version: 66.03
glider: 122
mission: 6
dive: 146
start: 3 16 108 21 0 24
data:
$ID,122
$MISSION,6
$DIVE,146
$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,-30042.162
$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,55
$R_STBD_OVSHOOT,34
$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
$GPS1,205408,1250.650,12040.069,44,0.9,44,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.6
$GPS2,205951,1250.670,12040.036,15,1.0,15,-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,110.8,4901,-17.4,-9.016
$D_GRID,1352
$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,-62.45,0.000,2,0.000,0.000,252,2130,2445
$GC,86,-1.42,-146.0,3.4,-8.5,10,125,13.57,2.40,-15.32,0.000,4,0.172,0.054,2587,772,3276
$GC,205,-1.15,-146.0,32.1,-20.4,30,212,0.32,2.33,0.00,0.000,6,0.113,0.027,2648,2164,3277
$GC,550,-1.02,-146.0,88.7,-15.0,91,557,0.15,2.38,0.00,0.000,4,0.105,0.044,2680,3547,3279
$GC,605,-0.98,-146.0,96.2,-13.5,100,612,0.00,2.28,0.00,0.000,6,0.000,0.028,2680,2176,3280
$GC,949,-0.98,-146.0,135.6,-10.6,161,956,0.00,2.47,0.00,0.000,4,0.000,0.044,2680,750,3281
$GC,980,-1.04,-146.0,138.6,-10.3,166,988,0.00,2.30,0.00,0.000,6,0.000,0.028,2680,2125,3281
$GC,1326,-1.12,-146.0,168.6,-8.0,227,1334,0.00,2.45,0.00,0.000,4,0.000,0.045,2680,3548,3281
$GC,1409,-1.22,-146.0,175.4,-8.3,241,1418,0.20,2.33,0.00,0.000,6,0.042,0.028,2621,2148,3282
$GC,1755,-1.22,-146.0,209.8,-10.1,302,1762,0.00,2.42,0.00,0.000,4,0.000,0.044,2621,3555,3282
$GC,1802,-1.19,-146.0,214.7,-11.0,310,1810,0.10,2.30,0.00,0.000,6,0.104,0.029,2644,2177,3282
$GC,2149,-1.23,-146.0,246.1,-8.9,371,2155,0.00,2.35,0.00,0.000,4,0.000,0.046,2644,3547,3281
$GC,2217,-1.26,-146.0,252.4,-9.2,381,2221,0.00,2.22,0.00,0.000,6,0.000,0.031,2644,2216,3281
$GC,2544,-1.31,-146.0,278.9,-7.8,411,2548,0.12,2.33,0.00,0.000,4,0.056,0.046,2606,3555,3279
$GC,2565,-1.31,-146.0,281.0,-8.8,412,2571,0.00,2.20,0.00,0.000,6,0.000,0.031,2606,2240,3279
$GC,2891,-1.27,-146.0,310.6,-9.6,443,2893,0.10,0.00,0.00,0.000,6,0.110,0.000,2624,2236,3278
$GC,3208,-1.27,-146.0,337.4,-8.1,473,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2236,3276
$GC,3527,-1.27,-146.0,364.8,-8.6,503,3531,0.00,2.65,0.00,0.000,4,0.000,0.054,2624,751,3274
$GC,3554,-1.30,-146.0,367.3,-9.4,505,3559,0.00,2.53,0.00,0.000,6,0.000,0.033,2624,2229,3274
$GC,3881,-1.30,-146.0,396.2,-9.2,535,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2229,3272
$GC,4198,-1.30,-146.0,422.1,-7.6,565,4203,0.00,2.62,0.00,0.000,4,0.000,0.052,2624,756,3270
$GC,4242,-1.35,-146.0,425.8,-7.9,568,4249,0.00,2.50,0.00,0.000,6,0.000,0.033,2624,2215,3269
$GC,4568,-1.35,-146.0,452.9,-8.1,599,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2215,3269
