version: 66.03
glider: 122
mission: 6
dive: 47
start: 2 24 108 18 29 42
data:
$ID,122
$MISSION,6
$DIVE,47
$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,0.0020000001
$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,520.52661
$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,-28262.514
$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,37
$R_STBD_OVSHOOT,31
$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,6
$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
$GPS1,181456,1245.574,12017.484,39,1.1,39,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-70.3
$GPS2,182845,1245.517,12017.388,14,1.0,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,270.0,3415,-24.7,-9.016
$D_GRID,826
$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,-1.78,-65.8,0.0,0.0,0,100,0.00,0.00,-80.28,0.000,2,0.000,0.000,254,2137,2577
$GC,102,-1.82,-89.3,3.2,-6.6,12,128,12.85,2.50,-6.47,0.000,4,0.168,0.051,2503,3568,2904
$GC,319,-1.58,-89.3,57.6,-21.4,50,327,0.30,2.35,0.00,0.000,6,0.123,0.028,2557,2146,2905
$GC,664,-1.47,-89.3,120.8,-18.0,111,672,0.15,2.42,0.00,0.000,4,0.130,0.044,2586,745,2907
$GC,812,-1.47,-89.3,142.9,-13.9,137,819,0.00,2.25,0.00,0.000,6,0.000,0.028,2586,2098,2907
$GC,1156,-1.47,-89.3,186.5,-13.2,198,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2098,2908
$GC,1500,-1.54,-89.3,225.6,-9.5,259,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2098,2907
$GC,1846,-1.67,-111.3,253.8,-6.8,316,1851,0.17,2.50,0.00,0.000,4,0.051,0.045,2533,3555,2907
$GC,1991,-1.63,-111.3,268.8,-11.2,328,1999,0.00,2.42,0.00,0.000,6,0.000,0.031,2533,2099,2907
$GC,2317,-1.65,-122.2,299.7,-7.9,359,2321,0.00,2.35,0.00,0.000,4,0.000,0.051,2533,751,2905
$GC,2405,-1.65,-123.6,307.5,-8.9,366,2413,0.00,2.25,0.00,0.000,6,0.000,0.030,2533,2072,2904
$GC,2730,-1.65,-123.6,338.1,-9.8,397,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2073,2902
$GC,3049,-1.65,-123.6,368.4,-9.7,427,3053,0.00,2.33,0.00,0.000,4,0.000,0.051,2533,750,2900
$GC,3127,-1.65,-123.6,376.6,-10.8,434,3131,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,2085,2900
$GC,3451,-1.65,-123.6,406.1,-9.1,464,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2085,2898
$GC,3770,-1.67,-133.3,433.2,-8.0,494,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2085,2896
$GC,4088,-1.68,-139.0,460.7,-8.4,524,4092,0.00,2.38,0.00,0.000,4,0.000,0.052,2532,743,2894
$GC,4217,-1.68,-141.5,472.6,-8.8,535,4221,0.00,2.25,0.00,0.000,6,0.000,0.033,2533,2069,2893
$GC,4541,-1.69,-146.0,499.9,-7.5,565,4549,0.00,2.35,0.00,0.000,4,0.000,0.053,2533,743,2891
$GC,4650,-1.69,-146.0,509.4,-9.2,570,4657,0.00,2.25,0.00,0.000,6,0.000,0.033,2533,2072,2890
$GC,4965,-1.69,-146.0,535.1,-8.4,586,4969,0.00,2.60,0.00,0.000,4,0.000,0.051,2533,3561,2889
$GC,5032,-1.69,-146.0,540.9,-8.7,589,5036,0.00,2.50,0.00,0.000,6,0.000,0.034,2533,2082,2889
$GC,5352,-1.69,-146.0,565.9,-7.4,605,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2081,2887
$GC,5662,-1.69,-146.0,587.9,-7.2,620,5666,0.00,2.60,0.00,0.000,4,0.000,0.051,2533,3561,2885
$GC,5710,-1.69,-146.0,591.8,-7.5,622,5714,0.00,2.53,0.00,0.000,6,0.000,0.035,2533,2094,2885
$GC,6032,-1.69,-146.0,615.6,-6.9,638,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2093,2883
$GC,6341,-1.69,-146.0,636.8,-6.8,653,6345,0.00,2.58,0.00,0.000,4,0.000,0.052,2533,3555,2881
$GC,6385,-1.69,-146.0,640.3,-8.2,655,6389,0.00,2.47,0.00,0.000,6,0.000,0.035,2533,2097,2882
$GC,6706,-1.72,-146.0,664.2,-7.4,671,6710,0.00,2.58,0.00,0.000,4,0.000,0.052,2533,3557,2880
