version: 66.03
glider: 122
mission: 6
dive: 193
start: 3 27 108 5 52 32
data:
$ID,122
$MISSION,6
$DIVE,193
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-30763.402
$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,64
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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
$GPS1,054621,1246.331,12027.319,10,1.6,10,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,055159,1246.291,12027.290,14,4.7,33,-0.8
$SPEED_LIMITS,0.156,0.206
$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,57.2,29091,-18.6,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.51,-146.0,0.0,0.0,0,86,0.00,0.00,-63.47,0.000,2,0.000,0.000,252,2103,2475
$GC,89,-1.51,-146.0,3.3,-7.3,10,127,13.50,2.30,-16.58,0.000,4,0.173,0.052,2571,774,3345
$GC,179,-1.27,-146.0,23.9,-20.8,25,187,0.30,2.33,0.00,0.000,6,0.123,0.027,2625,2171,3345
$GC,525,-1.16,-146.0,85.8,-13.2,86,532,0.12,2.35,0.00,0.000,4,0.114,0.041,2648,3549,3347
$GC,583,-1.12,-146.0,94.1,-13.0,96,590,0.00,2.20,0.00,0.000,6,0.000,0.025,2648,2206,3347
$GC,927,-1.12,-146.0,135.7,-11.3,157,934,0.00,2.47,0.00,0.000,4,0.000,0.042,2648,768,3349
$GC,963,-1.17,-146.0,140.0,-12.3,163,970,0.00,2.38,0.00,0.000,6,0.000,0.028,2648,2192,3349
$GC,1308,-1.22,-146.0,172.8,-9.7,224,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2192,3351
$GC,1653,-1.29,-146.0,203.5,-8.4,285,1661,0.12,2.45,0.00,0.000,4,0.054,0.044,2608,778,3351
$GC,1679,-1.34,-146.0,205.9,-8.8,289,1686,0.00,2.33,0.00,0.000,6,0.000,0.030,2608,2167,3351
$GC,2023,-1.34,-146.0,239.9,-9.9,350,2030,0.00,2.38,0.00,0.000,4,0.000,0.046,2608,3552,3350
$GC,2086,-1.34,-146.0,246.2,-9.6,361,2094,0.00,2.28,0.00,0.000,6,0.000,0.031,2608,2182,3349
$GC,2415,-1.34,-146.0,276.8,-8.8,395,2419,0.00,2.35,0.00,0.000,4,0.000,0.046,2608,3546,3348
$GC,2443,-1.34,-146.0,279.5,-10.1,397,2447,0.00,2.33,0.00,0.000,6,0.000,0.031,2607,2156,3347
$GC,2769,-1.34,-146.0,310.1,-9.9,427,2773,0.00,2.42,0.00,0.000,4,0.000,0.047,2608,3555,3345
$GC,2801,-1.34,-146.0,313.7,-9.7,429,2809,0.00,2.33,0.00,0.000,6,0.000,0.031,2608,2169,3345
$GC,3129,-1.34,-146.0,345.2,-9.1,460,3133,0.00,2.40,0.00,0.000,4,0.000,0.048,2607,3543,3343
$GC,3180,-1.34,-146.0,350.4,-9.8,464,3184,0.00,2.28,0.00,0.000,6,0.000,0.033,2607,2198,3343
$GC,3506,-1.34,-146.0,380.4,-8.5,494,3510,0.00,2.35,0.00,0.000,4,0.000,0.048,2607,3543,3340
$GC,3535,-1.34,-146.0,383.0,-8.6,496,3539,0.00,2.25,0.00,0.000,6,0.000,0.033,2607,2213,3340
$GC,3861,-1.34,-146.0,410.6,-8.5,526,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2209,3337
$GC,4178,-1.34,-146.0,437.7,-8.9,556,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2210,3335
$GC,4498,-1.37,-146.0,467.8,-9.3,586,4502,0.00,2.35,0.00,0.000,4,0.000,0.051,2607,3545,3333
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4536,-0.34,0.0,471.2,9.8,588,4655,1.05,0.00,115.32,0.937,6,0.092,0.000,2823,2373,2747
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4658,1.51,146.0,476.4,0.0,600,4780,1.85,0.00,116.45,0.906,6,0.053,0.000,3240,2373,2152
