version: 66.03
glider: 122
mission: 6
dive: 322
start: 4 26 108 0 19 0
data:
$ID,122
$MISSION,6
$DIVE,322
$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,-33771.625
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,001208,1246.642,12014.777,29,1.1,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-72.2
$GPS2,001815,1246.705,12014.723,14,1.3,14,-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,153.8,2452,-21.8,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.72,-109.8,0.0,0.0,0,91,0.00,0.00,-64.57,0.000,2,0.000,0.000,252,2170,2480
$GC,94,-1.75,-130.3,3.5,-7.8,11,132,13.07,2.53,-15.55,0.000,4,0.169,0.052,2519,749,3281
$GC,180,-1.52,-130.3,21.8,-19.3,25,187,0.30,2.38,0.00,0.000,6,0.127,0.027,2573,2169,3283
$GC,526,-1.38,-130.3,78.3,-14.0,86,534,0.15,2.38,0.00,0.000,4,0.122,0.043,2603,3555,3284
$GC,648,-1.30,-130.3,94.4,-12.9,107,655,0.00,2.30,0.00,0.000,6,0.000,0.026,2602,2157,3285
$GC,993,-1.30,-130.3,130.1,-10.1,168,1000,0.00,2.40,0.00,0.000,4,0.000,0.042,2603,3557,3287
$GC,1012,-1.30,-130.3,132.2,-11.0,171,1019,0.00,2.30,0.00,0.000,6,0.000,0.026,2603,2162,3287
$GC,1358,-1.38,-130.3,164.3,-9.7,232,1365,0.00,2.38,0.00,0.000,4,0.000,0.043,2603,3548,3289
$GC,1413,-1.38,-130.3,169.4,-9.9,241,1420,0.00,2.22,0.00,0.000,6,0.000,0.028,2603,2200,3289
$GC,1758,-1.52,-137.5,201.7,-8.6,302,1766,0.12,2.33,0.00,0.000,4,0.054,0.043,2562,3552,3289
$GC,1852,-1.48,-137.5,211.0,-10.4,318,1859,0.10,2.10,0.00,0.000,6,0.113,0.028,2579,2279,3289
$GC,2198,-1.57,-137.5,242.6,-9.0,379,2205,0.00,2.20,0.00,0.000,4,0.000,0.045,2579,3556,3288
$GC,2229,-1.62,-137.5,245.5,-9.2,384,2237,0.12,2.05,0.00,0.000,6,0.061,0.029,2545,2311,3288
$GC,2565,-1.58,-137.5,281.1,-10.7,419,2569,0.00,2.72,0.00,0.000,4,0.000,0.048,2544,759,3286
$GC,2593,-1.58,-137.5,284.3,-11.4,421,2597,0.00,2.67,0.00,0.000,6,0.000,0.033,2545,2327,3286
$GC,2922,-1.55,-137.5,318.9,-10.4,451,2926,0.12,2.12,0.00,0.000,4,0.111,0.048,2566,3555,3284
$GC,2954,-1.55,-137.5,322.9,-10.4,453,2961,0.00,2.08,0.00,0.000,6,0.000,0.031,2566,2304,3283
$GC,3282,-1.56,-146.0,351.6,-8.3,484,3286,0.00,2.75,0.00,0.000,4,0.000,0.050,2566,751,3283
$GC,3304,-1.56,-146.0,353.9,-8.8,485,3311,0.00,2.67,0.00,0.000,6,0.000,0.032,2566,2314,3282
$GC,3630,-1.56,-146.0,382.0,-8.9,516,3634,0.00,2.12,0.00,0.000,4,0.000,0.049,2567,3547,3280
$GC,3669,-1.56,-146.0,386.0,-9.8,519,3676,0.00,2.08,0.00,0.000,6,0.000,0.031,2566,2305,3279
$GC,3997,-1.56,-146.0,413.8,-8.0,550,4001,0.00,2.75,0.00,0.000,4,0.000,0.051,2566,760,3277
$GC,4041,-1.60,-146.0,417.9,-9.4,553,4048,0.00,2.65,0.00,0.000,6,0.000,0.034,2567,2302,3277
$GC,4369,-1.63,-146.0,445.0,-8.5,584,4373,0.00,2.17,0.00,0.000,4,0.000,0.050,2566,3549,3275
$GC,4436,-1.63,-146.0,451.0,-8.6,589,4443,0.00,2.10,0.00,0.000,6,0.000,0.033,2566,2298,3274
$GC,4764,-1.67,-146.0,478.7,-8.9,620,4769,0.12,2.75,0.00,0.000,4,0.061,0.052,2533,760,3272
