version: 66.03
glider: 122
mission: 6
dive: 135
start: 3 14 108 12 51 53
data:
$ID,122
$MISSION,6
$DIVE,135
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,-29863.92
$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,14.76
$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,59
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,9
$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
$GPS1,124455,1246.938,12017.093,41,1.3,41,-0.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.4
$GPS2,125121,1246.920,12017.042,12,1.3,12,-0.8
$SPEED_LIMITS,0.156,0.209
$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,98.5,46947,-17.4,-9.016
$D_GRID,921
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-62.90,0.000,2,0.000,0.000,253,2114,2494
$GC,86,-1.42,-146.0,3.7,-9.4,12,119,13.57,2.40,-13.82,0.000,4,0.173,0.054,2589,772,3275
$GC,245,-1.14,-146.0,44.7,-23.1,39,252,0.35,2.33,0.00,0.000,6,0.115,0.028,2655,2161,3277
$GC,590,-1.02,-146.0,102.5,-15.1,100,597,0.12,2.42,0.00,0.000,4,0.102,0.042,2678,767,3278
$GC,621,-0.98,-146.0,106.5,-13.0,105,628,0.00,2.30,0.00,0.000,6,0.000,0.028,2679,2146,3279
$GC,965,-0.98,-146.0,144.7,-8.6,166,973,0.00,2.40,0.00,0.000,4,0.000,0.044,2679,3545,3280
$GC,1002,-1.03,-146.0,147.9,-9.2,172,1009,0.00,2.28,0.00,0.000,6,0.000,0.027,2679,2165,3280
$GC,1347,-1.12,-146.0,176.8,-7.1,233,1353,0.00,2.45,0.00,0.000,4,0.000,0.044,2679,750,3281
$GC,1389,-1.24,-146.0,179.9,-7.7,240,1396,0.20,2.33,0.00,0.000,6,0.043,0.027,2618,2146,3281
$GC,1734,-1.24,-146.0,212.9,-9.2,301,1740,0.00,2.40,0.00,0.000,4,0.000,0.044,2618,3546,3281
$GC,1802,-1.24,-146.0,220.1,-10.6,313,1809,0.00,2.33,0.00,0.000,6,0.000,0.028,2618,2146,3281
$GC,2146,-1.24,-146.0,251.9,-8.3,372,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2146,3281
$GC,2465,-1.24,-146.0,278.9,-8.4,402,2469,0.00,2.42,0.00,0.000,4,0.000,0.044,2618,3552,3281
$GC,2528,-1.24,-146.0,284.8,-9.0,407,2532,0.00,2.33,0.00,0.000,6,0.000,0.031,2618,2158,3280
$GC,2853,-1.24,-146.0,313.9,-8.6,437,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2158,3279
$GC,3172,-1.24,-146.0,341.2,-8.4,467,3176,0.00,2.40,0.00,0.000,4,0.000,0.047,2618,3541,3277
$GC,3211,-1.24,-146.0,344.9,-9.2,470,3215,0.00,2.30,0.00,0.000,6,0.000,0.031,2618,2173,3277
$GC,3537,-1.24,-146.0,371.5,-8.1,500,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2171,3274
$GC,3854,-1.24,-146.0,398.6,-8.1,530,3858,0.00,2.40,0.00,0.000,4,0.000,0.049,2618,3544,3273
$GC,3909,-1.24,-146.0,403.6,-9.1,534,3916,0.00,2.33,0.00,0.000,6,0.000,0.033,2618,2186,3272
$GC,4236,-1.24,-146.0,430.2,-8.0,565,4240,0.00,2.38,0.00,0.000,4,0.000,0.049,2618,3539,3270
