version: 66.03
glider: 122
mission: 6
dive: 348
start: 5 2 108 7 13 18
data:
$ID,122
$MISSION,6
$DIVE,348
$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,-34219.234
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,69
$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
$GPS1,070626,1250.740,12041.111,39,1.5,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.8
$GPS2,071232,1250.754,12041.123,14,1.2,14,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,105.9,2939,-25.2,-9.016
$D_GRID,1049
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.92,-83.1,0.0,0.0,0,84,0.00,0.00,-59.75,0.000,2,0.000,0.000,248,2215,2458
$GC,87,-1.92,-86.9,3.5,-8.7,10,119,12.82,2.42,-12.45,0.000,4,0.166,0.051,2479,3595,3105
$GC,218,-1.66,-86.9,33.8,-21.8,32,226,0.32,2.30,0.00,0.000,6,0.134,0.026,2536,2197,3107
$GC,565,-1.56,-86.9,93.0,-14.7,93,572,0.15,2.38,0.00,0.000,4,0.137,0.040,2565,819,3107
$GC,591,-1.50,-86.9,97.0,-15.4,97,598,0.00,2.30,0.00,0.000,6,0.000,0.028,2565,2199,3108
$GC,936,-1.50,-86.9,140.1,-10.2,158,943,0.00,2.42,0.00,0.000,4,0.000,0.043,2565,3620,3110
$GC,1062,-1.50,-86.9,154.3,-11.9,180,1069,0.00,2.28,0.00,0.000,6,0.000,0.026,2565,2236,3111
$GC,1408,-1.54,-86.9,189.9,-9.9,241,1415,0.00,2.38,0.00,0.000,4,0.000,0.043,2565,3620,3112
$GC,1462,-1.54,-86.9,195.3,-10.3,250,1469,0.00,2.17,0.00,0.000,6,0.000,0.027,2565,2296,3112
$GC,1808,-1.63,-99.9,226.2,-8.0,311,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,3112
$GC,2151,-1.70,-99.9,255.0,-9.2,367,2156,0.15,2.28,0.00,0.000,4,0.054,0.044,2519,3612,3111
$GC,2184,-1.66,-99.9,258.7,-11.0,369,2192,0.12,2.17,0.00,0.000,6,0.114,0.030,2541,2296,3111
$GC,2512,-1.70,-99.9,291.0,-9.9,400,2516,0.00,2.60,0.00,0.000,4,0.000,0.049,2541,819,3109
$GC,2540,-1.70,-99.9,294.0,-9.3,402,2544,0.00,2.50,0.00,0.000,6,0.000,0.032,2541,2287,3109
$GC,2869,-1.76,-115.1,322.1,-7.9,432,2873,0.00,2.30,0.00,0.000,4,0.000,0.048,2541,3616,3106
$GC,2947,-1.77,-122.0,329.1,-8.5,438,2953,0.00,2.17,0.00,0.000,6,0.000,0.031,2541,2310,3106
$GC,3275,-1.82,-125.2,356.3,-8.8,469,3280,0.15,2.62,0.00,0.000,4,0.058,0.049,2497,820,3103
$GC,3327,-1.77,-125.2,361.7,-10.0,473,3332,0.10,2.50,0.00,0.000,6,0.126,0.032,2514,2284,3103
$GC,3652,-1.78,-129.9,393.3,-8.7,503,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2283,3101
$GC,3970,-1.78,-129.9,423.4,-9.8,533,3975,0.00,2.60,0.00,0.000,4,0.000,0.051,2514,826,3099
$GC,4011,-1.78,-129.9,427.4,-9.8,536,4015,0.00,2.50,0.00,0.000,6,0.000,0.035,2514,2279,3099
$GC,4338,-1.78,-131.1,457.1,-8.9,566,4342,0.00,2.35,0.00,0.000,4,0.000,0.051,2514,3618,3096
$GC,4382,-1.78,-131.1,461.7,-9.7,569,4389,0.00,2.22,0.00,0.000,6,0.000,0.033,2514,2300,3096
$GC,4710,-1.79,-138.7,491.3,-8.4,600,4715,0.00,2.62,0.00,0.000,4,0.000,0.053,2514,824,3094
