version: 66.03
glider: 122
mission: 6
dive: 349
start: 5 2 108 11 42 22
data:
$ID,122
$MISSION,6
$DIVE,349
$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,-34236.719
$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,14.2
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,34
$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
$GPS1,113208,1250.377,12042.188,32,0.9,32,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.3
$GPS2,114145,1250.351,12042.175,16,1.0,16,-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,58.9,1233,-26.0,-9.016
$D_GRID,1049
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.96,-78.2,0.0,0.0,0,80,0.00,0.00,-55.50,0.000,2,0.000,0.000,251,2180,2339
$GC,84,-2.01,-106.8,3.1,-6.7,9,122,12.73,2.50,-16.90,0.000,4,0.167,0.052,2461,3623,3185
$GC,140,-1.71,-106.8,16.5,-22.6,18,148,0.38,2.30,0.00,0.000,6,0.142,0.025,2526,2231,3186
$GC,487,-1.62,-106.8,82.5,-16.9,79,493,0.15,0.00,0.00,0.000,6,0.140,0.000,2553,2230,3187
$GC,832,-1.62,-106.8,130.4,-11.7,140,839,0.00,2.38,0.00,0.000,4,0.000,0.042,2553,3619,3188
$GC,913,-1.62,-106.8,140.3,-12.4,154,920,0.00,2.30,0.00,0.000,6,0.000,0.025,2554,2214,3189
$GC,1259,-1.70,-106.8,174.5,-9.8,215,1266,0.00,2.38,0.00,0.000,4,0.000,0.041,2554,826,3190
$GC,1278,-1.78,-106.8,176.6,-10.2,218,1286,0.17,2.33,0.00,0.000,6,0.046,0.028,2500,2221,3190
$GC,1625,-1.78,-106.8,214.0,-10.5,279,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2223,3190
$GC,1974,-1.78,-106.8,251.6,-10.6,340,1978,0.00,2.40,0.00,0.000,4,0.000,0.048,2500,3615,3190
$GC,2029,-1.74,-106.8,257.6,-10.4,344,2037,0.15,2.30,0.00,0.000,6,0.117,0.029,2525,2221,3190
$GC,2355,-1.78,-106.8,288.9,-9.6,375,2359,0.00,2.40,0.00,0.000,4,0.000,0.044,2525,3615,3188
$GC,2394,-1.78,-106.8,292.8,-10.6,378,2399,0.00,2.30,0.00,0.000,6,0.000,0.029,2525,2232,3188
$GC,2722,-1.82,-106.8,325.0,-9.8,408,2726,0.00,2.40,0.00,0.000,4,0.000,0.045,2525,3621,3187
$GC,2833,-1.82,-106.8,337.3,-10.1,417,2840,0.00,2.25,0.00,0.000,6,0.000,0.030,2525,2264,3186
$GC,3161,-1.87,-106.8,370.6,-9.6,448,3167,0.12,0.00,0.00,0.000,6,0.062,0.000,2491,2263,3184
$GC,3489,-1.88,-110.1,402.5,-8.8,479,3493,0.00,2.35,0.00,0.000,4,0.000,0.047,2491,3619,3183
$GC,3529,-1.83,-110.1,406.9,-10.2,482,3533,0.00,2.22,0.00,0.000,6,0.000,0.031,2490,2286,3182
$GC,3857,-1.83,-110.1,441.0,-10.4,512,3861,0.00,2.60,0.00,0.000,4,0.000,0.050,2490,816,3180
$GC,3912,-1.83,-110.1,447.4,-11.0,516,3919,0.00,2.50,0.00,0.000,6,0.000,0.034,2491,2276,3180
$GC,4239,-1.83,-110.1,479.8,-9.8,547,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3178
$GC,4572,-1.83,-110.1,512.8,-10.0,573,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3175
$GC,4881,-1.83,-110.1,545.6,-11.3,588,4885,0.00,2.60,0.00,0.000,4,0.000,0.052,2490,819,3173
$GC,4915,-2.09,-127.7,548.6,-7.6,589,4922,0.20,2.45,0.00,0.000,6,0.051,0.035,2436,2246,3173
$STATE,5064,end dive,NO_VERTICAL_VELOCITY
$STATE,5064,begin apogee
$GC,5071,-0.35,0.0,547.9,0.0,597,5165,1.77,0.00,85.38,0.983,6,0.053,0.000,2829,2344,2748
$STATE,5166,end apogee,CONTROL_FINISHED_OK
$STATE,5166,begin climb
$GC,5169,2.05,127.7,547.6,0.0,602,5282,2.30,2.60,103.85,0.950,4,0.038,0.054,3361,941,2227
$GC,5301,1.82,129.7,541.2,8.9,608,5306,0.32,2.45,0.00,0.000,6,0.129,0.037,3304,2334,2226
$GC,5623,1.70,129.7,511.0,9.5,624,5628,0.15,2.53,0.00,0.000,4,0.144,0.053,3276,937,2224
