version: 66.03
glider: 122
mission: 6
dive: 325
start: 4 26 108 13 16 6
data:
$ID,122
$MISSION,6
$DIVE,325
$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,-33815.93
$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,51
$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
$GPS1,130938,1246.378,12014.544,34,1.0,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.3
$GPS2,131532,1246.446,12014.514,10,1.0,15,-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,138.4,2347,-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,21,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-59.30,0.000,2,0.000,0.000,250,2115,2434
$GC,88,-1.56,-146.0,3.3,-6.7,9,127,13.30,2.42,-18.08,0.000,4,0.168,0.053,2560,759,3346
$GC,191,-1.32,-146.0,23.6,-18.2,26,198,0.30,2.35,0.00,0.000,6,0.114,0.027,2615,2162,3348
$GC,537,-1.22,-146.0,75.1,-14.8,87,544,0.12,2.42,0.00,0.000,4,0.116,0.041,2638,763,3350
$GC,608,-1.18,-146.0,84.1,-12.7,99,615,0.00,2.45,0.00,0.000,6,0.000,0.028,2638,2238,3350
$GC,954,-1.25,-146.0,119.5,-9.0,160,961,0.00,2.25,0.00,0.000,4,0.000,0.044,2638,3556,3353
$GC,990,-1.25,-146.0,123.2,-9.8,166,997,0.00,2.20,0.00,0.000,6,0.000,0.026,2638,2208,3353
$GC,1337,-1.36,-146.0,153.4,-8.8,227,1344,0.12,2.50,0.00,0.000,4,0.053,0.042,2595,764,3354
$GC,1369,-1.36,-146.0,156.3,-9.1,232,1376,0.00,2.72,0.00,0.000,6,0.000,0.029,2595,2384,3354
$GC,1715,-1.40,-146.0,187.2,-9.1,293,1722,0.00,2.83,0.00,0.000,4,0.000,0.044,2594,760,3354
$GC,1813,-1.37,-146.0,196.2,-9.1,310,1820,0.00,2.55,0.00,0.000,6,0.000,0.031,2595,2274,3354
$GC,2161,-1.42,-146.0,225.4,-8.2,371,2168,0.00,2.20,0.00,0.000,4,0.000,0.046,2595,3557,3353
$GC,2215,-1.42,-146.0,230.1,-8.7,380,2222,0.00,2.05,0.00,0.000,6,0.000,0.029,2595,2313,3353
$GC,2560,-1.48,-146.0,259.3,-8.7,432,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2310,3352
$GC,2880,-1.54,-146.0,287.5,-9.3,462,2885,0.12,2.72,0.00,0.000,4,0.055,0.048,2557,766,3350
$GC,2954,-1.44,-146.0,295.0,-10.1,468,2960,0.17,2.75,0.00,0.000,6,0.102,0.033,2589,2387,3350
$GC,3280,-1.49,-146.0,323.6,-8.1,498,3284,0.00,2.00,0.00,0.000,4,0.000,0.049,2589,3546,3348
$GC,3373,-1.45,-146.0,331.5,-8.6,506,3376,0.00,2.12,0.00,0.000,6,0.000,0.032,2589,2279,3348
$GC,3700,-1.51,-146.0,356.7,-7.9,536,3704,0.00,2.20,0.00,0.000,4,0.000,0.048,2589,3546,3346
$GC,3801,-1.48,-146.0,365.0,-8.0,544,3808,0.00,1.98,0.00,0.000,6,0.000,0.032,2589,2358,3345
$GC,4129,-1.55,-146.0,390.7,-8.3,575,4132,0.00,2.08,0.00,0.000,4,0.000,0.049,2589,3549,3343
$GC,4187,-1.55,-146.0,395.8,-8.4,580,4191,0.00,2.20,0.00,0.000,6,0.000,0.032,2589,2246,3342
$GC,4514,-1.62,-146.0,420.9,-7.6,610,4519,0.15,2.62,0.00,0.000,4,0.055,0.051,2544,769,3340
$GC,4604,-1.52,-146.0,429.0,-8.7,617,4612,0.15,2.72,0.00,0.000,6,0.107,0.034,2571,2354,3340
$GC,4931,-1.52,-146.0,454.6,-8.3,648,4936,0.00,2.83,0.00,0.000,4,0.000,0.051,2570,769,3337
$GC,5040,-1.47,-146.0,464.2,-8.9,657,5044,0.00,2.55,0.00,0.000,6,0.000,0.034,2571,2250,3337
$GC,5368,-1.47,-146.0,491.8,-9.2,687,5372,0.00,2.28,0.00,0.000,4,0.000,0.050,2571,3553,3335
