version: 66.03
glider: 122
mission: 6
dive: 143
start: 3 16 108 2 2 41
data:
$ID,122
$MISSION,6
$DIVE,143
$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,-29996.686
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,015632,1247.391,12032.257,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.2
$GPS2,020209,1247.332,12032.258,14,1.1,14,-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,70.4,19952,-17.4,-9.016
$D_GRID,969
$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,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,86,0.00,0.00,-64.28,0.000,2,0.000,0.000,251,2180,2493
$GC,89,-1.42,-146.0,3.4,-7.9,11,128,13.55,2.58,-14.35,0.000,4,0.172,0.054,2590,739,3276
$GC,201,-1.15,-146.0,31.0,-21.2,30,209,0.32,2.35,0.00,0.000,6,0.113,0.027,2650,2146,3277
$GC,547,-1.02,-146.0,87.8,-14.7,91,554,0.15,0.00,0.00,0.000,6,0.106,0.000,2682,2146,3279
$GC,891,-1.02,-146.0,130.7,-10.4,152,898,0.00,2.40,0.00,0.000,4,0.000,0.044,2682,3548,3280
$GC,977,-1.02,-146.0,140.0,-10.9,167,984,0.00,2.35,0.00,0.000,6,0.000,0.028,2682,2129,3280
$GC,1323,-1.09,-146.0,172.5,-8.0,228,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2128,3282
$GC,1665,-1.18,-146.0,200.3,-8.2,289,1671,0.15,0.00,0.00,0.000,6,0.050,0.000,2631,2128,3282
$GC,2009,-1.18,-146.0,232.5,-8.8,350,2015,0.00,2.45,0.00,0.000,4,0.000,0.044,2631,3548,3282
$GC,2043,-1.18,-146.0,235.7,-9.1,356,2050,0.00,2.35,0.00,0.000,6,0.000,0.030,2631,2140,3282
$GC,2379,-1.18,-146.0,263.6,-8.5,402,2383,0.00,2.45,0.00,0.000,4,0.000,0.045,2631,3557,3281
$GC,2451,-1.18,-146.0,269.9,-8.5,408,2456,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2169,3281
$GC,2777,-1.18,-146.0,297.7,-8.2,438,2781,0.00,2.40,0.00,0.000,4,0.000,0.047,2631,3552,3279
$GC,2809,-1.18,-146.0,300.9,-8.7,440,2816,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2169,3279
$GC,3135,-1.18,-146.0,329.0,-8.7,471,3139,0.00,2.40,0.00,0.000,4,0.000,0.048,2631,3545,3277
$GC,3201,-1.18,-146.0,335.3,-9.4,476,3207,0.00,2.28,0.00,0.000,6,0.000,0.032,2631,2196,3277
$GC,3526,-1.18,-146.0,361.9,-7.9,507,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2192,3274
$GC,3846,-1.22,-146.0,385.6,-7.1,537,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2192,3273
$GC,4162,-1.22,-146.0,409.1,-7.7,567,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2192,3271
$GC,4482,-1.26,-146.0,434.3,-7.6,597,4486,0.00,2.38,0.00,0.000,4,0.000,0.051,2631,3542,3269
$GC,4526,-1.29,-146.0,438.1,-8.2,600,4533,0.00,2.28,0.00,0.000,6,0.000,0.034,2631,2204,3268
$GC,4853,-1.33,-146.0,463.0,-8.1,631,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2199,3267
$GC,5170,-1.38,-146.0,488.4,-7.6,661,5172,0.12,0.00,0.00,0.000,6,0.058,0.000,2596,2199,3265
