version: 66.03
glider: 122
mission: 6
dive: 351
start: 5 2 108 18 20 7
data:
$ID,122
$MISSION,6
$DIVE,351
$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,-34269.047
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,181407,1251.461,12042.028,40,0.9,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.7
$GPS2,181933,1251.461,12042.014,16,1.2,16,-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,223.4,49097,-18.6,-9.016
$D_GRID,1098
$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,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,87,0.00,0.00,-60.12,0.000,2,0.000,0.000,251,2222,2382
$GC,90,-1.56,-146.0,3.6,-9.1,10,128,13.32,2.53,-18.30,0.000,4,0.169,0.051,2561,804,3346
$GC,203,-1.33,-146.0,27.1,-18.0,29,211,0.28,2.40,0.00,0.000,6,0.111,0.028,2612,2232,3347
$GC,550,-1.20,-146.0,79.4,-12.0,90,558,0.15,2.38,0.00,0.000,4,0.116,0.043,2642,3618,3348
$GC,643,-1.14,-146.0,91.0,-11.9,106,651,0.00,2.33,0.00,0.000,6,0.000,0.026,2643,2197,3349
$GC,989,-1.14,-146.0,128.1,-10.5,167,996,0.00,2.42,0.00,0.000,4,0.000,0.043,2643,3617,3351
$GC,1109,-1.14,-146.0,140.7,-9.6,188,1116,0.00,2.20,0.00,0.000,6,0.000,0.025,2643,2262,3352
$GC,1457,-1.28,-146.0,168.2,-7.6,249,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2261,3353
$GC,1803,-1.42,-146.0,193.9,-7.0,310,1812,0.17,2.45,0.00,0.000,4,0.045,0.041,2583,833,3353
$GC,1853,-1.38,-146.0,198.3,-9.5,318,1860,0.10,2.35,0.00,0.000,6,0.109,0.029,2601,2243,3353
$GC,2200,-1.46,-146.0,226.0,-7.7,379,2207,0.00,2.45,0.00,0.000,4,0.000,0.044,2601,829,3353
$GC,2243,-1.46,-146.0,229.4,-8.0,386,2251,0.00,2.60,0.00,0.000,6,0.000,0.031,2601,2372,3353
$GC,2586,-1.55,-146.0,256.5,-8.2,440,2590,0.15,2.12,0.00,0.000,4,0.049,0.045,2548,3613,3352
$GC,2671,-1.41,-146.0,265.1,-10.6,447,2675,0.25,2.22,0.00,0.000,6,0.098,0.029,2595,2268,3351
$GC,2998,-1.49,-146.0,294.5,-9.3,477,3002,0.00,2.33,0.00,0.000,4,0.000,0.046,2595,3618,3350
$GC,3072,-1.49,-146.0,301.6,-8.9,483,3076,0.00,2.15,0.00,0.000,6,0.000,0.030,2595,2316,3350
$GC,3400,-1.57,-146.0,328.4,-7.8,513,3405,0.15,2.25,0.00,0.000,4,0.051,0.046,2545,3618,3348
$GC,3496,-1.44,-146.0,337.7,-9.4,521,3501,0.22,2.00,0.00,0.000,6,0.106,0.030,2587,2405,3348
$GC,3822,-1.44,-146.0,363.3,-7.7,551,3826,0.00,2.10,0.00,0.000,4,0.000,0.049,2587,3617,3346
$GC,3925,-1.44,-146.0,371.8,-8.2,560,3929,0.00,2.12,0.00,0.000,6,0.000,0.031,2586,2343,3345
$GC,4253,-1.51,-146.0,398.8,-8.4,590,4257,0.00,2.20,0.00,0.000,4,0.000,0.048,2587,3616,3343
$GC,4344,-1.51,-146.0,407.7,-10.1,598,4348,0.00,2.25,0.00,0.000,6,0.000,0.032,2587,2277,3343
$GC,4673,-1.58,-146.0,436.2,-7.7,628,4677,0.12,2.35,0.00,0.000,4,0.059,0.048,2549,3621,3341
$GC,4739,-1.46,-146.0,442.8,-10.1,633,4747,0.17,2.20,0.00,0.000,6,0.106,0.032,2581,2309,3340
$GC,5065,-1.46,-146.0,469.5,-8.5,664,5069,0.00,2.28,0.00,0.000,4,0.000,0.049,2581,3609,3338
$GC,5105,-1.46,-146.0,473.0,-8.5,667,5109,0.00,2.12,0.00,0.000,6,0.000,0.032,2581,2347,3338
$GC,5433,-1.53,-146.0,497.2,-6.8,697,5437,0.00,2.70,0.00,0.000,4,0.000,0.053,2581,830,3335
$GC,5544,-1.53,-146.0,506.1,-8.1,703,5548,0.00,2.40,0.00,0.000,6,0.000,0.035,2581,2236,3335
