version: 66.03
glider: 122
mission: 6
dive: 194
start: 3 27 108 8 49 13
data:
$ID,122
$MISSION,6
$DIVE,194
$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,-30780.26
$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,34
$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,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
$GPS1,084338,1246.649,12028.206,35,0.9,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.4
$GPS2,084839,1246.621,12028.165,16,1.6,16,-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,75.5,27403,-18.6,-9.016
$D_GRID,463
$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,17,begin dive
$GC,19,-1.51,-146.0,0.0,0.0,0,83,0.00,0.00,-61.38,0.000,2,0.000,0.000,247,2165,2495
$GC,86,-1.51,-146.0,3.6,-8.2,10,124,13.48,2.47,-15.70,0.000,4,0.173,0.052,2569,738,3346
$GC,210,-1.24,-146.0,33.1,-21.4,31,217,0.35,2.35,0.00,0.000,6,0.117,0.026,2634,2151,3347
$GC,555,-1.16,-146.0,88.7,-13.8,92,562,0.00,2.38,0.00,0.000,4,0.000,0.042,2634,3549,3349
$GC,625,-1.09,-146.0,99.1,-14.6,104,632,0.15,2.30,0.00,0.000,6,0.097,0.026,2663,2149,3349
$GC,971,-1.14,-146.0,139.0,-9.7,165,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2149,3351
$GC,1315,-1.23,-146.0,170.4,-8.9,226,1322,0.12,2.40,0.00,0.000,4,0.054,0.042,2623,3550,3352
$GC,1407,-1.23,-146.0,181.0,-11.3,242,1414,0.00,2.25,0.00,0.000,6,0.000,0.028,2622,2186,3353
$GC,1752,-1.23,-146.0,215.2,-9.4,303,1758,0.00,2.50,0.00,0.000,4,0.000,0.047,2622,749,3353
$GC,1798,-1.29,-146.0,219.3,-9.3,311,1805,0.00,2.40,0.00,0.000,6,0.000,0.031,2622,2178,3352
$GC,2143,-1.33,-146.0,249.4,-8.6,372,2150,0.00,2.35,0.00,0.000,4,0.000,0.046,2622,3546,3351
$GC,2217,-1.36,-146.0,256.6,-9.6,379,2224,0.00,2.22,0.00,0.000,6,0.000,0.031,2622,2203,3351
$GC,2544,-1.40,-146.0,285.4,-8.2,410,2546,0.12,0.00,0.00,0.000,6,0.058,0.000,2584,2203,3349
$GC,2862,-1.37,-146.0,316.4,-10.1,440,2863,0.12,0.00,0.00,0.000,6,0.105,0.000,2607,2199,3347
$GC,3179,-1.37,-146.0,345.5,-9.3,470,3183,0.00,2.35,0.00,0.000,4,0.000,0.048,2607,3549,3345
$GC,3233,-1.37,-146.0,351.1,-9.4,474,3241,0.00,2.28,0.00,0.000,6,0.000,0.032,2607,2218,3345
$GC,3562,-1.37,-146.0,381.6,-8.9,505,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2214,3343
$GC,3887,-1.37,-146.0,408.5,-8.3,536,3891,0.00,2.33,0.00,0.000,4,0.000,0.049,2607,3545,3341
$GC,3927,-1.37,-146.0,412.1,-8.9,539,3931,0.00,2.25,0.00,0.000,6,0.000,0.033,2607,2218,3340
$GC,4255,-1.37,-146.0,439.3,-8.1,569,4259,0.00,2.60,0.00,0.000,4,0.000,0.053,2607,754,3338
$GC,4284,-1.40,-146.0,441.8,-8.4,571,4288,0.00,2.50,0.00,0.000,6,0.000,0.035,2607,2219,3338
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4537,-0.34,0.0,463.4,9.2,594,4656,1.08,0.00,115.43,0.926,6,0.093,0.000,2828,2380,2747
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4659,1.51,146.0,468.7,0.0,606,4789,1.83,2.47,116.12,0.899,4,0.054,0.054,3240,3710,2152
$GC,4825,1.25,146.0,463.8,9.3,621,4830,0.35,2.28,0.00,0.000,6,0.129,0.035,3179,2385,2150
$GC,5150,1.16,146.0,435.7,9.4,651,5154,0.12,2.53,0.00,0.000,4,0.130,0.052,3158,975,2149