$GC,4263,-1.24,-146.0,432.6,-8.6,567,4267,0.00,2.28,0.00,0.000,6,0.000,0.032,2618,2196,3270
$GC,4589,-1.24,-146.0,459.5,-8.5,597,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2192,3269
$GC,4906,-1.24,-146.0,486.6,-8.2,627,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2192,3266
$GC,5231,-1.24,-146.0,513.1,-8.6,651,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2191,3264
$GC,5540,-1.24,-146.0,539.3,-8.0,666,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2192,3262
$GC,5850,-1.24,-146.0,564.8,-8.2,681,5854,0.00,2.38,0.00,0.000,4,0.000,0.053,2618,3539,3260
$GC,5893,-1.24,-146.0,568.7,-8.8,683,5897,0.00,2.28,0.00,0.000,6,0.000,0.034,2618,2203,3260
$GC,6222,-1.24,-146.0,594.5,-7.6,699,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2200,3258
$GC,6530,-1.24,-146.0,618.7,-7.9,714,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2200,3257
$GC,6839,-1.24,-146.0,643.2,-7.9,729,6843,0.00,2.38,0.00,0.000,4,0.000,0.054,2618,3542,3255
$GC,6878,-1.24,-146.0,646.4,-8.0,731,6882,0.00,2.28,0.00,0.000,6,0.000,0.035,2618,2209,3256
$GC,7206,-1.24,-146.0,671.1,-7.3,747,7211,0.00,2.60,0.00,0.000,4,0.000,0.058,2618,753,3254
$GC,7257,-1.29,-146.0,675.2,-8.0,749,7262,0.00,2.47,0.00,0.000,6,0.000,0.035,2618,2192,3253
$GC,7573,-1.29,-146.0,699.5,-7.6,764,7578,0.00,2.40,0.00,0.000,4,0.000,0.057,2618,3552,3252
$GC,7611,-1.32,-146.0,703.0,-8.8,765,7618,0.00,2.30,0.00,0.000,6,0.000,0.036,2617,2200,3252
$GC,7927,-1.32,-146.0,728.7,-8.5,781,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2197,3251
$GC,8236,-1.35,-146.0,754.3,-7.9,796,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2197,3250
$GC,8545,-1.35,-146.0,779.0,-7.9,811,8550,0.00,2.42,0.00,0.000,4,0.000,0.057,2618,3561,3248
$GC,8635,-1.40,-146.0,786.4,-7.7,815,8639,0.00,2.33,0.00,0.000,6,0.000,0.037,2618,2205,3248
$GC,8955,-1.40,-146.0,809.9,-7.5,831,8963,0.00,2.62,0.00,0.000,4,0.000,0.061,2618,749,3247
$GC,8985,-1.43,-146.0,812.5,-8.3,832,8990,0.12,2.53,0.00,0.000,6,0.059,0.037,2581,2210,3247
$GC,9309,-1.39,-146.0,840.7,-8.8,848,9311,0.10,0.00,0.00,0.000,6,0.118,0.000,2598,2211,3246
$GC,9615,-1.39,-146.0,863.1,-6.9,863,9619,0.00,2.38,0.00,0.000,4,0.000,0.059,2598,3552,3246
$GC,9647,-1.39,-146.0,865.6,-7.1,864,9651,0.00,2.30,0.00,0.000,6,0.000,0.037,2598,2208,3245
$GC,9969,-1.39,-146.0,890.5,-8.2,880,9974,0.00,2.62,0.00,0.000,4,0.000,0.061,2598,749,3244
$GC,10009,-1.39,-146.0,893.7,-7.5,882,10014,0.00,2.55,0.00,0.000,6,0.000,0.038,2598,2218,3244
$GC,10336,-1.39,-146.0,914.4,-5.0,898,10340,0.00,2.65,0.00,0.000,4,0.000,0.058,2598,750,3243
$GC,10375,-1.39,-146.0,916.7,-5.6,900,10379,0.00,2.53,0.00,0.000,6,0.000,0.038,2598,2203,3243
