version: 66.03
glider: 122
mission: 6
dive: 195
start: 3 27 108 11 50 38
data:
$ID,122
$MISSION,6
$DIVE,195
$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,-30816.982
$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,55
$R_STBD_OVSHOOT,28
$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
$GPS1,114147,1246.992,12029.004,7,6.0,26,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.5
$GPS2,115005,1246.970,12028.904,16,5.1,35,-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,86.7,25943,-18.6,-9.016
$D_GRID,635
$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,-1.51,-146.0,0.0,0.0,0,87,0.00,0.00,-64.00,0.000,2,0.000,0.000,252,2113,2573
$GC,90,-1.51,-146.0,3.5,-7.9,11,122,13.45,2.38,-14.02,0.000,4,0.173,0.052,2569,769,3346
$GC,191,-1.27,-146.0,28.1,-21.7,28,199,0.30,2.33,0.00,0.000,6,0.114,0.027,2625,2168,3347
$GC,536,-1.16,-146.0,87.1,-14.4,89,544,0.12,2.35,0.00,0.000,4,0.105,0.042,2649,3548,3348
$GC,612,-1.11,-146.0,98.0,-14.4,102,619,0.00,2.28,0.00,0.000,6,0.000,0.026,2649,2163,3348
$GC,956,-1.11,-146.0,137.7,-10.2,163,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2162,3350
$GC,1301,-1.17,-146.0,168.6,-8.2,224,1307,0.00,2.38,0.00,0.000,4,0.000,0.044,2649,3552,3351
$GC,1331,-1.22,-146.0,171.4,-9.3,229,1338,0.00,2.22,0.00,0.000,6,0.000,0.028,2649,2199,3351
$GC,1677,-1.30,-146.0,202.9,-8.9,290,1684,0.12,0.00,0.00,0.000,6,0.056,0.000,2610,2197,3352
$GC,2021,-1.30,-146.0,236.3,-9.5,351,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,3350
$GC,2360,-1.30,-146.0,267.1,-8.4,395,2364,0.00,2.33,0.00,0.000,4,0.000,0.046,2611,3547,3349
$GC,2403,-1.30,-146.0,271.2,-8.8,398,2410,0.00,2.20,0.00,0.000,6,0.000,0.031,2610,2225,3348
$GC,2730,-1.30,-146.0,298.5,-8.9,429,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2221,3347
$GC,3047,-1.30,-146.0,325.6,-8.0,459,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2220,3345
$GC,3366,-1.30,-146.0,352.4,-9.0,489,3370,0.00,2.30,0.00,0.000,4,0.000,0.048,2610,3544,3342
$GC,3417,-1.30,-146.0,357.2,-9.2,493,3421,0.00,2.22,0.00,0.000,6,0.000,0.033,2610,2226,3342
$GC,3745,-1.30,-146.0,384.5,-8.0,523,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2222,3340
$GC,4071,-1.34,-146.0,412.4,-8.4,554,4075,0.00,2.33,0.00,0.000,4,0.000,0.050,2610,3552,3338
$GC,4104,-1.37,-146.0,415.7,-9.2,556,4111,0.00,2.22,0.00,0.000,6,0.000,0.034,2610,2237,3337
$GC,4433,-1.41,-146.0,443.3,-8.8,587,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2235,3335
$GC,4760,-1.45,-146.0,471.4,-7.7,618,4764,0.00,2.62,0.00,0.000,4,0.000,0.055,2610,761,3332
$GC,4781,-1.49,-146.0,473.5,-8.8,619,4789,0.15,2.53,0.00,0.000,6,0.053,0.036,2568,2228,3332
$GC,5115,-1.44,-146.0,506.6,-10.2,648,5117,0.12,0.00,0.00,0.000,6,0.112,0.000,2590,2228,3329
$GC,5424,-1.44,-146.0,535.5,-9.0,663,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2229,3328
$GC,5733,-1.44,-146.0,563.1,-8.9,678,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2229,3327
$GC,6044,-1.44,-146.0,590.8,-9.0,693,6048,0.00,2.30,0.00,0.000,4,0.000,0.056,2590,3543,3325
$GC,6076,-1.44,-146.0,594.2,-8.9,694,6080,0.00,2.20,0.00,0.000,6,0.000,0.036,2590,2250,3325
$GC,6398,-1.44,-146.0,621.9,-7.8,710,6403,0.00,2.67,0.00,0.000,4,0.000,0.058,2590,755,3323
$GC,6442,-1.48,-146.0,625.6,-8.2,712,6446,0.00,2.53,0.00,0.000,6,0.000,0.037,2590,2222,3323
$STATE,6576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6576,begin apogee
$GC,6581,-0.34,0.0,636.2,7.9,719,6701,1.17,0.00,116.78,1.085,6,0.096,0.000,2828,2376,2748
$STATE,6702,end apogee,CONTROL_FINISHED_OK
$STATE,6702,begin climb
$GC,6705,1.51,146.0,640.1,0.0,725,6834,1.88,2.53,119.88,1.050,4,0.052,0.059,3242,3718,2152
