version: 66.03
glider: 122
mission: 6
dive: 326
start: 4 26 108 17 58 37
data:
$ID,122
$MISSION,6
$DIVE,326
$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,-33829.395
$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,30
$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
$GPS1,175202,1246.679,12014.292,38,2.0,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.6
$GPS2,175803,1246.729,12014.281,12,1.1,12,-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,138.6,3010,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-59.45,0.000,2,0.000,0.000,250,2141,2358
$GC,89,-1.56,-146.0,3.1,-7.1,10,128,13.35,2.50,-20.10,0.000,4,0.170,0.052,2558,740,3346
$GC,214,-1.31,-146.0,26.6,-18.0,31,222,0.30,2.38,0.00,0.000,6,0.114,0.027,2613,2162,3348
$GC,561,-1.18,-146.0,76.9,-13.6,92,569,0.15,2.38,0.00,0.000,4,0.113,0.041,2645,3552,3350
$GC,654,-1.09,-146.0,89.3,-12.2,108,662,0.12,2.25,0.00,0.000,6,0.105,0.025,2668,2185,3350
$GC,1001,-1.26,-146.0,121.6,-8.4,169,1009,0.15,2.47,0.00,0.000,4,0.047,0.041,2615,752,3352
$GC,1101,-1.22,-146.0,131.3,-10.2,186,1109,0.12,2.60,0.00,0.000,6,0.103,0.028,2638,2304,3353
$GC,1448,-1.33,-146.0,160.9,-9.2,247,1455,0.12,2.12,0.00,0.000,4,0.051,0.045,2593,3548,3354
$GC,1547,-1.27,-146.0,171.2,-10.6,264,1554,0.17,1.92,0.00,0.000,6,0.094,0.027,2627,2359,3354
$GC,1894,-1.39,-146.0,201.4,-7.9,325,1901,0.12,2.80,0.00,0.000,4,0.052,0.044,2585,752,3354
$GC,1999,-1.34,-146.0,210.9,-8.8,343,2006,0.15,2.70,0.00,0.000,6,0.099,0.031,2613,2344,3354
$GC,2346,-1.42,-146.0,239.1,-7.8,404,2352,0.00,2.08,0.00,0.000,4,0.000,0.047,2613,3555,3353
$GC,2422,-1.45,-146.0,245.3,-7.9,417,2430,0.12,2.22,0.00,0.000,6,0.059,0.030,2577,2214,3353
$GC,2758,-1.45,-146.0,272.8,-8.2,453,2762,0.00,2.55,0.00,0.000,4,0.000,0.048,2577,759,3351
$GC,2854,-1.39,-146.0,281.3,-9.1,461,2859,0.12,2.67,0.00,0.000,6,0.106,0.031,2599,2333,3351
$GC,3180,-1.48,-146.0,308.4,-9.0,491,3184,0.00,2.08,0.00,0.000,4,0.000,0.049,2600,3545,3349
$GC,3275,-1.48,-146.0,316.8,-8.0,499,3282,0.00,2.20,0.00,0.000,6,0.000,0.031,2600,2235,3348
$GC,3603,-1.58,-146.0,339.7,-6.9,530,3608,0.15,2.60,0.00,0.000,4,0.051,0.050,2552,763,3346
$GC,3668,-1.47,-146.0,345.0,-8.3,535,3673,0.15,2.75,0.00,0.000,6,0.106,0.033,2579,2364,3346
$GC,3994,-1.51,-146.0,371.8,-8.7,565,3997,0.00,2.05,0.00,0.000,4,0.000,0.049,2579,3547,3344
$GC,4090,-1.46,-146.0,380.4,-8.2,573,4097,0.00,2.17,0.00,0.000,6,0.000,0.032,2579,2250,3343
$GC,4417,-1.50,-146.0,405.8,-7.9,604,4422,0.00,2.65,0.00,0.000,4,0.000,0.051,2579,755,3341
$GC,4504,-1.47,-146.0,412.7,-8.1,611,4508,0.00,2.75,0.00,0.000,6,0.000,0.033,2579,2354,3340
$GC,4831,-1.51,-146.0,438.9,-8.2,641,4836,0.00,2.83,0.00,0.000,4,0.000,0.050,2579,760,3339
$GC,4932,-1.51,-146.0,448.2,-8.9,649,4939,0.00,2.55,0.00,0.000,6,0.000,0.034,2579,2248,3338
$GC,5260,-1.56,-146.0,476.9,-8.9,680,5264,0.00,2.65,0.00,0.000,4,0.000,0.051,2579,755,3336
$GC,5270,-1.60,-146.0,478.3,-9.1,680,5278,0.00,2.55,0.00,0.000,6,0.000,0.034,2579,2243,3335