$GC,4751,-1.79,-139.1,495.2,-9.0,603,4755,0.00,2.53,0.00,0.000,6,0.000,0.035,2514,2290,3094
$GC,5087,-1.81,-146.0,522.7,-8.3,622,5091,0.00,2.33,0.00,0.000,4,0.000,0.053,2514,3609,3092
$GC,5130,-1.81,-146.0,527.1,-9.7,624,5134,0.00,2.20,0.00,0.000,6,0.000,0.034,2514,2312,3092
$GC,5459,-1.81,-146.0,554.7,-8.6,640,5463,0.00,2.65,0.00,0.000,4,0.000,0.054,2513,824,3090
$GC,5502,-1.81,-146.0,559.1,-9.4,642,5507,0.00,2.55,0.00,0.000,6,0.000,0.035,2514,2295,3089
$GC,5830,-1.81,-146.0,587.2,-8.6,658,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3087
$GC,6139,-1.81,-146.0,614.9,-9.4,673,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3085
$GC,6448,-1.81,-146.0,640.7,-8.2,688,6452,0.00,2.30,0.00,0.000,4,0.000,0.055,2514,3606,3083
$GC,6487,-1.81,-146.0,644.3,-8.8,689,6494,0.00,2.22,0.00,0.000,6,0.000,0.035,2514,2296,3083
$GC,6804,-1.81,-146.0,672.5,-9.5,705,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2294,3081
$GC,7113,-2.19,-146.0,690.3,-0.6,720,7118,0.35,2.35,0.00,0.000,4,0.039,0.055,2421,3616,3080
$STATE,7356,end dive,NO_VERTICAL_VELOCITY
$STATE,7356,begin apogee
$GC,7365,-0.35,0.0,689.2,0.0,731,7442,1.92,0.00,69.55,1.137,6,0.087,0.000,2825,2340,2747
$STATE,7442,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7445,2.02,146.0,689.2,0.0,735,7577,2.40,2.70,123.10,1.095,4,0.065,0.060,3345,932,2152
$GC,7696,1.78,146.0,667.7,12.6,746,7701,0.30,2.45,0.00,0.000,6,0.140,0.038,3295,2324,2150
$GC,8020,1.66,146.0,632.8,10.8,762,8022,0.15,0.00,0.00,0.000,6,0.150,0.000,3270,2323,2149
$GC,8327,1.60,149.9,604.2,8.7,777,8332,0.00,0.00,2.67,1.080,6,0.000,0.000,3270,2323,2135
$GC,8636,1.53,149.9,573.5,10.1,792,8641,0.17,2.53,0.00,0.000,4,0.140,0.058,3238,938,2135
$GC,8699,1.53,149.9,567.3,9.9,795,8703,0.00,2.42,0.00,0.000,6,0.000,0.038,3238,2321,2134
$GC,9026,1.54,156.2,538.8,8.5,811,9033,0.00,0.00,5.07,1.092,6,0.000,0.000,3238,2320,2112
$GC,9335,1.56,169.9,513.8,8.0,826,9357,0.00,2.62,11.73,1.071,4,0.000,0.058,3238,939,2054
$GC,9397,1.56,171.9,508.5,8.9,828,9404,0.00,2.42,0.00,0.000,6,0.000,0.038,3238,2315,2055
$GC,9719,1.58,182.9,481.2,8.2,854,9735,0.00,2.58,11.15,1.049,4,0.000,0.058,3238,3723,2001
$GC,9775,1.58,182.9,476.0,9.4,858,9782,0.00,2.42,0.00,0.000,6,0.000,0.038,3238,2333,2001
$GC,10102,1.59,185.1,446.8,8.8,889,10106,0.00,2.53,0.00,0.000,4,0.000,0.058,3238,936,2000
$GC,10180,1.60,193.1,439.7,8.4,895,10199,0.00,2.45,8.40,1.032,6,0.000,0.037,3238,2343,1960
$GC,10517,1.65,200.3,410.7,8.5,927,10531,0.12,2.55,6.35,1.015,4,0.076,0.056,3267,3721,1930
$GC,10548,1.65,200.3,407.7,10.2,929,10555,0.00,2.38,0.00,0.000,6,0.000,0.037,3267,2351,1930
$GC,10877,1.65,200.3,376.9,9.6,960,10881,0.00,2.55,0.00,0.000,4,0.000,0.057,3267,937,1930
$GC,10961,1.65,200.3,368.8,9.2,967,10965,0.00,2.45,0.00,0.000,6,0.000,0.038,3267,2346,1930
