version: 66.03
glider: 122
mission: 6
dive: 57
start: 2 26 108 12 49 56
data:
$ID,122
$MISSION,6
$DIVE,57
$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,440
$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,-28473.186
$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,61
$R_STBD_OVSHOOT,38
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,124238,1246.760,12024.487,43,1.3,43,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.8
$GPS2,124902,1246.658,12024.463,12,2.0,17,-0.8
$SPEED_LIMITS,0.156,0.166
$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,74.5,33862,-22.8,-9.016
$D_GRID,684
$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,18,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-65.68,0.000,2,0.000,0.000,252,2118,2534
$GC,88,-1.68,-82.2,3.5,-8.5,11,114,12.95,2.40,-6.65,0.000,4,0.164,0.056,2535,775,2877
$GC,210,-1.37,-82.2,34.8,-24.7,32,217,0.35,2.30,0.00,0.000,6,0.120,0.028,2600,2154,2879
$GC,555,-1.28,-82.2,92.4,-14.1,93,562,0.12,2.40,0.00,0.000,4,0.115,0.044,2622,3555,2880
$GC,664,-1.21,-82.2,107.3,-14.2,112,671,0.00,2.22,0.00,0.000,6,0.000,0.027,2622,2202,2881
$GC,1008,-1.21,-82.2,150.6,-12.0,173,1015,0.00,2.45,0.00,0.000,4,0.000,0.043,2622,775,2883
$GC,1122,-1.24,-82.2,164.7,-12.3,193,1129,0.00,2.40,0.00,0.000,6,0.000,0.028,2622,2211,2883
$GC,1467,-1.32,-86.8,197.0,-8.6,254,1474,0.00,2.47,0.00,0.000,4,0.000,0.044,2622,775,2883
$GC,1514,-1.40,-86.8,201.6,-9.7,262,1521,0.00,2.40,0.00,0.000,6,0.000,0.029,2622,2215,2883
$GC,1860,-1.52,-90.7,230.9,-8.7,323,1868,0.20,2.30,0.00,0.000,4,0.047,0.047,2562,3555,2883
$GC,1913,-1.47,-90.7,236.3,-10.8,332,1920,0.10,2.17,0.00,0.000,6,0.114,0.028,2579,2235,2883
$GC,2248,-1.48,-93.4,265.2,-8.8,376,2252,0.00,2.55,0.00,0.000,4,0.000,0.048,2579,769,2882
$GC,2310,-1.50,-107.8,270.5,-7.7,381,2315,0.00,2.42,0.00,0.000,6,0.000,0.031,2579,2212,2882
$GC,2635,-1.51,-112.9,297.5,-8.6,411,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2213,2880
$GC,2955,-1.56,-119.9,324.2,-8.4,441,2958,0.00,2.53,0.00,0.000,4,0.000,0.050,2579,772,2879
$GC,3060,-1.56,-122.5,333.7,-8.8,450,3067,0.00,2.38,0.00,0.000,6,0.000,0.031,2579,2183,2878
$GC,3386,-1.63,-142.7,358.3,-7.2,481,3388,0.15,0.00,0.00,0.000,6,0.054,0.000,2539,2183,2877
$GC,3705,-1.59,-146.0,383.6,-8.3,511,3709,0.00,2.47,0.00,0.000,4,0.000,0.050,2538,776,2876
$GC,3834,-1.54,-146.0,394.8,-9.6,522,3838,0.17,2.40,0.00,0.000,6,0.114,0.031,2570,2195,2875
$GC,4158,-1.54,-146.0,417.4,-7.0,552,4162,0.00,2.35,0.00,0.000,4,0.000,0.048,2570,3551,2873
$GC,4231,-1.54,-146.0,423.1,-7.8,558,4235,0.00,2.20,0.00,0.000,6,0.000,0.031,2570,2238,2873
$GC,4556,-1.54,-146.0,446.8,-7.3,588,4560,0.00,2.58,0.00,0.000,4,0.000,0.051,2570,779,2871
$GC,4617,-1.54,-146.0,451.6,-7.7,593,4621,0.00,2.42,0.00,0.000,6,0.000,0.032,2570,2204,2871
$GC,4942,-1.54,-146.0,474.1,-6.1,623,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2205,2869
$GC,5261,-1.57,-146.0,493.6,-6.0,653,5266,0.00,2.53,0.00,0.000,4,0.000,0.052,2570,778,2867
$GC,5391,-1.57,-146.0,501.9,-6.2,663,5395,0.00,2.45,0.00,0.000,6,0.000,0.033,2570,2215,2866
$GC,5718,-1.60,-146.0,521.3,-6.2,679,5722,0.00,2.33,0.00,0.000,4,0.000,0.052,2570,3546,2865
$GC,5784,-1.60,-146.0,525.7,-6.9,682,5788,0.00,2.20,0.00,0.000,6,0.000,0.033,2570,2239,2865
$GC,6111,-1.64,-146.0,545.4,-5.9,698,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2238,2864
$GC,6420,-1.68,-146.0,565.1,-6.7,713,6422,0.15,0.00,0.00,0.000,6,0.059,0.000,2532,2237,2862
$GC,6730,-1.64,-146.0,589.0,-7.4,728,6734,0.00,2.60,0.00,0.000,4,0.000,0.054,2532,773,2861
$GC,6958,-1.58,-146.0,606.4,-8.1,738,6963,0.15,2.50,0.00,0.000,6,0.122,0.035,2557,2232,2860
$GC,7280,-1.58,-146.0,626.7,-6.2,754,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2232,2858
$GC,7589,-1.58,-146.0,644.7,-5.8,769,7593,0.00,2.58,0.00,0.000,4,0.000,0.054,2557,781,2858
