,-108.0,238.5,-9.6,338,1924,0.00,2.42,0.00,0.000,4,0.000,0.050,2578,739,2908
$GC,1996,-1.46,-108.0,246.0,-9.5,352,2003,0.00,2.33,0.00,0.000,6,0.000,0.029,2578,2129,2908
$GC,2328,-1.48,-118.1,275.5,-8.1,387,2333,0.00,2.45,0.00,0.000,4,0.000,0.048,2578,3550,2907
$GC,2445,-1.48,-118.1,286.3,-9.3,397,2449,0.00,2.33,0.00,0.000,6,0.000,0.030,2578,2153,2906
$GC,2776,-1.50,-133.5,313.7,-7.6,428,2780,0.00,2.47,0.00,0.000,4,0.000,0.052,2577,750,2905
$GC,2894,-1.52,-146.0,322.6,-7.8,438,2898,0.00,2.35,0.00,0.000,6,0.000,0.031,2578,2144,2904
$GC,3219,-1.52,-146.0,346.1,-7.9,468,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2144,2903
$GC,3539,-1.56,-146.0,372.1,-7.4,498,3543,0.00,2.45,0.00,0.000,4,0.000,0.049,2578,3552,2901
$GC,3600,-1.56,-146.0,377.5,-8.5,503,3604,0.00,2.38,0.00,0.000,6,0.000,0.032,2578,2140,2901
$GC,3924,-1.60,-146.0,401.6,-6.4,533,3929,0.00,2.47,0.00,0.000,4,0.000,0.054,2577,745,2899
$GC,3979,-1.60,-146.0,405.7,-6.9,537,3986,0.00,2.38,0.00,0.000,6,0.000,0.031,2578,2133,2899
$GC,4305,-1.65,-146.0,425.3,-6.1,568,4310,0.15,2.47,0.00,0.000,4,0.056,0.048,2533,3552,2897
$GC,4400,-1.58,-146.0,432.8,-7.7,576,4405,0.15,2.35,0.00,0.000,6,0.118,0.033,2559,2163,2897
$GC,4724,-1.58,-146.0,455.2,-6.7,606,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2162,2895
$GC,5042,-1.58,-146.0,477.8,-6.6,636,5047,0.00,2.53,0.00,0.000,4,0.000,0.055,2559,745,2893
$GC,5115,-1.58,-146.0,483.0,-6.8,642,5119,0.00,2.45,0.00,0.000,6,0.000,0.034,2559,2178,2893
$GC,5448,-1.58,-146.0,504.8,-6.9,670,5452,0.00,2.40,0.00,0.000,4,0.000,0.052,2559,3550,2891
$GC,5496,-1.58,-146.0,508.8,-7.7,672,5501,0.00,2.35,0.00,0.000,6,0.000,0.033,2559,2183,2891
$GC,5819,-1.58,-146.0,530.6,-6.5,688,5823,0.00,2.55,0.00,0.000,4,0.000,0.057,2559,751,2890
$GC,5857,-1.58,-146.0,533.3,-7.3,690,5861,0.00,2.42,0.00,0.000,6,0.000,0.035,2559,2171,2890
$GC,6183,-1.58,-146.0,554.6,-6.7,706,6187,0.00,2.55,0.00,0.000,4,0.000,0.057,2559,744,2888
$GC,6232,-1.58,-146.0,558.3,-8.2,708,6236,0.00,2.40,0.00,0.000,6,0.000,0.035,2559,2154,2888
$GC,6554,-1.58,-146.0,580.5,-6.8,724,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2154,2887
$GC,6862,-1.58,-146.0,598.9,-5.2,739,6866,0.00,2.53,0.00,0.000,4,0.000,0.058,2559,742,2886
$GC,7000,-1.58,-146.0,607.5,-6.7,745,7005,0.00,2.42,0.00,0.000,6,0.000,0.035,2559,2141,2885
$GC,7321,-1.58,-146.0,627.7,-7.1,761,7326,0.00,2.47,0.00,0.000,4,0.000,0.054,2559,3554,2884
$GC,7360,-1.58,-146.0,630.5,-8.0,763,7365,0.00,2.42,0.00,0.000,6,0.000,0.036,2559,2130,2884
$STATE,7437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7437,begin apogee
$GC,7441,-0.34,0.0,636.3,7.3,767,7514,1.38,0.00,69.82,1.125,6,0.112,0.000,2828,2396,2539
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7517,1.79,146.0,637.7,0.0,770,7643,2.12,0.00,120.40,1.080,6,0.059,0.000,3294,2396,1942
$GC,7952,1.63,146.0,568.1,17.9,792,7957,0.15,2.58,0.00,0.000,4,0.137,0.056,3265,965,1939
