version: 66.03
glider: 122
mission: 6
dive: 318
start: 4 25 108 5 0 40
data:
$ID,122
$MISSION,6
$DIVE,318
$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,-33711.051
$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,49
$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
$GPS1,045337,1246.272,12015.832,32,1.2,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.0
$GPS2,050003,1246.366,12015.809,15,1.7,15,-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,204.9,1490,-26.0,-9.016
$D_GRID,872
$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,22,-1.96,-78.2,0.0,0.0,0,88,0.00,0.00,-64.05,0.000,2,0.000,0.000,251,2143,2406
$GC,91,-2.03,-114.7,3.0,-6.1,9,127,12.88,2.50,-16.00,0.000,4,0.171,0.051,2459,3562,3218
$GC,219,-1.73,-114.7,32.9,-22.8,30,226,0.38,2.33,0.00,0.000,6,0.140,0.028,2524,2163,3219
$GC,565,-1.64,-114.7,93.6,-14.6,91,573,0.12,2.45,0.00,0.000,4,0.139,0.042,2544,750,3221
$GC,613,-1.64,-114.7,100.4,-13.9,99,620,0.00,2.30,0.00,0.000,6,0.000,0.027,2544,2128,3221
$GC,959,-1.69,-114.7,138.5,-10.2,160,966,0.00,2.40,0.00,0.000,4,0.000,0.041,2544,742,3223
$GC,985,-1.73,-114.7,141.0,-10.1,164,991,0.00,2.42,0.00,0.000,6,0.000,0.028,2544,2193,3223
$GC,1330,-1.80,-114.7,176.2,-9.5,225,1337,0.15,2.33,0.00,0.000,4,0.054,0.041,2497,3556,3223
$GC,1413,-1.74,-114.7,185.2,-10.6,239,1420,0.15,2.22,0.00,0.000,6,0.119,0.027,2523,2208,3223
$GC,1759,-1.78,-114.7,222.2,-10.9,300,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2207,3223
$GC,2100,-1.82,-114.7,256.4,-9.2,355,2104,0.00,2.30,0.00,0.000,4,0.000,0.044,2523,3545,3223
$GC,2164,-1.82,-114.7,262.2,-9.6,360,2168,0.00,2.22,0.00,0.000,6,0.000,0.029,2523,2208,3223
$GC,2491,-1.86,-114.7,294.4,-10.0,390,2495,0.00,2.30,0.00,0.000,4,0.000,0.044,2523,3543,3222
$GC,2543,-1.86,-114.7,299.9,-10.3,394,2546,0.00,2.17,0.00,0.000,6,0.000,0.030,2522,2238,3222
$GC,2871,-1.90,-114.7,333.8,-10.7,424,2875,0.15,2.28,0.00,0.000,4,0.058,0.044,2478,3552,3221
$GC,2911,-1.81,-114.7,339.0,-12.8,427,2915,0.15,2.17,0.00,0.000,6,0.117,0.030,2504,2248,3221
$GC,3236,-1.81,-114.7,373.7,-10.0,457,3240,0.00,2.65,0.00,0.000,4,0.000,0.050,2504,743,3219
$GC,3264,-1.81,-114.7,376.7,-10.4,459,3268,0.00,2.55,0.00,0.000,6,0.000,0.032,2504,2238,3219
$GC,3591,-1.81,-114.7,407.8,-9.8,489,3595,0.00,2.28,0.00,0.000,4,0.000,0.048,2505,3552,3216
$GC,3635,-1.81,-114.7,412.8,-10.2,492,3642,0.00,2.20,0.00,0.000,6,0.000,0.031,2504,2242,3217
$GC,3963,-1.81,-114.7,445.6,-10.7,523,3967,0.00,2.28,0.00,0.000,4,0.000,0.048,2505,3543,3215
$GC,3984,-1.81,-114.7,448.4,-10.9,524,3991,0.00,2.15,0.00,0.000,6,0.000,0.031,2504,2265,3214
$GC,4311,-1.81,-114.7,480.7,-9.4,555,4315,0.00,2.22,0.00,0.000,4,0.000,0.048,2504,3542,3213
$GC,4355,-1.81,-114.7,485.6,-10.3,558,4362,0.00,2.10,0.00,0.000,6,0.000,0.031,2504,2290,3212
$GC,4675,-1.81,-114.7,516.4,-9.7,581,4680,0.00,2.75,0.00,0.000,4,0.000,0.051,2504,746,3210
$GC,4692,-1.81,-114.7,518.2,-10.0,582,4696,0.00,2.65,0.00,0.000,6,0.000,0.033,2505,2286,3210
