version: 66.03
glider: 122
mission: 6
dive: 321
start: 4 25 108 19 25 24
data:
$ID,122
$MISSION,6
$DIVE,321
$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,-33756.094
$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,55
$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
$GPS1,191855,1246.686,12014.742,25,0.9,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.9
$GPS2,192450,1246.765,12014.692,11,1.3,11,-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,153.0,2573,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,90,0.00,0.00,-63.88,0.000,2,0.000,0.000,250,2126,2400
$GC,93,-1.56,-146.0,3.0,-7.6,12,135,13.43,2.40,-18.80,0.000,4,0.170,0.054,2561,774,3346
$GC,148,-1.17,-146.0,14.3,-16.3,20,156,0.45,2.33,0.00,0.000,6,0.110,0.026,2646,2166,3346
$GC,495,-1.08,-146.0,62.4,-13.1,81,503,0.12,2.38,0.00,0.000,4,0.119,0.043,2667,3556,3348
$GC,583,-1.01,-146.0,73.9,-13.6,96,590,0.00,2.20,0.00,0.000,6,0.000,0.025,2668,2211,3348
$GC,929,-1.19,-146.0,107.7,-9.1,157,936,0.00,2.50,0.00,0.000,4,0.000,0.042,2667,762,3351
$GC,1030,-1.25,-146.0,116.9,-8.6,174,1037,0.17,2.62,0.00,0.000,6,0.045,0.028,2613,2331,3351
$GC,1377,-1.31,-146.0,149.1,-9.3,235,1384,0.00,2.72,0.00,0.000,4,0.000,0.041,2613,761,3353
$GC,1476,-1.31,-146.0,158.6,-9.5,252,1483,0.00,2.75,0.00,0.000,6,0.000,0.030,2613,2394,3353
$GC,1822,-1.37,-146.0,188.8,-9.0,313,1829,0.00,1.98,0.00,0.000,4,0.000,0.048,2613,3547,3353
$GC,1920,-1.37,-146.0,198.2,-9.7,330,1927,0.00,2.08,0.00,0.000,6,0.000,0.028,2613,2282,3353
$GC,2267,-1.47,-146.0,225.4,-8.2,391,2275,0.12,2.17,0.00,0.000,4,0.053,0.043,2572,3551,3353
$GC,2310,-1.39,-146.0,229.3,-9.4,398,2318,0.15,1.92,0.00,0.000,6,0.102,0.028,2599,2376,3353
$GC,2651,-1.47,-146.0,258.8,-8.7,450,2654,0.00,2.03,0.00,0.000,4,0.000,0.046,2599,3550,3351
$GC,2700,-1.47,-146.0,263.6,-9.1,454,2707,0.00,2.10,0.00,0.000,6,0.000,0.030,2599,2282,3350
$GC,3029,-1.54,-146.0,290.5,-7.8,485,3033,0.15,2.20,0.00,0.000,4,0.052,0.045,2550,3553,3348
$GC,3151,-1.41,-146.0,302.7,-10.4,495,3159,0.22,1.92,0.00,0.000,6,0.104,0.031,2592,2393,3347
$GC,3477,-1.46,-146.0,329.6,-8.3,526,3481,0.00,2.00,0.00,0.000,4,0.000,0.048,2592,3546,3346
$GC,3538,-1.46,-146.0,335.4,-9.2,531,3546,0.00,2.10,0.00,0.000,6,0.000,0.031,2592,2287,3345
$GC,3866,-1.54,-146.0,364.1,-8.5,562,3870,0.00,2.20,0.00,0.000,4,0.000,0.048,2592,3550,3343
$GC,3974,-1.54,-146.0,373.4,-8.0,571,3978,0.00,2.28,0.00,0.000,6,0.000,0.032,2592,2205,3342
$GC,4303,-1.61,-146.0,397.0,-6.8,601,4307,0.15,2.55,0.00,0.000,4,0.053,0.051,2542,770,3340
$GC,4347,-1.48,-146.0,400.9,-8.1,604,4356,0.15,2.65,0.00,0.000,6,0.101,0.033,2574,2325,3340
$GC,4672,-1.48,-146.0,427.4,-8.2,635,4677,0.00,2.78,0.00,0.000,4,0.000,0.051,2574,768,3338
$GC,4762,-1.44,-146.0,435.0,-8.9,642,4769,0.00,2.53,0.00,0.000,6,0.000,0.033,2575,2245,3337
$GC,5091,-1.48,-146.0,462.9,-8.9,673,5095,0.00,2.62,0.00,0.000,4,0.000,0.051,2574,770,3336
$GC,5135,-1.44,-146.0,467.3,-9.6,676,5142,0.00,2.47,0.00,0.000,6,0.000,0.033,2575,2216,3335
$GC,5463,-1.49,-146.0,492.1,-7.3,707,5467,0.00,2.58,0.00,0.000,4,0.000,0.052,2574,765,3333
$GC,5541,-1.44,-146.0,498.2,-7.3,713,5548,0.00,2.67,0.00,0.000,6,0.000,0.035,2575,2319,3332
