version: 66.03
glider: 122
mission: 6
dive: 60
start: 2 26 108 23 34 40
data:
$ID,122
$MISSION,6
$DIVE,60
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,-28545.08
$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,36
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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
$GPS1,232202,1247.094,12026.226,13,1.9,31,-0.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-73.5
$GPS2,233408,1246.944,12026.158,13,1.1,13,-0.8
$SPEED_LIMITS,0.156,0.209
$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,76.4,30761,-17.4,-9.016
$D_GRID,645
$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,-1.42,-146.0,0.0,0.0,0,83,0.00,0.00,-63.17,0.000,2,0.000,0.000,252,2160,2630
$GC,85,-1.42,-146.0,3.8,-9.7,11,117,13.30,2.45,-11.62,0.000,4,0.165,0.054,2590,750,3274
$GC,208,-1.13,-146.0,35.2,-22.1,32,216,0.35,2.33,0.00,0.000,6,0.112,0.027,2656,2148,3276
$GC,554,-1.04,-146.0,89.7,-12.6,93,561,0.12,2.40,0.00,0.000,4,0.108,0.044,2679,3556,3277
$GC,618,-1.04,-146.0,97.5,-12.1,104,624,0.00,2.33,0.00,0.000,6,0.000,0.028,2679,2151,3277
$GC,962,-1.04,-146.0,137.7,-12.1,165,969,0.00,2.42,0.00,0.000,4,0.000,0.044,2679,747,3278
$GC,1037,-1.11,-146.0,146.4,-11.3,178,1044,0.00,2.38,0.00,0.000,6,0.000,0.028,2679,2169,3278
$GC,1381,-1.17,-146.0,182.3,-8.7,239,1390,0.15,2.38,0.00,0.000,4,0.050,0.045,2629,3556,3278
$GC,1418,-1.17,-146.0,186.2,-10.9,245,1426,0.10,2.38,0.00,0.000,6,0.101,0.028,2648,2122,3279
$GC,1763,-1.17,-146.0,221.7,-9.6,306,1770,0.00,2.45,0.00,0.000,4,0.000,0.044,2648,3552,3278
$GC,1787,-1.20,-146.0,224.4,-11.2,310,1794,0.00,2.38,0.00,0.000,6,0.000,0.029,2648,2122,3279
$GC,2128,-1.24,-146.0,255.9,-8.5,365,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2122,3278
$GC,2447,-1.30,-146.0,283.9,-9.6,395,2452,0.12,2.47,0.00,0.000,4,0.054,0.045,2608,3555,3277
$GC,2553,-1.30,-146.0,295.6,-10.7,404,2557,0.00,2.38,0.00,0.000,6,0.000,0.031,2608,2135,3277
$GC,2878,-1.30,-146.0,329.6,-10.1,434,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2132,3275
$GC,3195,-1.30,-146.0,360.3,-9.7,464,3199,0.00,2.47,0.00,0.000,4,0.000,0.048,2608,3555,3273
$GC,3245,-1.30,-146.0,365.4,-10.0,468,3249,0.00,2.38,0.00,0.000,6,0.000,0.032,2608,2143,3273
$GC,3569,-1.30,-146.0,395.6,-9.5,498,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2141,3271
$GC,3887,-1.30,-146.0,424.6,-9.0,528,3892,0.00,2.45,0.00,0.000,4,0.000,0.050,2608,3545,3269
$GC,3926,-1.30,-146.0,428.5,-10.0,531,3930,0.00,2.38,0.00,0.000,6,0.000,0.033,2608,2143,3268
$GC,4251,-1.30,-146.0,457.6,-8.3,561,4255,0.00,2.47,0.00,0.000,4,0.000,0.051,2608,3555,3266
$GC,4282,-1.30,-146.0,460.8,-9.3,563,4290,0.00,2.40,0.00,0.000,6,0.000,0.033,2608,2153,3266
$GC,4608,-1.30,-146.0,489.1,-8.4,594,4612,0.00,2.50,0.00,0.000,4,0.000,0.054,2608,746,3264
$GC,4658,-1.30,-146.0,493.4,-8.7,598,4662,0.00,2.40,0.00,0.000,6,0.000,0.035,2608,2146,3264
$GC,4988,-1.30,-146.0,521.4,-8.3,617,4993,0.00,2.47,0.00,0.000,4,0.000,0.053,2608,3558,3261
$GC,5020,-1.30,-146.0,524.6,-8.8,618,5028,0.00,2.40,0.00,0.000,6,0.000,0.034,2608,2158,3261
$GC,5339,-1.30,-146.0,550.5,-7.8,634,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2157,3259
$GC,5646,-1.30,-146.0,573.5,-7.4,649,5650,0.00,2.47,0.00,0.000,4,0.000,0.053,2608,3559,3258
$GC,5700,-1.30,-146.0,577.9,-8.3,651,5707,0.00,2.38,0.00,0.000,6,0.000,0.035,2608,2177,3258
$GC,6018,-1.30,-146.0,600.8,-7.6,667,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2176,3256
$GC,6325,-1.30,-146.0,622.8,-6.9,682,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2172,3255
$GC,6636,-1.30,-146.0,643.4,-6.7,697,6640,0.00,2.42,0.00,0.000,4,0.000,0.054,2608,3550,3252
$STATE,6654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6654,begin apogee
$GC,6660,-0.34,0.0,645.0,6.8,698,6780,1.08,0.00,115.57,1.104,6,0.099,0.000,2827,2356,2678
