version: 66.03
glider: 122
mission: 6
dive: 353
start: 5 3 108 4 24 48
data:
$ID,122
$MISSION,6
$DIVE,353
$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,-34312.887
$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,26
$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
$GPS1,041807,1251.394,12039.949,39,1.3,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.4
$GPS2,042414,1251.425,12039.935,11,1.8,11,-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,243.7,45426,-18.6,-9.016
$D_GRID,967
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-62.10,0.000,2,0.000,0.000,248,2270,2493
$GC,92,-1.56,-146.0,3.8,-8.2,10,130,13.32,2.58,-15.70,0.000,4,0.168,0.051,2559,800,3346
$GC,178,-1.33,-146.0,22.7,-18.9,24,186,0.30,2.40,0.00,0.000,6,0.107,0.028,2615,2230,3347
$GC,525,-1.22,-146.0,76.2,-13.5,85,533,0.12,2.38,0.00,0.000,4,0.120,0.044,2637,3618,3349
$GC,607,-1.14,-146.0,86.9,-12.3,99,615,0.10,2.33,0.00,0.000,6,0.114,0.026,2654,2205,3349
$GC,954,-1.21,-146.0,123.8,-9.7,160,961,0.00,2.42,0.00,0.000,4,0.000,0.043,2654,3618,3352
$GC,1031,-1.27,-146.0,131.3,-9.7,173,1038,0.12,2.17,0.00,0.000,6,0.055,0.026,2615,2282,3352
$GC,1377,-1.35,-146.0,163.2,-8.0,234,1385,0.00,2.53,0.00,0.000,4,0.000,0.041,2615,815,3353
$GC,1477,-1.35,-146.0,171.3,-7.3,251,1484,0.00,2.67,0.00,0.000,6,0.000,0.029,2615,2409,3353
$GC,1826,-1.47,-146.0,200.6,-8.6,312,1834,0.15,2.75,0.00,0.000,4,0.049,0.041,2562,820,3354
$GC,1880,-1.37,-146.0,206.2,-9.9,321,1888,0.22,2.55,0.00,0.000,6,0.094,0.031,2606,2336,3354
$GC,2228,-1.46,-146.0,235.3,-7.9,382,2234,0.00,2.20,0.00,0.000,4,0.000,0.048,2606,3618,3353
$GC,2328,-1.46,-146.0,243.4,-8.1,399,2334,0.00,2.00,0.00,0.000,6,0.000,0.028,2606,2393,3353
$GC,2659,-1.57,-146.0,269.4,-8.4,437,2664,0.17,2.10,0.00,0.000,4,0.048,0.044,2550,3619,3352
$GC,2733,-1.44,-146.0,277.1,-10.3,443,2737,0.20,1.88,0.00,0.000,6,0.103,0.028,2588,2469,3351
$GC,3065,-1.49,-146.0,306.6,-8.4,474,3069,0.00,1.98,0.00,0.000,4,0.000,0.047,2588,3621,3350
$GC,3116,-1.46,-146.0,311.3,-8.4,478,3123,0.00,2.08,0.00,0.000,6,0.000,0.030,2588,2362,3350
$GC,3446,-1.52,-146.0,335.0,-7.1,509,3450,0.00,2.17,0.00,0.000,4,0.000,0.047,2588,3622,3348
$GC,3535,-1.52,-146.0,342.7,-8.2,516,3542,0.00,2.20,0.00,0.000,6,0.000,0.031,2588,2296,3347
$GC,3864,-1.59,-146.0,367.1,-7.7,547,3869,0.15,2.60,0.00,0.000,4,0.054,0.049,2540,823,3345
$GC,3942,-1.49,-146.0,374.9,-9.8,553,3950,0.20,2.42,0.00,0.000,6,0.102,0.033,2577,2249,3344
$GC,4269,-1.54,-146.0,401.7,-8.3,584,4274,0.00,2.53,0.00,0.000,4,0.000,0.050,2577,823,3343
$GC,4348,-1.51,-146.0,409.0,-8.9,590,4355,0.00,2.65,0.00,0.000,6,0.000,0.034,2578,2370,3343
$GC,4676,-1.51,-146.0,435.4,-8.0,621,4681,0.00,2.75,0.00,0.000,4,0.000,0.048,2577,819,3340
$GC,4754,-1.51,-146.0,442.5,-8.6,627,4761,0.00,2.55,0.00,0.000,6,0.000,0.034,2578,2308,3340
$GC,5084,-1.57,-146.0,467.2,-7.7,658,5088,0.00,2.65,0.00,0.000,4,0.000,0.051,2578,820,3337
$GC,5147,-1.54,-146.0,472.7,-8.3,663,5151,0.00,2.45,0.00,0.000,6,0.000,0.034,2577,2248,3337
$GC,5476,-1.59,-146.0,499.2,-8.1,693,5481,0.00,2.55,0.00,0.000,4,0.000,0.052,2578,819,3335
$GC,5548,-1.59,-146.0,506.4,-9.4,697,5552,0.00,2.67,0.00,0.000,6,0.000,0.035,2578,2379,3335
