version: 66.03
glider: 122
mission: 6
dive: 166
start: 3 21 108 6 30 17
data:
$ID,122
$MISSION,6
$DIVE,166
$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,475
$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,-30345.139
$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,33
$R_STBD_OVSHOOT,46
$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,9
$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
$GPS1,062438,1246.800,12027.043,34,0.9,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,062945,1246.772,12027.041,15,1.5,15,-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,83.8,29288,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-62.30,0.000,2,0.000,0.000,249,2165,2433
$GC,88,-1.42,-146.0,3.2,-8.2,10,127,13.62,2.47,-16.10,0.000,4,0.173,0.053,2591,746,3277
$GC,252,-1.12,-146.0,38.7,-20.6,38,260,0.35,2.33,0.00,0.000,6,0.117,0.027,2657,2145,3278
$GC,598,-1.03,-146.0,93.9,-13.8,99,605,0.12,2.40,0.00,0.000,4,0.106,0.041,2680,3555,3279
$GC,652,-1.03,-146.0,101.0,-12.8,108,659,0.00,2.35,0.00,0.000,6,0.000,0.027,2680,2131,3280
$GC,996,-1.03,-146.0,139.7,-9.9,169,1003,0.00,2.42,0.00,0.000,4,0.000,0.041,2680,3551,3282
$GC,1037,-1.07,-146.0,143.8,-9.6,176,1044,0.00,2.30,0.00,0.000,6,0.000,0.027,2680,2153,3282
$GC,1377,-1.16,-146.0,173.7,-8.4,237,1384,0.12,2.40,0.00,0.000,4,0.054,0.041,2640,3556,3282
$GC,1441,-1.16,-146.0,179.9,-9.7,248,1448,0.00,2.25,0.00,0.000,6,0.000,0.028,2640,2191,3283
$GC,1785,-1.16,-146.0,211.1,-8.2,309,1791,0.00,2.50,0.00,0.000,4,0.000,0.047,2640,753,3283
$GC,1820,-1.19,-146.0,214.4,-9.1,315,1827,0.00,2.40,0.00,0.000,6,0.000,0.031,2640,2184,3282
$GC,2165,-1.19,-146.0,242.7,-7.9,376,2171,0.00,2.50,0.00,0.000,4,0.000,0.048,2639,758,3281
$GC,2189,-1.23,-146.0,244.6,-8.0,380,2196,0.00,2.42,0.00,0.000,6,0.000,0.031,2640,2197,3281
$GC,2524,-1.23,-146.0,271.5,-8.0,417,2528,0.00,2.33,0.00,0.000,4,0.000,0.048,2640,3552,3280
$GC,2579,-1.27,-146.0,276.1,-8.5,421,2586,0.00,2.25,0.00,0.000,6,0.000,0.031,2640,2200,3280
$GC,2905,-1.30,-146.0,302.1,-7.6,452,2909,0.00,2.55,0.00,0.000,4,0.000,0.051,2639,749,3278
$GC,2927,-1.35,-146.0,304.0,-7.9,453,2934,0.12,2.42,0.00,0.000,6,0.054,0.031,2599,2186,3278
$GC,3251,-1.29,-146.0,334.2,-9.6,484,3256,0.12,2.35,0.00,0.000,4,0.102,0.047,2623,3549,3275
$GC,3313,-1.29,-146.0,339.7,-8.1,489,3317,0.00,2.30,0.00,0.000,6,0.000,0.032,2622,2183,3274
$GC,3644,-1.29,-146.0,367.5,-8.9,520,3648,0.00,2.53,0.00,0.000,4,0.000,0.052,2623,755,3272
$GC,3676,-1.29,-146.0,370.6,-8.7,522,3683,0.00,2.45,0.00,0.000,6,0.000,0.033,2623,2193,3272
$GC,4002,-1.29,-146.0,397.4,-8.3,553,4007,0.00,2.35,0.00,0.000,4,0.000,0.049,2623,3548,3270
$GC,4057,-1.29,-146.0,402.6,-9.2,557,4064,0.00,2.25,0.00,0.000,6,0.000,0.033,2623,2229,3269
$GC,4384,-1.29,-146.0,429.2,-8.3,588,4389,0.00,2.62,0.00,0.000,4,0.000,0.054,2623,750,3268
$GC,4448,-1.33,-146.0,434.9,-8.5,593,4452,0.00,2.50,0.00,0.000,6,0.000,0.034,2623,2209,3268
$GC,4774,-1.33,-146.0,461.3,-7.7,623,4778,0.00,2.35,0.00,0.000,4,0.000,0.052,2623,3552,3266
$GC,4835,-1.33,-146.0,466.4,-7.9,628,4839,0.00,2.25,0.00,0.000,6,0.000,0.034,2623,2223,3266
$STATE,4903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4903,begin apogee
$GC,4908,-0.34,0.0,471.7,7.4,634,5027,1.00,0.00,115.12,0.938,6,0.089,0.000,2828,2393,2678
