version: 66.03
glider: 122
mission: 6
dive: 320
start: 4 25 108 14 31 32
data:
$ID,122
$MISSION,6
$DIVE,320
$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,-33743.508
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,142437,1246.794,12014.637,38,1.6,43,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.5
$GPS2,143057,1246.877,12014.649,14,1.9,14,-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,150.2,2789,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-64.60,0.000,2,0.000,0.000,249,2119,2474
$GC,92,-1.56,-146.0,3.4,-7.5,11,131,13.32,2.47,-16.83,0.000,4,0.169,0.051,2559,3559,3345
$GC,183,-1.25,-146.0,22.3,-18.7,26,191,0.40,2.30,0.00,0.000,6,0.120,0.025,2632,2164,3346
$GC,530,-1.15,-146.0,73.0,-12.6,87,537,0.12,2.40,0.00,0.000,4,0.122,0.041,2654,3562,3347
$GC,617,-1.06,-146.0,83.6,-11.3,102,624,0.00,2.17,0.00,0.000,6,0.000,0.025,2654,2237,3348
$GC,963,-1.16,-146.0,117.1,-8.5,163,971,0.00,2.55,0.00,0.000,4,0.000,0.042,2654,757,3351
$GC,1040,-1.19,-146.0,123.7,-8.3,176,1047,0.00,2.70,0.00,0.000,6,0.000,0.028,2654,2367,3351
$GC,1386,-1.34,-146.0,151.0,-7.8,237,1393,0.17,2.80,0.00,0.000,4,0.044,0.041,2594,754,3352
$GC,1419,-1.34,-146.0,153.8,-8.7,242,1426,0.00,2.65,0.00,0.000,6,0.000,0.029,2594,2328,3352
$GC,1765,-1.34,-146.0,187.6,-8.6,303,1773,0.00,2.72,0.00,0.000,4,0.000,0.044,2594,755,3352
$GC,1836,-1.34,-146.0,193.9,-9.0,315,1843,0.00,2.50,0.00,0.000,6,0.000,0.030,2594,2240,3352
$GC,2182,-1.39,-146.0,222.7,-8.3,376,2189,0.00,2.28,0.00,0.000,4,0.000,0.046,2594,3564,3351
$GC,2258,-1.36,-146.0,229.4,-8.8,389,2265,0.00,2.17,0.00,0.000,6,0.000,0.029,2594,2248,3351
$GC,2598,-1.41,-146.0,258.2,-8.6,441,2603,0.00,2.60,0.00,0.000,4,0.000,0.048,2594,760,3349
$GC,2674,-1.41,-146.0,264.7,-8.9,447,2678,0.00,2.78,0.00,0.000,6,0.000,0.031,2594,2391,3349
$GC,3002,-1.47,-146.0,291.2,-7.8,477,3006,0.00,2.88,0.00,0.000,4,0.000,0.048,2594,756,3347
$GC,3068,-1.47,-146.0,296.9,-7.8,482,3076,0.00,2.62,0.00,0.000,6,0.000,0.032,2594,2297,3346
$GC,3397,-1.55,-146.0,322.7,-8.8,513,3401,0.12,2.17,0.00,0.000,4,0.055,0.048,2555,3553,3345
$GC,3520,-1.43,-146.0,335.9,-10.8,523,3527,0.20,1.92,0.00,0.000,6,0.107,0.031,2591,2389,3344
$GC,3847,-1.43,-146.0,362.7,-8.7,554,3852,0.00,2.88,0.00,0.000,4,0.000,0.049,2591,763,3342
$GC,3898,-1.43,-146.0,367.6,-9.0,558,3903,0.00,2.78,0.00,0.000,6,0.000,0.034,2591,2374,3342
$GC,4226,-1.49,-146.0,397.3,-9.3,588,4230,0.00,2.05,0.00,0.000,4,0.000,0.050,2592,3556,3339
$GC,4321,-1.49,-146.0,406.3,-9.2,596,4328,0.00,2.17,0.00,0.000,6,0.000,0.032,2592,2259,3340
$GC,4651,-1.56,-146.0,428.7,-6.4,627,4656,0.12,2.67,0.00,0.000,4,0.055,0.051,2554,753,3337
$GC,4725,-1.46,-146.0,434.8,-8.0,633,4730,0.15,2.83,0.00,0.000,6,0.110,0.034,2581,2392,3336
$GC,5051,-1.51,-146.0,460.9,-8.1,663,5054,0.00,2.03,0.00,0.000,4,0.000,0.051,2581,3554,3334
$GC,5146,-1.47,-146.0,469.4,-8.7,671,5153,0.00,2.17,0.00,0.000,6,0.000,0.033,2581,2259,3333
$GC,5474,-1.53,-146.0,495.9,-7.7,702,5479,0.00,2.65,0.00,0.000,4,0.000,0.052,2581,762,3332