$STATE,10451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10451,begin apogee
$GC,10456,-0.34,0.0,921.7,6.1,904,10580,1.15,0.00,120.47,1.333,6,0.098,0.000,2830,2382,2678
$STATE,10581,end apogee,CONTROL_FINISHED_OK
$STATE,10581,begin climb
$GC,10583,1.42,146.0,923.4,0.0,910,10717,1.77,2.62,126.00,1.282,4,0.058,0.056,3218,976,2081
$GC,10751,1.19,146.0,909.1,16.0,918,10756,0.28,2.47,0.00,0.000,6,0.120,0.040,3169,2369,2080
$GC,11072,1.07,146.0,877.5,9.4,934,11077,0.15,2.55,0.00,0.000,4,0.118,0.058,3139,975,2079
$GC,11144,1.01,150.0,871.4,8.8,937,11156,0.00,2.45,3.40,1.262,6,0.000,0.040,3139,2364,2066
$GC,11465,0.96,156.4,843.0,8.7,953,11473,0.15,0.00,5.75,1.304,6,0.116,0.000,3113,2364,2040
$GC,11774,0.96,156.4,816.2,9.2,968,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2364,2040
$GC,12083,0.98,168.7,788.7,8.4,983,12096,0.00,0.00,10.77,1.295,6,0.000,0.000,3113,2364,1990
$GC,12392,1.00,180.5,761.6,8.4,998,12405,0.00,0.00,10.52,1.276,6,0.000,0.000,3113,2364,1942
$GC,12702,1.01,190.4,734.8,8.5,1013,12713,0.00,0.00,8.90,1.266,6,0.000,0.000,3113,2364,1901
$GC,13011,1.05,190.4,706.1,9.2,1028,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2364,1900
$GC,13321,1.10,204.1,679.2,8.3,1043,13343,0.15,2.65,11.75,1.224,4,0.069,0.059,3151,976,1844
$GC,13366,1.06,204.1,674.9,10.4,1045,13371,0.00,2.47,0.00,0.000,6,0.000,0.040,3151,2366,1844
$GC,13693,1.02,204.1,643.4,9.1,1061,13695,0.12,0.00,0.00,0.000,6,0.115,0.000,3129,2366,1844
$GC,14002,1.03,205.7,617.3,8.9,1076,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2366,1844
$GC,14311,1.03,205.7,589.6,9.4,1091,14315,0.00,2.45,0.00,0.000,4,0.000,0.063,3129,3724,1844
$GC,14349,1.03,205.7,585.6,10.3,1093,14354,0.00,2.35,0.00,0.000,6,0.000,0.038,3129,2364,1844
$GC,14676,1.03,205.7,554.7,9.7,1109,14680,0.00,2.50,0.00,0.000,4,0.000,0.058,3129,972,1844
$GC,14729,1.03,205.7,549.1,9.8,1111,14737,0.00,2.45,0.00,0.000,6,0.000,0.039,3129,2356,1843
$GC,15046,1.03,205.7,519.3,9.3,1127,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2356,1844
$GC,15358,1.05,218.6,492.7,8.4,1146,15372,0.00,0.00,12.43,1.097,6,0.000,0.000,3129,2356,1786
$GC,15686,1.09,226.2,464.0,8.6,1177,15699,0.00,2.60,6.70,1.086,4,0.000,0.056,3129,972,1755
$GC,15778,1.13,226.2,455.6,9.2,1185,15783,0.00,2.42,0.00,0.000,6,0.000,0.039,3129,2350,1755
$GC,16104,1.20,246.8,428.7,8.0,1215,16128,0.15,2.60,17.55,1.025,4,0.066,0.061,3172,3727,1671
$GC,16152,1.15,246.8,424.0,11.5,1219,16156,0.00,2.42,0.00,0.000,6,0.000,0.038,3171,2340,1671
$GC,16476,1.15,246.8,390.3,10.1,1249,16480,0.00,2.45,0.00,0.000,4,0.000,0.057,3171,972,1670
$GC,16533,1.12,246.8,384.5,10.7,1254,16538,0.12,2.40,0.00,0.000,6,0.120,0.038,3151,2344,1670