$GC,5607,-1.65,-146.0,505.7,-8.3,709,5612,0.17,2.65,0.00,0.000,4,0.051,0.051,2527,758,3334
$GC,5648,-1.51,-146.0,509.9,-9.8,711,5653,0.20,2.75,0.00,0.000,6,0.172,0.035,2569,2357,3333
$GC,5983,-1.55,-146.0,538.8,-8.9,727,5987,0.00,2.85,0.00,0.000,4,0.000,0.052,2569,762,3332
$GC,6083,-1.51,-146.0,548.8,-9.8,731,6091,0.00,2.60,0.00,0.000,6,0.000,0.035,2569,2274,3331
$GC,6400,-1.55,-146.0,576.9,-8.9,747,6404,0.00,2.70,0.00,0.000,4,0.000,0.054,2569,756,3330
$GC,6462,-1.51,-146.0,582.9,-9.1,750,6467,0.00,2.50,0.00,0.000,6,0.000,0.035,2569,2206,3329
$GC,6793,-1.55,-146.0,611.5,-8.7,766,6797,0.00,2.35,0.00,0.000,4,0.000,0.054,2569,3549,3327
$GC,6895,-1.50,-146.0,621.3,-9.1,770,6899,0.00,2.17,0.00,0.000,6,0.000,0.035,2569,2269,3327
$GC,7212,-1.50,-146.0,647.3,-7.5,785,7216,0.00,2.25,0.00,0.000,4,0.000,0.053,2569,3543,3326
$GC,7268,-1.43,-146.0,651.9,-7.8,787,7275,0.12,2.03,0.00,0.000,6,0.118,0.035,2590,2340,3326
$GC,7587,-1.53,-146.0,677.0,-7.9,803,7591,0.00,2.83,0.00,0.000,4,0.000,0.056,2590,765,3325
$GC,7654,-1.53,-146.0,682.8,-8.4,806,7658,0.00,2.62,0.00,0.000,6,0.000,0.037,2591,2283,3324
$GC,7976,-1.53,-146.0,707.3,-8.2,822,7980,0.00,2.72,0.00,0.000,4,0.000,0.055,2590,766,3323
$GC,8037,-1.53,-146.0,711.8,-7.1,825,8042,0.00,2.58,0.00,0.000,6,0.000,0.037,2590,2251,3323
$STATE,8300,end dive,NO_VERTICAL_VELOCITY
$STATE,8300,begin apogee
$GC,8307,-0.35,0.0,715.6,0.0,838,8430,1.08,0.00,119.10,1.150,6,0.059,0.000,2828,2375,2749
$STATE,8431,end apogee,CONTROL_FINISHED_OK
$STATE,8431,begin climb
$GC,8433,1.56,146.0,715.4,0.0,844,8561,1.90,0.00,122.55,1.105,6,0.054,0.000,3243,2375,2152
$GC,8869,1.38,174.0,686.6,7.8,865,8900,0.17,2.62,23.12,1.116,4,0.126,0.056,3210,992,2038
$GC,8998,1.23,185.5,675.1,8.5,870,9014,0.20,2.38,9.80,1.127,6,0.118,0.039,3175,2341,1991
$GC,9339,1.23,225.0,649.1,7.2,887,9383,0.00,2.53,33.22,1.101,4,0.000,0.058,3174,989,1829
$GC,9422,1.17,225.0,641.7,9.9,890,9429,0.00,2.38,0.00,0.000,6,0.000,0.038,3174,2328,1828
$GC,9739,1.12,226.1,613.7,9.0,906,9743,0.12,2.45,0.00,0.000,4,0.127,0.057,3153,985,1826
$GC,9811,1.15,238.4,607.1,8.5,909,9827,0.00,2.33,10.73,1.115,6,0.000,0.038,3154,2313,1776
$GC,10156,1.19,266.8,579.6,7.7,926,10186,0.00,2.50,24.58,1.082,4,0.000,0.058,3154,996,1659
$GC,10296,1.20,272.4,568.3,8.8,932,10305,0.00,2.22,4.57,1.095,6,0.000,0.038,3154,2270,1637
$GC,10623,1.27,289.1,541.9,8.3,948,10647,0.12,2.40,14.65,1.073,4,0.067,0.058,3185,989,1568
$GC,10704,1.23,289.1,534.2,9.6,951,10708,0.00,2.20,0.00,0.000,6,0.000,0.037,3185,2247,1567
$GC,11025,1.24,297.0,505.7,8.7,967,11039,0.00,2.38,6.55,1.073,4,0.000,0.056,3184,989,1536
$GC,11096,1.21,297.0,499.0,9.6,970,11103,0.00,2.10,0.00,0.000,6,0.000,0.036,3185,2199,1536
$GC,11423,1.21,297.0,469.0,9.2,1001,11427,0.00,2.72,0.00,0.000,4,0.000,0.055,3185,3727,1535
$GC,11456,1.18,297.0,465.4,10.3,1003,11463,0.12,2.62,0.00,0.000,6,0.124,0.038,3164,2210,1535
$GC,11781,1.23,306.4,436.9,8.6,1034,11795,0.00,2.83,8.05,1.032,4,0.000,0.053,3164,3733,1499
