version: 66.03
glider: 122
mission: 6
dive: 329
start: 4 27 108 7 50 43
data:
$ID,122
$MISSION,6
$DIVE,329
$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,-33876.324
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,074338,1246.602,12014.750,37,0.9,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.1
$GPS2,075009,1246.720,12014.705,15,1.0,15,-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,96.9,51176,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-60.58,0.000,2,0.000,0.000,248,2169,2490
$GC,90,-1.56,-146.0,3.7,-8.0,9,128,13.23,2.47,-16.20,0.000,4,0.165,0.053,2559,750,3345
$GC,186,-1.32,-146.0,23.6,-18.0,25,193,0.30,2.35,0.00,0.000,6,0.118,0.027,2614,2151,3347
$GC,532,-1.19,-146.0,74.3,-13.3,86,539,0.15,2.40,0.00,0.000,4,0.114,0.044,2645,3552,3349
$GC,614,-1.13,-146.0,84.1,-11.5,100,621,0.00,2.33,0.00,0.000,6,0.000,0.026,2645,2142,3349
$GC,960,-1.22,-146.0,117.5,-9.2,161,967,0.00,2.40,0.00,0.000,4,0.000,0.043,2645,750,3352
$GC,991,-1.26,-146.0,120.3,-8.9,166,998,0.00,2.62,0.00,0.000,6,0.000,0.029,2645,2309,3352
$GC,1339,-1.40,-146.0,149.0,-7.8,227,1347,0.17,2.12,0.00,0.000,4,0.042,0.046,2582,3546,3353
$GC,1411,-1.30,-146.0,155.8,-9.4,239,1419,0.20,1.92,0.00,0.000,6,0.094,0.027,2621,2366,3353
$GC,1758,-1.40,-146.0,183.7,-9.0,300,1765,0.00,2.03,0.00,0.000,4,0.000,0.045,2621,3548,3353
$GC,1800,-1.40,-146.0,187.6,-8.9,307,1807,0.00,2.12,0.00,0.000,6,0.000,0.028,2621,2257,3353
$GC,2147,-1.52,-146.0,216.0,-7.9,368,2154,0.20,2.62,0.00,0.000,4,0.044,0.046,2559,754,3352
$GC,2229,-1.42,-146.0,224.4,-10.4,382,2236,0.17,2.78,0.00,0.000,6,0.100,0.033,2591,2386,3352
$GC,2571,-1.46,-146.0,255.8,-9.1,437,2575,0.00,2.85,0.00,0.000,4,0.000,0.047,2592,757,3350
$GC,2667,-1.46,-146.0,264.9,-9.4,445,2671,0.00,2.58,0.00,0.000,6,0.000,0.032,2592,2279,3350
$GC,2995,-1.54,-146.0,291.8,-7.8,475,3000,0.10,2.67,0.00,0.000,4,0.061,0.048,2558,758,3348
$GC,3073,-1.46,-146.0,299.3,-9.1,481,3080,0.15,2.42,0.00,0.000,6,0.103,0.032,2586,2193,3348
$GC,3400,-1.51,-146.0,328.0,-9.5,512,3404,0.00,2.53,0.00,0.000,4,0.000,0.049,2586,759,3346
$GC,3444,-1.48,-146.0,332.7,-10.3,515,3451,0.00,2.67,0.00,0.000,6,0.000,0.033,2586,2326,3346
$GC,3772,-1.54,-146.0,360.7,-7.9,546,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2325,3344
$GC,4101,-1.59,-146.0,386.0,-8.2,577,4105,0.15,2.12,0.00,0.000,4,0.052,0.049,2540,3546,3341
$GC,4201,-1.45,-146.0,396.3,-10.1,585,4208,0.25,2.00,0.00,0.000,6,0.104,0.031,2586,2344,3341
$GC,4527,-1.51,-146.0,424.2,-8.3,616,4530,0.00,2.10,0.00,0.000,4,0.000,0.050,2586,3545,3339
$GC,4599,-1.48,-146.0,430.8,-8.8,622,4606,0.00,2.20,0.00,0.000,6,0.000,0.033,2586,2240,3338
$GC,4928,-1.54,-146.0,455.0,-7.3,653,4932,0.00,2.30,0.00,0.000,4,0.000,0.050,2586,3550,3336
$GC,4949,-1.54,-146.0,457.1,-7.9,654,4956,0.00,1.98,0.00,0.000,6,0.000,0.032,2586,2365,3336
$GC,5278,-1.62,-146.0,482.4,-8.1,685,5284,0.15,2.88,0.00,0.000,4,0.053,0.051,2545,753,3334
$GC,5366,-1.52,-146.0,490.6,-9.8,692,5371,0.15,2.58,0.00,0.000,6,0.108,0.034,2571,2248,3333
$GC,5687,-1.52,-146.0,516.7,-8.2,712,5691,0.00,2.28,0.00,0.000,4,0.000,0.052,2572,3545,3332