$GC,5875,-1.58,-146.0,530.8,-7.7,719,5879,0.00,2.50,0.00,0.000,4,0.000,0.053,2581,837,3333
$GC,5942,-1.58,-146.0,536.6,-8.5,722,5946,0.00,2.65,0.00,0.000,6,0.000,0.035,2581,2383,3333
$GC,6265,-1.62,-146.0,559.9,-7.4,738,6271,0.12,2.75,0.00,0.000,4,0.058,0.052,2544,832,3331
$GC,6316,-1.53,-146.0,564.5,-8.4,740,6322,0.15,2.58,0.00,0.000,6,0.108,0.036,2570,2326,3331
$GC,6640,-1.53,-146.0,588.5,-7.4,756,6644,0.00,2.28,0.00,0.000,4,0.000,0.054,2571,3622,3328
$GC,6685,-1.48,-146.0,592.1,-8.2,758,6689,0.00,2.12,0.00,0.000,6,0.000,0.033,2571,2357,3328
$GC,7012,-1.48,-146.0,617.6,-7.7,774,7017,0.00,2.72,0.00,0.000,4,0.000,0.054,2571,830,3327
$GC,7062,-1.48,-146.0,621.8,-8.4,776,7067,0.00,2.60,0.00,0.000,6,0.000,0.036,2571,2336,3327
$GC,7379,-1.48,-146.0,646.8,-7.5,791,7383,0.00,2.28,0.00,0.000,4,0.000,0.056,2571,3624,3326
$GC,7412,-1.44,-146.0,649.6,-8.2,792,7416,0.00,2.17,0.00,0.000,6,0.000,0.035,2571,2341,3326
$GC,7728,-1.44,-146.0,675.1,-8.7,807,7733,0.00,2.70,0.00,0.000,4,0.000,0.055,2571,830,3324
$GC,7769,-1.44,-146.0,678.8,-9.3,809,7773,0.00,2.60,0.00,0.000,6,0.000,0.037,2571,2330,3324
$GC,8096,-1.44,-146.0,705.3,-8.2,825,8100,0.10,2.28,0.00,0.000,4,0.120,0.056,2587,3616,3322
$GC,8136,-1.44,-146.0,709.2,-9.8,827,8140,0.00,2.17,0.00,0.000,6,0.000,0.035,2587,2338,3322
$GC,8464,-1.37,-146.0,720.7,0.2,843,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2335,3320
$STATE,8522,end dive,NO_VERTICAL_VELOCITY
$STATE,8522,begin apogee
$GC,8528,-0.35,0.0,720.5,0.0,846,8650,1.20,0.00,118.85,1.147,6,0.108,0.000,2823,2335,2748
$STATE,8651,end apogee,CONTROL_FINISHED_OK
$STATE,8651,begin climb
$GC,8654,1.56,146.0,720.1,0.0,852,8785,2.05,2.58,122.45,1.108,4,0.077,0.060,3245,957,2151
$GC,8870,1.28,160.1,710.9,8.4,861,8887,0.32,2.42,11.35,1.125,6,0.127,0.038,3188,2338,2095
$GC,9207,1.15,166.2,684.1,8.7,878,9218,0.15,2.58,5.43,1.126,4,0.123,0.060,3158,953,2070
$GC,9297,1.07,185.5,676.5,8.2,882,9318,0.00,2.40,16.25,1.120,6,0.000,0.038,3158,2321,1991
$GC,9649,1.04,207.0,647.2,8.1,899,9674,0.15,2.62,17.80,1.114,4,0.119,0.061,3131,951,1903
$GC,9795,1.10,245.9,636.3,7.3,905,9834,0.00,2.30,33.10,1.091,6,0.000,0.038,3131,2270,1745
$GC,10145,1.19,275.7,610.8,7.7,922,10177,0.15,2.50,25.23,1.087,4,0.067,0.061,3166,961,1624
$GC,10325,1.19,278.7,594.2,8.9,930,10334,0.00,2.17,2.67,1.074,6,0.000,0.038,3166,2205,1611
$GC,10658,1.19,278.7,563.0,9.8,946,10662,0.00,2.28,0.00,0.000,4,0.000,0.061,3166,959,1609
$GC,10698,1.19,278.7,558.8,10.1,948,10702,0.00,2.15,0.00,0.000,6,0.000,0.037,3166,2193,1609
$GC,11026,1.19,278.7,527.5,9.2,964,11030,0.00,2.25,0.00,0.000,4,0.000,0.060,3166,955,1609
$GC,11088,1.19,278.7,521.6,9.8,967,11092,0.00,2.10,0.00,0.000,6,0.000,0.038,3166,2165,1608
$GC,11413,1.20,282.9,492.0,8.8,986,11425,0.00,2.25,3.38,1.062,4,0.000,0.059,3166,958,1594
$GC,11454,1.20,282.9,488.0,9.6,989,11462,0.00,2.05,0.00,0.000,6,0.000,0.038,3166,2142,1594
$GC,11781,1.23,300.9,458.9,8.2,1020,11803,0.00,2.22,15.65,1.026,4,0.000,0.059,3166,964,1521
$GC,11822,1.23,300.9,455.0,10.4,1024,11826,0.00,2.03,0.00,0.000,6,0.000,0.037,3166,2124,1520