$GC,5492,-1.38,-146.0,517.6,-9.1,683,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2199,3262
$GC,5801,-1.38,-146.0,545.7,-9.2,698,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2199,3261
$GC,6112,-1.38,-146.0,574.2,-9.1,713,6116,0.00,2.38,0.00,0.000,4,0.000,0.054,2596,3542,3259
$GC,6161,-1.38,-146.0,579.2,-9.8,715,6165,0.00,2.25,0.00,0.000,6,0.000,0.035,2596,2223,3259
$GC,6482,-1.38,-146.0,606.6,-8.4,731,6487,0.00,2.62,0.00,0.000,4,0.000,0.058,2596,755,3257
$GC,6515,-1.38,-146.0,609.6,-8.3,732,6523,0.00,2.50,0.00,0.000,6,0.000,0.035,2596,2205,3257
$GC,6831,-1.38,-146.0,635.8,-8.5,748,6835,0.00,2.38,0.00,0.000,4,0.000,0.058,2596,3544,3256
$GC,6857,-1.38,-146.0,638.4,-9.4,749,6861,0.00,2.28,0.00,0.000,6,0.000,0.035,2596,2223,3255
$GC,7179,-1.38,-146.0,666.3,-8.9,765,7184,0.00,2.62,0.00,0.000,4,0.000,0.058,2595,755,3254
$GC,7206,-1.38,-146.0,668.9,-9.5,766,7210,0.00,2.53,0.00,0.000,6,0.000,0.037,2596,2199,3253
$GC,7528,-1.38,-146.0,696.5,-8.2,782,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2201,3252
$GC,7838,-1.38,-146.0,720.9,-7.8,797,7842,0.00,2.42,0.00,0.000,4,0.000,0.060,2596,3562,3252
$GC,7882,-1.38,-146.0,724.7,-8.6,799,7886,0.00,2.30,0.00,0.000,6,0.000,0.036,2596,2218,3251
$GC,8210,-1.38,-146.0,750.9,-8.2,815,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2218,3250
$GC,8518,-1.38,-146.0,776.5,-8.0,830,8523,0.00,2.65,0.00,0.000,4,0.000,0.061,2596,749,3248
$GC,8545,-1.38,-146.0,778.9,-8.6,831,8549,0.00,2.58,0.00,0.000,6,0.000,0.039,2596,2226,3248
$GC,8867,-1.38,-146.0,803.5,-7.4,847,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2227,3247
$GC,9176,-1.38,-146.0,825.1,-7.1,862,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2228,3247
$GC,9485,-1.38,-146.0,849.4,-7.8,877,9490,0.00,2.65,0.00,0.000,4,0.000,0.061,2596,756,3246
$GC,9552,-1.38,-146.0,854.8,-8.3,880,9556,0.00,2.55,0.00,0.000,6,0.000,0.039,2596,2219,3246
$GC,9879,-1.38,-146.0,877.9,-7.7,896,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2220,3245
$GC,10191,-1.38,-146.0,900.5,-6.3,911,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2219,3243
$GC,10497,-1.38,-146.0,925.7,-8.8,926,10501,0.00,2.65,0.00,0.000,4,0.000,0.061,2596,756,3242
$GC,10529,-1.38,-146.0,928.2,-7.5,927,10536,0.00,2.53,0.00,0.000,6,0.000,0.040,2596,2206,3243
$GC,10846,-1.80,-146.0,943.9,0.4,943,10848,0.40,0.00,0.00,0.000,6,0.056,0.000,2506,2206,3242
$STATE,10946,end dive,NO_VERTICAL_VELOCITY
$STATE,10946,begin apogee
$GC,10951,-0.34,0.0,943.7,0.0,948,11076,1.52,0.00,120.90,1.355,6,0.067,0.000,2833,2378,2678
$STATE,11076,end apogee,CONTROL_FINISHED_OK
$STATE,11076,begin climb
$GC,11079,1.42,146.0,943.5,0.0,954,11211,1.77,0.00,126.82,1.305,6,0.054,0.000,3219,2378,2082
