version: 66.03
glider: 122
mission: 6
dive: 352
start: 5 2 108 23 10 55
data:
$ID,122
$MISSION,6
$DIVE,352
$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,-34300.277
$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,53
$R_STBD_OVSHOOT,59
$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
$GPS1,230337,1251.292,12041.366,26,0.9,26,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.7
$GPS2,231020,1251.258,12041.353,13,1.1,30,-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,250.8,47850,-18.6,-9.016
$D_GRID,1169
$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,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-61.15,0.000,2,0.000,0.000,249,2249,2307
$GC,89,-1.56,-146.0,3.0,-7.4,11,129,13.30,2.55,-20.70,0.000,4,0.168,0.052,2558,822,3346
$GC,214,-1.32,-146.0,27.3,-18.0,32,222,0.30,2.30,0.00,0.000,6,0.117,0.027,2613,2196,3348
$GC,561,-1.20,-146.0,80.7,-13.5,93,569,0.15,2.45,0.00,0.000,4,0.119,0.044,2644,3619,3350
$GC,654,-1.14,-146.0,92.4,-12.2,109,661,0.00,2.25,0.00,0.000,6,0.000,0.026,2644,2246,3350
$GC,1000,-1.17,-146.0,130.2,-9.3,170,1007,0.00,2.35,0.00,0.000,4,0.000,0.043,2644,3616,3352
$GC,1077,-1.20,-146.0,137.5,-9.7,183,1084,0.00,2.15,0.00,0.000,6,0.000,0.026,2644,2294,3352
$GC,1422,-1.34,-146.0,167.0,-7.2,244,1430,0.15,2.55,0.00,0.000,4,0.047,0.041,2590,814,3353
$GC,1485,-1.30,-146.0,171.9,-8.3,254,1492,0.15,2.72,0.00,0.000,6,0.098,0.031,2619,2429,3353
$GC,1832,-1.43,-146.0,199.9,-8.8,315,1840,0.12,2.80,0.00,0.000,4,0.052,0.042,2575,816,3353
$GC,1858,-1.43,-146.0,202.5,-8.7,319,1866,0.00,2.80,0.00,0.000,6,0.000,0.031,2575,2472,3353
$GC,2206,-1.38,-146.0,232.5,-8.2,380,2213,0.15,2.88,0.00,0.000,4,0.099,0.044,2608,822,3354
$GC,2272,-1.38,-146.0,237.9,-8.0,391,2279,0.00,2.72,0.00,0.000,6,0.000,0.031,2608,2429,3354
$GC,2608,-1.49,-146.0,265.7,-8.7,435,2612,0.12,2.05,0.00,0.000,4,0.054,0.048,2564,3620,3352
$GC,2687,-1.39,-146.0,273.7,-9.9,441,2694,0.20,2.15,0.00,0.000,6,0.100,0.030,2601,2314,3352
$GC,3013,-1.49,-146.0,300.6,-7.7,472,3017,0.00,2.22,0.00,0.000,4,0.000,0.047,2601,3616,3350
$GC,3093,-1.49,-146.0,306.7,-7.8,479,3097,0.00,2.00,0.00,0.000,6,0.000,0.030,2601,2400,3350
$GC,3427,-1.60,-146.0,330.2,-7.3,510,3431,0.17,2.10,0.00,0.000,4,0.047,0.046,2543,3616,3348
$GC,3471,-1.45,-146.0,334.7,-9.7,513,3478,0.25,2.17,0.00,0.000,6,0.105,0.031,2589,2306,3348
$GC,3796,-1.51,-146.0,362.3,-8.2,544,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2306,3347
$GC,4118,-1.59,-146.0,386.7,-7.1,574,4123,0.15,2.62,0.00,0.000,4,0.050,0.050,2538,825,3345