$GC,5458,-1.42,-146.0,500.9,-9.7,694,5462,0.12,2.05,0.00,0.000,6,0.112,0.033,2593,2332,3334
$GC,5781,-1.51,-146.0,527.9,-8.5,710,5784,0.00,2.12,0.00,0.000,4,0.000,0.051,2593,3543,3332
$GC,5859,-1.51,-146.0,535.0,-8.4,713,5863,0.00,2.20,0.00,0.000,6,0.000,0.035,2593,2245,3332
$GC,6176,-1.60,-146.0,559.4,-7.5,728,6181,0.15,2.65,0.00,0.000,4,0.056,0.054,2549,763,3331
$GC,6255,-1.51,-146.0,566.3,-9.0,731,6262,0.15,2.72,0.00,0.000,6,0.110,0.036,2576,2338,3330
$GC,6572,-1.56,-146.0,590.7,-7.9,747,6577,0.00,2.83,0.00,0.000,4,0.000,0.054,2576,764,3328
$GC,6680,-1.56,-146.0,600.1,-8.8,752,6684,0.00,2.55,0.00,0.000,6,0.000,0.035,2576,2241,3328
$GC,7008,-1.63,-146.0,627.7,-8.5,768,7013,0.12,2.65,0.00,0.000,4,0.061,0.055,2542,768,3327
$GC,7103,-1.54,-146.0,636.7,-10.1,772,7108,0.12,2.38,0.00,0.000,6,0.114,0.036,2564,2150,3327
$GC,7420,-1.50,-146.0,661.1,-7.6,787,7424,0.00,2.47,0.00,0.000,4,0.000,0.054,2564,3556,3326
$GC,7515,-1.44,-146.0,669.2,-7.6,791,7520,0.12,2.35,0.00,0.000,6,0.115,0.036,2586,2182,3325
$GC,7837,-1.52,-146.0,693.0,-7.6,807,7842,0.00,2.42,0.00,0.000,4,0.000,0.054,2586,3552,3323
$GC,7932,-1.52,-146.0,701.1,-8.3,811,7936,0.00,2.22,0.00,0.000,6,0.000,0.036,2586,2247,3323
$STATE,8184,end dive,NO_VERTICAL_VELOCITY
$STATE,8184,begin apogee
$GC,8191,-0.35,0.0,704.6,0.0,823,8313,1.10,0.00,118.75,1.137,6,0.054,0.000,2832,2383,2748
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8314,begin climb
$GC,8316,1.56,146.0,704.3,0.0,829,8452,1.90,2.50,122.28,1.097,4,0.050,0.057,3248,3713,2152
$GC,8487,1.27,146.0,695.8,9.7,837,8493,0.38,2.35,0.00,0.000,6,0.130,0.039,3183,2369,2151
$GC,8804,1.19,164.1,670.5,8.2,852,8827,0.00,2.62,14.52,1.118,4,0.000,0.061,3183,967,2079
$GC,8919,1.11,183.0,660.7,8.2,857,8943,0.20,2.50,16.33,1.110,6,0.117,0.039,3147,2383,2001
$GC,9252,1.20,236.6,638.5,6.6,873,9302,0.00,2.65,44.38,1.085,4,0.000,0.058,3146,970,1782
$GC,9360,1.26,269.6,631.0,7.5,878,9396,0.15,2.42,28.58,1.078,6,0.062,0.038,3181,2347,1648
$GC,9716,1.27,278.8,601.8,8.6,895,9730,0.00,2.60,7.38,1.099,4,0.000,0.058,3181,971,1610
$GC,9828,1.24,278.8,590.5,9.8,900,9832,0.00,2.30,0.00,0.000,6,0.000,0.038,3181,2282,1609
$GC,10155,1.24,278.8,559.2,9.5,916,10159,0.00,2.40,0.00,0.000,4,0.000,0.058,3181,963,1608
$GC,10187,1.24,278.8,555.7,10.1,917,10194,0.00,2.30,0.00,0.000,6,0.000,0.038,3181,2279,1608
$GC,10503,1.24,278.8,525.3,9.3,933,10507,0.00,2.38,0.00,0.000,4,0.000,0.058,3181,972,1607
$GC,10559,1.24,278.8,519.8,9.7,935,10566,0.00,2.17,0.00,0.000,6,0.000,0.038,3181,2225,1607
$GC,10878,1.24,281.1,491.3,8.9,955,10882,0.00,2.28,0.00,0.000,4,0.000,0.058,3181,970,1606
$GC,10899,1.25,286.9,489.3,8.8,956,10910,0.00,2.12,6.60,1.071,6,0.000,0.037,3181,2195,1577
$GC,11231,1.27,295.4,459.4,8.6,987,11244,0.00,2.83,7.45,1.048,4,0.000,0.055,3181,3722,1543
$GC,11303,1.28,303.5,453.2,8.7,993,11316,0.00,2.58,7.15,1.038,6,0.000,0.038,3181,2245,1510
$GC,11634,1.30,316.9,426.1,8.4,1024,11650,0.00,2.35,11.68,1.009,4,0.000,0.058,3181,970,1454
