version: 66.03
glider: 122
mission: 6
dive: 328
start: 4 27 108 3 21 49
data:
$ID,122
$MISSION,6
$DIVE,328
$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,-33860.16
$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,32
$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
$GPS1,031438,1246.296,12014.623,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.3
$GPS2,032115,1246.313,12014.589,14,1.3,14,-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,86.4,51497,-18.6,-9.016
$D_GRID,872
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-62.85,0.000,2,0.000,0.000,248,2172,2481
$GC,92,-1.56,-146.0,3.4,-7.5,11,131,13.35,2.50,-16.83,0.000,4,0.169,0.051,2561,737,3345
$GC,194,-1.31,-146.0,23.5,-17.1,28,202,0.30,2.38,0.00,0.000,6,0.112,0.027,2616,2161,3346
$GC,540,-1.20,-146.0,72.7,-11.9,89,548,0.12,2.38,0.00,0.000,4,0.112,0.044,2639,3545,3348
$GC,634,-1.12,-146.0,83.7,-12.3,105,641,0.10,2.30,0.00,0.000,6,0.112,0.026,2657,2151,3348
$GC,981,-1.20,-146.0,118.2,-8.4,166,987,0.00,2.40,0.00,0.000,4,0.000,0.043,2657,758,3350
$GC,1035,-1.26,-146.0,123.2,-8.9,175,1042,0.12,2.55,0.00,0.000,6,0.053,0.028,2616,2283,3351
$GC,1382,-1.32,-146.0,153.6,-8.6,236,1389,0.00,2.65,0.00,0.000,4,0.000,0.043,2616,756,3352
$GC,1470,-1.32,-146.0,161.6,-9.0,251,1477,0.00,2.62,0.00,0.000,6,0.000,0.029,2616,2317,3352
$GC,1815,-1.40,-146.0,191.1,-7.9,312,1822,0.00,2.72,0.00,0.000,4,0.000,0.044,2616,754,3353
$GC,1885,-1.40,-146.0,197.0,-8.2,324,1892,0.00,2.78,0.00,0.000,6,0.000,0.031,2616,2395,3353
$GC,2231,-1.50,-146.0,225.3,-8.5,385,2239,0.15,1.98,0.00,0.000,4,0.051,0.048,2565,3545,3351
$GC,2280,-1.38,-146.0,230.3,-10.4,393,2287,0.20,2.12,0.00,0.000,6,0.096,0.029,2603,2261,3351
$GC,2626,-1.45,-146.0,259.3,-7.5,444,2630,0.00,2.62,0.00,0.000,4,0.000,0.048,2603,760,3350
$GC,2711,-1.45,-146.0,266.4,-8.3,451,2716,0.00,2.80,0.00,0.000,6,0.000,0.032,2603,2404,3350
$GC,3040,-1.53,-146.0,293.6,-9.0,481,3044,0.15,1.98,0.00,0.000,4,0.051,0.048,2554,3547,3348
$GC,3120,-1.41,-146.0,302.4,-11.0,488,3124,0.22,2.08,0.00,0.000,6,0.102,0.031,2596,2291,3347
$GC,3451,-1.48,-146.0,331.4,-7.9,519,3455,0.00,2.17,0.00,0.000,4,0.000,0.048,2596,3543,3346
$GC,3529,-1.48,-146.0,338.5,-9.3,525,3536,0.00,1.92,0.00,0.000,6,0.000,0.031,2596,2379,3344
$GC,3858,-1.55,-146.0,363.7,-7.9,556,3862,0.15,2.05,0.00,0.000,4,0.052,0.048,2548,3555,3343
$GC,3891,-1.42,-146.0,367.0,-8.5,558,3899,0.25,2.15,0.00,0.000,6,0.104,0.032,2594,2270,3343
$GC,4217,-1.50,-146.0,392.4,-8.2,589,4221,0.00,2.22,0.00,0.000,4,0.000,0.049,2594,3543,3341
$GC,4329,-1.50,-146.0,402.1,-8.3,598,4336,0.00,1.92,0.00,0.000,6,0.000,0.032,2593,2386,3340
$GC,4656,-1.58,-146.0,426.9,-7.6,629,4662,0.15,2.90,0.00,0.000,4,0.051,0.050,2550,757,3337
$GC,4769,-1.50,-146.0,437.0,-8.9,638,4777,0.15,2.67,0.00,0.000,6,0.108,0.034,2577,2314,3336