$GC,4885,-1.35,-146.0,478.2,-8.2,629,4889,0.00,2.62,0.00,0.000,4,0.000,0.054,2623,751,3266
$GC,4918,-1.40,-146.0,481.1,-8.9,631,4925,0.12,2.50,0.00,0.000,6,0.058,0.035,2587,2205,3266
$GC,5249,-1.34,-146.0,512.0,-9.2,657,5254,0.12,2.38,0.00,0.000,4,0.109,0.054,2610,3552,3263
$GC,5299,-1.34,-146.0,516.6,-9.0,659,5302,0.00,2.28,0.00,0.000,6,0.000,0.034,2610,2213,3263
$GC,5620,-1.34,-146.0,543.3,-8.7,675,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2210,3261
$GC,5929,-1.34,-146.0,568.8,-7.9,690,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2209,3259
$GC,6238,-1.34,-146.0,592.7,-7.7,705,6243,0.00,2.35,0.00,0.000,4,0.000,0.054,2610,3543,3257
$GC,6282,-1.34,-146.0,596.5,-8.3,707,6286,0.00,2.25,0.00,0.000,6,0.000,0.035,2610,2222,3258
$GC,6612,-1.34,-146.0,621.5,-7.5,723,6616,0.00,2.62,0.00,0.000,4,0.000,0.058,2610,758,3256
$GC,6645,-1.34,-146.0,624.3,-8.4,724,6652,0.00,2.50,0.00,0.000,6,0.000,0.035,2610,2205,3256
$GC,6961,-1.34,-146.0,647.7,-7.6,740,6965,0.00,2.38,0.00,0.000,4,0.000,0.058,2610,3548,3255
$GC,7023,-1.34,-146.0,652.6,-7.4,743,7027,0.00,2.25,0.00,0.000,6,0.000,0.037,2610,2231,3254
$GC,7349,-1.34,-146.0,678.4,-8.1,759,7353,0.00,2.65,0.00,0.000,4,0.000,0.060,2611,758,3253
$GC,7376,-1.34,-146.0,680.8,-8.9,760,7380,0.00,2.53,0.00,0.000,6,0.000,0.036,2610,2214,3253
$GC,7691,-1.34,-146.0,706.4,-8.2,775,7695,0.00,2.38,0.00,0.000,4,0.000,0.058,2610,3552,3252
$GC,7736,-1.34,-146.0,710.1,-7.9,777,7740,0.00,2.25,0.00,0.000,6,0.000,0.036,2610,2233,3251
$GC,8057,-1.34,-146.0,736.2,-7.8,793,8061,0.00,2.67,0.00,0.000,4,0.000,0.061,2611,752,3250
$GC,8100,-1.38,-146.0,739.8,-7.5,795,8108,0.00,2.55,0.00,0.000,6,0.000,0.037,2610,2223,3250
$GC,8429,-1.38,-146.0,763.4,-7.4,811,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2223,3249
$GC,8738,-1.38,-146.0,786.8,-7.4,826,8742,0.00,2.35,0.00,0.000,4,0.000,0.060,2610,3544,3247
$GC,8777,-1.38,-146.0,789.8,-7.7,828,8782,0.00,2.25,0.00,0.000,6,0.000,0.037,2610,2229,3247
$GC,9109,-1.38,-146.0,814.5,-7.7,844,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2229,3247
$GC,9418,-1.38,-146.0,839.7,-7.8,859,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2229,3246
$GC,9728,-1.42,-146.0,866.5,-7.7,874,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2228,3245
$GC,10037,-1.55,-146.0,881.0,-4.3,889,10042,0.17,2.65,0.00,0.000,4,0.048,0.057,2554,752,3244
$GC,10064,-1.71,-146.0,882.3,-5.1,890,10068,0.00,2.55,0.00,0.000,6,0.000,0.038,2554,2218,3243
$GC,10380,-1.77,-146.0,897.2,-4.2,905,10385,0.15,2.62,0.00,0.000,4,0.054,0.056,2507,758,3243
$GC,10430,-1.72,-146.0,899.7,-4.7,907,10435,0.12,2.55,0.00,0.000,6,0.143,0.038,2526,2232,3242