$GC,5097,1.30,146.0,440.5,10.5,642,5099,0.28,0.00,0.00,0.000,6,0.115,0.000,3191,2372,2150
$GC,5417,1.23,178.0,412.8,7.6,672,5452,0.00,2.60,24.70,0.912,4,0.000,0.054,3191,978,2022
$GC,5543,1.13,178.0,401.8,9.2,683,5548,0.22,2.42,0.00,0.000,6,0.112,0.037,3150,2367,2021
$GC,5868,1.19,216.9,378.8,7.3,713,5904,0.00,2.62,30.60,0.898,4,0.000,0.055,3150,975,1862
$GC,5977,1.21,226.7,369.6,8.6,722,5994,0.00,2.40,7.72,0.920,6,0.000,0.037,3150,2350,1823
$GC,6312,1.21,229.4,339.8,8.9,754,6324,0.00,2.55,2.05,0.904,4,0.000,0.054,3150,970,1811
$GC,6347,1.21,229.4,336.6,9.9,757,6352,0.00,2.38,0.00,0.000,6,0.000,0.037,3150,2331,1811
$GC,6674,1.28,250.1,308.8,8.1,787,6694,0.15,0.00,16.80,0.881,6,0.064,0.000,3188,2331,1728
$GC,7011,1.25,250.1,275.2,10.0,819,7015,0.00,2.42,0.00,0.000,4,0.000,0.053,3188,977,1726
$GC,7099,1.21,250.1,265.7,10.6,826,7106,0.00,2.33,0.00,0.000,6,0.000,0.035,3188,2323,1725
$GC,7433,1.18,250.1,232.3,11.0,872,7441,0.15,2.40,0.00,0.000,4,0.109,0.051,3157,978,1725
$GC,7470,1.18,250.1,228.3,11.0,878,7477,0.00,2.30,0.00,0.000,6,0.000,0.035,3157,2312,1725
$GC,7814,1.25,262.4,197.5,8.5,939,7829,0.00,2.47,9.07,0.833,4,0.000,0.051,3157,975,1677
$GC,7858,1.30,262.4,193.7,9.2,946,7865,0.15,2.33,0.00,0.000,6,0.054,0.034,3200,2315,1677
$GC,8202,1.30,262.4,160.8,10.0,1007,8209,0.00,2.38,0.00,0.000,4,0.000,0.050,3200,977,1676
$GC,8311,1.30,262.4,150.9,9.5,1026,8318,0.00,2.20,0.00,0.000,6,0.000,0.034,3200,2262,1676
$GC,8656,1.39,315.6,127.0,6.6,1087,8704,0.00,2.67,42.03,0.713,4,0.000,0.049,3200,3724,1460
$GC,8813,1.49,330.8,114.3,8.3,1113,8835,0.12,2.42,11.85,0.724,6,0.060,0.032,3232,2297,1398
$GC,9174,1.58,353.0,84.4,8.0,1176,9200,0.00,2.40,17.23,0.673,4,0.000,0.048,3233,977,1306
$GC,9292,1.66,365.4,74.2,8.5,1196,9307,0.15,2.28,9.70,0.680,6,0.060,0.031,3271,2313,1258
$GC,9645,1.75,392.1,44.8,7.8,1258,9672,0.00,2.55,20.90,0.617,4,0.000,0.046,3271,3729,1148
$GC,9746,1.84,412.8,36.7,8.1,1275,9768,0.15,2.38,16.02,0.607,6,0.056,0.029,3311,2316,1065
$GC,10106,1.87,429.9,2.7,8.3,1338,10121,0.00,2.42,10.12,0.576,4,0.000,0.044,3310,970,994
$STATE,10126,end climb,SURFACE_DEPTH_REACHED
$STATE,10126,begin surface coast
$FINISH,-0.1,1.018765
$STATE,10149,end surface coast,CONTROL_FINISHED_OK
$STATE,10149,begin surface
$SM_CCo,10173,21.38,0.553,0,0,811,475.15
$SM_GC,1.04,0.00,0.00,21.38,0.000,0.000,0.553,248,2165,811,-12.22,0.45,475.15
$IRIDIUM_FIX,1238.83,12026.36,210697,020237
$TT8_MAMPS,0.023777
$HUMID,1947
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.80
$XPDR_PINGS,503
$24V_AH,23.6,35.843
$10V_AH,10.2,18.066
$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,31.725,99.500,450.575,21.375,0.000,29.423,35.936,143.250,125.750,0.000,0.000,34.401,2648.821,4785.486,614.568,2078.678,416.313,0.000,1658.877,0.000,2039.201,0.000,0.932
$DEVICE_MAMPS,173.342,55.224,936.507,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.745,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40892,1345
$CAP_FILE_SIZE,116451,0
$CFSIZE,260165632,241856512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007, 53.1,1
$GPS,270308,084338,1246.649,12028.206,35,0.9,35,-0.8