$GC,5873,-1.65,-146.0,532.6,-8.1,713,5878,0.15,2.78,0.00,0.000,4,0.055,0.051,2536,825,3332
$GC,5992,-1.55,-146.0,544.0,-9.3,718,5997,0.15,2.53,0.00,0.000,6,0.109,0.035,2563,2293,3332
$GC,6312,-1.50,-146.0,571.3,-8.5,733,6316,0.00,2.33,0.00,0.000,4,0.000,0.054,2563,3622,3330
$GC,6351,-1.44,-146.0,575.2,-8.9,734,6358,0.15,2.25,0.00,0.000,6,0.110,0.034,2590,2292,3330
$GC,6670,-1.52,-146.0,597.9,-6.5,750,6674,0.00,2.33,0.00,0.000,4,0.000,0.053,2589,3616,3328
$GC,6738,-1.52,-146.0,602.7,-6.5,753,6742,0.00,2.12,0.00,0.000,6,0.000,0.035,2590,2362,3328
$GC,7068,-1.59,-146.0,625.3,-7.2,769,7073,0.15,2.72,0.00,0.000,4,0.054,0.054,2544,829,3327
$GC,7086,-1.59,-146.0,627.1,-8.2,770,7091,0.00,2.58,0.00,0.000,6,0.000,0.037,2544,2312,3326
$GC,7416,-1.50,-146.0,654.5,-8.6,786,7421,0.17,2.30,0.00,0.000,4,0.110,0.055,2578,3613,3326
$GC,7549,-1.47,-146.0,665.0,-8.2,792,7553,0.00,2.25,0.00,0.000,6,0.000,0.036,2578,2289,3325
$GC,7883,-1.47,-146.0,689.9,-7.8,808,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2286,3323
$GC,8193,-1.55,-146.0,716.8,-8.3,823,8197,0.00,2.35,0.00,0.000,4,0.000,0.054,2578,3613,3322
$GC,8256,-1.55,-146.0,722.5,-8.6,826,8260,0.00,2.22,0.00,0.000,6,0.000,0.036,2578,2310,3321
$GC,8585,-1.61,-146.0,749.6,-8.3,842,8590,0.12,2.33,0.00,0.000,4,0.061,0.054,2545,3621,3320
$GC,8670,-1.52,-146.0,758.4,-11.3,846,8675,0.15,2.10,0.00,0.000,6,0.114,0.036,2571,2385,3319
$STATE,8994,end dive,NO_VERTICAL_VELOCITY
$STATE,8994,begin apogee
$GC,9001,-0.35,0.0,768.6,0.0,862,9125,1.20,0.00,120.28,1.187,6,0.075,0.000,2825,2383,2748
$STATE,9126,end apogee,CONTROL_FINISHED_OK
$STATE,9126,begin climb
$GC,9128,1.56,146.0,768.2,0.0,868,9265,2.00,2.70,124.03,1.147,4,0.065,0.060,3247,947,2152
$GC,9361,1.29,146.0,755.8,9.7,879,9366,0.32,2.42,0.00,0.000,6,0.120,0.038,3189,2326,2151
$GC,9683,1.17,148.6,726.4,8.9,895,9685,0.15,0.00,0.00,0.000,6,0.126,0.000,3164,2325,2150
$GC,9994,1.19,201.7,703.9,6.6,910,10047,0.00,2.62,46.62,1.136,4,0.000,0.061,3163,952,1925
$GC,10098,1.14,201.7,695.1,9.6,914,10105,0.00,2.40,0.00,0.000,6,0.000,0.038,3163,2322,1924
$GC,10415,1.15,224.0,669.4,8.0,930,10438,0.00,2.62,18.55,1.135,4,0.000,0.059,3163,951,1835
$GC,10503,1.16,229.5,661.6,8.8,933,10513,0.00,2.35,5.03,1.136,6,0.000,0.038,3164,2289,1812
$GC,10842,1.21,259.4,634.4,7.7,950,10870,0.00,0.00,26.15,1.111,6,0.000,0.000,3163,2288,1690
$GC,11172,1.21,259.4,604.7,9.0,966,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2288,1687
$GC,11481,1.22,265.0,576.9,8.8,981,11490,0.00,2.50,4.43,1.118,4,0.000,0.060,3163,945,1667
$GC,11526,1.22,265.0,572.7,9.1,983,11530,0.00,2.35,0.00,0.000,6,0.000,0.038,3163,2280,1666
$GC,11853,1.22,265.0,542.8,9.4,999,11857,0.00,2.42,0.00,0.000,4,0.000,0.059,3163,949,1666
$GC,11897,1.22,265.0,538.6,9.5,1001,11901,0.00,2.28,0.00,0.000,6,0.000,0.038,3163,2251,1666
$GC,12218,1.22,265.0,509.3,9.1,1017,12222,0.00,2.65,0.00,0.000,4,0.000,0.058,3163,3730,1666
$GC,12262,1.22,265.0,504.9,9.5,1019,12266,0.00,2.53,0.00,0.000,6,0.000,0.038,3163,2270,1666
$GC,12594,1.28,300.6,478.6,7.4,1047,12630,0.00,2.53,30.75,1.025,4,0.000,0.060,3163,944,1523
