version: 66.03
glider: 122
mission: 6
dive: 323
start: 4 26 108 4 49 20
data:
$ID,122
$MISSION,6
$DIVE,323
$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,-33787.512
$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,34
$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
$GPS1,043938,1245.996,12014.971,35,1.4,35,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.9
$GPS2,044845,1246.160,12014.875,15,1.0,15,-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,141.7,1508,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.96,-78.2,0.0,0.0,0,87,0.00,0.00,-60.80,0.000,2,0.000,0.000,252,2142,2495
$GC,91,-1.99,-91.4,3.4,-8.0,10,123,12.75,2.50,-12.25,0.000,4,0.168,0.051,2466,3568,3123
$GC,192,-1.71,-91.4,26.5,-21.1,27,199,0.35,2.35,0.00,0.000,6,0.144,0.026,2525,2143,3124
$GC,538,-1.60,-91.4,88.9,-14.7,88,546,0.15,2.42,0.00,0.000,4,0.144,0.040,2553,3561,3125
$GC,559,-1.50,-91.4,91.9,-14.5,91,566,0.12,2.35,0.00,0.000,6,0.132,0.027,2574,2142,3126
$GC,905,-1.55,-91.4,128.6,-10.2,152,911,0.00,2.42,0.00,0.000,4,0.000,0.041,2574,3559,3128
$GC,952,-1.55,-91.4,133.5,-10.5,160,959,0.00,2.33,0.00,0.000,6,0.000,0.027,2574,2149,3128
$GC,1298,-1.66,-101.6,165.1,-8.2,221,1306,0.15,2.40,0.00,0.000,4,0.053,0.041,2527,3562,3129
$GC,1386,-1.66,-101.6,173.7,-9.3,236,1393,0.00,2.20,0.00,0.000,6,0.000,0.028,2527,2230,3129
$GC,1731,-1.66,-101.6,205.8,-10.2,297,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2230,3129
$GC,2075,-1.66,-101.6,241.4,-9.1,358,2082,0.00,2.30,0.00,0.000,4,0.000,0.044,2527,3567,3128
$GC,2157,-1.66,-101.6,249.5,-9.8,372,2163,0.00,2.22,0.00,0.000,6,0.000,0.031,2527,2235,3128
$GC,2484,-1.66,-101.6,279.8,-9.4,403,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2234,3126
$GC,2800,-1.67,-105.9,308.1,-8.7,433,2804,0.00,2.30,0.00,0.000,4,0.000,0.047,2527,3559,3125
$GC,2889,-1.67,-105.9,316.8,-9.9,440,2896,0.00,2.20,0.00,0.000,6,0.000,0.031,2527,2246,3124
$GC,3217,-1.71,-105.9,346.7,-9.4,471,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2244,3121
$GC,3544,-1.76,-112.4,375.9,-8.5,502,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2244,3120
$GC,3863,-1.80,-118.0,403.2,-8.6,532,3867,0.00,2.30,0.00,0.000,4,0.000,0.048,2527,3561,3118
$GC,3891,-1.80,-118.4,406.0,-9.0,534,3895,0.00,2.20,0.00,0.000,6,0.000,0.032,2527,2259,3118
$GC,4219,-1.84,-118.4,434.6,-9.5,564,4224,0.12,2.28,0.00,0.000,4,0.065,0.048,2494,3557,3115
$GC,4252,-1.79,-118.4,438.6,-11.7,566,4259,0.12,2.20,0.00,0.000,6,0.123,0.033,2514,2251,3116
$GC,4577,-1.79,-118.4,469.4,-9.6,597,4581,0.00,2.30,0.00,0.000,4,0.000,0.050,2514,3559,3114
