version: 66.03
glider: 122
mission: 6
dive: 299
start: 4 20 108 7 8 49
data:
$ID,122
$MISSION,6
$DIVE,299
$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,-33398.289
$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,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$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
$GPS1,070238,1251.112,12042.375,31,0.9,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.9
$GPS2,070815,1251.127,12042.423,14,1.3,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,242.6,49688,-18.6,-9.016
$D_GRID,1098
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,88,0.00,0.00,-62.03,0.000,2,0.000,0.000,250,2134,2530
$GC,91,-1.56,-146.0,3.7,-8.3,10,129,13.30,2.50,-15.40,0.000,4,0.168,0.053,2560,3564,3347
$GC,154,-1.20,-146.0,18.4,-20.3,20,162,0.43,2.38,0.00,0.000,6,0.114,0.028,2639,2138,3348
$GC,500,-1.10,-146.0,73.6,-13.1,81,508,0.12,2.45,0.00,0.000,4,0.111,0.041,2661,3560,3349
$GC,588,-1.03,-146.0,84.8,-12.5,96,595,0.00,2.22,0.00,0.000,6,0.000,0.025,2661,2206,3349
$GC,933,-1.12,-146.0,120.7,-9.4,157,941,0.00,2.33,0.00,0.000,4,0.000,0.041,2661,3566,3352
$GC,1026,-1.17,-146.0,130.3,-10.7,173,1033,0.00,2.08,0.00,0.000,6,0.000,0.025,2661,2290,3352
$GC,1374,-1.34,-146.0,159.6,-8.5,234,1381,0.17,2.17,0.00,0.000,4,0.044,0.042,2599,3562,3353
$GC,1468,-1.30,-146.0,169.0,-10.1,250,1475,0.10,2.22,0.00,0.000,6,0.100,0.027,2618,2208,3353
$GC,1814,-1.39,-146.0,196.3,-8.1,311,1820,0.00,2.33,0.00,0.000,4,0.000,0.044,2618,3565,3353
$GC,1878,-1.39,-146.0,202.1,-9.1,322,1885,0.00,2.12,0.00,0.000,6,0.000,0.028,2618,2268,3353
$GC,2224,-1.51,-146.0,230.1,-8.2,383,2231,0.17,2.22,0.00,0.000,4,0.045,0.043,2559,3567,3353
$GC,2300,-1.39,-146.0,237.5,-10.0,396,2307,0.22,2.05,0.00,0.000,6,0.098,0.028,2602,2316,3352
$GC,2640,-1.39,-146.0,267.8,-9.2,440,2644,0.00,2.75,0.00,0.000,4,0.000,0.047,2602,744,3352
$GC,2668,-1.39,-146.0,270.5,-9.7,442,2672,0.00,2.72,0.00,0.000,6,0.000,0.031,2602,2349,3352
$GC,2996,-1.44,-146.0,298.0,-8.5,472,3000,0.00,2.08,0.00,0.000,4,0.000,0.048,2602,3562,3350
$GC,3079,-1.44,-146.0,305.5,-8.2,479,3087,0.00,2.25,0.00,0.000,6,0.000,0.030,2602,2205,3350
$GC,3408,-1.48,-146.0,330.0,-7.4,510,3412,0.00,2.35,0.00,0.000,4,0.000,0.046,2602,3563,3348
$GC,3463,-1.48,-146.0,334.5,-8.0,514,3470,0.00,2.20,0.00,0.000,6,0.000,0.031,2602,2242,3347
$GC,3791,-1.48,-146.0,357.9,-7.4,545,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2241,3346
$GC,4109,-1.51,-146.0,384.0,-8.1,575,4113,0.12,2.30,0.00,0.000,4,0.056,0.047,2564,3559,3344
$GC,4164,-1.42,-146.0,389.5,-9.2,579,4171,0.17,2.22,0.00,0.000,6,0.102,0.031,2596,2235,3343
$GC,4489,-1.42,-146.0,416.7,-8.0,610,4493,0.00,2.33,0.00,0.000,4,0.000,0.049,2596,3562,3342
$GC,4529,-1.42,-146.0,420.0,-8.5,613,4532,0.00,2.22,0.00,0.000,6,0.000,0.031,2596,2245,3342
$GC,4856,-1.42,-146.0,444.8,-7.9,643,4860,0.00,2.33,0.00,0.000,4,0.000,0.050,2596,3567,3339
$GC,4888,-1.42,-146.0,448.0,-8.9,645,4896,0.00,2.20,0.00,0.000,6,0.000,0.032,2596,2260,3339