$GC,12156,1.35,307.2,426.3,8.7,1055,12169,0.15,2.15,5.43,1.026,4,0.063,0.058,3207,953,1494
$GC,12239,1.28,307.2,417.6,11.1,1062,12244,0.12,2.20,0.00,0.000,6,0.114,0.038,3186,2216,1494
$GC,12564,1.28,310.6,387.0,8.9,1092,12574,0.00,0.00,3.15,0.999,6,0.000,0.000,3186,2216,1481
$GC,12895,1.29,314.8,356.8,8.8,1123,12908,0.00,2.33,3.85,0.980,4,0.000,0.058,3185,959,1464
$GC,12999,1.32,330.3,347.4,8.3,1132,13022,0.00,2.12,13.55,0.943,6,0.000,0.037,3186,2186,1401
$GC,13341,1.41,343.4,317.4,8.4,1164,13358,0.12,2.80,11.20,0.923,4,0.067,0.054,3218,3727,1348
$GC,13420,1.37,343.4,310.1,9.6,1170,13427,0.00,2.88,0.00,0.000,6,0.000,0.039,3218,2080,1347
$GC,13748,1.34,343.4,279.4,9.9,1201,13753,0.00,2.92,0.00,0.000,4,0.000,0.050,3218,3724,1346
$GC,13777,1.31,343.4,276.0,11.1,1203,13782,0.15,2.83,0.00,0.000,6,0.124,0.039,3193,2103,1346
$GC,14105,1.36,348.6,246.6,8.8,1236,14113,0.00,2.15,4.43,0.895,4,0.000,0.058,3193,948,1326
$GC,14171,1.37,357.9,240.9,8.6,1247,14186,0.00,2.00,7.95,0.873,6,0.000,0.035,3193,2113,1289
$GC,14527,1.51,362.4,209.2,8.8,1309,14535,0.15,0.00,4.10,0.857,6,0.058,0.000,3236,2113,1270
$GC,14873,1.57,372.5,177.3,8.6,1370,14888,0.00,2.17,8.70,0.816,4,0.000,0.056,3236,953,1229
$GC,14918,1.58,376.3,173.7,8.8,1377,14927,0.00,2.20,3.42,0.818,6,0.000,0.035,3236,2226,1213
$GC,15266,1.61,378.7,143.4,8.9,1438,15273,0.00,2.65,0.00,0.000,4,0.000,0.050,3236,3733,1212
$GC,15331,1.69,394.6,137.9,8.3,1449,15353,0.17,2.88,15.40,0.755,6,0.058,0.037,3279,2071,1139
$GC,15694,1.80,441.0,108.0,6.9,1512,15741,0.00,2.03,39.12,0.692,4,0.000,0.054,3280,957,948
$GC,15766,1.92,469.0,102.7,7.8,1523,15795,0.20,1.90,23.40,0.683,6,0.045,0.032,3332,2075,835
$GC,16135,1.88,469.0,67.9,9.8,1587,16142,0.00,2.90,0.00,0.000,4,0.000,0.047,3332,3728,829
$GC,16172,1.88,469.0,63.9,10.4,1593,16179,0.00,2.88,0.00,0.000,6,0.000,0.035,3332,2061,829
$GC,16519,2.00,493.5,34.4,7.9,1654,16545,0.00,2.95,18.90,0.613,4,0.000,0.041,3332,3728,735
$GC,16620,2.09,513.2,25.5,8.1,1671,16642,0.12,2.70,15.80,0.604,6,0.059,0.031,3366,2144,654
$STATE,16843,end climb,SURFACE_DEPTH_REACHED
$STATE,16844,begin surface coast
$FINISH,0.0,1.020983
$STATE,16863,end surface coast,CONTROL_FINISHED_OK
$STATE,16863,begin surface
$SM_CCo,16948,0.00,0.000,0,0,647,515.13
$SM_GC,0.85,13.68,0.00,0.00,0.037,0.000,0.000,249,2250,647,-12.18,0.96,515.13
$IRIDIUM_FIX,1243.25,12042.28,270797,151527
$TT8_MAMPS,0.023777
$HUMID,2082
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.90
$XPDR_PINGS,377
$ALTIM_BOTTOM_PING,620.3,63.8
$24V_AH,23.2,65.282
$10V_AH,10.1,33.574
$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,34.375,180.950,550.550,0.000,0.000,24.944,28.402,142.171,97.750,0.000,0.000,16.610,3643.456,9393.284,710.839,2936.994,596.760,0.000,2211.126,0.000,2884.503,0.000,27.319
$DEVICE_MAMPS,168.740,60.593,1146.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53462,1713
$CAP_FILE_SIZE,183733,0
$CFSIZE,260165632,227815424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034, 26.8,1
$GPS,020508,230337,1251.292,12041.366,26,0.9,26,-0.8