$GC,7665,-1.58,-146.0,649.3,-5.4,772,7673,0.00,2.50,0.00,0.000,6,0.000,0.035,2558,2221,2858
$GC,7983,-1.58,-146.0,667.3,-6.1,788,7987,0.00,2.33,0.00,0.000,4,0.000,0.054,2557,3549,2857
$GC,8100,-1.58,-146.0,675.3,-6.6,793,8104,0.00,2.17,0.00,0.000,6,0.000,0.035,2558,2274,2856
$STATE,8254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8254,begin apogee
$GC,8259,-0.34,0.0,684.4,5.7,801,8327,1.35,0.00,64.57,1.164,6,0.105,0.000,2827,2381,2539
$STATE,8328,end apogee,CONTROL_FINISHED_OK
$STATE,8328,begin climb
$GC,8329,1.79,146.0,684.9,0.0,804,8460,2.12,2.45,120.38,1.116,4,0.058,0.058,3297,3716,1942
$GC,8516,1.60,146.0,658.7,20.1,812,8521,0.20,2.30,0.00,0.000,6,0.129,0.036,3258,2406,1941
$GC,8837,1.51,146.0,606.5,16.3,828,8839,0.12,0.00,0.00,0.000,6,0.130,0.000,3237,2404,1939
$GC,9146,1.46,146.0,561.4,13.9,843,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2404,1938
$GC,9455,1.41,146.0,516.7,14.4,858,9460,0.15,2.35,0.00,0.000,4,0.125,0.055,3207,3720,1937
$GC,9540,1.41,146.0,504.5,14.5,862,9544,0.00,2.33,0.00,0.000,6,0.000,0.036,3207,2366,1937
$GC,9865,1.41,146.0,460.3,13.3,891,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2365,1936
$GC,10183,1.41,146.0,423.2,11.5,921,10187,0.00,2.40,0.00,0.000,4,0.000,0.055,3207,3711,1935
$GC,10236,1.41,146.0,416.2,13.1,925,10245,0.00,2.30,0.00,0.000,6,0.000,0.035,3207,2376,1936
$GC,10563,1.41,146.0,375.3,13.6,956,10567,0.00,2.38,0.00,0.000,4,0.000,0.054,3207,3711,1935
$GC,10650,1.41,146.0,362.4,14.5,963,10658,0.00,2.28,0.00,0.000,6,0.000,0.035,3207,2392,1935
$GC,10979,1.41,146.0,320.6,13.0,994,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2389,1934
$GC,11293,1.41,146.0,284.6,10.7,1024,11297,0.00,2.35,0.00,0.000,4,0.000,0.053,3207,3722,1934
$GC,11379,1.41,146.0,275.0,11.3,1031,11383,0.00,2.22,0.00,0.000,6,0.000,0.033,3207,2403,1934
$GC,11709,1.45,146.0,238.3,11.8,1070,11716,0.00,2.30,0.00,0.000,4,0.000,0.051,3207,3713,1934
$GC,11823,1.45,146.0,225.8,10.3,1090,11830,0.00,2.17,0.00,0.000,6,0.000,0.032,3207,2416,1934
$GC,12169,1.51,149.7,192.7,8.7,1151,12177,0.12,2.53,0.00,0.000,4,0.071,0.050,3236,976,1934
$GC,12374,1.52,153.2,171.5,8.7,1187,12389,0.00,2.42,4.47,0.824,6,0.000,0.033,3236,2404,1913
$GC,12727,1.61,183.4,149.9,6.3,1249,12756,0.00,2.40,23.42,0.763,4,0.000,0.048,3236,3723,1791
$GC,12869,1.61,183.4,137.4,10.8,1273,12876,0.00,2.20,0.00,0.000,6,0.000,0.031,3236,2413,1791
$GC,13214,1.73,220.0,113.2,5.7,1334,13250,0.17,2.62,29.23,0.701,4,0.060,0.047,3283,978,1640
$GC,13301,1.73,220.0,105.2,11.6,1348,13308,0.00,2.42,0.00,0.000,6,0.000,0.031,3284,2399,1639
$GC,13647,1.75,229.6,71.9,8.2,1409,13661,0.00,2.30,7.25,0.683,4,0.000,0.046,3284,3718,1601
$GC,13897,1.75,229.6,46.1,9.1,1453,13904,0.00,2.17,0.00,0.000,6,0.000,0.028,3284,2403,1601
$GC,14243,1.86,254.2,18.5,6.8,1514,14271,0.12,2.55,18.90,0.598,4,0.065,0.044,3317,979,1499
$STATE,14438,end climb,SURFACE_DEPTH_REACHED
$STATE,14438,begin surface coast
$FINISH,-0.2,1.009202
$STATE,14461,end surface coast,CONTROL_FINISHED_OK
$STATE,14461,begin surface
$SM_CCo,14484,90.20,0.538,0,0,743,440.07
$SM_GC,0.74,0.00,0.00,90.20,0.000,0.000,0.538,248,2161,743,-12.22,0.31,440.07
$IRIDIUM_FIX,1241.04,12023.34,220597,121245
$TT8_MAMPS,0.023777
$HUMID,1791
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,572
$ALTIM_BOTTOM_PING,520.1,8.2
$24V_AH,23.4,12.732
$10V_AH,10.2,5.603
$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,32.200,123.625,268.225,90.200,0.000,51.703,53.033,125.838,144.000,0.000,0.000,17.639,3288.212,8198.898,538.221,2555.697,413.380,0.000,1795.415,0.000,2529.246,0.000,9.010
$DEVICE_MAMPS,164.138,57.525,1164.306,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47156,1552
$CAP_FILE_SIZE,146115,0
$CFSIZE,260165632,253014016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,202.3,1
$GPS,260208,165402,1246.683,12025.335,38,1.3,38,-0.8