$GC,4617,-1.79,-118.4,473.3,-9.5,600,4621,0.00,2.17,0.00,0.000,6,0.000,0.033,2514,2272,3113
$GC,4954,-1.79,-120.2,504.3,-8.9,629,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2268,3112
$GC,5262,-1.80,-126.8,531.0,-8.5,644,5265,0.00,2.25,0.00,0.000,4,0.000,0.051,2514,3556,3109
$GC,5308,-1.81,-133.7,535.2,-8.5,646,5311,0.00,2.15,0.00,0.000,6,0.000,0.034,2514,2288,3109
$GC,5641,-1.83,-146.0,561.9,-7.6,662,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2286,3108
$GC,5950,-1.83,-146.0,586.0,-8.0,677,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2286,3106
$GC,6260,-1.87,-146.0,612.1,-8.6,692,6264,0.00,2.25,0.00,0.000,4,0.000,0.052,2514,3559,3104
$GC,6292,-1.87,-146.0,615.5,-9.4,693,6299,0.00,2.15,0.00,0.000,6,0.000,0.035,2514,2295,3104
$GC,6609,-2.10,-146.0,639.7,-5.3,709,6611,0.30,0.00,0.00,0.000,6,0.046,0.000,2437,2293,3103
$STATE,6771,end dive,NO_VERTICAL_VELOCITY
$STATE,6771,begin apogee
$GC,6778,-0.35,0.0,639.1,0.0,717,6854,1.80,0.00,72.40,1.089,6,0.063,0.000,2827,2386,2748
$STATE,6855,end apogee,CONTROL_FINISHED_OK
$STATE,6855,begin climb
$GC,6858,2.08,146.0,638.9,0.0,721,6989,2.38,2.42,120.65,1.047,4,0.051,0.056,3359,3712,2152
$GC,7084,1.83,146.0,621.8,10.9,731,7089,0.30,2.30,0.00,0.000,6,0.141,0.039,3309,2391,2150
$GC,7406,1.72,147.7,592.8,8.9,747,7411,0.15,2.60,0.00,0.000,4,0.152,0.058,3285,960,2147
$GC,7484,1.62,147.7,585.5,9.4,750,7492,0.15,2.42,0.00,0.000,6,0.140,0.038,3260,2347,2147
$GC,7802,1.63,152.6,558.2,8.6,766,7808,0.00,0.00,4.57,1.074,6,0.000,0.000,3260,2345,2125
$GC,8110,1.64,160.2,532.1,8.4,781,8123,0.00,2.55,6.38,1.069,4,0.000,0.058,3260,961,2094
$GC,8208,1.62,167.3,523.7,8.4,785,8221,0.00,2.45,6.32,1.062,6,0.000,0.038,3260,2356,2065
$GC,8530,1.64,178.8,497.2,8.1,802,8541,0.00,0.00,9.30,1.048,6,0.000,0.000,3260,2357,2019
$GC,8860,1.64,178.8,468.8,9.7,833,8865,0.00,2.53,0.00,0.000,4,0.000,0.057,3260,963,2018
$GC,8904,1.64,178.8,464.1,9.6,836,8912,0.00,2.40,0.00,0.000,6,0.000,0.037,3260,2342,2018
$GC,9232,1.66,191.4,435.3,8.0,867,9249,0.00,0.00,10.27,1.014,6,0.000,0.000,3260,2342,1967
$GC,9570,1.67,201.2,406.7,8.2,899,9583,0.00,2.58,8.23,0.999,4,0.000,0.057,3260,972,1927
$GC,9652,1.69,210.4,399.7,8.3,906,9665,0.00,2.38,7.68,0.989,6,0.000,0.038,3260,2329,1890
$GC,9983,1.69,211.1,370.2,9.0,937,9987,0.00,2.47,0.00,0.000,4,0.000,0.056,3261,963,1889
$GC,10012,1.69,211.1,367.4,9.8,939,10016,0.00,2.30,0.00,0.000,6,0.000,0.037,3260,2284,1889
$GC,10344,1.71,225.0,340.1,7.9,970,10362,0.00,2.60,12.27,0.940,4,0.000,0.054,3260,3731,1829