$GC,4786,-1.67,-146.0,481.1,-9.1,621,4793,0.00,2.62,0.00,0.000,6,0.000,0.035,2532,2285,3272
$GC,5110,-1.64,-146.0,512.4,-9.8,646,5114,0.00,2.22,0.00,0.000,4,0.000,0.052,2533,3550,3270
$GC,5177,-1.56,-146.0,519.6,-9.6,649,5185,0.17,2.08,0.00,0.000,6,0.115,0.033,2564,2314,3269
$GC,5509,-1.60,-146.0,547.7,-7.9,665,5514,0.00,2.78,0.00,0.000,4,0.000,0.053,2564,762,3267
$GC,5551,-1.63,-146.0,551.1,-8.1,667,5555,0.00,2.65,0.00,0.000,6,0.000,0.036,2564,2293,3266
$GC,5880,-1.71,-146.0,575.8,-7.5,683,5885,0.15,2.75,0.00,0.000,4,0.056,0.052,2518,756,3266
$GC,5930,-1.65,-146.0,580.7,-9.2,685,5935,0.15,2.55,0.00,0.000,6,0.114,0.035,2544,2236,3265
$GC,6248,-1.65,-146.0,607.2,-8.5,700,6252,0.00,2.30,0.00,0.000,4,0.000,0.054,2544,3544,3263
$GC,6326,-1.62,-146.0,614.8,-9.3,703,6333,0.00,2.17,0.00,0.000,6,0.000,0.035,2544,2264,3263
$GC,6644,-1.62,-146.0,639.7,-7.2,719,6648,0.00,2.70,0.00,0.000,4,0.000,0.056,2545,755,3261
$GC,6693,-1.62,-146.0,644.0,-8.3,721,6698,0.00,2.60,0.00,0.000,6,0.000,0.037,2545,2258,3261
$GC,7011,-1.62,-146.0,672.3,-8.4,736,7015,0.00,2.28,0.00,0.000,4,0.000,0.056,2545,3545,3260
$GC,7061,-1.62,-146.0,677.1,-7.6,738,7065,0.00,2.15,0.00,0.000,6,0.000,0.035,2545,2279,3260
$GC,7379,-1.62,-146.0,698.2,-4.7,753,7383,0.00,2.25,0.00,0.000,4,0.000,0.056,2545,3542,3258
$STATE,7629,end dive,NO_VERTICAL_VELOCITY
$STATE,7629,begin apogee
$GC,7637,-0.35,0.0,697.9,0.0,764,7749,1.30,0.00,105.50,1.136,6,0.071,0.000,2825,2380,2748
$STATE,7749,end apogee,CONTROL_FINISHED_OK
$STATE,7750,begin climb
$GC,7753,1.78,146.0,697.7,0.0,770,7885,2.12,2.67,122.05,1.095,4,0.061,0.060,3291,980,2152
$GC,8066,1.53,146.0,671.1,9.6,784,8072,0.28,2.45,0.00,0.000,6,0.130,0.040,3243,2365,2150
$GC,8395,1.56,241.6,653.7,3.5,800,8482,0.00,2.53,79.78,1.081,4,0.000,0.059,3243,3732,1761
$GC,8563,1.45,241.6,637.4,15.7,807,8568,0.12,2.28,0.00,0.000,6,0.142,0.039,3224,2427,1759
$GC,8881,1.41,241.6,602.1,10.4,822,8885,0.00,2.62,0.00,0.000,4,0.000,0.059,3224,980,1756
$GC,8981,1.36,241.6,590.7,11.1,826,8989,0.12,2.50,0.00,0.000,6,0.132,0.039,3203,2405,1756
$GC,9299,1.36,241.6,558.9,9.7,842,9303,0.00,2.60,0.00,0.000,4,0.000,0.057,3203,974,1755
$GC,9383,1.36,241.6,549.6,10.7,846,9387,0.00,2.42,0.00,0.000,6,0.000,0.038,3203,2368,1754
$GC,9716,1.36,241.6,516.8,9.7,862,9720,0.00,2.53,0.00,0.000,4,0.000,0.056,3203,974,1754
$GC,9817,1.37,244.3,506.5,8.9,866,9824,0.00,2.35,0.00,0.000,6,0.000,0.038,3203,2321,1754
$GC,10141,1.40,261.2,479.7,8.0,893,10165,0.00,2.53,15.05,1.042,4,0.000,0.056,3203,980,1683
$GC,10200,1.40,262.0,474.4,9.0,898,10204,0.00,2.33,0.00,0.000,6,0.000,0.037,3203,2306,1682
$GC,10527,1.42,274.2,446.7,8.3,928,10544,0.00,2.45,11.48,1.025,4,0.000,0.055,3203,980,1629
$GC,10613,1.43,280.5,439.3,8.6,935,10625,0.00,2.22,5.30,1.029,6,0.000,0.036,3203,2252,1604
$GC,10943,1.47,280.5,410.5,9.3,966,10948,0.00,2.62,0.00,0.000,4,0.000,0.054,3203,3724,1603
$GC,10966,1.50,280.5,408.2,10.0,967,10975,0.10,2.55,0.00,0.000,6,0.058,0.037,3232,2242,1603
