version: 66.03
glider: 122
mission: 6
dive: 327
start: 4 26 108 22 44 43
data:
$ID,122
$MISSION,6
$DIVE,327
$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,-33844.688
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,223808,1246.583,12014.304,37,1.1,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.8
$GPS2,224409,1246.589,12014.273,14,1.1,14,-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,133.5,2851,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-59.17,0.000,2,0.000,0.000,251,2168,2425
$GC,88,-1.56,-146.0,3.2,-7.2,10,127,13.38,2.53,-18.00,0.000,4,0.170,0.053,2561,750,3345
$GC,196,-1.31,-146.0,24.0,-17.0,28,204,0.30,2.35,0.00,0.000,6,0.111,0.027,2617,2158,3346
$GC,542,-1.17,-146.0,73.7,-11.4,89,550,0.15,2.38,0.00,0.000,4,0.112,0.042,2649,3546,3348
$GC,641,-1.08,-146.0,85.0,-11.1,106,649,0.10,2.15,0.00,0.000,6,0.114,0.026,2666,2236,3348
$GC,989,-1.17,-146.0,117.5,-8.1,167,996,0.00,2.55,0.00,0.000,4,0.000,0.042,2666,757,3352
$GC,1066,-1.27,-146.0,124.4,-9.4,180,1074,0.17,2.42,0.00,0.000,6,0.045,0.028,2613,2210,3352
$GC,1413,-1.30,-146.0,155.5,-9.1,241,1420,0.00,2.30,0.00,0.000,4,0.000,0.044,2613,3558,3353
$GC,1506,-1.30,-146.0,164.3,-9.3,257,1513,0.00,2.05,0.00,0.000,6,0.000,0.027,2613,2299,3353
$GC,1853,-1.39,-146.0,192.0,-8.5,318,1860,0.00,2.67,0.00,0.000,4,0.000,0.044,2613,760,3353
$GC,1929,-1.39,-146.0,198.6,-8.9,331,1936,0.00,2.65,0.00,0.000,6,0.000,0.031,2613,2329,3353
$GC,2275,-1.48,-146.0,227.8,-7.6,392,2283,0.15,2.10,0.00,0.000,4,0.051,0.045,2562,3555,3352
$GC,2380,-1.36,-146.0,237.6,-9.1,410,2387,0.22,2.22,0.00,0.000,6,0.097,0.030,2604,2217,3351
$GC,2716,-1.43,-146.0,264.5,-7.7,454,2720,0.00,2.55,0.00,0.000,4,0.000,0.048,2604,762,3350
$GC,2790,-1.43,-146.0,270.7,-8.6,460,2794,0.00,2.70,0.00,0.000,6,0.000,0.033,2604,2353,3349
$GC,3117,-1.51,-146.0,296.4,-7.8,490,3122,0.12,2.08,0.00,0.000,4,0.054,0.048,2564,3555,3348
$GC,3206,-1.40,-146.0,304.9,-9.3,497,3214,0.17,2.17,0.00,0.000,6,0.103,0.031,2596,2250,3347
$GC,3532,-1.46,-146.0,331.3,-8.4,528,3537,0.00,2.62,0.00,0.000,4,0.000,0.050,2596,763,3345
$GC,3599,-1.46,-146.0,337.7,-9.5,533,3606,0.00,2.78,0.00,0.000,6,0.000,0.033,2596,2383,3345
$GC,3927,-1.52,-146.0,366.1,-8.1,564,3931,0.00,2.03,0.00,0.000,4,0.000,0.050,2596,3548,3343
$GC,3996,-1.52,-146.0,372.1,-8.3,570,4000,0.00,2.15,0.00,0.000,6,0.000,0.032,2596,2269,3343
$GC,4324,-1.58,-146.0,395.9,-6.6,600,4329,0.15,2.67,0.00,0.000,4,0.053,0.050,2549,762,3340
$GC,4387,-1.49,-146.0,401.5,-8.7,605,4392,0.15,2.83,0.00,0.000,6,0.108,0.035,2575,2403,3340
$GC,4712,-1.54,-146.0,427.0,-8.5,635,4716,0.00,1.98,0.00,0.000,4,0.000,0.051,2576,3543,3338
$GC,4804,-1.50,-146.0,435.0,-9.5,643,4807,0.00,2.08,0.00,0.000,6,0.000,0.033,2576,2312,3337
$GC,5138,-1.53,-146.0,461.8,-7.7,674,5142,0.00,2.17,0.00,0.000,4,0.000,0.050,2576,3552,3335
$GC,5216,-1.48,-146.0,468.5,-8.1,680,5223,0.00,1.92,0.00,0.000,6,0.000,0.033,2576,2404,3334