$STATE,6780,end apogee,CONTROL_FINISHED_OK
$STATE,6781,begin climb
$GC,6782,1.42,146.0,646.7,0.0,704,6912,1.77,2.55,118.12,1.065,4,0.056,0.057,3219,3720,2082
$GC,6945,1.17,146.0,633.0,16.0,711,6950,0.25,2.35,0.00,0.000,6,0.114,0.036,3164,2384,2082
$GC,7267,1.07,146.0,595.5,10.3,727,7268,0.12,0.00,0.00,0.000,6,0.124,0.000,3143,2383,2080
$GC,7576,1.01,146.0,566.7,9.5,742,7580,0.00,2.55,0.00,0.000,4,0.000,0.058,3143,970,2079
$GC,7615,0.94,146.0,563.0,9.4,744,7620,0.17,2.45,0.00,0.000,6,0.115,0.038,3111,2379,2079
$GC,7941,0.96,157.7,535.7,8.4,760,7954,0.00,0.00,8.98,1.085,6,0.000,0.000,3111,2380,2034
$GC,8271,0.98,171.9,508.1,8.3,776,8284,0.00,0.00,11.48,1.068,6,0.000,0.000,3111,2380,1977
$GC,8587,1.01,186.8,481.4,8.3,801,8604,0.00,2.42,12.38,1.047,4,0.000,0.056,3111,3720,1915
$GC,8626,1.01,186.8,477.9,10.4,804,8630,0.00,2.30,0.00,0.000,6,0.000,0.035,3111,2385,1915
$GC,8953,1.05,192.7,448.2,8.7,834,8966,0.10,2.55,4.62,1.039,4,0.075,0.054,3136,976,1892
$GC,9015,1.05,192.7,441.3,10.9,839,9023,0.00,2.45,0.00,0.000,6,0.000,0.036,3136,2373,1891
$GC,9341,1.05,192.7,407.2,10.0,870,9345,0.00,2.40,0.00,0.000,4,0.000,0.056,3136,3730,1891
$GC,9403,1.01,192.7,400.4,11.5,875,9407,0.00,2.30,0.00,0.000,6,0.000,0.035,3136,2378,1891
$GC,9727,1.01,192.7,369.0,9.8,905,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2375,1890
$GC,10045,1.01,192.7,335.1,10.4,935,10049,0.00,2.38,0.00,0.000,4,0.000,0.054,3137,3722,1890
$GC,10112,1.01,192.7,327.7,12.1,940,10119,0.00,2.25,0.00,0.000,6,0.000,0.035,3136,2393,1890
$GC,10437,1.01,192.7,295.0,9.3,971,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2389,1890
$GC,10755,1.06,217.3,268.1,7.8,1001,10777,0.00,0.00,19.15,0.885,6,0.000,0.000,3136,2389,1792
$GC,11100,1.12,231.9,240.7,8.3,1043,11121,0.00,2.42,12.00,0.867,4,0.000,0.051,3136,3720,1732
$GC,11169,1.15,231.9,234.9,9.2,1054,11176,0.00,2.20,0.00,0.000,6,0.000,0.032,3137,2424,1731
$GC,11514,1.22,244.6,205.7,8.4,1115,11532,0.15,2.65,9.85,0.836,4,0.059,0.050,3178,976,1680
$GC,11594,1.22,244.6,197.8,10.3,1128,11601,0.00,2.50,0.00,0.000,6,0.000,0.034,3178,2426,1680
$GC,11939,1.34,311.0,166.9,5.6,1189,11999,0.00,0.00,52.83,0.743,6,0.000,0.000,3178,2426,1408
$GC,12338,1.40,321.1,132.2,8.5,1257,12353,0.15,2.30,7.30,0.751,4,0.055,0.048,3224,3733,1368
$GC,12370,1.40,321.1,128.4,11.0,1262,12378,0.00,2.28,0.00,0.000,6,0.000,0.031,3224,2391,1368
$GC,12715,1.40,321.1,90.6,9.3,1323,12722,0.00,2.47,0.00,0.000,4,0.000,0.047,3224,973,1367
$GC,12790,1.40,321.1,83.7,9.4,1336,12797,0.00,2.42,0.00,0.000,6,0.000,0.031,3224,2403,1366
$GC,13134,1.45,350.2,49.4,7.5,1397,13162,0.00,2.38,22.92,0.634,4,0.000,0.046,3223,3723,1249
$GC,13320,1.48,350.2,31.6,9.1,1429,13328,0.00,2.25,0.00,0.000,6,0.000,0.028,3224,2369,1248
$GC,13656,1.64,387.7,4.5,7.1,1490,13693,0.15,2.50,26.50,0.576,4,0.051,0.044,3274,977,1095
$STATE,13697,end climb,SURFACE_DEPTH_REACHED
$STATE,13697,begin surface coast
$FINISH,-0.1,1.001333
$STATE,13720,end surface coast,CONTROL_FINISHED_OK
$STATE,13721,begin surface
$SM_CCo,13743,24.42,0.558,0,0,883,440.07
$SM_GC,1.10,0.00,0.00,24.42,0.000,0.000,0.558,253,2160,883,-12.20,0.28,440.07
$IRIDIUM_FIX,1241.04,12044.18,220597,232324
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.50
$XPDR_PINGS,498
$ALTIM_BOTTOM_PING,621.3,8.3
$24V_AH,23.5,13.159
$10V_AH,10.2,5.821
$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,31.450,119.725,421.700,24.425,0.000,108.553,113.483,228.020,128.000,0.000,0.000,13.001,3078.086,7830.202,612.808,2363.682,623.340,0.000,1807.258,0.000,2334.032,0.000,27.147
$DEVICE_MAMPS,164.905,57.525,1103.713,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47184,1501
$CAP_FILE_SIZE,143089,0
$CFSIZE,260165632,252825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,208.0,1
$GPS,270208,032525,1246.866,12027.451,44,0.9,44,-0.8