version: 66.03
glider: 122
mission: 6
dive: 319
start: 4 25 108 9 34 59
data:
$ID,122
$MISSION,6
$DIVE,319
$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,-33728.594
$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,56
$R_STBD_OVSHOOT,29
$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
$GPS1,092508,1246.500,12014.902,27,1.4,27,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.7
$GPS2,093426,1246.612,12014.882,10,1.4,16,-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,158.0,2150,-18.6,-9.016
$D_GRID,829
$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,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-58.03,0.000,2,0.000,0.000,251,2115,2404
$GC,85,-1.56,-146.0,3.2,-8.6,10,125,13.35,2.55,-18.38,0.000,4,0.169,0.051,2562,3566,3346
$GC,234,-1.27,-146.0,32.2,-18.0,35,242,0.32,2.33,0.00,0.000,6,0.115,0.026,2622,2159,3347
$GC,581,-1.16,-146.0,84.8,-14.0,96,588,0.15,2.40,0.00,0.000,4,0.115,0.041,2653,3559,3349
$GC,618,-1.08,-146.0,89.4,-12.5,102,625,0.00,2.33,0.00,0.000,6,0.000,0.026,2653,2146,3349
$GC,964,-1.19,-146.0,123.5,-9.5,163,971,0.00,2.40,0.00,0.000,4,0.000,0.042,2653,753,3352
$GC,1007,-1.23,-146.0,127.5,-9.3,170,1014,0.00,2.67,0.00,0.000,6,0.000,0.028,2653,2350,3352
$GC,1353,-1.41,-146.0,156.3,-7.9,231,1360,0.22,2.78,0.00,0.000,4,0.039,0.041,2581,752,3353
$GC,1453,-1.32,-146.0,165.8,-9.3,248,1460,0.17,2.50,0.00,0.000,6,0.098,0.028,2615,2243,3353
$GC,1799,-1.38,-146.0,192.5,-8.0,309,1806,0.00,2.60,0.00,0.000,4,0.000,0.044,2615,752,3353
$GC,1882,-1.38,-146.0,199.5,-8.7,323,1889,0.00,2.72,0.00,0.000,6,0.000,0.031,2615,2360,3353
$GC,2228,-1.49,-146.0,230.1,-8.7,384,2236,0.15,2.80,0.00,0.000,4,0.049,0.044,2568,760,3352
$GC,2317,-1.42,-146.0,238.7,-9.6,399,2324,0.15,2.88,0.00,0.000,6,0.102,0.033,2596,2443,3351
$GC,2657,-1.46,-146.0,264.7,-7.8,443,2661,0.00,1.92,0.00,0.000,4,0.000,0.049,2596,3566,3349
$GC,2731,-1.46,-146.0,270.4,-7.9,449,2737,0.00,2.08,0.00,0.000,6,0.000,0.031,2596,2307,3349
$GC,3058,-1.54,-146.0,295.9,-8.3,480,3063,0.12,2.17,0.00,0.000,4,0.057,0.046,2559,3564,3347
$GC,3102,-1.43,-146.0,300.2,-9.5,483,3110,0.17,1.92,0.00,0.000,6,0.103,0.031,2591,2394,3347
$GC,3428,-1.48,-146.0,325.7,-7.3,514,3433,0.00,2.90,0.00,0.000,4,0.000,0.049,2591,753,3345
$GC,3518,-1.48,-146.0,333.0,-8.3,521,3525,0.00,2.72,0.00,0.000,6,0.000,0.033,2592,2347,3344
$GC,3847,-1.55,-146.0,357.8,-7.9,552,3852,0.12,2.83,0.00,0.000,4,0.055,0.048,2554,754,3342
$GC,3944,-1.45,-146.0,367.0,-9.2,560,3949,0.17,2.58,0.00,0.000,6,0.106,0.032,2586,2260,3341
$GC,4270,-1.50,-146.0,394.1,-8.8,590,4274,0.00,2.25,0.00,0.000,4,0.000,0.050,2586,3557,3340
$GC,4374,-1.50,-146.0,403.4,-8.8,599,4377,0.00,2.03,0.00,0.000,6,0.000,0.032,2586,2347,3339
$GC,4707,-1.56,-146.0,430.7,-7.9,630,4712,0.00,2.83,0.00,0.000,4,0.000,0.051,2586,755,3336
$GC,4774,-1.56,-146.0,436.4,-8.3,635,4781,0.00,2.78,0.00,0.000,6,0.000,0.035,2586,2364,3336
$GC,5102,-1.62,-146.0,460.3,-6.6,666,5107,0.15,2.85,0.00,0.000,4,0.054,0.051,2539,758,3333
$GC,5132,-1.55,-146.0,462.8,-8.3,668,5137,0.15,2.72,0.00,0.000,6,0.113,0.035,2565,2340,3333