$GC,16858,1.12,246.8,354.0,9.9,1284,16859,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2344,1669
$GC,17177,1.12,246.8,322.8,9.7,1314,17178,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2344,1669
$GC,17496,1.16,246.8,291.5,10.0,1344,17500,0.00,2.47,0.00,0.000,4,0.000,0.055,3150,966,1670
$GC,17539,1.16,246.8,287.0,9.3,1347,17546,0.00,2.40,0.00,0.000,6,0.000,0.037,3150,2347,1669
$GC,17866,1.20,249.0,257.7,8.9,1378,17870,0.00,2.45,0.00,0.000,4,0.000,0.058,3150,3723,1670
$GC,17928,1.24,253.9,251.7,8.8,1383,17942,0.10,2.40,6.28,0.929,6,0.071,0.036,3176,2323,1642
$GC,18276,1.24,253.9,217.2,9.5,1443,18283,0.00,2.42,0.00,0.000,4,0.000,0.054,3176,965,1642
$GC,18312,1.24,253.9,213.7,9.5,1449,18319,0.00,2.33,0.00,0.000,6,0.000,0.035,3176,2308,1642
$GC,18657,1.28,283.1,184.7,7.5,1510,18691,0.00,2.53,23.92,0.806,4,0.000,0.052,3176,963,1522
$GC,18759,1.34,283.1,175.5,9.4,1527,18766,0.00,2.28,0.00,0.000,6,0.000,0.035,3176,2277,1521
$GC,19099,1.49,316.1,148.6,7.3,1588,19129,0.20,0.00,26.35,0.759,6,0.051,0.000,3233,2276,1388
$GC,19466,1.50,322.7,115.9,8.7,1653,19479,0.00,2.38,4.95,0.774,4,0.000,0.051,3233,962,1361
$GC,19507,1.52,335.8,112.5,8.4,1660,19526,0.00,2.25,10.77,0.736,6,0.000,0.033,3233,2271,1309
$GC,19864,1.61,358.3,85.2,7.9,1723,19889,0.00,2.60,18.10,0.687,4,0.000,0.049,3233,3723,1216
$GC,19912,1.68,369.0,81.2,8.5,1731,19926,0.17,2.50,8.62,0.688,6,0.051,0.031,3281,2262,1173
$GC,20264,1.68,369.0,47.4,9.5,1793,20271,0.00,2.28,0.00,0.000,4,0.000,0.049,3281,968,1170
$GC,20462,1.68,369.0,30.2,9.3,1828,20468,0.00,2.15,0.00,0.000,6,0.000,0.030,3281,2240,1169
$STATE,20792,end climb,SURFACE_DEPTH_REACHED
$STATE,20792,begin surface coast
$FINISH,-0.2,1.021295
$STATE,20822,end surface coast,CONTROL_FINISHED_OK
$STATE,20822,begin surface
$SM_CCo,20843,51.38,0.555,0,0,740,475.15
$SM_GC,0.93,0.00,0.00,51.38,0.000,0.000,0.555,252,2104,740,-12.20,-1.30,475.15
$IRIDIUM_FIX,1241.04,12013.48,080697,070753
$TT8_MAMPS,0.023777
$HUMID,1916
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.30
$XPDR_PINGS,418
$ALTIM_BOTTOM_PING,901.1,71.5
$24V_AH,23.2,26.096
$10V_AH,10.1,12.763
$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,32.375,160.225,433.250,51.375,0.000,30.700,38.843,205.167,115.000,0.000,0.000,12.677,3746.069,13268.386,687.051,3039.862,543.768,0.000,2195.904,0.000,2979.354,0.000,78.096
$DEVICE_MAMPS,172.575,62.894,1333.046,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59744,1892
$CAP_FILE_SIZE,193867,0
$CFSIZE,260165632,246620160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,295.1,1
$GPS,140308,184125,1246.618,12019.421,25,1.5,42,-0.8