version: 66.03
glider: 122
mission: 6
dive: 364
start: 5 6 108 0 18 45
data:
$ID,122
$MISSION,6
$DIVE,364
$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,-34468.652
$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,32
$R_STBD_OVSHOOT,52
$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
$GPS1,000031,1250.008,12042.305,41,1.1,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.2
$GPS2,001809,1249.825,12042.213,11,1.5,11,-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,10.4,1905,-26.0,-9.016
$D_GRID,918
$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,-1.96,-78.2,0.0,0.0,0,81,0.00,0.00,-56.10,0.000,2,0.000,0.000,251,2241,2437
$GC,84,-2.00,-101.4,3.6,-7.2,10,117,12.60,2.40,-14.18,0.000,4,0.163,0.051,2462,3610,3163
$GC,186,-1.73,-101.4,27.4,-22.8,27,194,0.35,2.33,0.00,0.000,6,0.143,0.026,2523,2201,3163
$GC,533,-1.62,-101.4,89.8,-15.9,88,539,0.15,0.00,0.00,0.000,6,0.143,0.000,2550,2200,3164
$GC,878,-1.62,-101.4,138.3,-10.9,149,885,0.00,2.40,0.00,0.000,4,0.000,0.041,2550,3605,3166
$GC,960,-1.58,-101.4,147.8,-10.8,163,967,0.00,2.28,0.00,0.000,6,0.000,0.026,2550,2219,3166
$GC,1306,-1.65,-101.4,180.4,-9.5,224,1313,0.00,2.38,0.00,0.000,4,0.000,0.041,2550,3610,3166
$GC,1370,-1.69,-101.4,186.5,-9.1,235,1377,0.00,2.20,0.00,0.000,6,0.000,0.026,2550,2265,3166
$GC,1717,-1.76,-101.4,217.8,-9.0,296,1724,0.15,2.30,0.00,0.000,4,0.054,0.042,2505,3609,3167
$GC,1787,-1.71,-101.4,225.4,-10.5,308,1796,0.15,2.15,0.00,0.000,6,0.116,0.027,2531,2298,3167
$GC,2131,-1.75,-101.4,257.5,-9.7,362,2135,0.00,2.55,0.00,0.000,4,0.000,0.043,2531,825,3166
$GC,2193,-1.79,-101.4,263.5,-9.6,367,2198,0.00,2.42,0.00,0.000,6,0.000,0.031,2531,2274,3166
$GC,2522,-1.85,-111.4,291.7,-8.2,397,2526,0.12,2.28,0.00,0.000,4,0.059,0.044,2494,3602,3163
$GC,2600,-1.79,-111.4,300.1,-10.0,403,2607,0.10,2.12,0.00,0.000,6,0.130,0.029,2510,2310,3163
$GC,2927,-1.79,-111.4,331.0,-9.4,434,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2309,3161
$GC,3254,-1.79,-111.4,362.5,-9.3,465,3258,0.00,2.22,0.00,0.000,4,0.000,0.046,2510,3602,3159
$GC,3329,-1.79,-111.4,369.9,-10.1,471,3333,0.00,2.15,0.00,0.000,6,0.000,0.031,2510,2308,3159
$GC,3656,-1.79,-111.4,401.4,-9.7,501,3660,0.00,2.60,0.00,0.000,4,0.000,0.051,2510,827,3157
$GC,3689,-1.79,-111.4,405.1,-10.5,503,3695,0.00,2.47,0.00,0.000,6,0.000,0.032,2510,2290,3157
$GC,4016,-1.79,-111.4,434.9,-9.4,534,4020,0.00,2.28,0.00,0.000,4,0.000,0.048,2510,3601,3154
$GC,4056,-1.79,-111.4,439.0,-9.8,537,4060,0.00,2.17,0.00,0.000,6,0.000,0.031,2510,2306,3154
$GC,4384,-1.79,-113.8,468.2,-8.8,567,4388,0.00,2.60,0.00,0.000,4,0.000,0.049,2510,831,3152
$GC,4439,-1.80,-121.0,473.4,-8.4,571,4446,0.00,2.45,0.00,0.000,6,0.000,0.033,2510,2269,3151