$GC,6879,1.24,146.0,630.9,12.6,733,6887,0.35,2.33,0.00,0.000,6,0.127,0.038,3181,2385,2151
$GC,7195,1.16,161.3,602.8,8.3,749,7219,0.12,2.65,12.27,1.070,4,0.132,0.058,3160,969,2089
$GC,7252,1.11,182.6,598.0,8.1,751,7275,0.00,2.42,17.33,1.052,6,0.000,0.038,3160,2349,2003
$GC,7592,1.12,209.5,571.2,7.8,768,7616,0.00,0.00,22.40,1.047,6,0.000,0.000,3160,2349,1893
$GC,7920,1.08,209.5,540.1,10.2,784,7924,0.00,2.50,0.00,0.000,4,0.000,0.057,3160,969,1891
$GC,7986,1.04,209.5,532.9,10.6,787,7991,0.15,2.42,0.00,0.000,6,0.114,0.038,3134,2356,1891
$GC,8307,1.08,209.5,502.7,9.5,803,8312,0.00,2.50,0.00,0.000,4,0.000,0.056,3133,970,1890
$GC,8396,1.08,209.5,494.2,9.4,809,8403,0.00,2.38,0.00,0.000,6,0.000,0.037,3133,2318,1889
$GC,8725,1.14,218.8,465.9,8.6,840,8738,0.00,2.53,6.72,1.048,4,0.000,0.055,3133,968,1856
$GC,8800,1.17,218.8,458.9,9.2,846,8807,0.12,2.33,0.00,0.000,6,0.066,0.037,3169,2303,1856
$GC,9126,1.14,218.8,426.8,9.9,877,9131,0.00,2.40,0.00,0.000,4,0.000,0.055,3169,966,1856
$GC,9159,1.10,218.8,423.1,10.7,879,9167,0.15,2.28,0.00,0.000,6,0.113,0.038,3143,2277,1855
$GC,9485,1.16,258.0,396.5,7.3,910,9522,0.00,2.47,32.15,0.956,4,0.000,0.055,3142,967,1696
$GC,9556,1.20,258.0,390.5,9.3,916,9561,0.12,2.28,0.00,0.000,6,0.067,0.037,3172,2269,1694
$GC,9881,1.20,258.0,358.9,9.4,946,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2269,1694
$GC,10199,1.20,258.0,326.9,10.5,976,10203,0.00,2.33,0.00,0.000,4,0.000,0.055,3173,969,1693
$GC,10228,1.20,258.0,323.8,11.3,978,10232,0.00,2.25,0.00,0.000,6,0.000,0.037,3172,2266,1692
$GC,10554,1.21,264.0,291.1,8.7,1008,10563,0.00,0.00,4.62,0.938,6,0.000,0.000,3173,2266,1671
$GC,10882,1.21,264.0,260.6,9.8,1039,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2266,1671
$GC,11210,1.21,264.0,229.3,9.7,1088,11217,0.00,2.58,0.00,0.000,4,0.000,0.054,3173,3724,1671
$GC,11257,1.21,264.0,224.5,10.1,1096,11264,0.00,2.53,0.00,0.000,6,0.000,0.036,3173,2250,1671
$GC,11602,1.24,264.0,194.7,9.0,1157,11609,0.00,2.28,0.00,0.000,4,0.000,0.053,3173,965,1671
$GC,11689,1.25,266.2,186.3,8.9,1172,11696,0.00,2.20,0.00,0.000,6,0.000,0.034,3173,2251,1670
$GC,12035,1.32,287.9,156.7,8.0,1233,12060,0.00,0.00,19.58,0.781,6,0.000,0.000,3173,2250,1572
$GC,12398,1.48,320.6,127.4,7.5,1297,12433,0.20,2.65,25.75,0.732,4,0.052,0.049,3227,3727,1440
$GC,12496,1.48,320.6,119.1,9.2,1313,12503,0.00,2.55,0.00,0.000,6,0.000,0.033,3228,2239,1439
$GC,12841,1.64,384.5,96.3,6.2,1374,12900,0.15,0.00,50.67,0.672,6,0.058,0.000,3270,2237,1178
$GC,13239,1.68,387.6,62.8,8.9,1443,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2238,1175
$GC,13583,1.80,420.1,32.7,7.6,1504,13618,0.12,2.33,27.80,0.596,4,0.058,0.047,3306,963,1034
$GC,13663,1.80,420.1,24.9,10.6,1517,13670,0.00,2.20,0.00,0.000,6,0.000,0.029,3307,2266,1032
$STATE,13904,end climb,SURFACE_DEPTH_REACHED
$STATE,13904,begin surface coast
$FINISH,0.2,1.021389
$STATE,13922,end surface coast,CONTROL_FINISHED_OK
$STATE,13922,begin surface
$SM_CCo,13944,26.40,0.554,0,0,810,475.15
$SM_GC,0.92,0.00,0.00,26.40,0.000,0.000,0.554,249,2099,810,-12.22,-1.44,475.15
$IRIDIUM_FIX,1243.25,12027.48,210697,111103
$TT8_MAMPS,0.023777
$HUMID,1944
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,464
$24V_AH,23.5,36.136
$10V_AH,10.2,18.213
$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,32.250,100.700,455.950,26.400,0.000,44.961,73.545,189.102,119.500,0.000,0.000,36.098,3143.718,7674.010,656.729,2454.840,554.209,0.000,1869.495,0.000,2403.282,0.000,26.317
$DEVICE_MAMPS,172.575,59.059,1084.538,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47220,1563
$CAP_FILE_SIZE,143415,0
$CFSIZE,260165632,241696768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 47.7,1
$GPS,270308,154437,1247.246,12030.724,32,1.0,32,-0.8