$GC,5766,-1.46,-146.0,523.7,-8.8,715,5773,0.00,2.15,0.00,0.000,6,0.000,0.034,2572,2273,3331
$GC,6083,-1.50,-146.0,548.7,-7.9,731,6087,0.00,2.70,0.00,0.000,4,0.000,0.053,2572,759,3330
$GC,6172,-1.46,-146.0,556.3,-8.6,735,6177,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2197,3329
$GC,6496,-1.51,-146.0,583.3,-8.6,751,6501,0.00,2.58,0.00,0.000,4,0.000,0.054,2572,757,3328
$GC,6559,-1.51,-146.0,589.5,-10.1,754,6567,0.00,2.65,0.00,0.000,6,0.000,0.035,2572,2291,3328
$GC,6897,-1.56,-146.0,618.2,-8.7,770,6901,0.00,2.75,0.00,0.000,4,0.000,0.054,2572,756,3326
$GC,6992,-1.53,-146.0,627.1,-9.0,774,6997,0.00,2.50,0.00,0.000,6,0.000,0.035,2572,2202,3326
$GC,7310,-1.57,-146.0,651.5,-7.6,789,7315,0.00,2.58,0.00,0.000,4,0.000,0.055,2572,760,3324
$GC,7367,-1.53,-146.0,656.4,-8.5,791,7374,0.00,2.75,0.00,0.000,6,0.000,0.038,2572,2340,3323
$GC,7686,-1.58,-146.0,681.6,-8.5,807,7691,0.00,2.83,0.00,0.000,4,0.000,0.054,2572,760,3322
$GC,7809,-1.58,-146.0,693.5,-9.6,812,7816,0.00,2.58,0.00,0.000,6,0.000,0.037,2572,2246,3321
$GC,8126,-1.58,-146.0,720.8,-8.8,828,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2245,3320
$GC,8434,-1.58,-146.0,745.6,-7.4,843,8438,0.00,2.33,0.00,0.000,4,0.000,0.058,2572,3554,3318
$GC,8501,-1.54,-146.0,751.7,-8.8,846,8505,0.00,2.25,0.00,0.000,6,0.000,0.036,2572,2240,3318
$GC,8823,-1.93,-146.0,763.8,0.3,862,8828,0.38,2.35,0.00,0.000,4,0.051,0.057,2479,3555,3317
$STATE,8861,end dive,NO_VERTICAL_VELOCITY
$STATE,8861,begin apogee
$GC,8869,-0.35,0.0,763.6,0.0,864,8993,1.62,0.00,119.45,1.192,6,0.063,0.000,2831,2373,2748
$STATE,8993,end apogee,CONTROL_FINISHED_OK
$STATE,8993,begin climb
$GC,8997,1.56,146.0,763.5,0.0,870,9130,1.88,2.65,123.65,1.151,4,0.051,0.057,3245,981,2152
$GC,9183,1.30,146.0,753.3,9.1,878,9190,0.30,2.47,0.00,0.000,6,0.117,0.040,3191,2380,2151
$GC,9500,1.19,159.1,726.3,8.4,894,9514,0.15,0.00,10.90,1.166,6,0.120,0.000,3165,2380,2098
$GC,9832,1.20,213.3,702.5,6.6,910,9884,0.00,2.65,45.55,1.141,4,0.000,0.058,3165,986,1877
$GC,10002,1.17,219.6,689.9,8.7,917,10015,0.00,2.42,5.47,1.157,6,0.000,0.040,3165,2359,1852
$GC,10324,1.16,237.1,666.1,8.2,933,10346,0.00,2.60,14.65,1.152,4,0.000,0.058,3165,977,1781
$GC,10398,1.12,237.1,659.7,9.0,936,10402,0.00,2.40,0.00,0.000,6,0.000,0.038,3165,2335,1780
$GC,10724,1.12,237.1,628.5,9.2,952,10729,0.00,2.47,0.00,0.000,4,0.000,0.058,3165,978,1779
$GC,10820,1.08,237.1,619.1,10.0,956,10825,0.12,2.25,0.00,0.000,6,0.119,0.038,3143,2269,1779
$GC,11137,1.18,249.5,591.5,8.5,971,11152,0.00,2.67,10.57,1.131,4,0.000,0.058,3143,3726,1731
$GC,11237,1.20,264.0,582.4,8.4,974,11256,0.10,2.40,12.88,1.116,6,0.077,0.038,3166,2341,1671
$GC,11574,1.21,269.3,553.6,8.8,991,11583,0.00,2.55,4.62,1.111,4,0.000,0.057,3166,3733,1650
$GC,11685,1.21,269.4,542.8,9.0,996,11690,0.00,2.58,0.00,0.000,6,0.000,0.038,3166,2257,1650
$GC,12006,1.21,270.2,513.7,9.0,1012,12011,0.00,2.65,0.00,0.000,4,0.000,0.055,3166,3736,1649
$GC,12101,1.21,270.2,504.9,9.1,1016,12105,0.00,2.40,0.00,0.000,6,0.000,0.038,3166,2345,1649
$GC,12427,1.24,285.1,478.3,8.3,1043,12451,0.00,2.58,13.80,1.055,4,0.000,0.055,3166,3726,1585
$GC,12546,1.28,310.9,467.9,7.9,1053,12577,0.00,2.53,22.02,1.022,6,0.000,0.038,3166,2271,1480
