version: 66.03
glider: 122
mission: 6
dive: 363
start: 5 5 108 19 25 49
data:
$ID,122
$MISSION,6
$DIVE,363
$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,-34454.145
$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,29
$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
$GPS1,191537,1250.714,12040.846,41,0.9,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.2
$GPS2,192503,1250.688,12040.820,12,1.0,12,-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,94.3,3485,-25.4,-9.016
$D_GRID,1246
$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,-1.92,-82.3,0.0,0.0,0,82,0.00,0.00,-56.80,0.000,2,0.000,0.000,252,2201,2342
$GC,85,-1.95,-100.1,3.4,-7.7,9,123,12.73,2.45,-16.23,0.000,4,0.165,0.051,2474,813,3158
$GC,136,-1.55,-100.1,14.8,-20.0,17,144,0.50,2.38,0.00,0.000,6,0.134,0.027,2563,2232,3159
$GC,483,-1.48,-100.1,76.1,-15.2,78,490,0.00,2.38,0.00,0.000,4,0.000,0.044,2563,3619,3160
$GC,554,-1.41,-100.1,87.0,-14.9,90,562,0.17,2.30,0.00,0.000,6,0.123,0.026,2593,2223,3160
$GC,901,-1.47,-100.1,132.1,-11.7,151,908,0.00,2.40,0.00,0.000,4,0.000,0.043,2593,3621,3161
$GC,1011,-1.52,-100.1,144.1,-10.6,170,1018,0.00,2.17,0.00,0.000,6,0.000,0.026,2593,2294,3162
$GC,1357,-1.66,-113.1,175.8,-8.0,231,1365,0.20,2.28,0.00,0.000,4,0.044,0.041,2532,3622,3163
$GC,1395,-1.66,-113.1,179.5,-9.9,237,1402,0.00,2.12,0.00,0.000,6,0.000,0.026,2532,2322,3163
$GC,1741,-1.66,-116.8,210.8,-8.7,298,1748,0.00,2.60,0.00,0.000,4,0.000,0.042,2532,817,3163
$GC,1771,-1.66,-116.8,213.7,-9.5,303,1778,0.00,2.55,0.00,0.000,6,0.000,0.030,2532,2335,3163
$GC,2117,-1.66,-116.8,247.5,-10.1,364,2123,0.00,2.20,0.00,0.000,4,0.000,0.047,2532,3616,3163
$GC,2141,-1.66,-116.8,250.3,-10.7,368,2145,0.00,2.15,0.00,0.000,6,0.000,0.028,2532,2306,3163
$GC,2469,-1.67,-122.1,280.8,-8.6,398,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2305,3162
$GC,2795,-1.67,-122.1,310.6,-9.3,429,2798,0.00,2.25,0.00,0.000,4,0.000,0.045,2532,3615,3161
$GC,2825,-1.67,-122.1,313.6,-10.2,431,2829,0.00,2.12,0.00,0.000,6,0.000,0.029,2532,2330,3161
$GC,3153,-1.68,-127.2,343.2,-8.6,461,3157,0.00,2.65,0.00,0.000,4,0.000,0.048,2531,817,3159
$GC,3197,-1.68,-128.6,347.4,-8.9,464,3204,0.00,2.53,0.00,0.000,6,0.000,0.032,2532,2310,3159
$GC,3525,-1.72,-132.5,374.4,-8.7,495,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2309,3157
$GC,3853,-1.76,-133.9,403.7,-8.9,526,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2309,3155
$GC,4181,-1.80,-137.3,432.4,-8.8,557,4185,0.00,2.62,0.00,0.000,4,0.000,0.049,2532,824,3153
$GC,4221,-1.83,-137.3,436.3,-9.0,560,4226,0.12,2.55,0.00,0.000,6,0.058,0.032,2494,2315,3153
$GC,4546,-1.80,-137.3,468.7,-10.4,590,4550,0.00,2.25,0.00,0.000,4,0.000,0.049,2494,3616,3150
$GC,4597,-1.74,-137.3,474.5,-10.9,594,4605,0.17,2.20,0.00,0.000,6,0.122,0.031,2524,2307,3150
$GC,4932,-1.75,-143.3,503.6,-8.6,624,4937,0.00,2.62,0.00,0.000,4,0.000,0.050,2523,823,3147
$GC,4973,-1.75,-143.3,507.4,-9.2,626,4977,0.00,2.53,0.00,0.000,6,0.000,0.034,2524,2294,3147
$GC,5300,-1.75,-143.3,537.0,-9.3,642,5304,0.00,2.33,0.00,0.000,4,0.000,0.051,2524,3621,3146