$GC,10409,1.72,231.0,334.8,8.5,975,10421,0.00,2.47,4.75,0.945,6,0.000,0.037,3260,2298,1806
$GC,10739,1.78,231.0,305.7,9.3,1006,10741,0.15,0.00,0.00,0.000,6,0.072,0.000,3294,2298,1805
$GC,11059,1.78,231.0,274.7,9.9,1036,11063,0.00,2.38,0.00,0.000,4,0.000,0.056,3294,970,1805
$GC,11103,1.78,231.0,270.0,10.3,1039,11110,0.00,2.35,0.00,0.000,6,0.000,0.036,3294,2327,1805
$GC,11435,1.78,231.0,239.8,9.2,1080,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2326,1805
$GC,11780,1.78,234.4,210.2,8.7,1141,11788,0.00,2.53,2.70,0.867,4,0.000,0.054,3294,961,1791
$GC,11851,1.78,234.4,203.3,9.6,1153,11858,0.00,2.33,0.00,0.000,6,0.000,0.035,3294,2306,1792
$GC,12196,1.79,237.9,171.3,8.7,1214,12204,0.00,2.58,3.12,0.838,4,0.000,0.051,3294,3732,1778
$GC,12262,1.79,237.9,165.1,9.2,1225,12269,0.00,2.42,0.00,0.000,6,0.000,0.035,3294,2315,1778
$GC,12608,1.86,256.4,137.3,7.5,1286,12629,0.00,2.50,15.23,0.767,4,0.000,0.052,3294,969,1701
$GC,12822,1.94,270.7,122.0,7.9,1323,12843,0.15,2.30,11.57,0.756,6,0.065,0.034,3330,2303,1643
$GC,13184,2.05,306.5,97.9,6.1,1386,13222,0.00,2.58,28.27,0.693,4,0.000,0.048,3330,3721,1497
$GC,13432,2.18,350.6,81.0,5.5,1429,13473,0.22,2.38,35.17,0.657,6,0.056,0.031,3383,2318,1318
$GC,13815,2.29,381.9,53.4,6.5,1495,13847,0.00,2.42,24.17,0.622,4,0.000,0.048,3383,967,1190
$GC,13941,2.38,402.7,44.6,7.3,1516,13968,0.17,2.47,16.55,0.617,6,0.052,0.031,3430,2414,1105
$GC,14308,2.38,402.7,8.4,10.0,1580,14315,0.00,2.55,0.00,0.000,4,0.000,0.044,3431,957,1103
$GC,14323,2.38,403.9,7.1,8.9,1582,14330,0.00,2.30,0.00,0.000,6,0.000,0.029,3430,2320,1103
$STATE,14373,end climb,SURFACE_DEPTH_REACHED
$STATE,14373,begin surface coast
$FINISH,0.0,1.021046
$STATE,14397,end surface coast,CONTROL_FINISHED_OK
$STATE,14398,begin surface
$SM_CCo,14422,35.40,0.549,0,0,810,475.15
$SM_GC,0.77,0.00,0.00,35.40,0.000,0.000,0.549,249,2105,810,-12.22,-1.27,475.15
$IRIDIUM_FIX,1241.04,12013.48,210797,040422
$TT8_MAMPS,0.023777
$HUMID,2038
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.40
$XPDR_PINGS,406
$ALTIM_BOTTOM_PING,621.5,18.0
$24V_AH,23.3,59.884
$10V_AH,10.1,30.750
$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,33.525,119.250,399.625,35.400,0.000,49.564,77.357,223.974,105.500,0.000,0.000,15.259,3228.935,7962.900,605.812,2530.756,682.448,0.000,1870.585,0.000,2488.383,0.000,32.917
$DEVICE_MAMPS,167.973,62.894,1089.140,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50397,1595
$CAP_FILE_SIZE,151143,0
$CFSIZE,260165632,230375424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,326.3,1
$GPS,260408,085132,1246.051,12014.872,36,1.4,36,-0.8