$GC,4185,-1.50,-146.0,392.6,-8.7,579,4193,0.20,2.55,0.00,0.000,6,0.106,0.034,2575,2314,3344
$GC,4511,-1.50,-146.0,419.1,-8.5,610,4515,0.00,2.62,0.00,0.000,4,0.000,0.050,2575,829,3342
$GC,4587,-1.50,-146.0,426.4,-9.3,616,4595,0.00,2.45,0.00,0.000,6,0.000,0.033,2575,2260,3342
$GC,4916,-1.54,-146.0,453.9,-8.7,647,4920,0.00,2.38,0.00,0.000,4,0.000,0.050,2575,3620,3340
$GC,4949,-1.51,-146.0,457.2,-8.6,649,4957,0.00,2.25,0.00,0.000,6,0.000,0.032,2575,2285,3339
$GC,5279,-1.57,-146.0,483.5,-7.8,680,5283,0.00,2.60,0.00,0.000,4,0.000,0.052,2575,823,3337
$GC,5308,-1.57,-146.0,486.3,-8.6,682,5312,0.00,2.42,0.00,0.000,6,0.000,0.034,2575,2250,3337
$GC,5640,-1.62,-146.0,511.6,-7.8,706,5645,0.10,2.55,0.00,0.000,4,0.064,0.051,2545,821,3335
$GC,5733,-1.54,-146.0,520.2,-9.0,710,5738,0.12,2.65,0.00,0.000,6,0.115,0.035,2566,2357,3334
$GC,6056,-1.50,-146.0,547.5,-8.1,726,6060,0.00,2.20,0.00,0.000,4,0.000,0.052,2567,3614,3332
$GC,6086,-1.44,-146.0,550.3,-9.4,727,6090,0.12,2.10,0.00,0.000,6,0.117,0.033,2588,2362,3332
$GC,6404,-1.53,-146.0,574.2,-7.5,742,6408,0.00,2.22,0.00,0.000,4,0.000,0.053,2588,3622,3331
$GC,6500,-1.53,-146.0,582.1,-8.6,746,6504,0.00,2.28,0.00,0.000,6,0.000,0.034,2588,2279,3330
$GC,6817,-1.62,-146.0,605.4,-7.5,761,6822,0.17,2.60,0.00,0.000,4,0.051,0.053,2537,822,3328
$GC,6931,-1.53,-146.0,615.3,-8.9,766,6936,0.17,2.67,0.00,0.000,6,0.111,0.037,2568,2361,3328
$GC,7254,-1.53,-146.0,639.9,-7.9,782,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2361,3327
$GC,7563,-1.53,-146.0,665.3,-8.6,797,7566,0.00,2.22,0.00,0.000,4,0.000,0.056,2568,3624,3326
$GC,7596,-1.49,-146.0,668.4,-8.7,798,7603,0.00,2.15,0.00,0.000,6,0.000,0.035,2568,2351,3326
$GC,7912,-1.49,-146.0,694.6,-8.2,814,7917,0.00,2.72,0.00,0.000,4,0.000,0.055,2568,830,3324
$GC,7953,-1.49,-146.0,698.1,-8.5,816,7957,0.00,2.60,0.00,0.000,6,0.000,0.037,2568,2328,3324
$GC,8282,-1.49,-146.0,724.6,-7.6,832,8286,0.00,2.28,0.00,0.000,4,0.000,0.057,2568,3618,3322
$GC,8346,-1.45,-146.0,729.6,-8.0,835,8356,0.10,2.12,0.00,0.000,6,0.123,0.035,2585,2364,3322
$GC,8685,-1.45,-146.0,754.4,-7.8,851,8690,0.00,2.75,0.00,0.000,4,0.000,0.056,2585,831,3320
$GC,8713,-1.45,-146.0,756.9,-8.2,852,8717,0.00,2.65,0.00,0.000,6,0.000,0.038,2585,2357,3320
$GC,9029,-1.45,-146.0,779.9,-7.3,867,9033,0.00,2.22,0.00,0.000,4,0.000,0.058,2585,3613,3318
$GC,9070,-1.50,-146.0,783.1,-8.0,869,9074,0.00,2.10,0.00,0.000,6,0.000,0.037,2585,2378,3319
$STATE,9215,end dive,NO_VERTICAL_VELOCITY
$STATE,9215,begin apogee