$GC,5095,-1.55,-146.0,461.8,-8.0,669,5099,0.00,2.15,0.00,0.000,4,0.000,0.051,2577,3544,3335
$GC,5195,-1.55,-146.0,470.6,-9.4,677,5203,0.00,2.28,0.00,0.000,6,0.000,0.034,2577,2205,3333
$GC,5523,-1.60,-146.0,499.9,-9.2,708,5528,0.00,2.58,0.00,0.000,4,0.000,0.053,2577,762,3332
$GC,5614,-1.56,-146.0,508.6,-9.9,713,5619,0.00,2.70,0.00,0.000,6,0.000,0.035,2577,2320,3332
$GC,5943,-1.61,-146.0,536.8,-8.2,729,5948,0.12,2.78,0.00,0.000,4,0.059,0.051,2542,762,3330
$GC,6055,-1.52,-146.0,547.0,-9.1,734,6060,0.15,2.50,0.00,0.000,6,0.110,0.035,2569,2216,3329
$GC,6383,-1.55,-146.0,571.1,-7.7,750,6387,0.00,2.60,0.00,0.000,4,0.000,0.054,2569,763,3328
$GC,6440,-1.51,-146.0,576.2,-8.1,752,6447,0.00,2.67,0.00,0.000,6,0.000,0.036,2569,2313,3327
$GC,6758,-1.56,-146.0,602.1,-8.7,768,6763,0.00,2.78,0.00,0.000,4,0.000,0.054,2569,763,3326
$GC,6848,-1.52,-146.0,610.6,-9.1,772,6853,0.00,2.53,0.00,0.000,6,0.000,0.036,2569,2227,3326
$GC,7171,-1.52,-146.0,639.4,-9.2,788,7175,0.00,2.33,0.00,0.000,4,0.000,0.055,2569,3543,3324
$GC,7234,-1.45,-146.0,645.4,-9.8,791,7238,0.00,2.17,0.00,0.000,6,0.000,0.035,2569,2267,3324
$GC,7562,-1.84,-146.0,665.4,0.6,807,7564,0.30,0.00,0.00,0.000,6,0.052,0.000,2499,2264,3322
$STATE,7662,end dive,NO_VERTICAL_VELOCITY
$STATE,7662,begin apogee
$GC,7668,-0.35,0.0,665.0,0.0,812,7790,1.52,0.00,118.07,1.107,6,0.061,0.000,2829,2374,2748
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7794,1.56,146.0,664.7,0.0,818,7924,1.95,2.50,121.40,1.065,4,0.060,0.058,3245,3710,2152
$GC,7965,1.28,147.9,657.0,8.9,826,7970,0.35,2.30,0.00,0.000,6,0.131,0.038,3185,2391,2151
$GC,8282,1.24,178.6,633.5,7.6,841,8314,0.00,2.65,26.85,1.076,4,0.000,0.058,3184,965,2018
$GC,8367,1.12,178.6,626.1,9.6,845,8372,0.17,2.42,0.00,0.000,6,0.117,0.038,3154,2341,2018
$GC,8694,1.16,217.7,600.9,7.3,861,8732,0.00,2.55,32.33,1.060,4,0.000,0.057,3154,974,1859
$GC,8872,1.18,250.6,586.9,7.5,868,8904,0.00,2.30,27.38,1.052,6,0.000,0.038,3153,2290,1726
$GC,9215,1.18,250.6,556.0,9.4,884,9219,0.00,2.58,0.00,0.000,4,0.000,0.058,3154,3723,1723
$GC,9237,1.18,250.6,553.6,10.7,885,9241,0.00,2.58,0.00,0.000,6,0.000,0.038,3154,2242,1723
$GC,9558,1.18,250.6,523.6,9.4,901,9562,0.00,2.30,0.00,0.000,4,0.000,0.058,3154,965,1721
$GC,9613,1.18,250.6,518.1,9.5,903,9617,0.00,2.20,0.00,0.000,6,0.000,0.037,3154,2234,1721
$GC,9934,1.26,250.6,487.9,9.4,924,9938,0.12,2.30,0.00,0.000,4,0.066,0.056,3186,963,1721
$GC,10000,1.20,250.6,481.3,9.1,929,10007,0.00,2.40,0.00,0.000,6,0.000,0.038,3186,2341,1720
$GC,10328,1.18,257.2,452.6,8.7,960,10341,0.12,2.50,4.82,1.040,4,0.114,0.055,3164,973,1698
$GC,10433,1.22,281.4,443.6,7.9,969,10460,0.00,2.28,20.90,1.000,6,0.000,0.036,3165,2279,1599
$GC,10787,1.35,310.9,415.2,7.7,1002,10820,0.17,0.00,24.58,0.969,6,0.059,0.000,3210,2279,1480
$GC,11137,1.35,310.9,385.2,9.1,1035,11141,0.00,2.38,0.00,0.000,4,0.000,0.055,3210,963,1476