$GC,5216,-1.42,-146.0,473.8,-7.0,676,5220,0.00,2.28,0.00,0.000,4,0.000,0.050,2595,3561,3337
$GC,5243,-1.42,-146.0,476.3,-7.8,678,5250,0.00,2.15,0.00,0.000,6,0.000,0.032,2596,2287,3336
$GC,5580,-1.42,-146.0,501.9,-7.2,709,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2285,3334
$GC,5887,-1.42,-146.0,524.9,-7.0,724,5891,0.00,2.25,0.00,0.000,4,0.000,0.051,2595,3565,3332
$GC,5937,-1.42,-146.0,528.8,-7.9,726,5941,0.00,2.12,0.00,0.000,6,0.000,0.033,2595,2305,3332
$GC,6259,-1.42,-146.0,549.6,-7.2,742,6264,0.00,2.78,0.00,0.000,4,0.000,0.054,2595,751,3331
$GC,6286,-1.42,-146.0,551.4,-6.4,743,6290,0.00,2.70,0.00,0.000,6,0.000,0.035,2596,2311,3331
$GC,6602,-1.42,-146.0,574.0,-7.2,758,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2310,3328
$GC,6912,-1.42,-146.0,596.7,-7.4,773,6916,0.00,2.80,0.00,0.000,4,0.000,0.054,2595,748,3328
$GC,6933,-1.42,-146.0,598.6,-8.1,774,6937,0.00,2.67,0.00,0.000,6,0.000,0.035,2596,2297,3328
$GC,7254,-1.45,-146.0,622.1,-7.4,790,7258,0.00,2.22,0.00,0.000,4,0.000,0.056,2596,3560,3326
$GC,7288,-1.45,-146.0,624.9,-7.7,791,7295,0.00,2.15,0.00,0.000,6,0.000,0.034,2595,2287,3326
$GC,7604,-1.45,-146.0,647.7,-7.8,807,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2286,3324
$GC,7913,-1.68,-146.0,666.9,-1.2,822,7918,0.22,2.25,0.00,0.000,4,0.041,0.053,2524,3556,3323
$GC,8173,-1.42,-146.0,667.0,0.6,833,8180,0.38,2.10,0.00,0.000,6,0.123,0.035,2592,2314,3322
$STATE,8218,end dive,NO_VERTICAL_VELOCITY
$STATE,8218,begin apogee
$GC,8224,-0.35,0.0,666.8,0.0,836,8345,1.23,0.00,117.07,1.105,6,0.126,0.000,2824,2400,2748
$STATE,8346,end apogee,CONTROL_FINISHED_OK
$STATE,8346,begin climb
$GC,8348,1.56,146.0,666.3,0.0,842,8479,2.03,2.65,120.38,1.065,4,0.084,0.054,3245,973,2151
$GC,8493,1.34,176.7,660.5,7.6,848,8528,0.28,2.45,25.02,1.060,6,0.128,0.038,3198,2363,2027
$GC,8837,1.23,182.4,629.7,8.8,865,8847,0.15,2.47,4.57,1.078,4,0.127,0.057,3169,3724,2004
$GC,8865,1.14,186.5,626.9,8.8,866,8877,0.00,2.33,3.92,1.071,6,0.000,0.037,3169,2382,1987
$GC,9186,1.15,225.9,600.1,7.3,882,9224,0.00,2.62,32.30,1.055,4,0.000,0.058,3169,967,1826
$GC,9274,1.09,225.9,592.2,9.3,885,9279,0.15,2.50,0.00,0.000,6,0.114,0.038,3142,2393,1825
$GC,9596,1.18,281.2,569.2,6.5,901,9648,0.00,2.67,46.28,1.032,4,0.000,0.056,3142,976,1600
$GC,9722,1.24,281.2,558.1,9.5,906,9730,0.15,2.42,0.00,0.000,6,0.062,0.038,3178,2359,1597
$GC,10040,1.24,281.2,526.2,9.8,922,10045,0.00,2.53,0.00,0.000,4,0.000,0.056,3178,969,1596
$GC,10125,1.24,281.2,517.0,10.9,926,10129,0.00,2.38,0.00,0.000,6,0.000,0.037,3178,2333,1595
$GC,10452,1.28,304.2,487.3,8.0,948,10476,0.00,2.58,18.50,1.019,4,0.000,0.056,3178,975,1507
$GC,10515,1.28,304.2,481.6,9.1,953,10522,0.00,2.30,0.00,0.000,6,0.000,0.036,3178,2290,1505
$GC,10843,1.28,304.2,451.3,10.2,984,10847,0.00,2.40,0.00,0.000,4,0.000,0.056,3178,964,1504
$GC,10886,1.28,304.2,446.6,10.4,987,10893,0.00,2.28,0.00,0.000,6,0.000,0.037,3178,2271,1503