$STATE,5027,end apogee,CONTROL_FINISHED_OK
$STATE,5028,begin climb
$GC,5030,1.42,146.0,475.7,0.0,646,5154,1.75,2.45,115.60,0.904,4,0.054,0.054,3216,3712,2082
$GC,5215,1.20,146.0,464.1,12.5,662,5223,0.28,2.30,0.00,0.000,6,0.127,0.035,3168,2374,2081
$GC,5540,1.11,146.0,432.5,9.9,693,5542,0.12,0.00,0.00,0.000,6,0.123,0.000,3147,2372,2080
$GC,5860,1.08,158.7,404.7,8.4,723,5876,0.00,2.58,9.55,0.941,4,0.000,0.054,3147,978,2030
$GC,5917,1.03,165.1,399.9,8.7,728,5929,0.00,2.38,5.22,0.941,6,0.000,0.035,3147,2343,2004
$GC,6247,1.04,172.8,371.5,8.6,759,6260,0.00,2.47,6.15,0.943,4,0.000,0.053,3147,3725,1972
$GC,6298,1.00,172.8,366.7,9.7,763,6306,0.12,2.30,0.00,0.000,6,0.127,0.035,3126,2383,1972
$GC,6625,1.05,203.2,342.6,7.5,794,6655,0.00,0.00,23.90,0.891,6,0.000,0.000,3126,2381,1848
$GC,6973,1.12,225.0,313.2,7.9,827,7000,0.10,2.58,17.27,0.878,4,0.073,0.054,3153,973,1759
$GC,7083,1.12,225.0,302.6,9.9,836,7091,0.00,2.47,0.00,0.000,6,0.000,0.036,3153,2398,1758
$GC,7410,1.13,228.4,273.0,8.8,867,7419,0.00,0.00,2.60,0.895,6,0.000,0.000,3153,2399,1746
$GC,7740,1.15,240.4,243.9,8.4,904,7760,0.00,2.62,9.80,0.857,4,0.000,0.051,3153,975,1696
$GC,7822,1.15,240.4,236.2,10.0,918,7829,0.00,2.42,0.00,0.000,6,0.000,0.035,3153,2375,1696
$GC,8166,1.15,240.4,204.6,9.2,979,8173,0.00,2.50,0.00,0.000,4,0.000,0.050,3153,969,1695
$GC,8225,1.16,244.6,199.3,8.8,989,8233,0.00,2.40,3.15,0.851,6,0.000,0.035,3153,2360,1680
$GC,8570,1.24,272.3,169.9,7.6,1050,8599,0.00,2.58,22.45,0.769,4,0.000,0.050,3153,974,1566
$GC,8696,1.30,272.3,159.1,9.1,1071,8704,0.15,2.35,0.00,0.000,6,0.054,0.033,3197,2338,1564
$GC,9042,1.30,272.3,129.5,9.0,1132,9049,0.00,2.42,0.00,0.000,4,0.000,0.050,3198,970,1563
$GC,9067,1.32,284.2,127.4,8.4,1136,9081,0.00,2.28,8.75,0.762,6,0.000,0.032,3198,2303,1519
$GC,9413,1.45,331.1,102.4,6.6,1198,9456,0.00,2.60,37.20,0.679,4,0.000,0.048,3197,3730,1327
$GC,9508,1.55,349.2,95.3,8.1,1212,9528,0.20,2.42,14.12,0.687,6,0.051,0.031,3249,2299,1254
$GC,9866,1.64,374.3,63.7,7.7,1275,9891,0.00,2.42,19.33,0.644,4,0.000,0.047,3249,970,1151
$GC,9988,1.68,376.6,53.4,8.9,1296,9994,0.00,2.22,0.00,0.000,6,0.000,0.029,3249,2285,1149
$GC,10333,1.76,384.4,25.5,8.6,1357,10347,0.15,2.38,7.82,0.617,4,0.054,0.044,3297,971,1109
$GC,10376,1.72,384.4,21.3,10.5,1364,10383,0.00,2.12,0.00,0.000,6,0.000,0.028,3297,2239,1108
$STATE,10583,end climb,SURFACE_DEPTH_REACHED
$STATE,10583,begin surface coast
$FINISH,-0.0,1.021174
$STATE,10607,end surface coast,CONTROL_FINISHED_OK
$STATE,10607,begin surface
$SM_CCo,10628,43.42,0.542,0,0,740,475.15
$SM_GC,0.82,0.00,0.00,43.42,0.000,0.000,0.542,252,2107,740,-12.20,-1.22,475.15
$IRIDIUM_FIX,1238.83,12026.36,150697,030331
$TT8_MAMPS,0.023777
$HUMID,1878
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.80
$XPDR_PINGS,539
$24V_AH,23.6,31.221
$10V_AH,10.2,15.553
$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,31.700,115.950,418.050,43.425,0.000,26.466,37.850,138.427,134.750,0.000,0.000,15.608,2760.393,5028.868,625.972,2168.742,407.376,0.000,1729.914,0.000,2150.247,0.000,0.932
$DEVICE_MAMPS,173.342,54.457,942.643,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44010,1405
$CAP_FILE_SIZE,126199,0
$CFSIZE,260165632,244142080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,296.0,1
$GPS,210308,092856,1246.962,12027.994,7,1.5,12,-0.8