$GC,9221,-0.35,0.0,782.5,0.0,876,9345,1.10,0.00,120.68,1.204,6,0.052,0.000,2831,2375,2748
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9349,1.56,146.0,782.3,0.0,882,9484,1.85,2.67,124.90,1.159,4,0.038,0.059,3253,946,2151
$GC,9520,1.29,146.0,773.4,10.9,890,9525,0.38,2.45,0.00,0.000,6,0.116,0.038,3185,2330,2150
$GC,9837,1.22,176.2,746.9,7.7,905,9868,0.00,2.60,25.27,1.164,4,0.000,0.059,3185,951,2029
$GC,9908,1.11,176.2,740.2,10.6,908,9913,0.20,2.42,0.00,0.000,6,0.114,0.039,3149,2322,2028
$GC,10230,1.15,196.8,713.0,8.1,924,10253,0.00,2.60,17.45,1.166,4,0.000,0.059,3149,954,1945
$GC,10276,1.15,196.8,708.9,9.9,926,10280,0.00,2.40,0.00,0.000,6,0.000,0.038,3149,2309,1944
$GC,10598,1.19,220.1,683.5,8.0,942,10624,0.00,2.58,20.05,1.154,4,0.000,0.059,3149,959,1850
$GC,10675,1.19,220.1,676.1,9.8,945,10679,0.00,2.35,0.00,0.000,6,0.000,0.038,3149,2289,1849
$GC,10997,1.21,236.5,648.7,8.3,961,11016,0.00,0.00,13.82,1.152,6,0.000,0.000,3149,2288,1783
$GC,11326,1.23,247.6,621.5,8.5,977,11341,0.10,2.50,9.65,1.145,4,0.078,0.059,3172,951,1738
$GC,11381,1.23,247.6,616.3,9.7,978,11388,0.00,2.33,0.00,0.000,6,0.000,0.038,3172,2275,1737
$GC,11697,1.25,259.0,588.7,8.5,994,11713,0.00,2.67,10.52,1.129,4,0.000,0.058,3172,3732,1690
$GC,11760,1.27,270.6,583.2,8.5,996,11775,0.00,2.47,10.10,1.113,6,0.000,0.038,3172,2312,1644
$GC,12086,1.28,274.9,553.9,8.8,1011,12095,0.00,2.58,3.85,1.108,4,0.000,0.060,3172,915,1626
$GC,12147,1.28,276.3,548.1,9.0,1013,12154,0.00,2.40,0.00,0.000,6,0.000,0.038,3172,2281,1626
$GC,12464,1.31,293.3,520.9,8.3,1029,12487,0.00,2.65,16.30,1.072,4,0.000,0.057,3172,3726,1551
$GC,12511,1.31,293.3,516.9,9.2,1031,12515,0.00,2.55,0.00,0.000,6,0.000,0.038,3172,2274,1551
$GC,12831,1.31,296.2,489.4,8.9,1052,12844,0.00,2.50,2.30,1.043,4,0.000,0.059,3172,934,1539
$GC,12860,1.31,296.2,486.6,9.3,1054,12868,0.00,2.40,0.00,0.000,6,0.000,0.038,3172,2300,1539
$GC,13190,1.38,333.9,459.9,7.3,1085,13225,0.15,0.00,32.80,1.005,6,0.064,0.000,3211,2299,1387
$GC,13540,1.38,333.9,425.0,10.1,1118,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2299,1382
$GC,13859,1.38,333.9,393.0,9.7,1148,13864,0.00,2.50,0.00,0.000,4,0.000,0.058,3211,925,1381
$GC,13888,1.38,333.9,390.0,10.7,1150,13892,0.00,2.40,0.00,0.000,6,0.000,0.037,3211,2301,1380
$GC,14215,1.38,333.9,358.3,9.3,1180,14220,0.00,2.55,0.00,0.000,4,0.000,0.056,3211,3731,1380
$GC,14244,1.38,333.9,355.1,10.8,1182,14248,0.00,2.47,0.00,0.000,6,0.000,0.038,3212,2291,1380
$GC,14577,1.38,333.9,323.7,9.6,1213,14581,0.00,2.45,0.00,0.000,4,0.000,0.058,3211,932,1380