$GC,5019,-1.81,-114.7,549.2,-9.1,598,5023,0.00,2.20,0.00,0.000,4,0.000,0.051,2504,3545,3208
$GC,5081,-1.81,-114.7,555.3,-9.6,601,5084,0.00,2.10,0.00,0.000,6,0.000,0.033,2504,2303,3208
$GC,5414,-1.82,-120.9,584.5,-8.5,617,5419,0.00,2.78,0.00,0.000,4,0.000,0.054,2504,749,3206
$GC,5447,-1.83,-123.2,587.5,-8.8,618,5454,0.00,2.67,0.00,0.000,6,0.000,0.035,2504,2299,3206
$GC,5763,-1.84,-128.7,614.5,-8.6,634,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2299,3205
$GC,6072,-1.84,-132.8,641.3,-8.7,649,6077,0.00,2.78,0.00,0.000,4,0.000,0.054,2505,753,3202
$GC,6099,-1.84,-132.8,644.0,-9.8,650,6103,0.00,2.67,0.00,0.000,6,0.000,0.035,2504,2299,3202
$GC,6421,-1.84,-132.8,673.9,-9.3,666,6425,0.00,2.17,0.00,0.000,4,0.000,0.054,2504,3540,3201
$GC,6521,-1.84,-132.8,684.4,-11.7,670,6528,0.00,2.00,0.00,0.000,6,0.000,0.035,2504,2353,3200
$GC,6837,-1.88,-132.8,716.5,-9.6,686,6842,0.00,2.88,0.00,0.000,4,0.000,0.055,2504,750,3199
$GC,6900,-1.92,-132.8,722.4,-9.2,689,6904,0.00,2.72,0.00,0.000,6,0.000,0.036,2505,2321,3199
$GC,7227,-2.03,-146.0,729.8,0.6,705,7232,0.17,2.80,0.00,0.000,4,0.054,0.051,2454,755,3197
$STATE,7242,end dive,NO_VERTICAL_VELOCITY
$STATE,7242,begin apogee
$GC,7250,-0.35,0.0,729.8,0.0,706,7348,1.92,0.00,93.55,1.147,6,0.116,0.000,2826,2365,2748
$STATE,7349,end apogee,CONTROL_FINISHED_OK
$STATE,7349,begin climb
$GC,7352,2.08,146.0,729.4,0.0,711,7483,2.40,2.45,122.72,1.108,4,0.050,0.046,3361,3727,2151
$GC,7740,1.82,146.0,701.9,11.8,728,7748,0.35,2.35,0.00,0.000,6,0.148,0.041,3303,2377,2148
$GC,8057,1.73,165.4,675.0,7.5,744,8080,0.12,2.47,15.55,1.127,4,0.160,0.056,3283,3720,2072
$GC,8137,1.61,165.4,666.2,11.9,747,8141,0.15,2.30,0.00,0.000,6,0.154,0.039,3260,2389,2072
$GC,8458,1.62,169.4,637.3,8.7,763,8467,0.00,2.62,3.15,1.114,4,0.000,0.060,3260,977,2057
$GC,8571,1.58,169.4,626.0,10.0,768,8575,0.00,2.42,0.00,0.000,6,0.000,0.038,3260,2358,2056
$GC,8898,1.58,169.4,596.4,9.5,784,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2358,2055
$GC,9207,1.58,171.4,568.0,8.9,799,9211,0.00,2.50,0.00,0.000,4,0.000,0.058,3260,967,2054
$GC,9359,1.55,171.4,553.2,10.2,805,9365,0.00,2.40,0.00,0.000,6,0.000,0.038,3260,2343,2053
$GC,9674,1.55,171.4,522.2,10.2,821,9679,0.00,2.45,0.00,0.000,4,0.000,0.057,3260,3724,2052
$GC,9696,1.55,171.4,519.9,10.1,822,9700,0.00,2.35,0.00,0.000,6,0.000,0.038,3260,2346,2052
$GC,10016,1.55,171.4,489.9,9.1,842,10020,0.00,2.47,0.00,0.000,4,0.000,0.058,3260,970,2052
$GC,10071,1.52,171.4,484.6,9.2,846,10079,0.12,2.38,0.00,0.000,6,0.138,0.038,3240,2335,2052
$GC,10398,1.59,188.4,458.7,7.6,877,10421,0.00,2.55,15.05,1.038,4,0.000,0.057,3240,3726,1979
$GC,10494,1.59,189.3,450.3,8.9,885,10501,0.00,2.35,0.00,0.000,6,0.000,0.038,3240,2369,1978
$GC,10822,1.67,203.6,424.7,7.9,916,10846,0.12,2.58,12.75,1.011,4,0.080,0.056,3267,971,1916
$GC,10908,1.67,204.3,417.1,9.0,923,10915,0.00,2.45,0.00,0.000,6,0.000,0.037,3267,2366,1916
$GC,11236,1.67,204.3,388.3,9.2,954,11240,0.00,2.53,0.00,0.000,4,0.000,0.055,3267,968,1916