$GC,5457,-1.50,-146.0,490.3,-10.0,698,5461,0.00,2.12,0.00,0.000,4,0.000,0.053,2565,3554,3332
$GC,5519,-1.43,-146.0,497.0,-10.6,703,5527,0.15,2.05,0.00,0.000,6,0.114,0.033,2593,2335,3332
$GC,5849,-1.51,-146.0,527.7,-9.0,721,5853,0.00,2.80,0.00,0.000,4,0.000,0.053,2593,763,3330
$GC,5920,-1.51,-146.0,534.7,-9.0,724,5924,0.00,2.70,0.00,0.000,6,0.000,0.035,2593,2332,3329
$GC,6237,-1.60,-146.0,558.8,-7.0,739,6242,0.17,2.15,0.00,0.000,4,0.051,0.053,2545,3563,3328
$GC,6292,-1.48,-146.0,563.7,-9.2,741,6297,0.20,2.00,0.00,0.000,6,0.109,0.034,2581,2371,3328
$GC,6609,-1.48,-146.0,587.2,-7.4,756,6613,0.00,2.88,0.00,0.000,4,0.000,0.054,2581,760,3326
$GC,6653,-1.48,-146.0,591.0,-8.1,758,6657,0.00,2.78,0.00,0.000,6,0.000,0.036,2582,2365,3326
$GC,6974,-1.48,-146.0,613.0,-6.5,774,6979,0.00,2.88,0.00,0.000,4,0.000,0.054,2581,762,3325
$GC,7024,-1.48,-146.0,616.7,-7.3,776,7028,0.00,2.72,0.00,0.000,6,0.000,0.036,2582,2338,3325
$GC,7340,-1.54,-146.0,637.8,-7.1,791,7345,0.00,2.83,0.00,0.000,4,0.000,0.054,2582,762,3323
$GC,7435,-1.54,-146.0,644.5,-7.0,795,7440,0.00,2.58,0.00,0.000,6,0.000,0.035,2582,2255,3323
$GC,7752,-1.61,-146.0,665.5,-6.9,810,7757,0.12,2.67,0.00,0.000,4,0.060,0.054,2547,764,3321
$GC,7838,-1.53,-146.0,672.4,-8.3,814,7843,0.12,2.45,0.00,0.000,6,0.116,0.036,2569,2181,3320
$GC,8167,-1.50,-146.0,697.5,-8.2,830,8171,0.00,2.42,0.00,0.000,4,0.000,0.056,2569,3552,3319
$GC,8275,-1.44,-146.0,707.0,-9.0,835,8280,0.12,2.28,0.00,0.000,6,0.118,0.037,2590,2212,3318
$GC,8610,-1.65,-146.0,729.9,-4.1,851,8614,0.20,2.40,0.00,0.000,4,0.065,0.055,2544,3558,3318
$STATE,8743,end dive,NO_VERTICAL_VELOCITY
$STATE,8743,begin apogee
$GC,8751,-0.35,0.0,729.3,0.0,857,8874,1.27,0.00,118.45,1.163,6,0.061,0.000,2824,2380,2748
$STATE,8874,end apogee,CONTROL_FINISHED_OK
$STATE,8875,begin climb
$GC,8877,1.56,146.0,729.2,0.0,863,9011,1.90,2.62,122.72,1.121,4,0.050,0.058,3243,974,2151
$GC,9095,1.30,146.0,715.8,9.7,872,9103,0.30,2.47,0.00,0.000,6,0.117,0.038,3189,2380,2150
$GC,9412,1.21,171.2,690.2,7.9,888,9438,0.00,2.62,20.58,1.133,4,0.000,0.058,3189,980,2050
$GC,9506,1.08,171.2,681.9,9.1,892,9511,0.25,2.40,0.00,0.000,6,0.113,0.039,3144,2341,2049
$GC,9829,1.13,200.4,656.7,7.7,908,9860,0.00,2.58,24.70,1.120,4,0.000,0.058,3144,985,1929
$GC,9912,1.16,220.4,650.0,8.1,911,9934,0.00,2.40,16.90,1.111,6,0.000,0.038,3144,2342,1849
$GC,10244,1.23,258.1,624.1,7.3,927,10282,0.12,2.58,31.88,1.093,4,0.074,0.058,3172,975,1695
$GC,10369,1.19,258.1,613.2,9.4,931,10376,0.00,2.30,0.00,0.000,6,0.000,0.038,3172,2285,1693
$GC,10685,1.22,276.5,587.7,8.2,947,10708,0.00,2.45,15.88,1.095,4,0.000,0.058,3172,973,1619
$GC,10747,1.22,276.5,582.2,9.2,949,10754,0.00,2.28,0.00,0.000,6,0.000,0.038,3172,2267,1617
$GC,11063,1.27,304.4,557.8,7.8,965,11089,0.00,0.00,23.98,1.072,6,0.000,0.000,3172,2267,1506
$GC,11392,1.27,304.4,530.1,9.0,981,11396,0.00,2.35,0.00,0.000,4,0.000,0.058,3172,979,1502
$GC,11455,1.27,304.4,524.1,9.6,984,11459,0.00,2.20,0.00,0.000,6,0.000,0.038,3172,2239,1501
$GC,11773,1.27,304.4,491.8,11.0,1003,11778,0.00,2.67,0.00,0.000,4,0.000,0.058,3172,3732,1501
$GC,11870,1.27,304.4,479.8,12.4,1011,11874,0.00,2.50,0.00,0.000,6,0.000,0.038,3172,2292,1501
