version: 66.03
glider: 122
mission: 6
dive: 192
start: 3 27 108 2 30 11
data:
$ID,122
$MISSION,6
$DIVE,192
$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,-30728.373
$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,51
$R_STBD_OVSHOOT,32
$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,8
$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
$GPS1,022307,1246.331,12025.968,30,1.0,30,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-73.5
$GPS2,022939,1246.316,12025.938,15,1.2,15,-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,63.8,31428,-17.4,-9.016
$D_GRID,497
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,88,0.00,0.00,-65.05,0.000,2,0.000,0.000,252,2120,2526
$GC,91,-1.42,-146.0,3.5,-7.5,10,124,13.65,2.42,-13.82,0.000,4,0.173,0.053,2590,759,3277
$GC,181,-1.17,-146.0,25.0,-20.2,25,188,0.30,2.33,0.00,0.000,6,0.108,0.026,2649,2157,3278
$GC,526,-1.02,-146.0,84.1,-15.7,86,533,0.15,2.38,0.00,0.000,4,0.101,0.042,2681,3548,3279
$GC,619,-0.98,-146.0,96.4,-12.6,102,626,0.00,2.28,0.00,0.000,6,0.000,0.026,2681,2169,3280
$GC,963,-0.98,-146.0,133.5,-11.0,163,970,0.00,2.45,0.00,0.000,4,0.000,0.043,2681,748,3282
$GC,1005,-1.06,-146.0,137.6,-9.6,170,1013,0.00,2.30,0.00,0.000,6,0.000,0.028,2681,2130,3282
$GC,1351,-1.23,-146.0,165.0,-7.4,231,1358,0.17,2.40,0.00,0.000,4,0.044,0.043,2622,747,3283
$GC,1410,-1.19,-146.0,170.4,-9.3,241,1417,0.12,2.47,0.00,0.000,6,0.095,0.029,2646,2224,3283
$GC,1755,-1.19,-146.0,200.2,-8.2,302,1762,0.00,2.28,0.00,0.000,4,0.000,0.047,2646,3549,3283
$GC,1813,-1.19,-146.0,205.1,-8.6,312,1820,0.00,2.25,0.00,0.000,6,0.000,0.029,2646,2192,3283
$GC,2157,-1.23,-146.0,232.0,-7.7,373,2164,0.00,2.53,0.00,0.000,4,0.000,0.048,2646,747,3282
$GC,2182,-1.28,-146.0,234.0,-8.1,377,2189,0.00,2.40,0.00,0.000,6,0.000,0.032,2646,2168,3282
$GC,2524,-1.33,-146.0,262.5,-8.0,425,2529,0.15,2.40,0.00,0.000,4,0.051,0.047,2597,3555,3280
$GC,2597,-1.26,-146.0,269.7,-10.0,431,2602,0.17,2.30,0.00,0.000,6,0.096,0.031,2631,2183,3280
$GC,2922,-1.26,-146.0,296.6,-8.6,461,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2182,3278
$GC,3241,-1.26,-146.0,322.5,-7.1,491,3245,0.00,2.38,0.00,0.000,4,0.000,0.048,2631,3546,3276
$GC,3285,-1.26,-146.0,325.8,-7.2,494,3292,0.00,2.28,0.00,0.000,6,0.000,0.032,2631,2193,3276
$GC,3613,-1.26,-146.0,346.1,-6.3,525,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2190,3273
$GC,3938,-1.26,-146.0,369.3,-7.8,556,3942,0.00,2.38,0.00,0.000,4,0.000,0.049,2631,3547,3271
$GC,3970,-1.26,-146.0,372.2,-8.8,558,3977,0.00,2.28,0.00,0.000,6,0.000,0.033,2631,2205,3271
$GC,4297,-1.26,-146.0,396.7,-7.0,589,4301,0.00,2.60,0.00,0.000,4,0.000,0.054,2631,745,3269
$GC,4327,-1.31,-146.0,398.7,-6.5,591,4331,0.00,2.50,0.00,0.000,6,0.000,0.034,2631,2209,3269
$GC,4654,-1.31,-146.0,418.9,-6.3,621,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2210,3267
$GC,4971,-1.34,-146.0,442.2,-7.3,651,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2210,3265
$GC,5289,-1.38,-146.0,465.4,-7.3,681,5294,0.12,2.35,0.00,0.000,4,0.058,0.051,2595,3543,3262
$GC,5340,-1.34,-146.0,469.9,-9.1,685,5344,0.00,2.28,0.00,0.000,6,0.000,0.035,2595,2208,3263
$GC,5667,-1.29,-146.0,496.9,-7.6,715,5669,0.15,0.00,0.00,0.000,6,0.107,0.000,2622,2204,3261
$STATE,5674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5674,begin apogee
$GC,5679,-0.34,0.0,497.7,7.8,716,5799,0.98,0.00,115.80,0.971,6,0.094,0.000,2823,2377,2678
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5800,begin climb