$GC,5268,1.09,147.0,425.0,9.0,661,5273,0.00,2.38,0.00,0.000,6,0.000,0.035,3158,2343,2148
$GC,5595,1.07,159.0,396.6,8.5,691,5611,0.00,2.53,9.32,0.936,4,0.000,0.053,3158,979,2099
$GC,5656,1.03,166.7,391.0,8.7,696,5668,0.15,2.35,6.38,0.940,6,0.116,0.036,3131,2331,2068
$GC,5993,1.06,184.1,363.7,8.2,728,6014,0.00,0.00,13.70,0.911,6,0.000,0.000,3131,2330,1997
$GC,6334,1.15,211.3,336.4,7.8,760,6361,0.10,2.53,21.38,0.883,4,0.076,0.054,3156,979,1886
$GC,6406,1.15,212.5,329.4,9.0,766,6413,0.00,2.33,0.00,0.000,6,0.000,0.035,3156,2314,1885
$GC,6732,1.19,236.2,302.8,8.0,797,6757,0.00,2.60,19.33,0.866,4,0.000,0.054,3156,3723,1785
$GC,6796,1.19,236.2,297.0,9.9,802,6804,0.00,2.42,0.00,0.000,6,0.000,0.035,3155,2313,1784
$GC,7122,1.22,236.2,268.6,9.1,833,7126,0.00,2.40,0.00,0.000,4,0.000,0.054,3156,969,1783
$GC,7177,1.22,236.2,263.3,9.6,837,7185,0.00,2.33,0.00,0.000,6,0.000,0.035,3155,2312,1781
$GC,7512,1.29,258.7,235.4,8.0,883,7533,0.15,0.00,17.67,0.828,6,0.061,0.000,3196,2311,1693
$GC,7870,1.26,258.7,203.4,9.7,946,7877,0.00,2.40,0.00,0.000,4,0.000,0.051,3196,966,1691
$GC,7912,1.21,258.7,199.2,9.9,953,7919,0.15,2.30,0.00,0.000,6,0.108,0.035,3169,2300,1690
$GC,8258,1.28,274.0,171.1,8.3,1014,8278,0.00,2.42,12.05,0.793,4,0.000,0.051,3169,966,1630
$GC,8318,1.36,285.9,166.0,8.5,1024,8334,0.15,2.28,9.68,0.785,6,0.058,0.035,3205,2284,1582
$GC,8672,1.38,300.1,134.6,8.4,1086,8685,0.00,0.00,11.12,0.755,6,0.000,0.000,3205,2283,1523
$GC,9024,1.55,356.5,106.7,6.5,1148,9077,0.17,2.58,44.62,0.683,4,0.058,0.048,3253,3723,1293
$GC,9235,1.55,356.5,86.1,10.4,1184,9242,0.00,2.55,0.00,0.000,6,0.000,0.032,3253,2225,1290
$GC,9580,1.68,395.1,57.5,7.3,1245,9620,0.00,2.70,29.95,0.628,4,0.000,0.045,3253,3720,1136
$GC,9695,1.79,408.3,48.6,8.4,1264,9710,0.17,2.53,10.18,0.640,6,0.052,0.031,3299,2230,1083
$GC,10048,1.79,408.3,17.0,9.2,1326,10055,0.00,2.20,0.00,0.000,4,0.000,0.047,3299,964,1080
$GC,10151,1.79,408.3,7.7,9.2,1344,10158,0.00,2.12,0.00,0.000,6,0.000,0.029,3300,2231,1079
$STATE,10213,end climb,SURFACE_DEPTH_REACHED
$STATE,10213,begin surface coast
$FINISH,-0.2,1.021323
$STATE,10237,end surface coast,CONTROL_FINISHED_OK
$STATE,10237,begin surface
$SM_CCo,10259,31.80,0.550,0,0,810,475.15
$SM_GC,0.71,0.00,0.00,31.80,0.000,0.000,0.550,252,2113,810,-12.20,-1.05,475.15
$IRIDIUM_FIX,1241.04,12026.36,210697,050549
$TT8_MAMPS,0.023777
$HUMID,1950
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.60
$XPDR_PINGS,524
$24V_AH,23.6,35.979
$10V_AH,10.2,18.133
$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,32.200,91.525,436.925,31.800,0.000,33.004,35.917,127.267,131.000,0.000,0.000,16.229,2687.189,4824.658,606.102,2095.942,393.542,0.000,1664.747,0.000,2073.140,0.000,0.935
$DEVICE_MAMPS,172.575,54.457,939.575,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40888,1359
$CAP_FILE_SIZE,117003,0
$CFSIZE,260165632,241795072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,338.7,1
$GPS,270308,114147,1246.992,12029.004,7,6.0,26,-0.8