$GC,12195,1.27,304.4,445.7,9.5,1041,12199,0.00,2.38,0.00,0.000,4,0.000,0.058,3172,974,1500
$GC,12280,1.27,304.4,437.5,9.6,1048,12284,0.00,2.25,0.00,0.000,6,0.000,0.037,3172,2268,1500
$GC,12605,1.27,308.0,408.4,8.9,1078,12609,0.00,2.60,0.00,0.000,4,0.000,0.056,3172,3730,1500
$GC,12626,1.27,308.0,406.2,9.6,1079,12633,0.00,2.55,0.00,0.000,6,0.000,0.037,3172,2251,1500
$GC,12954,1.36,308.0,378.4,9.1,1110,12967,0.15,2.35,2.10,0.972,4,0.061,0.055,3212,976,1491
$GC,13064,1.30,308.0,367.6,9.5,1119,13072,0.12,2.47,0.00,0.000,6,0.115,0.037,3191,2397,1491
$GC,13389,1.33,330.0,339.5,8.0,1150,13414,0.00,2.67,19.02,0.930,4,0.000,0.054,3191,979,1401
$GC,13541,1.36,344.0,327.2,8.4,1163,13558,0.00,2.33,12.00,0.926,6,0.000,0.035,3191,2317,1345
$GC,13879,1.45,345.2,298.6,9.0,1194,13884,0.12,2.50,0.00,0.000,4,0.067,0.054,3220,3723,1343
$GC,13946,1.40,345.2,291.6,10.9,1199,13953,0.00,2.70,0.00,0.000,6,0.000,0.037,3220,2160,1342
$GC,14273,1.36,345.2,258.3,10.3,1230,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2160,1342
$GC,14602,1.36,345.2,226.4,9.4,1281,14609,0.00,2.78,0.00,0.000,4,0.000,0.051,3221,3727,1342
$GC,14672,1.33,351.8,219.9,8.7,1293,14687,0.15,2.65,6.45,0.864,6,0.123,0.036,3196,2189,1313
$GC,15027,1.43,351.8,190.9,9.2,1355,15034,0.00,2.15,0.00,0.000,4,0.000,0.054,3195,977,1312
$GC,15054,1.52,362.5,188.5,8.5,1359,15070,0.17,2.38,9.25,0.824,6,0.060,0.035,3237,2352,1269
$GC,15410,1.52,362.5,152.8,9.4,1421,15417,0.00,2.40,0.00,0.000,4,0.000,0.051,3237,3720,1269
$GC,15491,1.49,362.5,144.4,10.2,1435,15498,0.00,2.55,0.00,0.000,6,0.000,0.035,3237,2233,1268
$GC,15837,1.50,371.4,114.7,8.6,1496,15851,0.00,2.65,7.35,0.757,4,0.000,0.048,3237,3721,1233
$GC,15959,1.50,371.4,103.7,9.5,1517,15966,0.00,2.38,0.00,0.000,6,0.000,0.032,3237,2325,1233
$GC,16304,1.79,471.0,82.1,4.6,1578,16396,0.22,2.53,82.32,0.641,4,0.049,0.047,3300,3729,827
$GC,16460,1.83,471.0,68.2,10.1,1603,16467,0.00,2.58,0.00,0.000,6,0.000,0.032,3300,2227,823
$GC,16806,2.00,501.5,39.8,7.7,1664,16835,0.15,2.30,23.70,0.602,4,0.053,0.050,3348,977,702
$GC,16898,2.00,501.5,30.9,10.1,1679,16905,0.00,2.10,0.00,0.000,6,0.000,0.029,3348,2217,699
$STATE,17196,end climb,SURFACE_DEPTH_REACHED
$STATE,17196,begin surface coast
$FINISH,-0.0,1.021078
$STATE,17215,end surface coast,CONTROL_FINISHED_OK
$STATE,17215,begin surface
$SM_CCo,17299,0.00,0.000,0,0,696,503.36
$SM_GC,0.83,13.57,0.00,0.00,0.037,0.000,0.000,249,2121,696,-12.18,-0.82,503.36
$IRIDIUM_FIX,1241.04,12013.48,200797,090955
$TT8_MAMPS,0.023777
$HUMID,2006
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,459
$ALTIM_BOTTOM_PING,720.3,10.4
$24V_AH,23.2,59.225
$10V_AH,10.1,30.394
$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,35.050,199.025,537.275,0.000,0.000,49.725,92.148,217.160,120.750,0.000,0.000,16.914,3703.991,9669.688,728.194,3011.116,746.895,0.000,2258.963,0.000,2954.197,0.000,45.278
$DEVICE_MAMPS,168.740,62.127,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56631,1735
$CAP_FILE_SIZE,188861,0
$CFSIZE,260165632,230670336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,331.5,1
$GPS,250408,142437,1246.794,12014.637,38,1.6,43,-0.8