$GC,5802,1.42,146.0,500.5,0.0,727,5927,1.80,2.42,117.07,0.934,4,0.055,0.054,3220,3709,2082
$GC,5976,1.18,146.0,488.2,12.1,739,5984,0.30,2.30,0.00,0.000,6,0.127,0.036,3167,2382,2081
$GC,6302,1.10,157.7,458.7,8.4,770,6313,0.12,0.00,9.18,0.968,6,0.124,0.000,3147,2380,2033
$GC,6630,1.07,166.5,431.9,8.6,801,6643,0.00,2.62,6.68,0.969,4,0.000,0.054,3146,971,1999
$GC,6671,1.02,166.5,428.0,10.2,804,6678,0.00,2.47,0.00,0.000,6,0.000,0.037,3147,2386,1998
$GC,6998,0.99,177.4,400.1,8.5,835,7012,0.15,2.65,8.77,0.959,4,0.120,0.054,3116,970,1953
$GC,7096,1.03,201.0,391.7,7.8,843,7119,0.00,2.40,18.83,0.927,6,0.000,0.037,3116,2346,1858
$GC,7446,1.13,232.1,365.2,7.4,876,7482,0.15,2.60,25.12,0.906,4,0.064,0.054,3158,967,1730
$GC,7544,1.10,232.1,355.8,9.9,884,7551,0.00,2.35,0.00,0.000,6,0.000,0.036,3157,2317,1729
$GC,7870,1.10,232.1,323.2,10.1,915,7874,0.00,2.42,0.00,0.000,4,0.000,0.054,3157,967,1728
$GC,7909,1.10,232.1,318.8,10.6,918,7913,0.00,2.33,0.00,0.000,6,0.000,0.036,3157,2306,1728
$GC,8235,1.10,232.1,286.4,9.4,948,8239,0.00,2.40,0.00,0.000,4,0.000,0.054,3157,966,1728
$GC,8278,1.10,232.1,282.0,10.0,951,8285,0.00,2.33,0.00,0.000,6,0.000,0.036,3158,2291,1727
$GC,8605,1.10,232.1,252.4,9.2,982,8609,0.00,2.35,0.00,0.000,4,0.000,0.053,3157,972,1727
$GC,8662,1.10,232.1,247.0,9.6,989,8669,0.00,2.22,0.00,0.000,6,0.000,0.035,3158,2263,1726
$GC,9006,1.10,232.1,214.6,9.6,1050,9012,0.00,2.58,0.00,0.000,4,0.000,0.052,3158,3724,1726
$GC,9024,1.10,232.1,212.8,9.4,1053,9030,0.00,2.55,0.00,0.000,6,0.000,0.035,3158,2236,1726
$GC,9368,1.12,247.0,184.0,8.3,1114,9386,0.00,2.67,11.18,0.820,4,0.000,0.050,3157,3726,1670
$GC,9420,1.12,247.0,179.5,9.0,1123,9427,0.00,2.58,0.00,0.000,6,0.000,0.035,3158,2232,1670
$GC,9764,1.22,283.4,155.0,7.2,1184,9800,0.00,2.28,28.95,0.752,4,0.000,0.051,3157,967,1520
$GC,9852,1.33,290.6,148.0,8.6,1199,9865,0.17,2.20,5.55,0.791,6,0.054,0.034,3207,2242,1493
$GC,10203,1.38,321.8,119.4,7.4,1261,10234,0.00,2.72,24.62,0.713,4,0.000,0.050,3207,3729,1366
$GC,10360,1.44,340.1,106.8,8.1,1288,10379,0.00,2.45,14.62,0.706,6,0.000,0.032,3207,2280,1291
$GC,10718,1.58,366.2,79.9,7.7,1351,10744,0.15,2.40,20.30,0.660,4,0.053,0.048,3256,970,1185
$GC,10864,1.59,371.1,67.5,8.8,1376,10877,0.00,2.20,3.47,0.687,6,0.000,0.031,3256,2263,1165
$GC,11216,1.67,388.3,38.9,8.1,1438,11235,0.00,2.65,13.88,0.616,4,0.000,0.045,3256,3737,1094
$GC,11303,1.73,391.5,31.3,8.9,1453,11312,0.10,2.53,2.30,0.657,6,0.061,0.029,3287,2237,1081
$STATE,11635,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FINISH,0.0,1.020952
$STATE,11661,end surface coast,CONTROL_FINISHED_OK
$STATE,11661,begin surface
$SM_CCo,11683,40.47,0.544,0,0,741,475.15
$SM_GC,0.47,0.00,0.00,40.47,0.000,0.000,0.544,252,2102,741,-12.20,-1.36,475.15
$IRIDIUM_FIX,1241.04,12021.43,200697,222207
$TT8_MAMPS,0.023777
$HUMID,1895
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.00
$XPDR_PINGS,502
$24V_AH,23.5,35.707
$10V_AH,10.2,18.000
$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,32.225,116.300,426.325,40.475,0.000,28.724,37.587,211.170,125.500,0.000,0.000,15.505,2924.198,5734.612,612.149,2334.985,517.146,0.000,1795.570,0.000,2318.917,0.000,0.934
$DEVICE_MAMPS,173.342,54.457,971.022,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47171,1516
$CAP_FILE_SIZE,136329,0
$CFSIZE,260165632,241897472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,140.0,1
$GPS,270308,054621,1246.331,12027.319,10,1.6,10,-0.8