$GC,5863,-1.49,-146.0,521.1,-7.3,730,5867,0.00,2.78,0.00,0.000,4,0.000,0.052,2574,769,3331
$GC,5940,-1.49,-146.0,527.8,-8.6,733,5947,0.00,2.55,0.00,0.000,6,0.000,0.035,2575,2246,3330
$GC,6260,-1.54,-146.0,551.7,-7.9,749,6264,0.00,2.28,0.00,0.000,4,0.000,0.054,2575,3547,3329
$GC,6372,-1.50,-146.0,562.1,-9.6,754,6376,0.00,2.05,0.00,0.000,6,0.000,0.034,2575,2333,3328
$GC,6709,-1.55,-146.0,591.6,-8.9,770,6713,0.00,2.12,0.00,0.000,4,0.000,0.053,2575,3542,3327
$GC,6793,-1.51,-146.0,599.9,-9.1,773,6804,0.00,2.22,0.00,0.000,6,0.000,0.035,2575,2230,3326
$GC,7109,-1.51,-146.0,625.1,-7.8,789,7113,0.00,2.33,0.00,0.000,4,0.000,0.054,2574,3542,3326
$GC,7138,-1.47,-146.0,627.6,-8.8,790,7142,0.00,2.20,0.00,0.000,6,0.000,0.035,2575,2241,3326
$GC,7460,-1.47,-146.0,654.2,-7.8,806,7464,0.00,2.62,0.00,0.000,4,0.000,0.057,2575,775,3323
$GC,7487,-1.47,-146.0,656.6,-8.6,807,7491,0.00,2.47,0.00,0.000,6,0.000,0.036,2575,2213,3324
$GC,7805,-1.47,-146.0,679.7,-7.0,822,7810,0.00,2.35,0.00,0.000,4,0.000,0.054,2575,3543,3322
$GC,7866,-1.43,-146.0,684.6,-7.6,824,7873,0.00,2.20,0.00,0.000,6,0.000,0.035,2575,2250,3322
$GC,8183,-1.43,-146.0,706.2,-6.6,840,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2248,3320
$GC,8492,-1.43,-146.0,729.2,-7.9,855,8496,0.00,2.30,0.00,0.000,4,0.000,0.056,2575,3541,3319
$GC,8542,-1.43,-146.0,733.8,-8.5,857,8546,0.00,2.20,0.00,0.000,6,0.000,0.038,2575,2254,3319
$STATE,8710,end dive,NO_VERTICAL_VELOCITY
$STATE,8711,begin apogee
$GC,8717,-0.35,0.0,733.3,0.0,865,8840,1.15,0.00,119.00,1.163,6,0.060,0.000,2827,2373,2748
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8843,1.56,146.0,732.9,0.0,871,8976,1.95,2.62,123.25,1.124,4,0.058,0.057,3245,1001,2152
$GC,8988,1.35,193.3,727.7,6.9,878,9035,0.25,2.42,39.67,1.111,6,0.126,0.038,3202,2368,1959
$GC,9354,1.23,193.3,692.8,9.3,896,9359,0.15,2.50,0.00,0.000,4,0.124,0.057,3176,998,1956
$GC,9422,1.14,194.1,686.3,9.0,899,9427,0.12,2.38,0.00,0.000,6,0.127,0.038,3156,2355,1956
$GC,9745,1.21,256.1,664.4,6.2,915,9802,0.00,2.53,52.50,1.106,4,0.000,0.058,3156,3721,1703
$GC,9820,1.21,256.1,658.4,10.6,918,9824,0.00,2.35,0.00,0.000,6,0.000,0.038,3156,2379,1702
$GC,10139,1.24,269.6,631.4,8.4,933,10155,0.00,2.47,11.38,1.117,4,0.000,0.055,3156,3727,1648
$GC,10272,1.24,269.6,618.2,9.7,938,10277,0.00,2.45,0.00,0.000,6,0.000,0.038,3156,2318,1646
$GC,10601,1.31,269.6,587.0,9.9,954,10606,0.15,2.53,0.00,0.000,4,0.066,0.055,3195,3723,1646
$GC,10679,1.23,269.6,577.8,11.1,957,10686,0.12,2.25,0.00,0.000,6,0.124,0.038,3175,2417,1645
$GC,10997,1.23,269.6,545.7,10.2,973,11001,0.00,2.35,0.00,0.000,4,0.000,0.055,3174,3731,1644
$GC,11097,1.19,269.6,535.0,10.3,977,11104,0.00,2.42,0.00,0.000,6,0.000,0.038,3175,2332,1644
$GC,11415,1.19,269.6,504.8,9.2,993,11419,0.00,2.45,0.00,0.000,4,0.000,0.058,3175,974,1643
$GC,11511,1.19,269.6,495.6,9.5,999,11515,0.00,2.35,0.00,0.000,6,0.000,0.038,3175,2323,1643
$GC,11836,1.20,277.0,466.2,8.7,1029,11846,0.00,0.00,5.70,1.063,6,0.000,0.000,3175,2322,1618
$GC,12167,1.22,286.2,438.7,8.6,1060,12180,0.00,2.55,7.95,1.037,4,0.000,0.054,3175,964,1581
