version: 66.03
glider: 122
mission: 6
dive: 61
start: 2 27 108 3 40 46
data:
$ID,122
$MISSION,6
$DIVE,61
$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,554.62329
$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,-28560.82
$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,38
$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
$GPS1,032525,1246.866,12027.451,44,0.9,44,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.1
$GPS2,034014,1246.662,12027.300,10,1.4,15,-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,63.2,28888,-17.4,-9.016
$D_GRID,471
$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,17,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,81,0.00,0.00,-60.67,0.000,2,0.000,0.000,253,2160,2552
$GC,83,-1.42,-146.0,3.1,-6.8,10,116,13.32,2.53,-13.75,0.000,4,0.166,0.054,2588,745,3275
$GC,184,-1.11,-146.0,28.6,-23.0,27,192,0.38,2.35,0.00,0.000,6,0.109,0.027,2660,2156,3277
$GC,530,-1.00,-146.0,84.7,-14.4,88,537,0.12,2.38,0.00,0.000,4,0.104,0.043,2683,3550,3278
$GC,604,-1.00,-146.0,94.4,-13.1,101,612,0.00,2.30,0.00,0.000,6,0.000,0.027,2683,2154,3278
$GC,949,-1.00,-146.0,132.7,-10.3,162,956,0.00,2.42,0.00,0.000,4,0.000,0.044,2684,749,3279
$GC,1030,-1.06,-146.0,141.3,-10.9,176,1037,0.00,2.35,0.00,0.000,6,0.000,0.028,2684,2158,3279
$GC,1374,-1.06,-146.0,179.0,-10.9,237,1381,0.00,2.38,0.00,0.000,4,0.000,0.044,2683,3551,3279
$GC,1489,-1.15,-146.0,191.2,-9.2,257,1499,0.15,2.22,0.00,0.000,6,0.050,0.027,2638,2194,3279
$GC,1836,-1.15,-146.0,226.6,-9.8,318,1843,0.00,2.47,0.00,0.000,4,0.000,0.045,2638,757,3279
$GC,1871,-1.15,-146.0,229.9,-9.7,324,1879,0.00,2.38,0.00,0.000,6,0.000,0.029,2637,2179,3279
$GC,2209,-1.15,-146.0,261.2,-8.9,373,2213,0.00,2.35,0.00,0.000,4,0.000,0.046,2638,3552,3278
$GC,2260,-1.20,-146.0,265.8,-9.0,377,2264,0.00,2.25,0.00,0.000,6,0.000,0.029,2638,2193,3278
$GC,2585,-1.23,-146.0,294.0,-8.8,407,2589,0.00,2.50,0.00,0.000,4,0.000,0.048,2638,756,3277
$GC,2640,-1.30,-146.0,299.4,-9.0,411,2649,0.00,2.40,0.00,0.000,6,0.000,0.031,2638,2186,3277
$GC,2966,-1.35,-146.0,326.5,-8.5,442,2968,0.12,0.00,0.00,0.000,6,0.055,0.000,2599,2185,3275
$GC,3284,-1.31,-146.0,359.7,-10.2,472,3289,0.00,2.38,0.00,0.000,4,0.000,0.049,2599,3556,3273
$GC,3312,-1.31,-146.0,362.7,-10.0,474,3316,0.00,2.30,0.00,0.000,6,0.000,0.031,2599,2188,3272
$GC,3638,-1.31,-146.0,393.2,-8.6,504,3642,0.00,2.38,0.00,0.000,4,0.000,0.049,2599,3548,3270
$GC,3688,-1.31,-146.0,397.9,-8.6,508,3692,0.00,2.28,0.00,0.000,6,0.000,0.033,2599,2199,3270
$GC,4013,-1.31,-146.0,427.1,-9.0,538,4017,0.00,2.58,0.00,0.000,4,0.000,0.053,2599,744,3268
$GC,4112,-1.31,-146.0,436.3,-8.8,546,4120,0.00,2.47,0.00,0.000,6,0.000,0.034,2599,2179,3267
$GC,4438,-1.31,-146.0,464.4,-8.4,577,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2179,3265
$STATE,4520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4520,begin apogee
$GC,4525,-0.34,0.0,471.4,8.2,585,4644,1.12,0.00,113.95,0.938,6,0.096,0.000,2826,2384,2677
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4646,1.42,146.0,473.3,0.0,597,4771,1.75,2.40,114.72,0.903,4,0.056,0.055,3216,3709,2081