$GC,5515,-1.53,-146.0,499.4,-8.0,705,5519,0.00,2.60,0.00,0.000,6,0.000,0.035,2581,2275,3332
$GC,5844,-1.58,-146.0,521.9,-6.8,721,5849,0.00,2.70,0.00,0.000,4,0.000,0.052,2581,759,3330
$GC,5924,-1.58,-146.0,528.0,-8.0,724,5931,0.00,2.80,0.00,0.000,6,0.000,0.035,2581,2377,3329
$GC,6241,-1.58,-146.0,553.3,-8.4,740,6245,0.00,2.90,0.00,0.000,4,0.000,0.053,2581,760,3328
$GC,6290,-1.58,-146.0,557.7,-8.8,742,6294,0.00,2.75,0.00,0.000,6,0.000,0.037,2581,2341,3327
$GC,6606,-1.58,-146.0,583.7,-8.5,757,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2340,3326
$GC,6916,-1.62,-146.0,609.8,-7.7,772,6925,0.15,2.83,0.00,0.000,4,0.055,0.058,2536,759,3325
$GC,6992,-1.52,-146.0,616.6,-9.0,775,6998,0.20,2.72,0.00,0.000,6,0.112,0.036,2571,2333,3325
$GC,7314,-1.52,-146.0,639.8,-7.1,791,7322,0.00,2.15,0.00,0.000,4,0.000,0.055,2571,3552,3323
$GC,7341,-1.49,-146.0,642.1,-8.4,792,7344,0.00,2.05,0.00,0.000,6,0.000,0.035,2571,2342,3323
$GC,7674,-1.49,-146.0,667.9,-8.1,808,7678,0.00,2.83,0.00,0.000,4,0.000,0.056,2571,762,3321
$GC,7702,-1.49,-146.0,670.3,-8.9,809,7707,0.00,2.72,0.00,0.000,6,0.000,0.037,2572,2341,3321
$GC,8019,-1.49,-146.0,696.5,-7.8,824,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2342,3319
$GC,8328,-1.49,-146.0,719.8,-7.8,839,8337,0.00,2.83,0.00,0.000,4,0.000,0.055,2571,764,3318
$GC,8348,-1.49,-146.0,721.7,-8.1,839,8356,0.00,2.72,0.00,0.000,6,0.000,0.038,2572,2328,3319
$STATE,8641,end dive,NO_VERTICAL_VELOCITY
$STATE,8641,begin apogee
$GC,8647,-0.35,0.0,729.4,0.0,854,8770,1.17,0.00,118.75,1.160,6,0.056,0.000,2831,2381,2748
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8774,1.56,146.0,729.2,0.0,860,8906,1.88,2.62,123.25,1.118,4,0.051,0.056,3246,994,2151
$GC,8947,1.29,146.0,720.4,10.2,868,8952,0.32,2.42,0.00,0.000,6,0.118,0.038,3188,2367,2151
$GC,9270,1.22,184.7,695.9,7.3,884,9307,0.00,2.58,32.12,1.121,4,0.000,0.056,3188,986,1994
$GC,9358,1.10,184.7,688.5,9.1,887,9362,0.22,2.45,0.00,0.000,6,0.114,0.039,3147,2368,1993
$GC,9679,1.14,212.9,663.2,7.8,903,9710,0.00,2.62,23.52,1.119,4,0.000,0.057,3147,992,1879
$GC,9795,1.19,239.7,653.7,7.8,908,9822,0.00,2.33,22.85,1.108,6,0.000,0.038,3147,2316,1770
$GC,10139,1.26,281.4,628.2,7.1,925,10185,0.15,2.53,35.55,1.093,4,0.068,0.058,3181,990,1599
$GC,10260,1.22,281.4,617.1,9.9,930,10264,0.00,2.28,0.00,0.000,6,0.000,0.038,3181,2287,1597
$GC,10582,1.22,281.4,586.7,9.4,946,10586,0.00,2.38,0.00,0.000,4,0.000,0.058,3181,984,1596
$GC,10616,1.22,281.4,583.1,10.8,947,10623,0.00,2.25,0.00,0.000,6,0.000,0.038,3181,2273,1595
$GC,10931,1.22,281.4,553.9,9.5,963,10936,0.00,2.60,0.00,0.000,4,0.000,0.058,3181,3726,1595
$GC,10952,1.22,281.4,551.6,10.2,964,10957,0.00,2.53,0.00,0.000,6,0.000,0.038,3181,2271,1595
$GC,11275,1.22,281.4,520.7,9.5,980,11279,0.00,2.33,0.00,0.000,4,0.000,0.058,3181,982,1594
$GC,11352,1.22,281.4,513.0,9.2,983,11359,0.00,2.22,0.00,0.000,6,0.000,0.038,3181,2260,1594
$GC,11674,1.26,305.4,485.6,7.9,1007,11698,0.00,0.00,19.42,1.045,6,0.000,0.000,3182,2261,1502
$GC,12015,1.26,305.4,456.1,9.7,1039,12019,0.00,2.30,0.00,0.000,4,0.000,0.057,3182,990,1499