$GC,11299,1.67,204.3,381.8,10.3,959,11304,0.00,2.38,0.00,0.000,6,0.000,0.037,3267,2328,1915
$GC,11626,1.68,212.0,352.0,8.4,989,11639,0.00,2.55,6.78,0.979,4,0.000,0.054,3267,967,1883
$GC,11679,1.68,212.0,346.9,9.2,993,11686,0.00,2.33,0.00,0.000,6,0.000,0.036,3267,2301,1883
$GC,12006,1.69,217.7,318.4,8.6,1024,12018,0.00,2.42,4.95,0.959,4,0.000,0.054,3267,971,1860
$GC,12065,1.69,217.7,313.0,9.1,1029,12069,0.00,2.30,0.00,0.000,6,0.000,0.036,3267,2291,1859
$GC,12391,1.75,233.8,286.7,7.7,1059,12414,0.00,2.65,13.10,0.907,4,0.000,0.054,3267,3724,1794
$GC,12442,1.75,233.8,282.1,9.7,1063,12449,0.00,2.47,0.00,0.000,6,0.000,0.037,3267,2295,1793
$GC,12769,1.83,252.2,256.9,7.5,1094,12794,0.15,2.45,15.15,0.871,4,0.072,0.054,3305,976,1719
$GC,12807,1.83,252.2,253.4,9.4,1097,12811,0.00,2.40,0.00,0.000,6,0.000,0.036,3305,2338,1719
$GC,13148,1.83,252.2,218.8,9.8,1154,13155,0.00,2.45,0.00,0.000,4,0.000,0.054,3305,3724,1719
$GC,13202,1.83,252.2,213.2,10.6,1163,13209,0.00,2.40,0.00,0.000,6,0.000,0.036,3305,2329,1719
$GC,13548,1.83,252.2,178.9,10.3,1224,13555,0.00,2.42,0.00,0.000,4,0.000,0.054,3305,971,1719
$GC,13623,1.83,252.2,171.3,10.0,1237,13630,0.00,2.40,0.00,0.000,6,0.000,0.035,3305,2355,1718
$GC,13968,1.85,260.9,141.8,8.3,1298,13982,0.00,2.53,7.43,0.798,4,0.000,0.051,3305,963,1682
$GC,14057,1.86,269.4,134.3,8.3,1313,14070,0.00,2.25,6.85,0.788,6,0.000,0.034,3305,2269,1649
$GC,14411,2.02,312.1,109.0,5.6,1375,14452,0.15,2.42,34.25,0.709,4,0.064,0.051,3346,971,1474
$GC,14572,2.09,330.7,96.4,7.5,1402,14592,0.00,2.12,14.70,0.708,6,0.000,0.033,3346,2209,1399
$GC,14932,2.29,397.5,73.5,3.7,1465,14992,0.22,2.30,53.85,0.641,4,0.056,0.048,3404,971,1126
$GC,15117,2.30,404.5,56.6,8.5,1496,15130,0.00,2.20,4.88,0.671,6,0.000,0.031,3404,2261,1098
$GC,15471,2.39,411.9,25.8,8.4,1558,15485,0.00,2.30,5.55,0.627,4,0.000,0.045,3404,970,1068
$GC,15565,2.46,416.3,17.9,8.7,1574,15574,0.17,2.08,3.40,0.634,6,0.058,0.028,3446,2208,1049
$STATE,15730,end climb,SURFACE_DEPTH_REACHED
$STATE,15730,begin surface coast
$FINISH,0.1,1.021071
$STATE,15749,end surface coast,CONTROL_FINISHED_OK
$STATE,15749,begin surface
$SM_CCo,15773,29.48,0.555,0,0,810,475.15
$SM_GC,0.72,0.00,0.00,29.48,0.000,0.000,0.555,251,2114,810,-12.21,-1.02,475.15
$IRIDIUM_FIX,1241.04,12016.50,190797,222214
$TT8_MAMPS,0.023777
$HUMID,2004
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.00
$XPDR_PINGS,371
$ALTIM_BOTTOM_PING,550.4,223.4
$24V_AH,23.2,59.039
$10V_AH,10.1,30.298
$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,34.175,178.400,433.650,29.475,0.000,30.653,37.471,176.054,94.500,0.000,0.000,15.013,3331.365,8863.812,671.829,2713.515,610.827,0.000,2061.558,0.000,2679.131,0.000,15.038
$DEVICE_MAMPS,171.041,63.661,1147.432,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50396,1606
$CAP_FILE_SIZE,166967,0
$CFSIZE,260165632,230776832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,342.2,1
$GPS,250408,092508,1246.500,12014.902,27,1.4,27,-0.8