$GC,11518,1.21,146.0,893.5,13.9,976,11523,0.25,2.58,0.00,0.000,4,0.119,0.060,3171,975,2079
$GC,11551,1.06,146.0,889.6,11.2,977,11560,0.17,2.47,0.00,0.000,6,0.117,0.041,3140,2372,2079
$GC,11869,0.98,146.0,859.7,10.0,993,11874,0.10,2.47,0.00,0.000,4,0.125,0.065,3124,3730,2078
$GC,11901,0.92,146.0,856.2,9.6,994,11909,0.00,2.35,0.00,0.000,6,0.000,0.039,3124,2381,2078
$GC,12218,0.90,153.5,830.6,8.6,1010,12231,0.12,2.60,6.12,1.314,4,0.125,0.061,3102,972,2052
$GC,12287,0.91,157.3,824.2,8.8,1013,12296,0.00,2.50,3.97,1.283,6,0.000,0.041,3102,2369,2035
$GC,12614,0.91,157.3,794.9,9.1,1029,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2369,2035
$GC,12922,0.93,171.3,768.3,8.3,1044,12946,0.00,2.67,12.02,1.289,4,0.000,0.060,3102,970,1979
$GC,12973,0.93,171.3,763.8,9.5,1046,12978,0.00,2.50,0.00,0.000,6,0.000,0.041,3102,2359,1979
$GC,13301,0.97,191.5,735.8,8.0,1062,13323,0.00,0.00,17.52,1.256,6,0.000,0.000,3102,2359,1897
$GC,13630,1.00,191.5,706.5,9.4,1078,13635,0.00,2.55,0.00,0.000,4,0.000,0.061,3102,967,1896
$GC,13679,1.00,191.5,701.7,9.4,1080,13684,0.00,2.47,0.00,0.000,6,0.000,0.040,3102,2357,1896
$GC,14002,1.07,200.0,673.8,8.6,1096,14017,0.17,2.62,7.43,1.239,4,0.060,0.060,3149,967,1861
$GC,14046,1.00,200.0,669.5,10.1,1098,14051,0.15,2.45,0.00,0.000,6,0.114,0.041,3123,2345,1861
$GC,14373,1.01,203.3,640.3,8.8,1114,14377,0.00,0.00,3.05,1.195,6,0.000,0.000,3123,2345,1849
$GC,14681,1.01,203.3,612.4,9.3,1129,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2345,1849
$GC,14990,1.01,203.3,582.6,9.6,1144,14995,0.00,2.50,0.00,0.000,4,0.000,0.060,3123,970,1849
$GC,15053,1.01,203.3,576.4,10.1,1147,15057,0.00,2.40,0.00,0.000,6,0.000,0.039,3123,2337,1849
$GC,15378,1.01,203.3,545.2,9.1,1163,15383,0.00,2.50,0.00,0.000,4,0.000,0.059,3123,962,1849
$GC,15422,1.01,203.3,540.8,9.6,1165,15426,0.00,2.40,0.00,0.000,6,0.000,0.038,3123,2321,1849
$GC,15750,1.01,203.3,512.8,9.1,1181,15751,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2322,1849
$GC,16063,1.01,203.3,482.9,9.4,1204,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2322,1849
$GC,16383,1.02,211.2,453.7,8.6,1234,16397,0.00,2.55,7.22,1.088,4,0.000,0.056,3123,961,1815
$GC,16424,1.02,211.2,449.7,10.0,1237,16432,0.00,2.42,0.00,0.000,6,0.000,0.036,3123,2332,1815
$GC,16752,1.08,225.5,422.5,8.3,1268,16769,0.00,2.53,12.23,1.042,4,0.000,0.055,3123,964,1757
$GC,16841,1.12,225.5,414.5,9.5,1275,16849,0.12,2.35,0.00,0.000,6,0.067,0.036,3155,2314,1756
$GC,17166,1.12,225.5,381.7,10.6,1306,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2313,1757
$GC,17484,1.12,225.5,350.3,9.7,1336,17489,0.00,2.42,0.00,0.000,4,0.000,0.055,3155,965,1757