$GC,12070,1.26,305.4,450.4,10.3,1043,12077,0.00,2.20,0.00,0.000,6,0.000,0.037,3181,2253,1499
$GC,12398,1.30,325.9,421.2,8.1,1074,12417,0.00,0.00,17.35,0.998,6,0.000,0.000,3181,2253,1419
$GC,12734,1.33,325.9,390.7,9.6,1106,12738,0.00,2.30,0.00,0.000,4,0.000,0.057,3182,982,1416
$GC,12796,1.37,325.9,384.5,9.6,1111,12800,0.00,2.17,0.00,0.000,6,0.000,0.036,3182,2236,1414
$GC,13122,1.46,325.9,351.4,10.1,1141,13127,0.15,2.25,0.00,0.000,4,0.061,0.054,3224,987,1414
$GC,13140,1.51,325.9,349.6,9.8,1142,13144,0.00,1.98,0.00,0.000,6,0.000,0.036,3224,2117,1414
$GC,13472,1.46,325.9,317.2,9.0,1173,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2116,1414
$GC,13791,1.41,325.9,288.9,9.2,1203,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2116,1414
$GC,14119,1.38,325.9,257.4,10.1,1234,14123,0.00,2.85,0.00,0.000,4,0.000,0.052,3224,3728,1414
$GC,14220,1.32,325.9,246.3,10.5,1245,14228,0.17,2.65,0.00,0.000,6,0.119,0.037,3194,2192,1414
$GC,14567,1.43,333.3,214.9,8.7,1306,14582,0.10,2.20,5.65,0.867,4,0.073,0.055,3219,993,1388
$GC,14617,1.43,333.3,210.4,9.2,1314,14624,0.00,2.33,0.00,0.000,6,0.000,0.035,3219,2336,1388
$GC,14963,1.47,354.0,180.3,8.1,1375,14989,0.00,2.47,18.23,0.797,4,0.000,0.052,3219,986,1302
$GC,15099,1.49,365.7,168.4,8.5,1398,15114,0.00,2.22,9.62,0.800,6,0.000,0.035,3219,2273,1257
$GC,15454,1.61,366.2,136.6,9.0,1460,15462,0.15,2.30,0.00,0.000,4,0.056,0.051,3264,987,1254
$GC,15486,1.61,366.2,133.3,9.8,1465,15494,0.00,2.42,0.00,0.000,6,0.000,0.035,3263,2387,1253
$GC,15832,1.67,397.1,103.9,7.6,1526,15866,0.00,2.40,26.02,0.707,4,0.000,0.051,3263,3720,1128
$GC,15971,1.76,425.1,93.2,7.8,1549,16005,0.12,2.38,23.40,0.690,6,0.061,0.032,3298,2329,1014
$GC,16346,1.91,480.1,65.3,6.6,1614,16400,0.10,2.50,45.00,0.633,4,0.064,0.047,3328,3722,788
$GC,16452,1.95,501.8,56.8,8.0,1631,16474,0.00,2.50,17.25,0.631,6,0.000,0.031,3328,2257,702
$GC,16813,2.00,501.8,25.5,9.8,1694,16819,0.00,2.58,0.00,0.000,4,0.000,0.044,3328,3734,697
$GC,16913,2.07,510.5,16.6,8.6,1711,16928,0.12,2.53,6.15,0.614,6,0.059,0.029,3363,2237,665
$STATE,17058,end climb,SURFACE_DEPTH_REACHED
$STATE,17058,begin surface coast
$FINISH,-0.1,1.020997
$STATE,17081,end surface coast,CONTROL_FINISHED_OK
$STATE,17081,begin surface
$SM_CCo,17165,0.00,0.000,0,0,661,511.94
$SM_GC,0.74,13.73,0.00,0.00,0.040,0.000,0.000,250,2127,661,-12.18,-0.68,511.94
$IRIDIUM_FIX,1243.25,12013.48,200797,090938
$TT8_MAMPS,0.023777
$HUMID,2045
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.00
$XPDR_PINGS,414
$24V_AH,23.2,59.406
$10V_AH,10.1,30.487
$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,33.375,183.350,544.150,0.000,0.000,24.098,36.390,180.757,109.750,0.000,0.000,14.285,3653.813,9628.059,752.034,2877.687,635.259,0.000,2223.987,0.000,2832.962,0.000,46.989
$DEVICE_MAMPS,168.740,121.186,1159.704,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56632,1740
$CAP_FILE_SIZE,180433,0
$CFSIZE,260165632,230584320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,344.3,1
$GPS,250408,191855,1246.686,12014.742,25,0.9,42,-0.8