$GC,12895,1.40,311.8,438.9,9.0,1086,12900,0.17,2.35,0.00,0.000,4,0.061,0.056,3212,969,1477
$GC,12969,1.32,311.8,431.3,10.7,1092,12974,0.00,2.53,0.00,0.000,6,0.000,0.038,3212,2412,1476
$GC,13297,1.26,311.8,398.3,9.8,1122,13302,0.15,2.60,0.00,0.000,4,0.108,0.054,3181,975,1476
$GC,13431,1.28,323.9,386.5,8.5,1133,13447,0.00,2.38,10.70,0.990,6,0.000,0.038,3181,2336,1427
$GC,13767,1.31,338.2,358.4,8.4,1164,13785,0.00,2.53,12.50,0.959,4,0.000,0.054,3181,967,1368
$GC,13905,1.34,355.8,346.6,8.2,1175,13925,0.00,2.20,15.38,0.934,6,0.000,0.037,3181,2237,1297
$GC,14243,1.47,359.3,317.2,8.9,1207,14256,0.17,2.33,2.65,0.932,4,0.056,0.053,3228,975,1282
$GC,14341,1.40,359.3,306.7,11.5,1215,14348,0.00,2.45,0.00,0.000,6,0.000,0.037,3228,2384,1282
$GC,14668,1.36,359.3,272.7,10.0,1246,14673,0.15,2.38,0.00,0.000,4,0.108,0.054,3201,3723,1282
$GC,14757,1.36,360.4,263.5,9.0,1253,14765,0.00,2.47,0.00,0.000,6,0.000,0.035,3201,2281,1282
$GC,15093,1.46,365.5,233.1,8.8,1300,15107,0.00,2.38,5.88,0.875,4,0.000,0.054,3202,970,1256
$GC,15170,1.48,375.1,226.1,8.6,1313,15185,0.12,2.53,8.32,0.856,6,0.067,0.036,3231,2421,1218
$GC,15526,1.44,375.1,193.2,9.8,1375,15533,0.00,2.30,0.00,0.000,4,0.000,0.052,3231,3727,1216
$GC,15597,1.41,375.1,185.7,10.0,1387,15604,0.00,2.42,0.00,0.000,6,0.000,0.035,3231,2309,1216
$GC,15943,1.49,382.6,152.0,8.7,1448,15957,0.00,2.53,6.30,0.802,4,0.000,0.049,3231,3726,1187
$GC,16059,1.49,382.6,141.0,9.5,1468,16067,0.00,2.22,0.00,0.000,6,0.000,0.034,3232,2418,1187
$GC,16406,1.61,403.2,111.5,8.1,1529,16434,0.10,2.65,17.17,0.721,4,0.067,0.050,3260,977,1103
$GC,16491,1.64,423.0,104.3,8.1,1543,16518,0.00,2.22,17.05,0.706,6,0.000,0.034,3260,2268,1021
$GC,16859,1.79,432.8,74.5,8.6,1607,16875,0.15,2.33,7.57,0.693,4,0.054,0.048,3308,973,982
$GC,16899,1.79,432.8,70.8,9.3,1613,16906,0.00,2.40,0.00,0.000,6,0.000,0.032,3308,2364,981
$GC,17245,1.92,466.0,42.1,7.5,1674,17278,0.00,0.00,27.12,0.614,6,0.000,0.000,3308,2364,848
$GC,17617,2.05,493.6,13.7,7.8,1739,17646,0.20,2.45,22.00,0.577,4,0.044,0.045,3368,3724,735
$GC,17726,2.01,493.6,2.8,9.2,1757,17734,0.12,2.28,0.00,0.000,6,0.120,0.028,3347,2364,731
$STATE,17738,end climb,SURFACE_DEPTH_REACHED
$STATE,17738,begin surface coast
$FINISH,-0.2,0.998670
$STATE,17756,end surface coast,CONTROL_FINISHED_OK
$STATE,17756,begin surface
$SM_CCo,17841,0.00,0.000,0,0,728,495.51
$SM_GC,0.59,13.68,0.00,0.00,0.040,0.000,0.000,249,2138,728,-12.18,-0.31,495.51
$IRIDIUM_FIX,1241.04,12011.57,220797,030334
$TT8_MAMPS,0.023777
$HUMID,2018
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.90
$XPDR_PINGS,438
$ALTIM_BOTTOM_PING,701.2,69.6
$24V_AH,23.2,60.917
$10V_AH,10.1,31.296
$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,34.950,195.350,536.225,0.000,0.000,25.921,40.105,188.045,115.000,0.000,0.000,15.535,3768.464,9970.627,762.149,3070.143,661.444,0.000,2319.360,0.000,3019.756,0.000,41.827
$DEVICE_MAMPS,164.905,58.292,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56678,1762
$CAP_FILE_SIZE,194084,0
$CFSIZE,260165632,229826560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,324.8,1
$GPS,270408,124907,1247.441,12014.657,27,1.1,27,-0.8