$GC,6850,-1.72,-146.0,676.3,-8.9,677,6858,0.00,2.45,0.00,0.000,6,0.000,0.035,2533,2116,2879
$STATE,6899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6899,begin apogee
$GC,6903,-0.34,0.0,680.0,8.1,680,6979,1.50,0.00,69.12,1.151,6,0.113,0.000,2826,2384,2539
$STATE,6980,end apogee,CONTROL_FINISHED_OK
$STATE,6980,begin climb
$GC,6981,1.92,146.0,682.0,0.0,684,7107,2.30,0.00,120.88,1.108,6,0.057,0.000,3324,2383,1943
$GC,7408,1.78,146.0,612.5,18.4,705,7413,0.15,2.38,0.00,0.000,4,0.138,0.057,3296,3709,1940
$GC,7560,1.64,146.0,584.7,18.3,712,7565,0.20,2.28,0.00,0.000,6,0.147,0.036,3263,2386,1939
$GC,7887,1.60,146.0,532.7,16.0,728,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2384,1938
$GC,8198,1.56,146.0,484.0,15.5,747,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2384,1936
$GC,8517,1.52,146.0,437.0,15.0,777,8519,0.15,0.00,0.00,0.000,6,0.133,0.000,3237,2384,1935
$GC,8835,1.52,146.0,391.7,14.2,807,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2384,1935
$GC,9153,1.52,146.0,345.8,13.8,837,9157,0.00,2.53,0.00,0.000,4,0.000,0.053,3237,964,1934
$GC,9218,1.52,146.0,336.8,14.6,842,9226,0.00,2.45,0.00,0.000,6,0.000,0.035,3237,2389,1934
$GC,9543,1.52,146.0,291.9,13.2,873,9547,0.00,2.35,0.00,0.000,4,0.000,0.054,3237,3723,1934
$GC,9620,1.52,146.0,281.3,12.6,879,9628,0.00,2.25,0.00,0.000,6,0.000,0.033,3237,2408,1934
$GC,9948,1.52,146.0,241.1,11.2,916,9955,0.00,2.55,0.00,0.000,4,0.000,0.051,3237,964,1934
$GC,10000,1.52,146.0,234.8,12.5,925,10007,0.00,2.45,0.00,0.000,6,0.000,0.035,3237,2397,1933
$GC,10344,1.58,146.0,198.6,9.9,986,10351,0.00,2.33,0.00,0.000,4,0.000,0.052,3237,3729,1933
$GC,10604,1.60,156.9,174.2,7.9,1032,10618,0.00,2.17,6.88,0.823,6,0.000,0.031,3237,2419,1898
$GC,10957,1.68,156.9,142.6,10.1,1094,10965,0.15,2.53,0.00,0.000,4,0.066,0.048,3278,979,1899
$GC,11218,1.71,173.3,120.8,7.3,1140,11239,0.00,2.38,13.02,0.752,6,0.000,0.031,3278,2388,1832
$GC,11577,1.78,188.0,92.3,7.5,1203,11597,0.00,2.55,11.27,0.716,4,0.000,0.046,3278,977,1771
$GC,11637,1.80,198.8,87.6,7.9,1213,11652,0.00,2.42,8.68,0.705,6,0.000,0.031,3277,2405,1727
$GC,11989,1.87,198.8,53.4,10.0,1275,11997,0.15,2.50,0.00,0.000,4,0.061,0.044,3321,975,1727
$GC,12014,1.87,198.8,50.8,10.3,1279,12022,0.00,2.45,0.00,0.000,6,0.000,0.031,3321,2420,1727
$GC,12359,1.95,245.7,25.5,4.2,1340,12402,0.00,2.35,36.08,0.605,4,0.000,0.045,3321,3728,1536
$GC,12476,1.99,246.6,17.0,8.9,1359,12483,0.00,2.17,0.00,0.000,6,0.000,0.028,3321,2413,1535
$STATE,12657,end climb,SURFACE_DEPTH_REACHED
$STATE,12657,begin surface coast
$FINISH,-0.2,0.998889
$STATE,12679,end surface coast,CONTROL_FINISHED_OK
$STATE,12679,begin surface
$SM_CCo,12700,131.40,0.538,0,0,416,520.53
$SM_GC,0.69,0.00,0.00,131.40,0.000,0.000,0.538,250,2123,416,-12.21,-0.76,520.53
$IRIDIUM_FIX,1243.25,12016.50,200597,181823
$TT8_MAMPS,0.023777
$HUMID,1790
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.50
$XPDR_PINGS,504
$ALTIM_BOTTOM_PING,680.0,8.6
$24V_AH,23.4,11.443
$10V_AH,10.2,4.802
$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,31.625,97.100,265.925,131.400,0.000,122.843,92.231,258.013,131.000,0.000,0.000,14.123,2920.795,7272.130,600.160,2259.659,644.600,0.000,1694.540,0.000,2224.686,0.000,38.030
$DEVICE_MAMPS,167.973,56.758,1151.267,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44034,1395
$CAP_FILE_SIZE,133306,0
$CFSIZE,260165632,253706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,319.3,1
$GPS,240208,220437,1246.139,12015.716,30,1.2,30,-0.8