$GC,11696,1.30,316.9,420.2,9.4,1029,11700,0.00,2.22,0.00,0.000,6,0.000,0.037,3181,2242,1452
$GC,12024,1.35,316.9,389.6,9.9,1059,12028,0.00,2.65,0.00,0.000,4,0.000,0.056,3181,3726,1452
$GC,12052,1.35,316.9,386.3,10.5,1061,12056,0.00,2.58,0.00,0.000,6,0.000,0.038,3181,2243,1452
$GC,12380,1.43,316.9,355.8,9.0,1091,12384,0.15,2.28,0.00,0.000,4,0.064,0.057,3222,970,1452
$GC,12470,1.38,316.9,346.1,10.8,1099,12475,0.00,2.47,0.00,0.000,6,0.000,0.038,3222,2392,1451
$GC,12796,1.34,316.9,314.3,9.6,1129,12801,0.15,2.58,0.00,0.000,4,0.111,0.054,3191,960,1451
$GC,12929,1.35,322.9,302.8,8.7,1140,12942,0.00,2.30,4.50,0.944,6,0.000,0.036,3191,2290,1431
$GC,13260,1.44,325.4,272.6,8.9,1171,13273,0.12,2.60,2.65,0.910,4,0.067,0.054,3222,3723,1421
$GC,13346,1.38,325.4,263.8,10.0,1178,13353,0.00,2.72,0.00,0.000,6,0.000,0.037,3222,2147,1420
$GC,13682,1.41,346.0,233.3,8.1,1225,13707,0.00,2.88,17.45,0.839,4,0.000,0.050,3222,3724,1337
$GC,13760,1.41,346.0,225.9,9.6,1238,13767,0.00,2.67,0.00,0.000,6,0.000,0.037,3222,2182,1337
$GC,14106,1.48,363.0,194.7,8.3,1299,14127,0.00,2.28,14.30,0.810,4,0.000,0.055,3222,966,1267
$GC,14150,1.48,363.0,190.5,9.4,1306,14157,0.00,2.42,0.00,0.000,6,0.000,0.035,3222,2356,1265
$GC,14497,1.58,363.0,159.6,9.1,1367,14504,0.12,2.50,0.00,0.000,4,0.064,0.051,3254,960,1264
$GC,14552,1.52,363.0,154.5,9.4,1376,14559,0.00,2.05,0.00,0.000,6,0.000,0.034,3254,2157,1264
$GC,14898,1.56,385.0,125.3,8.0,1437,14924,0.00,2.83,17.90,0.736,4,0.000,0.051,3254,3721,1178
$GC,15040,1.58,396.9,113.0,8.5,1461,15055,0.00,2.65,9.90,0.736,6,0.000,0.034,3254,2177,1130
$GC,15396,1.76,427.0,86.9,7.7,1523,15431,0.15,2.83,24.92,0.676,4,0.056,0.047,3300,3726,1006
$GC,15489,1.76,427.7,78.0,9.0,1538,15496,0.00,2.50,0.00,0.000,6,0.000,0.032,3300,2264,1004
$GC,15835,1.91,451.7,52.0,7.9,1599,15862,0.00,2.60,19.95,0.629,4,0.000,0.044,3300,3725,904
$GC,15979,2.03,489.0,40.6,7.3,1623,16020,0.20,2.33,30.52,0.601,6,0.047,0.030,3357,2345,753
$GC,16360,2.03,489.0,4.2,9.9,1689,16368,0.00,2.40,0.00,0.000,4,0.000,0.043,3358,3732,749
$STATE,16378,end climb,SURFACE_DEPTH_REACHED
$STATE,16378,begin surface coast
$FINISH,0.1,1.021083
$STATE,16396,end surface coast,CONTROL_FINISHED_OK
$STATE,16396,begin surface
$SM_CCo,16482,0.00,0.000,0,0,745,491.34
$SM_GC,0.74,13.68,0.00,0.00,0.039,0.000,0.000,250,2143,745,-12.18,-0.20,491.34
$IRIDIUM_FIX,1243.25,12016.50,210797,090918
$TT8_MAMPS,0.023777
$HUMID,2052
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.10
$XPDR_PINGS,416
$ALTIM_BOTTOM_PING,560.3,150.8
$24V_AH,23.2,60.214
$10V_AH,10.1,30.926
$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,33.550,191.250,527.175,0.000,0.000,27.730,35.511,156.412,106.000,0.000,0.000,15.594,3603.981,9006.658,731.428,2893.270,604.342,0.000,2207.038,0.000,2856.932,0.000,16.659
$DEVICE_MAMPS,167.973,60.593,1137.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53524,1695
$CAP_FILE_SIZE,179315,0
$CFSIZE,260165632,230191104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,321.4,1
$GPS,260408,175202,1246.679,12014.292,38,2.0,38,-0.8