$GC,5322,-1.75,-143.3,539.3,-9.6,643,5326,0.00,2.25,0.00,0.000,6,0.000,0.031,2524,2289,3146
$GC,5643,-1.75,-143.3,568.4,-9.0,659,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2287,3144
$GC,5953,-1.75,-146.0,595.5,-8.8,674,5958,0.00,2.60,0.00,0.000,4,0.000,0.052,2524,826,3143
$GC,5995,-1.78,-146.0,599.2,-8.9,676,5999,0.00,2.50,0.00,0.000,6,0.000,0.035,2524,2277,3142
$GC,6324,-1.82,-146.0,628.1,-9.4,692,6328,0.00,2.35,0.00,0.000,4,0.000,0.053,2524,3610,3140
$GC,6357,-1.82,-146.0,631.8,-10.0,693,6361,0.00,2.22,0.00,0.000,6,0.000,0.033,2524,2290,3140
$GC,6680,-1.85,-146.0,659.4,-8.5,709,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2288,3138
$GC,6989,-1.89,-146.0,685.6,-8.5,724,6994,0.15,2.62,0.00,0.000,4,0.062,0.053,2486,821,3136
$GC,7046,-1.86,-146.0,691.1,-9.7,726,7054,0.00,2.50,0.00,0.000,6,0.000,0.036,2486,2266,3136
$GC,7364,-1.82,-146.0,719.3,-8.9,742,7368,0.12,2.40,0.00,0.000,4,0.130,0.054,2507,3623,3134
$GC,7407,-1.82,-146.0,723.9,-10.0,744,7411,0.00,2.28,0.00,0.000,6,0.000,0.035,2507,2288,3134
$GC,7730,-2.18,-146.0,745.1,0.4,760,7735,0.32,2.62,0.00,0.000,4,0.043,0.055,2422,822,3133
$STATE,7850,end dive,NO_VERTICAL_VELOCITY
$STATE,7850,begin apogee
$GC,7860,-0.35,0.0,744.6,0.0,765,7947,1.92,0.00,80.68,1.170,6,0.086,0.000,2828,2334,2748
$STATE,7948,end apogee,CONTROL_FINISHED_OK
$STATE,7948,begin climb
$GC,7951,2.03,146.0,744.3,0.0,770,8083,2.42,2.62,123.82,1.127,4,0.071,0.057,3346,3729,2152
$GC,8206,1.77,146.0,720.7,13.5,781,8212,0.30,2.40,0.00,0.000,6,0.156,0.039,3297,2352,2151
$GC,8523,1.65,146.0,685.2,10.8,796,8528,0.17,2.58,0.00,0.000,4,0.146,0.058,3265,929,2148
$GC,8579,1.56,146.0,679.4,10.0,798,8586,0.00,2.45,0.00,0.000,6,0.000,0.038,3266,2328,2148
$GC,8897,1.50,146.0,650.1,9.5,814,8902,0.17,2.55,0.00,0.000,4,0.141,0.057,3233,926,2147
$GC,8932,1.51,154.3,646.9,8.4,815,8943,0.00,2.42,6.35,1.147,6,0.000,0.038,3234,2313,2118
$GC,9265,1.52,159.8,618.2,8.6,832,9275,0.00,2.58,4.72,1.134,4,0.000,0.057,3233,3728,2096
$GC,9308,1.52,159.8,613.8,10.1,834,9312,0.00,2.40,0.00,0.000,6,0.000,0.038,3234,2346,2096
$GC,9630,1.52,159.8,583.3,9.7,850,9635,0.00,2.58,0.00,0.000,4,0.000,0.058,3234,925,2095
$GC,9686,1.52,161.8,578.0,8.9,852,9693,0.00,2.45,0.00,0.000,6,0.000,0.038,3234,2332,2095
$GC,10003,1.58,192.5,555.2,6.7,868,10035,0.00,2.62,27.12,1.076,4,0.000,0.057,3234,927,1962
$GC,10065,1.58,192.5,550.1,9.6,871,10070,0.00,2.45,0.00,0.000,6,0.000,0.038,3234,2314,1961
$GC,10393,1.61,192.5,521.4,9.6,887,10398,0.10,2.53,0.00,0.000,4,0.084,0.055,3255,3726,1961
$GC,10427,1.58,192.5,517.9,10.6,888,10434,0.00,2.42,0.00,0.000,6,0.000,0.038,3255,2328,1960
$GC,10747,1.59,195.6,487.6,8.8,910,10756,0.00,0.00,2.58,1.054,6,0.000,0.000,3255,2327,1949
$GC,11077,1.59,195.6,458.7,9.2,941,11081,0.00,2.53,0.00,0.000,4,0.000,0.057,3255,928,1950
$GC,11132,1.59,195.6,453.1,9.7,945,11139,0.00,2.50,0.00,0.000,6,0.000,0.038,3256,2356,1949
$GC,11460,1.59,195.6,422.7,10.0,976,11464,0.00,2.58,0.00,0.000,4,0.000,0.055,3255,931,1949
$GC,11522,1.59,195.6,416.3,10.0,981,11526,0.00,2.42,0.00,0.000,6,0.000,0.037,3255,2322,1949