$GC,8001,1.52,146.0,559.1,17.5,794,8006,0.12,2.42,0.00,0.000,6,0.126,0.038,3239,2337,1938
$GC,8323,1.45,146.0,511.5,14.2,810,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2336,1937
$GC,8638,1.41,146.0,466.0,15.2,835,8640,0.15,0.00,0.00,0.000,6,0.128,0.000,3214,2337,1937
$GC,8957,1.41,146.0,424.1,12.9,865,8961,0.00,2.47,0.00,0.000,4,0.000,0.057,3214,3731,1936
$GC,9017,1.37,146.0,415.7,13.3,870,9021,0.00,2.38,0.00,0.000,6,0.000,0.036,3214,2343,1936
$GC,9341,1.37,146.0,376.3,12.6,900,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2340,1935
$GC,9659,1.37,146.0,337.1,11.6,930,9663,0.00,2.45,0.00,0.000,4,0.000,0.054,3214,963,1935
$GC,9698,1.37,146.0,332.2,13.3,933,9702,0.00,2.40,0.00,0.000,6,0.000,0.035,3214,2356,1934
$GC,10028,1.37,146.0,292.9,11.6,964,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2357,1935
$GC,10346,1.37,146.0,256.5,11.8,994,10350,0.00,2.47,0.00,0.000,4,0.000,0.052,3214,961,1934
$GC,10377,1.37,146.0,252.5,12.0,996,10384,0.00,2.38,0.00,0.000,6,0.000,0.034,3214,2331,1934
$GC,10720,1.37,146.0,215.3,9.5,1055,10726,0.00,2.45,0.00,0.000,4,0.000,0.053,3214,3725,1933
$GC,10809,1.37,146.0,205.9,11.1,1071,10816,0.00,2.35,0.00,0.000,6,0.000,0.032,3214,2329,1933
$GC,11153,1.44,157.3,176.4,8.0,1132,11165,0.00,2.53,7.35,0.818,4,0.000,0.048,3214,3726,1896
$GC,11418,1.47,158.2,153.0,8.9,1179,11424,0.00,2.20,0.00,0.000,6,0.000,0.031,3214,2410,1896
$GC,11762,1.59,188.0,127.2,6.3,1240,11794,0.15,2.38,23.75,0.740,4,0.064,0.047,3254,3723,1772
$GC,11968,1.59,191.9,108.8,8.7,1277,11979,0.00,2.20,3.25,0.756,6,0.000,0.029,3254,2401,1755
$GC,12318,1.67,210.0,80.7,7.4,1339,12339,0.00,2.55,14.23,0.690,4,0.000,0.048,3254,976,1681
$GC,12569,1.74,210.0,57.0,11.6,1384,12576,0.12,2.38,0.00,0.000,6,0.064,0.031,3286,2378,1680
$GC,12914,1.83,238.4,29.3,6.5,1445,12941,0.00,2.42,21.83,0.618,4,0.000,0.044,3287,3730,1567
$GC,13154,1.87,238.4,9.7,9.0,1488,13161,0.12,2.30,0.00,0.000,6,0.065,0.028,3318,2347,1567
$STATE,13232,end climb,SURFACE_DEPTH_REACHED
$STATE,13232,begin surface coast
$FINISH,-0.2,1.021483
$STATE,13258,end surface coast,CONTROL_FINISHED_OK
$STATE,13258,begin surface
$SM_CCo,13279,94.90,0.551,0,0,805,425.10
$SM_GC,0.65,0.00,0.00,94.90,0.000,0.000,0.551,249,2131,805,-12.21,-0.54,425.10
$IRIDIUM_FIX,1241.04,12026.36,190597,131327
$TT8_MAMPS,0.023777
$HUMID,1778
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,548
$24V_AH,23.4,10.496
$10V_AH,10.2,4.234
$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,31.925,121.550,260.625,94.900,0.000,53.095,46.234,155.226,140.500,0.000,0.000,11.985,2385.914,8091.543,517.919,2406.768,411.094,0.000,1691.265,0.000,2369.504,0.000,26.313
$DEVICE_MAMPS,168.740,57.525,1125.189,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47234,1506
$CAP_FILE_SIZE,141704,0
$CFSIZE,260165632,254259200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,171302,1246.529,12027.439,41,1.3,41,-0.8