$GC,5546,-1.53,-146.0,493.1,-8.1,711,5549,0.00,2.00,0.00,0.000,4,0.000,0.052,2575,3543,3332
$GC,5604,-1.48,-146.0,498.3,-8.6,716,5607,0.00,2.10,0.00,0.000,6,0.000,0.034,2575,2303,3332
$GC,5939,-1.52,-146.0,524.5,-8.0,733,5943,0.00,2.17,0.00,0.000,4,0.000,0.051,2576,3545,3331
$GC,6001,-1.48,-146.0,530.1,-8.7,735,6008,0.00,1.92,0.00,0.000,6,0.000,0.034,2576,2397,3331
$GC,6318,-1.53,-146.0,555.0,-7.8,751,6322,0.00,2.03,0.00,0.000,4,0.000,0.053,2575,3549,3329
$GC,6369,-1.48,-146.0,559.3,-7.7,753,6373,0.00,2.12,0.00,0.000,6,0.000,0.035,2575,2293,3328
$GC,6691,-1.48,-146.0,582.7,-7.3,769,6696,0.00,2.75,0.00,0.000,4,0.000,0.056,2576,757,3327
$GC,6725,-1.48,-146.0,585.5,-8.0,770,6732,0.00,2.60,0.00,0.000,6,0.000,0.035,2575,2267,3327
$GC,7042,-1.52,-146.0,607.7,-6.7,786,7046,0.00,2.70,0.00,0.000,4,0.000,0.055,2576,757,3326
$GC,7132,-1.48,-146.0,613.9,-6.7,790,7136,0.00,2.45,0.00,0.000,6,0.000,0.035,2576,2187,3326
$GC,7453,-1.53,-146.0,638.6,-8.9,806,7457,0.00,2.40,0.00,0.000,4,0.000,0.055,2576,3556,3324
$GC,7582,-1.53,-146.0,650.7,-9.5,811,7589,0.00,2.20,0.00,0.000,6,0.000,0.036,2576,2262,3323
$GC,7899,-1.53,-146.0,675.8,-7.7,827,7903,0.00,2.70,0.00,0.000,4,0.000,0.057,2575,758,3322
$GC,7948,-1.53,-146.0,680.2,-8.5,829,7953,0.00,2.55,0.00,0.000,6,0.000,0.037,2576,2232,3321
$STATE,8200,end dive,NO_VERTICAL_VELOCITY
$STATE,8200,begin apogee
$GC,8207,-0.35,0.0,684.0,0.0,841,8329,1.15,0.00,118.35,1.126,6,0.061,0.000,2827,2382,2748
$STATE,8329,end apogee,CONTROL_FINISHED_OK
$STATE,8329,begin climb
$GC,8332,1.56,146.0,683.9,0.0,847,8462,1.90,2.45,121.93,1.082,4,0.050,0.059,3249,3717,2152
$GC,8538,1.28,146.0,676.8,10.0,856,8546,0.38,2.30,0.00,0.000,6,0.131,0.038,3184,2394,2151
$GC,8855,1.26,196.3,652.4,6.8,872,8902,0.00,2.67,41.50,1.088,4,0.000,0.059,3184,979,1947
$GC,9006,1.17,207.2,639.8,8.5,878,9023,0.12,2.38,9.05,1.104,6,0.122,0.038,3163,2329,1903
$GC,9347,1.22,238.9,612.7,7.6,895,9378,0.00,2.55,26.55,1.082,4,0.000,0.058,3163,974,1773
$GC,9488,1.28,291.5,602.6,6.7,901,9544,0.00,2.30,44.95,1.058,6,0.000,0.038,3163,2299,1559
$GC,9854,1.35,331.6,574.6,7.2,919,9898,0.15,2.67,33.70,1.052,4,0.064,0.057,3202,3723,1396
$GC,9955,1.31,331.6,565.1,9.9,923,9960,0.00,2.65,0.00,0.000,6,0.000,0.040,3202,2204,1394
$GC,10271,1.31,331.6,533.4,10.5,938,10275,0.00,2.25,0.00,0.000,4,0.000,0.060,3202,962,1390
$GC,10366,1.27,331.6,523.1,10.6,942,10370,0.00,2.15,0.00,0.000,6,0.000,0.037,3202,2195,1388
$GC,10684,1.27,331.6,489.2,11.0,961,10689,0.00,2.75,0.00,0.000,4,0.000,0.056,3202,3734,1388
$GC,10735,1.24,331.6,483.4,11.9,965,10741,0.15,2.67,0.00,0.000,6,0.122,0.039,3176,2200,1388
$GC,11061,1.28,331.6,451.7,9.5,995,11065,0.00,2.22,0.00,0.000,4,0.000,0.059,3177,969,1387
$GC,11134,1.28,331.6,444.7,9.5,1001,11138,0.00,2.10,0.00,0.000,6,0.000,0.036,3177,2188,1386
$GC,11468,1.31,331.6,414.9,9.2,1032,11472,0.00,2.75,0.00,0.000,4,0.000,0.056,3177,3726,1386