$GC,4768,-1.81,-122.8,500.5,-8.9,602,4772,0.00,2.33,0.00,0.000,4,0.000,0.050,2510,3600,3148
$GC,4823,-1.81,-122.8,506.3,-10.0,604,4830,0.00,2.20,0.00,0.000,6,0.000,0.032,2509,2295,3148
$GC,5139,-1.82,-133.0,532.9,-8.2,620,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2293,3146
$GC,5449,-1.83,-137.0,558.9,-8.7,635,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2293,3144
$GC,5758,-1.87,-137.0,588.9,-9.8,650,5762,0.00,2.60,0.00,0.000,4,0.000,0.052,2510,830,3143
$GC,5777,-1.87,-137.0,590.4,-9.0,651,5781,0.00,2.50,0.00,0.000,6,0.000,0.035,2510,2279,3142
$GC,6106,-1.87,-137.0,620.7,-9.0,667,6110,0.00,2.33,0.00,0.000,4,0.000,0.052,2510,3600,3140
$GC,6133,-1.87,-137.0,623.7,-9.7,668,6137,0.00,2.22,0.00,0.000,6,0.000,0.034,2510,2286,3140
$GC,6457,-1.91,-141.8,652.3,-8.6,684,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2284,3138
$GC,6764,-1.76,-146.0,673.0,0.6,699,6768,0.00,2.60,0.00,0.000,4,0.000,0.053,2509,825,3136
$STATE,6973,end dive,NO_VERTICAL_VELOCITY
$STATE,6973,begin apogee
$GC,6982,-0.35,0.0,671.9,0.0,708,7069,1.65,0.00,79.93,1.107,6,0.137,0.000,2822,2312,2748
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7073,2.08,146.0,671.5,0.0,713,7200,2.58,0.00,122.12,1.071,6,0.087,0.000,3353,2313,2152
$GC,7508,1.88,146.0,631.5,10.5,734,7513,0.20,2.47,0.00,0.000,4,0.147,0.056,3317,951,2149
$GC,7541,1.72,146.0,628.0,9.7,735,7549,0.20,2.42,0.00,0.000,6,0.143,0.038,3284,2336,2149
$GC,7859,1.65,146.0,599.3,9.1,751,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2335,2148
$GC,8166,1.59,150.5,572.5,8.7,766,8176,0.15,2.58,2.85,1.062,4,0.141,0.056,3255,947,2134
$GC,8221,1.55,150.5,567.5,9.3,768,8226,0.00,2.45,0.00,0.000,6,0.000,0.038,3255,2341,2134
$GC,8538,1.56,155.9,539.6,8.6,783,8548,0.00,2.58,4.50,1.080,4,0.000,0.057,3255,944,2112
$GC,8615,1.57,164.6,533.0,8.3,786,8630,0.00,2.35,7.97,1.073,6,0.000,0.038,3255,2290,2076
$GC,8954,1.57,164.9,503.9,9.0,803,8958,0.00,2.58,0.00,0.000,4,0.000,0.057,3255,3733,2074
$GC,8994,1.54,164.9,500.1,9.8,805,8998,0.00,2.47,0.00,0.000,6,0.000,0.038,3255,2304,2074
$GC,9322,1.58,189.0,473.5,7.1,835,9346,0.00,2.67,19.52,1.024,4,0.000,0.054,3255,3733,1977
$GC,9420,1.58,189.8,464.9,8.9,843,9427,0.00,2.42,0.00,0.000,6,0.000,0.038,3255,2334,1977
$GC,9747,1.62,211.1,439.7,7.3,874,9772,0.00,2.65,18.27,0.999,4,0.000,0.057,3255,934,1886
$GC,9856,1.63,222.4,430.6,8.1,883,9875,0.00,2.45,9.70,1.002,6,0.000,0.038,3256,2332,1840
$GC,10194,1.69,222.5,402.1,9.0,915,10199,0.00,2.47,0.00,0.000,4,0.000,0.055,3255,3723,1839
$GC,10228,1.69,222.5,398.8,9.6,917,10235,0.00,2.40,0.00,0.000,6,0.000,0.037,3255,2334,1839
$GC,10556,1.75,223.1,369.2,9.0,948,10560,0.15,2.53,0.00,0.000,4,0.071,0.055,3294,932,1839