$GC,11829,1.23,306.4,432.7,9.1,1038,11834,0.00,2.60,0.00,0.000,6,0.000,0.037,3164,2240,1498
$GC,12159,1.34,312.8,404.7,8.7,1068,12172,0.15,2.28,5.72,1.014,4,0.064,0.055,3199,987,1471
$GC,12223,1.30,312.8,398.3,9.5,1073,12230,0.00,2.42,0.00,0.000,6,0.000,0.037,3200,2380,1470
$GC,12551,1.26,312.8,365.1,10.4,1104,12555,0.00,2.38,0.00,0.000,4,0.000,0.054,3200,3721,1470
$GC,12658,1.22,312.8,353.4,10.7,1113,12663,0.15,2.47,0.00,0.000,6,0.119,0.037,3173,2286,1470
$GC,12984,1.30,312.8,322.1,9.5,1143,12988,0.00,2.33,0.00,0.000,4,0.000,0.054,3173,983,1470
$GC,13104,1.36,323.7,311.0,8.5,1153,13120,0.12,2.47,9.20,0.939,6,0.067,0.035,3205,2414,1427
$GC,13446,1.36,323.7,278.0,9.1,1185,13450,0.00,2.55,0.00,0.000,4,0.000,0.051,3205,989,1426
$GC,13577,1.40,348.4,267.0,7.9,1196,13604,0.00,2.28,21.15,0.864,6,0.000,0.035,3205,2307,1327
$GC,13934,1.42,355.7,236.8,8.7,1242,13947,0.00,2.40,5.97,0.874,4,0.000,0.053,3205,990,1297
$GC,14066,1.42,355.7,224.0,9.2,1265,14072,0.00,2.12,0.00,0.000,6,0.000,0.035,3205,2222,1295
$GC,14411,1.42,355.7,190.9,9.4,1326,14418,0.00,2.20,0.00,0.000,4,0.000,0.052,3205,990,1295
$GC,14465,1.43,360.7,186.2,8.8,1335,14478,0.00,2.08,4.38,0.842,6,0.000,0.035,3205,2200,1277
$GC,14819,1.54,363.5,154.3,8.9,1397,14828,0.15,2.22,2.22,0.806,4,0.055,0.051,3249,989,1266
$GC,14870,1.48,363.5,149.3,10.4,1405,14877,0.00,2.30,0.00,0.000,6,0.000,0.035,3249,2320,1265
$GC,15217,1.53,390.8,117.8,7.8,1466,15250,0.00,2.45,23.05,0.723,4,0.000,0.048,3249,994,1153
$GC,15354,1.58,418.9,107.1,7.8,1489,15386,0.00,2.12,23.40,0.703,6,0.000,0.033,3249,2233,1039
$GC,15727,1.78,452.2,78.2,7.5,1554,15763,0.15,2.67,27.38,0.660,4,0.056,0.048,3296,3729,902
$GC,15832,1.80,464.6,69.1,8.5,1571,15847,0.00,2.60,9.70,0.671,6,0.000,0.031,3296,2205,854
$GC,16186,1.89,474.3,38.7,8.6,1633,16200,0.00,2.67,7.57,0.640,4,0.000,0.043,3296,3723,813
$GC,16225,1.99,474.4,35.4,9.0,1639,16232,0.20,2.53,0.00,0.000,6,0.048,0.029,3348,2235,812
$GC,16571,1.99,474.6,3.9,9.0,1700,16578,0.00,2.17,0.00,0.000,4,0.000,0.048,3349,989,812
$STATE,16588,end climb,SURFACE_DEPTH_REACHED
$STATE,16588,begin surface coast
$FINISH,-0.1,1.021184
$STATE,16612,end surface coast,CONTROL_FINISHED_OK
$STATE,16612,begin surface
$SM_CCo,16698,0.00,0.000,0,0,807,476.13
$SM_GC,0.72,13.57,0.00,0.00,0.038,0.000,0.000,251,2168,807,-12.17,0.51,476.13
$IRIDIUM_FIX,1243.25,12013.48,210797,131325
$TT8_MAMPS,0.023777
$HUMID,2006
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.80
$XPDR_PINGS,433
$24V_AH,23.2,60.390
$10V_AH,10.1,31.019
$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,34.050,190.275,516.675,0.000,0.000,23.210,42.684,161.565,114.250,0.000,0.000,12.836,3649.560,9142.012,716.061,2932.550,620.964,0.000,2210.407,0.000,2884.171,0.000,46.234
$DEVICE_MAMPS,171.808,59.059,1149.733,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53493,1707
$CAP_FILE_SIZE,184589,0
$CFSIZE,260165632,230096896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,322.6,1
$GPS,260408,223808,1246.583,12014.304,37,1.1,37,-0.8