$GC,11530,1.31,331.6,409.0,9.0,1037,11535,0.00,2.70,0.00,0.000,6,0.000,0.038,3177,2169,1386
$GC,11858,1.42,331.6,377.7,9.5,1067,11863,0.15,2.15,0.00,0.000,4,0.064,0.056,3216,970,1387
$GC,11898,1.35,331.6,373.6,9.4,1070,11902,0.00,2.38,0.00,0.000,6,0.000,0.038,3216,2333,1386
$GC,12223,1.30,331.6,340.6,10.5,1100,12228,0.15,2.47,0.00,0.000,4,0.110,0.054,3186,961,1386
$GC,12342,1.30,331.6,328.1,11.3,1110,12346,0.00,2.22,0.00,0.000,6,0.000,0.035,3186,2253,1385
$GC,12669,1.41,331.6,298.1,9.4,1140,12674,0.12,2.30,0.00,0.000,4,0.064,0.053,3217,970,1385
$GC,12698,1.41,331.6,295.3,10.1,1142,12702,0.00,2.45,0.00,0.000,6,0.000,0.036,3217,2385,1385
$GC,13024,1.37,331.6,264.6,9.3,1172,13027,0.00,2.38,0.00,0.000,4,0.000,0.054,3217,3731,1385
$GC,13127,1.32,331.6,254.8,9.9,1181,13132,0.12,2.50,0.00,0.000,6,0.125,0.036,3197,2273,1385
$GC,13469,1.41,332.2,224.0,9.0,1236,13476,0.00,2.58,0.00,0.000,4,0.000,0.051,3197,3729,1385
$GC,13585,1.42,336.5,213.5,8.8,1256,13593,0.00,2.28,2.58,0.867,6,0.000,0.035,3197,2391,1376
$GC,13934,1.54,351.7,184.8,8.3,1317,13956,0.17,2.58,13.35,0.810,4,0.058,0.051,3244,971,1312
$GC,14008,1.47,351.7,177.4,9.7,1329,14015,0.00,2.20,0.00,0.000,6,0.000,0.035,3244,2244,1311
$GC,14353,1.44,351.7,144.2,9.1,1390,14360,0.15,2.60,0.00,0.000,4,0.105,0.050,3212,3721,1312
$GC,14396,1.48,354.7,140.3,8.9,1397,14404,0.00,2.55,2.28,0.802,6,0.000,0.034,3212,2228,1302
$GC,14743,1.68,394.2,113.0,7.2,1458,14785,0.22,2.70,33.22,0.705,4,0.051,0.047,3276,3727,1139
$GC,14815,1.68,394.2,106.9,9.0,1469,14822,0.00,2.53,0.00,0.000,6,0.000,0.033,3276,2261,1137
$GC,15161,1.77,446.6,79.3,6.7,1530,15209,0.00,2.40,42.67,0.654,4,0.000,0.051,3276,969,926
$GC,15297,1.88,473.9,67.7,7.8,1552,15325,0.17,2.15,22.33,0.644,6,0.048,0.031,3330,2234,814
$GC,15666,1.89,480.9,34.0,8.7,1616,15679,0.00,2.28,4.85,0.641,4,0.000,0.047,3331,979,787
$GC,15772,1.91,488.0,24.4,8.7,1634,15786,0.00,2.00,5.75,0.630,6,0.000,0.028,3331,2170,757
$STATE,16014,end climb,SURFACE_DEPTH_REACHED
$STATE,16015,begin surface coast
$FINISH,-0.0,1.020974
$STATE,16039,end surface coast,CONTROL_FINISHED_OK
$STATE,16039,begin surface
$SM_CCo,16123,0.00,0.000,0,0,751,489.62
$SM_GC,0.76,13.50,0.00,0.00,0.037,0.000,0.000,248,2173,751,-12.19,0.65,489.62
$IRIDIUM_FIX,1243.25,12014.59,210797,181855
$TT8_MAMPS,0.023777
$HUMID,2015
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.90
$XPDR_PINGS,447
$ALTIM_BOTTOM_PING,600.9,99.9
$24V_AH,23.2,60.563
$10V_AH,10.1,31.109
$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,33.700,181.300,523.050,0.000,0.000,22.327,42.781,158.234,115.000,0.000,0.000,14.665,3570.945,8735.547,684.895,2884.163,608.224,0.000,2160.054,0.000,2840.137,0.000,26.794
$DEVICE_MAMPS,169.507,59.826,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53446,1681
$CAP_FILE_SIZE,177715,0
$CFSIZE,260165632,230019072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,348.3,1
$GPS,270408,031438,1246.296,12014.623,37,1.0,37,-0.8