$GC,11291,1.50,280.5,376.5,9.6,998,11295,0.00,2.28,0.00,0.000,4,0.000,0.056,3232,973,1602
$GC,11347,1.47,280.5,371.1,9.8,1002,11354,0.00,2.17,0.00,0.000,6,0.000,0.036,3232,2234,1602
$GC,11673,1.47,280.5,339.6,9.8,1033,11678,0.00,2.65,0.00,0.000,4,0.000,0.054,3232,3732,1602
$GC,11706,1.47,280.5,336.0,10.2,1035,11713,0.00,2.60,0.00,0.000,6,0.000,0.037,3232,2225,1602
$GC,12034,1.47,280.5,305.4,10.2,1066,12038,0.00,2.22,0.00,0.000,4,0.000,0.055,3232,977,1602
$GC,12073,1.47,280.5,300.9,10.1,1069,12077,0.00,2.20,0.00,0.000,6,0.000,0.035,3232,2251,1602
$GC,12400,1.47,280.5,267.0,10.6,1099,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2250,1602
$GC,12724,1.47,280.5,235.5,9.6,1142,12731,0.00,2.30,0.00,0.000,4,0.000,0.054,3232,967,1602
$GC,12749,1.47,280.5,233.1,9.8,1146,12756,0.00,2.20,0.00,0.000,6,0.000,0.035,3232,2246,1601
$GC,13095,1.48,287.5,202.0,8.6,1207,13109,0.00,2.30,5.78,0.852,4,0.000,0.053,3232,977,1576
$GC,13132,1.48,287.5,198.5,9.7,1213,13139,0.00,2.10,0.00,0.000,6,0.000,0.034,3232,2196,1576
$GC,13478,1.52,310.9,169.7,7.7,1274,13504,0.00,2.75,19.52,0.782,4,0.000,0.050,3232,3724,1479
$GC,13539,1.52,312.2,164.5,8.9,1284,13546,0.00,2.60,0.00,0.000,6,0.000,0.035,3232,2219,1478
$GC,13886,1.60,313.8,135.8,8.9,1345,13894,0.00,2.22,2.10,0.795,4,0.000,0.053,3232,978,1468
$GC,13981,1.68,327.4,127.6,8.2,1361,14002,0.17,2.10,11.18,0.757,6,0.061,0.033,3274,2205,1412
$GC,14343,1.81,383.8,99.1,5.7,1424,14396,0.12,2.30,46.00,0.678,4,0.067,0.049,3305,972,1181
$GC,14544,1.86,384.5,81.6,9.0,1458,14551,0.00,2.22,0.00,0.000,6,0.000,0.032,3305,2272,1179
$GC,14890,2.00,414.9,55.4,7.2,1519,14924,0.15,2.35,24.52,0.631,4,0.055,0.047,3351,970,1055
$GC,15019,2.04,436.2,45.1,7.8,1540,15045,0.00,2.12,17.42,0.621,6,0.000,0.030,3351,2225,968
$GC,15386,2.09,437.9,12.6,8.9,1604,15393,0.00,2.60,0.00,0.000,4,0.000,0.044,3351,3729,966
$STATE,15493,end climb,SURFACE_DEPTH_REACHED
$STATE,15493,begin surface coast
$FINISH,0.0,1.021045
$STATE,15519,end surface coast,CONTROL_FINISHED_OK
$STATE,15519,begin surface
$SM_CCo,15545,19.42,0.565,0,0,810,475.15
$SM_GC,0.87,0.00,0.00,19.42,0.000,0.000,0.565,253,2145,810,-12.20,-0.14,475.15
$IRIDIUM_FIX,1241.04,12013.48,200797,191947
$TT8_MAMPS,0.023777
$HUMID,2014
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.90
$XPDR_PINGS,428
$ALTIM_BOTTOM_PING,600.2,94.8
$24V_AH,23.2,59.743
$10V_AH,10.1,30.668
$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,32.750,181.975,465.675,19.425,0.000,23.686,44.601,160.184,110.000,0.000,0.000,14.901,3395.466,8474.933,695.787,2772.082,608.171,0.000,2116.508,0.000,2732.592,0.000,23.766
$DEVICE_MAMPS,168.740,59.826,1135.927,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50317,1627
$CAP_FILE_SIZE,169171,0
$CFSIZE,260165632,230432768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,358.4,1
$GPS,260408,043938,1245.996,12014.971,35,1.4,35,-0.8