$GC,17550,1.12,225.5,343.5,9.4,1341,17558,0.00,2.35,0.00,0.000,6,0.000,0.036,3155,2304,1757
$GC,17877,1.12,225.5,311.7,9.3,1372,17881,0.00,2.40,0.00,0.000,4,0.000,0.054,3155,964,1757
$GC,17909,1.12,225.5,308.2,10.6,1374,17916,0.00,2.30,0.00,0.000,6,0.000,0.035,3155,2299,1757
$GC,18235,1.12,225.5,278.0,9.5,1405,18239,0.00,2.53,0.00,0.000,4,0.000,0.054,3155,3730,1757
$GC,18298,1.12,225.5,271.9,11.0,1410,18303,0.00,2.47,0.00,0.000,6,0.000,0.036,3155,2284,1757
$GC,18627,1.15,241.8,243.0,8.2,1447,18647,0.00,2.67,13.73,0.890,4,0.000,0.051,3155,3733,1692
$GC,18670,1.15,241.8,238.9,10.2,1454,18677,0.00,2.47,0.00,0.000,6,0.000,0.035,3155,2301,1691
$GC,19015,1.17,255.0,207.6,8.3,1515,19029,0.00,0.00,11.05,0.857,6,0.000,0.000,3155,2300,1637
$GC,19367,1.24,270.4,177.8,8.2,1577,19384,0.00,0.00,12.68,0.821,6,0.000,0.000,3155,2299,1575
$GC,19717,1.36,298.0,149.3,7.6,1639,19747,0.17,2.42,21.98,0.765,4,0.054,0.051,3207,962,1462
$GC,19776,1.36,298.0,143.7,10.1,1648,19783,0.00,2.35,0.00,0.000,6,0.000,0.033,3206,2322,1460
$GC,20120,1.36,298.0,113.2,9.1,1709,20128,0.00,2.40,0.00,0.000,4,0.000,0.048,3207,966,1460
$GC,20151,1.36,298.0,110.6,9.2,1714,20158,0.00,2.30,0.00,0.000,6,0.000,0.032,3207,2312,1459
$GC,20496,1.47,327.5,84.1,7.5,1775,20527,0.00,0.00,23.45,0.683,6,0.000,0.000,3207,2312,1341
$GC,20864,1.63,369.6,58.2,6.9,1839,20907,0.20,2.45,32.95,0.635,4,0.048,0.046,3265,973,1169
$GC,20975,1.63,369.6,46.7,10.4,1858,20981,0.00,2.30,0.00,0.000,6,0.000,0.029,3265,2332,1168
$GC,21319,1.68,381.2,14.8,8.4,1919,21333,0.00,2.47,8.85,0.615,4,0.000,0.044,3265,966,1123
$GC,21458,1.75,383.3,2.7,8.9,1943,21465,0.00,2.20,0.00,0.000,6,0.000,0.028,3265,2274,1122
$STATE,21469,end climb,SURFACE_DEPTH_REACHED
$STATE,21469,begin surface coast
$FINISH,-0.1,1.020868
$STATE,21493,end surface coast,CONTROL_FINISHED_OK
$STATE,21493,begin surface
$SM_CCo,21515,46.70,0.555,0,0,741,475.15
$SM_GC,0.56,0.00,0.00,46.70,0.000,0.000,0.555,248,2105,741,-12.22,-1.27,475.15
$IRIDIUM_FIX,1241.04,12031.29,090697,202028
$TT8_MAMPS,0.023777
$HUMID,1884
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,483
$ALTIM_BOTTOM_PING,911.8,35.9
$24V_AH,23.2,27.381
$10V_AH,10.1,13.446
$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,32.750,162.125,441.975,46.700,0.000,24.420,41.994,158.642,132.000,0.000,0.000,14.501,3976.564,13549.507,735.345,3134.826,505.772,0.000,2284.892,0.000,3066.098,0.000,85.580
$DEVICE_MAMPS,171.808,65.195,1355.289,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1311.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59711,1949
$CAP_FILE_SIZE,194577,0
$CFSIZE,260165632,245997568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,121.0,1
$GPS,160308,080307,1247.665,12035.281,29,1.0,29,-0.8