$GC,5679,1.62,132.7,505.6,8.8,626,5689,0.00,2.42,3.85,0.977,6,0.000,0.036,3276,2328,2206
$GC,6017,1.57,132.7,475.2,9.1,655,6022,0.15,2.50,0.00,0.000,4,0.143,0.053,3248,943,2204
$GC,6039,1.53,135.8,472.9,8.8,656,6047,0.00,2.42,2.15,0.959,6,0.000,0.037,3248,2332,2194
$GC,6364,1.56,151.1,446.8,7.8,687,6381,0.00,2.55,12.20,0.966,4,0.000,0.054,3248,946,2131
$GC,6455,1.58,163.4,439.7,8.0,694,6474,0.00,2.35,10.15,0.962,6,0.000,0.038,3248,2296,2080
$GC,6792,1.60,180.0,412.1,7.7,726,6814,0.00,2.50,13.10,0.949,4,0.000,0.055,3248,946,2013
$GC,6830,1.60,180.0,408.8,9.3,729,6837,0.00,2.33,0.00,0.000,6,0.000,0.037,3248,2268,2013
$GC,7158,1.66,191.8,382.7,8.1,760,7173,0.00,2.67,9.40,0.945,4,0.000,0.056,3248,3719,1966
$GC,7243,1.68,206.5,375.5,7.8,767,7263,0.12,2.42,12.57,0.930,6,0.076,0.035,3275,2310,1905
$GC,7579,1.68,206.5,342.9,9.8,799,7583,0.00,2.47,0.00,0.000,4,0.000,0.055,3275,933,1902
$GC,7699,1.68,206.5,332.1,9.6,809,7703,0.00,2.33,0.00,0.000,6,0.000,0.036,3275,2282,1901
$GC,8031,1.69,211.4,303.7,8.6,840,8044,0.00,2.62,3.35,0.915,4,0.000,0.054,3275,3727,1885
$GC,8091,1.70,214.6,298.4,8.8,845,8103,0.00,2.50,3.03,0.917,6,0.000,0.036,3275,2270,1872
$GC,8421,1.72,227.1,271.4,8.0,876,8437,0.00,2.67,9.93,0.876,4,0.000,0.051,3275,3727,1822
$GC,8502,1.72,227.1,263.9,9.6,883,8506,0.00,2.42,0.00,0.000,6,0.000,0.036,3275,2320,1822
$GC,8837,1.76,229.6,233.0,8.8,929,8845,0.00,2.55,1.83,0.867,4,0.000,0.054,3275,934,1812
$GC,8926,1.76,231.7,225.1,8.8,944,8934,0.00,2.35,2.05,0.856,6,0.000,0.035,3275,2291,1803
$GC,9273,1.82,237.0,195.6,8.6,1005,9281,0.12,0.00,4.43,0.833,6,0.073,0.000,3305,2291,1781
$GC,9620,1.84,249.2,166.0,8.0,1066,9640,0.00,2.62,9.88,0.792,4,0.000,0.051,3305,3729,1732
$GC,9664,1.84,249.2,162.2,9.3,1073,9670,0.00,2.53,0.00,0.000,6,0.000,0.035,3305,2266,1731
$GC,10009,1.95,276.4,136.5,6.8,1134,10037,0.10,2.47,21.90,0.735,4,0.077,0.053,3329,935,1621
$GC,10292,2.04,304.9,114.4,6.7,1183,10324,0.00,2.22,22.75,0.707,6,0.000,0.033,3329,2235,1503
$GC,10665,2.22,354.4,91.3,5.1,1248,10710,0.22,0.00,39.12,0.657,6,0.054,0.000,3388,2237,1303
$GC,11052,2.30,365.6,58.3,8.1,1315,11067,0.00,2.38,8.45,0.651,4,0.000,0.046,3389,934,1257
$GC,11183,2.39,386.7,48.3,7.3,1337,11209,0.17,2.10,16.75,0.620,6,0.053,0.030,3431,2174,1170
$GC,11549,2.39,386.7,14.3,9.3,1401,11556,0.00,2.70,0.00,0.000,4,0.000,0.046,3431,3729,1168
$GC,11654,2.39,386.7,4.2,9.4,1419,11661,0.00,2.58,0.00,0.000,6,0.000,0.029,3432,2198,1168
$STATE,11676,end climb,SURFACE_DEPTH_REACHED
$STATE,11676,begin surface coast
$FINISH,-0.1,1.020930
$STATE,11700,end surface coast,CONTROL_FINISHED_OK
$STATE,11700,begin surface
$SM_CCo,11724,42.75,0.544,0,0,810,475.15
$SM_GC,0.74,0.00,0.00,42.75,0.000,0.000,0.544,249,2194,810,-12.22,-0.62,475.15
$IRIDIUM_FIX,1243.25,11843.51,270797,111101
$TT8_MAMPS,0.023777
$HUMID,2021
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.20
$XPDR_PINGS,396
$24V_AH,23.3,64.955
$10V_AH,10.2,33.408
$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,33.300,112.375,396.100,42.750,0.000,47.065,167.927,166.324,100.250,0.000,0.000,16.857,2851.002,5929.784,601.626,2269.194,703.351,0.000,1750.536,0.000,2242.015,0.000,10.001
$DEVICE_MAMPS,167.206,62.127,983.294,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44017,1427
$CAP_FILE_SIZE,131335,0
$CFSIZE,260165632,228024320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,322.4,1
$GPS,020508,145938,1250.895,12042.754,29,0.8,29,-0.8