$GC,11849,1.62,214.7,388.2,7.6,1011,11873,0.00,2.58,16.08,0.982,4,0.000,0.055,3255,3729,1872
$GC,11880,1.64,230.2,385.6,7.8,1013,11899,0.00,2.47,12.82,0.954,6,0.000,0.036,3255,2310,1809
$GC,12217,1.69,231.4,355.7,8.9,1045,12221,0.00,2.47,0.00,0.000,4,0.000,0.055,3255,934,1808
$GC,12246,1.69,231.4,352.9,9.9,1047,12250,0.00,2.38,0.00,0.000,6,0.000,0.036,3255,2306,1807
$GC,12580,1.74,231.4,322.6,9.6,1078,12585,0.12,2.53,0.00,0.000,4,0.078,0.054,3284,3726,1808
$GC,12655,1.70,231.4,314.5,10.9,1084,12659,0.00,2.40,0.00,0.000,6,0.000,0.037,3284,2335,1808
$GC,12980,1.70,231.4,282.6,9.4,1114,12984,0.00,2.53,0.00,0.000,4,0.000,0.054,3284,927,1807
$GC,13001,1.71,236.6,280.7,8.6,1115,13012,0.00,2.47,5.28,0.933,6,0.000,0.036,3284,2354,1783
$GC,13338,1.72,243.6,249.3,8.5,1147,13351,0.00,0.00,6.45,0.902,6,0.000,0.000,3284,2354,1753
$GC,13690,1.72,243.6,217.1,9.2,1209,13696,0.00,2.55,0.00,0.000,4,0.000,0.054,3284,934,1753
$GC,13720,1.72,243.6,214.2,9.7,1214,13727,0.00,2.42,0.00,0.000,6,0.000,0.036,3284,2329,1753
$GC,14067,1.77,251.4,182.7,8.4,1275,14080,0.00,2.50,6.62,0.844,4,0.000,0.052,3284,3727,1722
$GC,14127,1.77,251.4,176.9,9.4,1285,14134,0.00,2.40,0.00,0.000,6,0.000,0.035,3284,2334,1722
$GC,14475,1.90,285.7,149.9,6.4,1346,14509,0.15,2.62,27.85,0.758,4,0.068,0.052,3323,930,1582
$GC,14516,1.92,300.7,146.5,7.9,1352,14536,0.00,2.45,12.35,0.745,6,0.000,0.035,3323,2327,1521
$GC,14877,2.07,335.8,119.9,6.3,1415,14911,0.15,2.58,27.98,0.714,4,0.067,0.049,3363,3730,1379
$GC,14946,2.08,345.0,114.1,8.3,1426,14960,0.00,2.53,7.70,0.730,6,0.000,0.033,3363,2264,1341
$GC,15301,2.16,358.3,87.6,8.0,1488,15320,0.00,2.62,10.38,0.694,4,0.000,0.046,3363,3719,1286
$GC,15401,2.19,358.3,78.5,9.3,1505,15408,0.00,2.40,0.00,0.000,6,0.000,0.031,3363,2308,1285
$GC,15748,2.35,396.9,53.4,6.1,1566,15788,0.20,2.47,31.17,0.616,4,0.056,0.048,3416,935,1129
$GC,15876,2.38,414.9,43.8,7.6,1587,15896,0.00,2.28,14.27,0.614,6,0.000,0.029,3416,2275,1056
$GC,16235,2.42,414.9,11.0,9.1,1650,16242,0.00,2.35,0.00,0.000,4,0.000,0.044,3416,934,1054
$STATE,16325,end climb,SURFACE_DEPTH_REACHED
$STATE,16325,begin surface coast
$FINISH,-0.1,1.020090
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16344,begin surface
$SM_CCo,16371,30.62,0.548,0,0,811,475.15
$SM_GC,1.10,0.00,0.00,30.62,0.000,0.000,0.548,251,2240,811,-12.21,0.68,475.15
$IRIDIUM_FIX,1243.25,12042.28,300797,191939
$TT8_MAMPS,0.024544
$HUMID,2015
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.40
$XPDR_PINGS,353
$ALTIM_BOTTOM_PING,701.1,59.8
$24V_AH,23.1,67.679
$10V_AH,10.1,34.839
$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,34.175,180.925,424.225,30.625,0.000,49.037,58.287,241.170,94.250,0.000,0.000,14.520,3438.710,9378.704,660.058,2740.251,757.539,0.000,2057.532,0.000,2690.860,0.000,50.350
$DEVICE_MAMPS,164.905,58.292,1169.675,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53497,1669
$CAP_FILE_SIZE,174781,0
$CFSIZE,260165632,226680832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,153.5,1
$GPS,060508,000031,1250.008,12042.305,41,1.1,41,-0.8