$GC,14641,1.38,333.9,317.5,9.1,1218,14645,0.00,2.35,0.00,0.000,6,0.000,0.036,3211,2286,1380
$GC,14966,1.38,334.1,286.6,9.0,1248,14971,0.00,2.55,0.00,0.000,4,0.000,0.055,3211,3723,1380
$GC,15000,1.38,334.1,283.4,9.2,1250,15007,0.00,2.47,0.00,0.000,6,0.000,0.036,3211,2287,1379
$GC,15327,1.39,343.4,254.4,8.6,1281,15340,0.00,2.53,7.25,0.902,4,0.000,0.057,3211,933,1348
$GC,15403,1.39,343.4,247.2,9.4,1290,15411,0.00,2.33,0.00,0.000,6,0.000,0.035,3211,2271,1347
$GC,15750,1.40,347.6,215.8,8.8,1351,15757,0.00,0.00,3.78,0.879,6,0.000,0.000,3211,2272,1331
$GC,16096,1.45,351.4,184.3,8.8,1412,16110,0.00,2.50,3.67,0.852,4,0.000,0.054,3211,922,1315
$GC,16163,1.51,362.6,178.5,8.5,1423,16178,0.00,2.30,9.75,0.815,6,0.000,0.035,3211,2251,1269
$GC,16518,1.69,393.2,148.5,7.6,1485,16553,0.25,2.42,25.70,0.752,4,0.050,0.053,3278,932,1144
$GC,16635,1.65,393.2,137.3,9.6,1504,16643,0.00,2.05,0.00,0.000,6,0.000,0.034,3278,2123,1142
$GC,16982,1.71,415.1,107.3,8.0,1565,17010,0.00,2.22,18.10,0.716,4,0.000,0.052,3278,929,1054
$GC,17040,1.81,436.7,102.8,8.0,1574,17067,0.00,2.20,18.55,0.698,6,0.000,0.033,3278,2203,966
$GC,17409,1.98,459.5,74.7,8.0,1638,17437,0.22,2.75,18.40,0.666,4,0.045,0.048,3342,3736,873
$GC,17462,1.93,459.5,69.6,9.7,1646,17469,0.00,2.92,0.00,0.000,6,0.000,0.033,3342,2046,872
$GC,17809,1.97,484.0,40.4,7.9,1707,17835,0.00,3.05,19.80,0.617,4,0.000,0.044,3342,3724,773
$GC,17938,1.98,487.9,29.2,8.8,1729,17946,0.00,2.72,2.58,0.640,6,0.000,0.031,3342,2127,759
$STATE,18248,end climb,SURFACE_DEPTH_REACHED
$STATE,18248,begin surface coast
$FINISH,0.2,1.020542
$STATE,18272,end surface coast,CONTROL_FINISHED_OK
$STATE,18272,begin surface
$SM_CCo,18357,0.00,0.000,0,0,754,489.13
$SM_GC,0.86,13.60,0.00,0.00,0.038,0.000,0.000,248,2272,754,-12.18,1.58,489.13
$IRIDIUM_FIX,1245.46,12042.28,270797,181851
$TT8_MAMPS,0.023777
$HUMID,2068
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.00
$XPDR_PINGS,391
$ALTIM_BOTTOM_PING,740.4,48.0
$24V_AH,22.4,65.467
$10V_AH,10.1,33.671
$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,34.075,201.275,535.275,0.000,0.000,24.420,33.353,188.022,104.500,0.000,0.000,30.601,3795.244,10532.066,755.201,2996.844,681.537,0.000,2279.388,0.000,2928.533,0.000,51.928
$DEVICE_MAMPS,167.973,59.826,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56588,1788
$CAP_FILE_SIZE,193503,0
$CFSIZE,260165632,227717120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,335.4,1
$GPS,030508,041807,1251.394,12039.949,39,1.3,39,-0.8