$GC,12693,1.36,325.6,470.3,7.9,1055,12725,0.17,2.22,21.60,1.011,6,0.058,0.037,3203,2216,1419
$GC,13042,1.36,325.6,434.5,10.2,1088,13047,0.00,2.70,0.00,0.000,4,0.000,0.056,3203,3723,1415
$GC,13094,1.36,325.6,429.0,10.8,1092,13098,0.00,2.55,0.00,0.000,6,0.000,0.038,3203,2259,1416
$GC,13419,1.36,329.8,396.5,8.8,1122,13431,0.00,2.42,2.85,0.994,4,0.000,0.058,3203,951,1403
$GC,13455,1.36,329.8,393.0,9.5,1125,13459,0.00,2.25,0.00,0.000,6,0.000,0.036,3203,2243,1402
$GC,13782,1.36,329.8,360.7,10.3,1155,13786,0.00,2.65,0.00,0.000,4,0.000,0.056,3203,3727,1402
$GC,13810,1.36,329.8,357.4,11.1,1157,13814,0.00,2.53,0.00,0.000,6,0.000,0.038,3203,2265,1402
$GC,14135,1.36,329.8,327.5,9.1,1187,14139,0.00,2.38,0.00,0.000,4,0.000,0.057,3203,944,1402
$GC,14175,1.36,329.8,323.6,9.8,1190,14179,0.00,2.28,0.00,0.000,6,0.000,0.036,3203,2258,1402
$GC,14500,1.36,329.8,291.8,10.0,1220,14504,0.00,2.60,0.00,0.000,4,0.000,0.054,3203,3725,1401
$GC,14521,1.36,329.8,289.5,9.9,1221,14528,0.00,2.47,0.00,0.000,6,0.000,0.036,3204,2284,1401
$GC,14849,1.41,358.4,262.0,7.7,1252,14884,0.00,2.53,24.65,0.859,4,0.000,0.056,3204,945,1285
$GC,14946,1.45,358.4,252.6,9.8,1260,14953,0.00,2.25,0.00,0.000,6,0.000,0.035,3203,2243,1283
$GC,15288,1.50,358.4,219.6,9.6,1318,15295,0.12,0.00,0.00,0.000,6,0.065,0.000,3236,2242,1283
$GC,15634,1.50,358.4,185.6,9.1,1379,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2242,1283
$GC,15979,1.54,383.8,155.5,7.9,1440,16005,0.00,0.00,21.02,0.766,6,0.000,0.000,3236,2243,1182
$GC,16344,1.68,396.7,125.4,8.4,1504,16365,0.15,2.42,10.55,0.755,4,0.054,0.051,3281,942,1130
$GC,16470,1.72,424.1,114.7,7.8,1525,16498,0.00,2.22,23.35,0.714,6,0.000,0.034,3281,2232,1019
$GC,16839,1.87,454.6,85.8,7.6,1589,16875,0.15,2.72,25.17,0.673,4,0.054,0.050,3325,3727,893
$GC,16882,1.93,485.0,82.3,7.7,1595,16915,0.00,2.83,25.67,0.652,6,0.000,0.033,3325,2095,769
$GC,17256,1.98,485.0,48.8,9.4,1660,17263,0.00,2.88,0.00,0.000,4,0.000,0.046,3325,3728,765
$GC,17356,2.05,485.0,40.0,9.1,1677,17364,0.12,2.72,0.00,0.000,6,0.059,0.031,3360,2130,764
$GC,17704,2.05,485.0,8.2,9.4,1738,17710,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2129,764
$STATE,17765,end climb,SURFACE_DEPTH_REACHED
$STATE,17765,begin surface coast
$FINISH,0.1,1.020712
$STATE,17789,end surface coast,CONTROL_FINISHED_OK
$STATE,17789,begin surface
$SM_CCo,17874,0.00,0.000,0,0,760,487.66
$SM_GC,0.82,13.62,0.00,0.00,0.037,0.000,0.000,249,2272,760,-12.17,1.58,487.66
$IRIDIUM_FIX,1245.46,12040.38,270797,232334
$TT8_MAMPS,0.023777
$HUMID,2069
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,23.90
$XPDR_PINGS,390
$ALTIM_BOTTOM_PING,691.8,68.7
$24V_AH,23.1,65.648
$10V_AH,10.1,33.766
$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,34.150,180.550,530.700,0.000,0.000,29.241,32.427,166.162,102.750,0.000,0.000,11.981,3723.061,10171.950,721.079,2972.260,651.121,0.000,2238.525,0.000,2926.402,0.000,40.023
$DEVICE_MAMPS,167.973,60.593,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56659,1753
$CAP_FILE_SIZE,185294,0
$CFSIZE,260165632,227635200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,334.4,1
$GPS,030508,092401,1251.836,12038.448,38,0.9,43,-0.8