$GC,12264,1.23,294.9,429.5,8.6,1068,12282,0.00,2.33,8.00,1.024,6,0.000,0.036,3175,2298,1545
$GC,12600,1.29,294.9,399.9,9.4,1100,12604,0.00,2.53,0.00,0.000,4,0.000,0.054,3175,3723,1544
$GC,12667,1.29,294.9,393.5,9.5,1105,12674,0.00,2.42,0.00,0.000,6,0.000,0.036,3175,2314,1543
$GC,12995,1.38,302.2,364.7,8.7,1136,13009,0.15,2.55,6.05,0.986,4,0.061,0.052,3215,3729,1516
$GC,13117,1.30,302.2,352.2,11.1,1146,13125,0.15,2.22,0.00,0.000,6,0.123,0.036,3190,2434,1516
$GC,13443,1.31,310.7,323.2,8.6,1177,13456,0.00,2.38,7.22,0.952,4,0.000,0.053,3190,3723,1481
$GC,13506,1.31,310.7,317.2,9.5,1182,13513,0.00,2.38,0.00,0.000,6,0.000,0.036,3190,2347,1481
$GC,13834,1.38,310.7,288.1,9.4,1213,13838,0.00,2.45,0.00,0.000,4,0.000,0.052,3190,3729,1481
$GC,13855,1.42,310.7,285.7,9.6,1214,13864,0.12,2.30,0.00,0.000,6,0.068,0.035,3220,2379,1480
$GC,14182,1.37,310.7,253.8,9.9,1245,14186,0.00,2.38,0.00,0.000,4,0.000,0.051,3220,3724,1480
$GC,14256,1.30,310.7,245.7,10.3,1254,14264,0.17,2.45,0.00,0.000,6,0.119,0.036,3189,2298,1480
$GC,14605,1.43,343.1,216.8,7.6,1315,14640,0.12,2.47,27.38,0.817,4,0.065,0.054,3221,977,1348
$GC,14728,1.40,343.1,205.8,9.1,1335,14735,0.00,2.50,0.00,0.000,6,0.000,0.035,3221,2413,1345
$GC,15074,1.40,343.9,172.9,9.0,1396,15081,0.00,2.33,0.00,0.000,4,0.000,0.053,3221,3733,1346
$GC,15171,1.40,343.9,163.1,9.2,1413,15178,0.00,2.40,0.00,0.000,6,0.000,0.034,3221,2325,1345
$GC,15517,1.46,379.7,134.1,7.4,1474,15557,0.00,2.58,30.00,0.733,4,0.000,0.049,3221,3727,1198
$GC,15627,1.52,380.9,124.9,9.0,1492,15634,0.00,2.53,0.00,0.000,6,0.000,0.034,3221,2259,1197
$GC,15972,1.75,432.7,97.9,6.7,1553,16022,0.25,2.70,43.55,0.676,4,0.046,0.047,3292,3727,983
$GC,16035,1.79,453.0,93.1,8.1,1562,16061,0.00,2.75,16.92,0.668,6,0.000,0.033,3293,2142,900
$GC,16402,1.88,488.6,60.9,7.4,1626,16442,0.00,2.90,28.48,0.631,4,0.000,0.044,3292,3732,755
$GC,16490,1.97,499.6,53.6,8.5,1640,16505,0.17,2.58,8.68,0.649,6,0.051,0.031,3338,2222,710
$GC,16844,1.97,499.6,20.2,9.7,1702,16851,0.00,2.20,0.00,0.000,4,0.000,0.049,3338,971,708
$GC,16954,1.97,499.6,9.3,10.5,1721,16960,0.00,2.00,0.00,0.000,6,0.000,0.028,3338,2170,708
$STATE,17032,end climb,SURFACE_DEPTH_REACHED
$STATE,17032,begin surface coast
$FINISH,-0.0,0.999617
$STATE,17056,end surface coast,CONTROL_FINISHED_OK
$STATE,17056,begin surface
$SM_CCo,17139,0.00,0.000,0,0,704,501.39
$SM_GC,0.83,13.52,0.00,0.00,0.037,0.000,0.000,252,2172,704,-12.16,0.62,501.39
$IRIDIUM_FIX,1241.04,12015.39,200797,141430
$TT8_MAMPS,0.023777
$HUMID,2000
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,437
$ALTIM_BOTTOM_PING,690.5,53.6
$24V_AH,23.2,59.583
$10V_AH,10.1,30.580
$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,33.700,191.525,535.725,0.000,0.000,23.700,36.298,161.035,114.500,0.000,0.000,11.954,3674.196,9493.648,782.422,2934.655,609.626,0.000,2274.557,0.000,2890.888,0.000,39.974
$DEVICE_MAMPS,169.507,58.292,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1163.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56656,1739
$CAP_FILE_SIZE,184078,0
$CFSIZE,260165632,230498304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,352.9,1
$GPS,260408,001208,1246.642,12014.777,29,1.1,29,-0.8