$GC,11213,1.28,304.2,415.8,10.0,1018,11217,0.00,2.35,0.00,0.000,4,0.000,0.057,3178,971,1503
$GC,11264,1.28,304.2,410.4,10.3,1022,11268,0.00,2.22,0.00,0.000,6,0.000,0.036,3178,2257,1503
$GC,11590,1.31,304.2,379.2,9.6,1052,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2257,1502
$GC,11910,1.34,304.2,349.6,9.1,1082,11914,0.00,2.33,0.00,0.000,4,0.000,0.057,3178,965,1502
$GC,11951,1.34,304.2,345.7,9.1,1085,11955,0.00,2.17,0.00,0.000,6,0.000,0.036,3178,2225,1502
$GC,12277,1.40,314.4,317.7,8.6,1115,12291,0.15,2.35,7.85,0.946,4,0.060,0.056,3219,972,1466
$GC,12330,1.35,314.4,312.3,10.4,1119,12336,0.00,2.12,0.00,0.000,6,0.000,0.037,3219,2195,1465
$GC,12657,1.32,314.4,279.4,9.9,1150,12664,0.15,0.00,0.00,0.000,6,0.108,0.000,3192,2194,1465
$GC,12986,1.38,330.7,251.4,8.3,1181,13010,0.00,2.30,13.90,0.873,4,0.000,0.055,3192,969,1397
$GC,13051,1.42,332.7,245.5,8.9,1190,13058,0.00,2.08,0.00,0.000,6,0.000,0.036,3192,2165,1397
$GC,13397,1.47,332.7,215.5,9.2,1251,13404,0.15,0.00,0.00,0.000,6,0.063,0.000,3234,2165,1396
$GC,13742,1.47,332.7,180.8,9.5,1312,13749,0.00,2.15,0.00,0.000,4,0.000,0.054,3234,963,1396
$GC,13790,1.44,332.7,176.2,9.6,1320,13797,0.00,2.05,0.00,0.000,6,0.000,0.034,3234,2160,1395
$GC,14135,1.48,359.2,148.1,7.8,1381,14167,0.00,2.85,23.17,0.760,4,0.000,0.050,3234,3717,1282
$GC,14208,1.48,359.2,141.6,9.4,1393,14215,0.00,2.70,0.00,0.000,6,0.000,0.035,3234,2160,1281
$GC,14555,1.66,405.7,114.2,6.9,1454,14603,0.15,2.85,38.12,0.701,4,0.058,0.048,3278,3732,1093
$GC,14644,1.66,410.0,106.6,8.8,1468,14652,0.00,2.62,3.55,0.742,6,0.000,0.034,3278,2209,1076
$GC,14991,1.74,425.5,78.9,8.3,1529,15011,0.00,2.72,12.65,0.684,4,0.000,0.047,3278,3733,1012
$GC,15122,1.80,439.9,67.8,8.4,1551,15141,0.00,2.65,11.82,0.668,6,0.000,0.032,3278,2181,953
$GC,15482,2.03,485.8,43.1,7.0,1614,15526,0.25,2.25,37.28,0.600,4,0.043,0.050,3350,963,766
$GC,15595,1.99,485.8,32.9,10.6,1632,15602,0.00,2.30,0.00,0.000,6,0.000,0.029,3350,2317,763
$STATE,15898,end climb,SURFACE_DEPTH_REACHED
$STATE,15898,begin surface coast
$FINISH,0.2,1.021045
$STATE,15916,end surface coast,CONTROL_FINISHED_OK
$STATE,15916,begin surface
$SM_CCo,16000,0.00,0.000,0,0,758,488.15
$SM_GC,0.70,13.65,0.00,0.00,0.040,0.000,0.000,252,2121,758,-12.16,-0.82,488.15
$IRIDIUM_FIX,1247.67,12042.28,150797,030304
$TT8_MAMPS,0.023777
$HUMID,2022
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,23.90
$XPDR_PINGS,393
$ALTIM_BOTTOM_PING,550.5,65.9
$24V_AH,23.3,55.154
$10V_AH,10.1,28.267
$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,33.900,161.575,516.400,0.000,0.000,24.954,40.558,147.617,100.000,0.000,0.000,14.165,3524.706,8792.423,704.368,2763.281,556.966,0.000,2119.918,0.000,2729.249,0.000,14.618
$DEVICE_MAMPS,167.973,65.195,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53472,1689
$CAP_FILE_SIZE,169091,0
$CFSIZE,260165632,232595456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,  1.4,1
$GPS,200408,113637,1251.024,12041.254,33,1.0,33,-0.8