$GC,4793,1.19,146.0,462.6,14.3,610,4798,0.28,2.30,0.00,0.000,6,0.112,0.034,3166,2372,2080
$GC,5118,1.11,146.0,425.3,10.5,640,5122,0.00,2.38,0.00,0.000,4,0.000,0.053,3166,3709,2078
$GC,5202,0.99,146.0,415.6,11.5,647,5207,0.25,2.28,0.00,0.000,6,0.116,0.035,3120,2380,2077
$GC,5526,1.05,185.0,389.6,7.0,677,5563,0.00,2.62,29.60,0.899,4,0.000,0.054,3121,972,1922
$GC,5601,1.06,191.4,383.4,8.7,683,5611,0.00,2.45,5.03,0.929,6,0.000,0.036,3120,2362,1897
$GC,5926,1.08,203.0,355.6,8.4,714,5942,0.00,2.50,8.77,0.911,4,0.000,0.054,3120,3728,1850
$GC,6039,1.11,203.0,344.5,10.3,724,6044,0.12,2.28,0.00,0.000,6,0.067,0.035,3150,2396,1850
$GC,6363,1.11,203.0,309.8,11.2,754,6367,0.00,2.35,0.00,0.000,4,0.000,0.052,3150,3724,1849
$GC,6428,1.11,203.0,302.0,11.7,759,6436,0.00,2.28,0.00,0.000,6,0.000,0.034,3150,2404,1849
$GC,6754,1.11,203.0,267.6,9.9,790,6758,0.00,2.53,0.00,0.000,4,0.000,0.051,3150,974,1847
$GC,6797,1.11,203.0,263.0,11.2,793,6805,0.00,2.47,0.00,0.000,6,0.000,0.035,3150,2397,1847
$GC,7133,1.11,203.0,230.7,9.1,842,7140,0.00,2.33,0.00,0.000,4,0.000,0.052,3150,3724,1846
$GC,7168,1.11,203.0,227.3,10.4,848,7175,0.00,2.22,0.00,0.000,6,0.000,0.032,3150,2403,1847
$GC,7513,1.14,216.2,196.7,8.3,909,7529,0.00,2.60,9.57,0.825,4,0.000,0.050,3150,978,1795
$GC,7641,1.14,216.2,185.4,9.1,931,7649,0.00,2.42,0.00,0.000,6,0.000,0.034,3150,2391,1794
$GC,7985,1.28,267.6,163.1,6.4,992,8032,0.15,2.38,40.50,0.736,4,0.060,0.049,3193,3722,1586
$GC,8124,1.28,267.6,150.6,9.3,1016,8131,0.00,2.22,0.00,0.000,6,0.000,0.031,3193,2401,1583
$GC,8468,1.32,286.0,120.2,8.1,1077,8487,0.00,2.60,13.75,0.713,4,0.000,0.047,3193,973,1510
$GC,8628,1.35,305.3,107.4,8.0,1105,8652,0.00,2.38,14.82,0.691,6,0.000,0.031,3193,2372,1432
$GC,8990,1.42,305.3,73.9,10.1,1169,8997,0.10,2.45,0.00,0.000,4,0.063,0.044,3225,971,1430
$GC,9059,1.42,305.3,67.1,10.0,1181,9065,0.00,2.40,0.00,0.000,6,0.000,0.031,3225,2390,1430
$GC,9402,1.42,305.3,34.6,9.5,1242,9409,0.00,2.30,0.00,0.000,4,0.000,0.045,3224,3730,1430
$GC,9544,1.47,305.3,22.5,9.3,1267,9551,0.00,2.12,0.00,0.000,6,0.000,0.028,3224,2437,1431
$STATE,9830,end climb,SURFACE_DEPTH_REACHED
$STATE,9830,begin surface coast
$FINISH,-0.1,1.021302
$STATE,9865,end surface coast,CONTROL_FINISHED_OK
$STATE,9865,begin surface
$SM_CCo,9885,118.57,0.533,0,0,416,554.62
$SM_GC,0.79,0.00,0.00,118.57,0.000,0.000,0.533,253,2136,416,-12.20,-0.40,554.62
$IRIDIUM_FIX,1238.83,12031.29,230597,030346
$TT8_MAMPS,0.023777
$HUMID,1806
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,580
$24V_AH,23.6,13.307
$10V_AH,10.2,5.891
$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,31.025,105.700,350.725,118.575,0.000,121.089,204.672,215.507,145.000,0.000,0.000,15.111,2625.599,4902.618,617.854,2065.259,692.815,0.000,1659.257,0.000,2043.901,0.000,0.934
$DEVICE_MAMPS,166.439,55.224,938.041,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40932,1324
$CAP_FILE_SIZE,120011,0
$CFSIZE,260165632,252780544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,214.2,1
$GPS,270208,062837,1246.650,12027.938,33,1.4,33,-0.8