$GC,10608,1.71,223.1,364.0,10.1,952,10613,0.00,2.50,0.00,0.000,6,0.000,0.037,3294,2364,1838
$GC,10935,1.71,223.1,332.4,9.1,982,10940,0.00,2.58,0.00,0.000,4,0.000,0.054,3294,934,1838
$GC,10976,1.71,223.1,328.2,10.1,985,10980,0.00,2.47,0.00,0.000,6,0.000,0.037,3294,2352,1838
$GC,11304,1.73,236.5,300.6,7.9,1015,11319,0.00,2.50,10.80,0.922,4,0.000,0.054,3294,3728,1784
$GC,11349,1.74,241.3,296.6,8.6,1019,11362,0.00,2.45,4.62,0.921,6,0.000,0.036,3294,2319,1764
$GC,11679,1.74,241.3,265.9,9.3,1050,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2319,1763
$GC,12006,1.74,241.3,235.7,10.3,1093,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2319,1763
$GC,12351,1.75,250.3,203.0,8.3,1154,12365,0.00,2.58,7.50,0.854,4,0.000,0.054,3294,932,1727
$GC,12473,1.76,256.3,192.2,8.5,1175,12487,0.00,2.45,5.28,0.851,6,0.000,0.035,3294,2341,1702
$GC,12828,1.82,261.0,161.5,8.6,1237,12842,0.00,2.60,3.85,0.830,4,0.000,0.053,3294,931,1684
$GC,12883,1.87,264.7,156.5,8.7,1246,12891,0.00,2.38,3.60,0.823,6,0.000,0.035,3294,2301,1668
$GC,13233,2.03,292.1,131.9,6.8,1307,13261,0.20,2.62,22.23,0.740,4,0.061,0.049,3344,3732,1557
$GC,13280,2.06,313.3,128.3,7.3,1314,13306,0.00,2.55,17.15,0.728,6,0.000,0.033,3344,2255,1469
$GC,13648,2.20,345.9,102.3,6.4,1378,13681,0.15,2.40,26.08,0.691,4,0.063,0.050,3384,931,1336
$GC,13745,2.22,360.6,94.7,7.8,1394,13764,0.00,2.15,11.45,0.697,6,0.000,0.031,3384,2185,1278
$GC,14103,2.29,366.8,64.1,8.5,1457,14117,0.00,2.75,4.90,0.683,4,0.000,0.046,3384,3727,1251
$GC,14186,2.29,366.8,56.3,9.1,1471,14193,0.00,2.65,0.00,0.000,6,0.000,0.031,3384,2174,1251
$GC,14533,2.41,382.5,29.9,7.8,1532,14553,0.17,2.20,12.43,0.610,4,0.057,0.047,3433,932,1186
$GC,14628,2.41,382.5,21.3,9.2,1548,14635,0.00,2.20,0.00,0.000,6,0.000,0.029,3432,2238,1185
$STATE,14853,end climb,SURFACE_DEPTH_REACHED
$STATE,14853,begin surface coast
$FINISH,0.5,1.019932
$STATE,14888,end surface coast,CONTROL_FINISHED_OK
$STATE,14888,begin surface
$SM_CCo,14912,48.60,0.546,0,0,810,475.15
$SM_GC,1.39,0.00,0.00,48.60,0.000,0.000,0.546,249,2241,810,-12.22,0.71,475.15
$IRIDIUM_FIX,1243.25,12042.28,310797,000005
$TT8_MAMPS,0.023777
$HUMID,2031
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.20
$XPDR_PINGS,388
$24V_AH,23.2,67.840
$10V_AH,10.1,34.929
$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,33.125,145.675,394.750,48.600,0.000,130.889,223.119,312.715,102.250,0.000,0.000,13.879,3250.873,8495.714,634.820,2597.533,1047.172,0.000,1932.254,0.000,2546.826,0.000,41.566
$DEVICE_MAMPS,163.371,56.758,1106.781,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50331,1594
$CAP_FILE_SIZE,163161,0
$CFSIZE,260165632,226623488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,140.5,1
$GPS,060508,042925,1250.551,12042.659,40,1.4,40,-0.8