$GC,11192,1.29,310.9,380.0,9.3,1039,11200,0.12,2.47,0.00,0.000,6,0.116,0.038,3189,2386,1475
$GC,11517,1.29,314.9,351.4,8.8,1070,11529,0.00,2.42,2.90,0.966,4,0.000,0.055,3189,3720,1464
$GC,11620,1.29,314.9,341.4,9.8,1079,11625,0.00,2.47,0.00,0.000,6,0.000,0.036,3189,2286,1464
$GC,11949,1.38,323.1,312.5,8.6,1109,11961,0.00,2.65,7.10,0.940,4,0.000,0.051,3189,3725,1429
$GC,12041,1.38,323.5,303.7,9.0,1117,12046,0.00,2.28,0.00,0.000,6,0.000,0.035,3189,2401,1430
$GC,12368,1.45,323.5,273.8,9.5,1147,12373,0.15,2.55,0.00,0.000,4,0.064,0.051,3229,971,1428
$GC,12409,1.38,323.5,269.5,11.0,1150,12414,0.12,2.22,0.00,0.000,6,0.115,0.035,3207,2259,1427
$GC,12742,1.38,323.5,236.5,9.9,1192,12749,0.00,2.30,0.00,0.000,4,0.000,0.053,3207,973,1428
$GC,12795,1.35,323.5,231.4,9.8,1201,12802,0.00,2.15,0.00,0.000,6,0.000,0.035,3207,2222,1428
$GC,13141,1.41,334.1,200.4,8.5,1262,13155,0.00,2.75,9.23,0.838,4,0.000,0.051,3207,3727,1385
$GC,13213,1.41,334.1,193.9,9.2,1274,13220,0.00,2.50,0.00,0.000,6,0.000,0.035,3207,2273,1384
$GC,13559,1.51,339.2,164.0,8.8,1335,13574,0.12,2.62,4.25,0.821,4,0.065,0.049,3239,3724,1365
$GC,13689,1.45,339.2,152.1,9.1,1357,13696,0.00,2.28,0.00,0.000,6,0.000,0.034,3239,2385,1365
$GC,14035,1.49,363.6,122.4,7.9,1418,14062,0.00,2.47,20.55,0.731,4,0.000,0.050,3239,3728,1265
$GC,14097,1.49,363.6,117.0,9.3,1428,14104,0.00,2.50,0.00,0.000,6,0.000,0.034,3239,2273,1264
$GC,14443,1.66,398.6,91.0,7.4,1489,14478,0.12,2.40,28.23,0.680,4,0.060,0.050,3276,977,1122
$GC,14589,1.70,420.8,79.2,8.0,1513,14615,0.00,2.17,18.17,0.671,6,0.000,0.032,3276,2246,1031
$GC,14956,1.88,456.2,51.3,7.4,1577,14992,0.15,2.35,28.70,0.622,4,0.046,0.047,3332,975,887
$GC,15050,1.84,465.6,43.2,8.6,1592,15064,0.15,2.28,7.38,0.642,6,0.102,0.031,3304,2311,848
$GC,15406,2.00,475.2,14.3,8.6,1654,15421,0.15,2.38,7.22,0.604,4,0.054,0.044,3354,971,809
$STATE,15546,end climb,SURFACE_DEPTH_REACHED
$STATE,15546,begin surface coast
$FINISH,1.1,1.020862
$STATE,15551,end surface coast,CONTROL_FINISHED_OK
$STATE,15551,begin surface
$SM_CCo,15637,0.00,0.000,0,0,803,477.11
$SM_GC,0.75,13.62,0.00,0.00,0.038,0.000,0.000,248,2169,803,-12.18,0.54,477.11
$IRIDIUM_FIX,1241.04,12016.50,210797,222204
$TT8_MAMPS,0.02301
$HUMID,2014
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.80
$XPDR_PINGS,454
$ALTIM_BOTTOM_PING,600.2,72.8
$24V_AH,23.3,60.732
$10V_AH,10.1,31.199
$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,35.150,173.600,510.050,0.000,0.000,22.989,43.969,193.849,116.750,0.000,0.000,14.843,3540.260,8336.921,702.421,2823.115,633.308,0.000,2133.225,0.000,2784.145,0.000,26.659
$DEVICE_MAMPS,168.740,58.292,1106.781,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53484,1679
$CAP_FILE_SIZE,175216,0
$CFSIZE,260165632,229937152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,323.0,1
$GPS,270408,074338,1246.602,12014.750,37,0.9,37,-0.8