$GC,11292,1.66,204.2,340.0,8.7,998,11304,0.00,2.62,3.33,0.973,4,0.000,0.056,3267,931,1915
$GC,11351,1.66,204.2,334.6,9.1,1003,11355,0.00,2.47,0.00,0.000,6,0.000,0.038,3267,2340,1915
$GC,11676,1.71,236.3,311.4,6.6,1033,11711,0.00,2.58,26.20,0.901,4,0.000,0.055,3267,3724,1784
$GC,11746,1.73,248.4,306.1,8.1,1039,11762,0.00,2.35,10.57,0.904,6,0.000,0.036,3267,2371,1735
$GC,12088,1.76,248.4,276.4,9.4,1071,12092,0.00,2.42,0.00,0.000,4,0.000,0.053,3267,3731,1732
$GC,12116,1.76,248.4,273.6,9.9,1073,12120,0.00,2.33,0.00,0.000,6,0.000,0.036,3267,2380,1733
$GC,12445,1.81,248.4,244.4,9.2,1108,12453,0.15,2.60,0.00,0.000,4,0.072,0.054,3304,936,1731
$GC,12516,1.76,248.4,237.3,9.8,1120,12523,0.00,2.50,0.00,0.000,6,0.000,0.036,3304,2374,1732
$GC,12862,1.76,248.4,201.7,10.4,1181,12869,0.00,2.60,0.00,0.000,4,0.000,0.054,3304,931,1731
$GC,12933,1.72,248.4,194.8,9.9,1193,12941,0.15,2.47,0.00,0.000,6,0.123,0.036,3279,2357,1731
$GC,13280,1.79,264.9,166.9,7.8,1254,13299,0.00,0.00,13.32,0.799,6,0.000,0.000,3279,2357,1668
$GC,13639,1.92,288.8,139.9,7.2,1317,13666,0.17,2.62,19.52,0.753,4,0.066,0.053,3323,931,1569
$GC,13791,1.94,300.8,126.6,8.1,1343,13806,0.00,2.35,9.85,0.754,6,0.000,0.034,3323,2290,1521
$GC,14145,2.10,345.4,103.9,5.6,1405,14190,0.15,2.60,35.78,0.686,4,0.064,0.050,3364,3717,1340
$GC,14237,2.10,345.4,96.2,9.2,1420,14244,0.00,2.45,0.00,0.000,6,0.000,0.032,3364,2285,1337
$GC,14584,2.17,356.8,68.3,8.2,1481,14598,0.00,2.47,8.75,0.672,4,0.000,0.048,3364,934,1292
$GC,14662,2.22,356.8,61.1,9.0,1494,14669,0.10,2.33,0.00,0.000,6,0.069,0.031,3394,2291,1291
$GC,15009,2.31,390.3,36.1,6.5,1555,15042,0.00,2.50,26.92,0.596,4,0.000,0.045,3395,930,1155
$GC,15094,2.37,397.8,29.2,8.4,1569,15109,0.12,2.38,5.62,0.625,6,0.061,0.030,3427,2324,1125
$STATE,15372,end climb,SURFACE_DEPTH_REACHED
$STATE,15372,begin surface coast
$FINISH,-0.1,1.020864
$STATE,15396,end surface coast,CONTROL_FINISHED_OK
$STATE,15396,begin surface
$SM_CCo,15421,38.10,0.545,0,0,811,475.15
$SM_GC,0.87,0.00,0.00,38.10,0.000,0.000,0.545,251,2180,811,-12.21,-1.02,475.15
$IRIDIUM_FIX,1245.46,12039.25,270797,000013
$TT8_MAMPS,0.023777
$HUMID,2014
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.20
$XPDR_PINGS,366
$ALTIM_BOTTOM_PING,620.3,99.6
$24V_AH,23.1,64.820
$10V_AH,10.1,33.334
$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,34.050,151.350,397.900,38.100,0.000,23.463,26.692,170.496,95.000,0.000,0.000,14.930,3330.843,8628.166,615.117,2670.104,590.957,0.000,1963.300,0.000,2626.939,0.000,27.393
$DEVICE_MAMPS,166.439,59.826,1136.694,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50358,1622
$CAP_FILE_SIZE,161053,0
$CFSIZE,260165632,228061184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010, 46.8,1
$GPS,020508,113208,1250.377,12042.188,32,0.9,32,-0.8