$STATE,10599,end dive,NO_VERTICAL_VELOCITY
$STATE,10599,begin apogee
$GC,10604,-0.34,0.0,899.7,0.0,915,10729,1.62,0.00,120.35,1.320,6,0.143,0.000,2824,2369,2678
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10732,1.42,146.0,899.4,0.0,921,10868,1.95,2.67,125.70,1.265,4,0.103,0.061,3207,979,2081
$GC,10941,1.25,146.0,888.6,11.5,930,10949,0.17,2.47,0.00,0.000,6,0.122,0.041,3177,2370,2080
$GC,11259,1.15,146.0,855.5,10.3,946,11264,0.12,2.55,0.00,0.000,4,0.127,0.060,3156,980,2079
$GC,11314,1.09,146.0,849.6,10.3,948,11321,0.00,2.45,0.00,0.000,6,0.000,0.041,3157,2364,2079
$GC,11631,1.03,146.0,819.1,9.1,964,11633,0.15,0.00,0.00,0.000,6,0.128,0.000,3131,2365,2077
$GC,11939,1.08,175.1,795.2,7.5,979,11965,0.00,0.00,24.48,1.262,6,0.000,0.000,3132,2365,1964
$GC,12268,1.08,177.2,767.2,8.9,995,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2365,1963
$GC,12577,1.08,177.2,740.5,9.5,1010,12581,0.00,2.53,0.00,0.000,4,0.000,0.060,3131,979,1963
$GC,12625,1.08,177.2,735.5,9.3,1012,12630,0.00,2.50,0.00,0.000,6,0.000,0.040,3131,2382,1962
$GC,12948,1.11,195.0,708.6,8.1,1028,12972,0.00,2.67,17.10,1.226,4,0.000,0.059,3131,985,1882
$GC,13034,1.11,195.2,701.2,9.0,1031,13042,0.00,2.42,0.00,0.000,6,0.000,0.040,3131,2356,1881
$GC,13350,1.18,218.1,676.2,7.9,1047,13376,0.15,2.60,19.77,1.199,4,0.067,0.059,3168,976,1789
$GC,13392,1.14,218.1,672.1,10.6,1049,13396,0.00,2.45,0.00,0.000,6,0.000,0.040,3168,2349,1787
$GC,13720,1.10,218.1,638.5,10.4,1065,13722,0.12,0.00,0.00,0.000,6,0.116,0.000,3146,2349,1787
$GC,14028,1.10,218.1,609.5,9.7,1080,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2349,1787
$GC,14337,1.10,218.1,578.7,10.0,1095,14341,0.00,2.50,0.00,0.000,4,0.000,0.059,3146,977,1786
$GC,14403,1.10,218.1,571.5,11.2,1098,14407,0.00,2.35,0.00,0.000,6,0.000,0.038,3146,2323,1786
$GC,14724,1.10,218.1,539.5,10.0,1114,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2323,1786
$GC,15034,1.10,218.1,510.0,9.2,1129,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2323,1786
$GC,15348,1.10,218.1,480.9,9.3,1153,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2323,1786
$GC,15666,1.10,218.1,451.1,9.6,1183,15670,0.00,2.42,0.00,0.000,4,0.000,0.057,3146,979,1786
$GC,15699,1.10,218.1,447.7,9.7,1185,15706,0.00,2.35,0.00,0.000,6,0.000,0.038,3146,2328,1786
$GC,16025,1.10,218.1,416.6,9.4,1216,16029,0.00,2.42,0.00,0.000,4,0.000,0.056,3146,982,1786
$GC,16057,1.10,218.8,413.5,9.0,1218,16064,0.00,2.33,0.00,0.000,6,0.000,0.038,3146,2320,1786
$GC,16383,1.13,234.9,386.2,8.2,1249,16402,0.00,0.00,14.35,1.009,6,0.000,0.000,3146,2320,1719
$GC,16722,1.17,234.9,357.0,9.1,1281,16726,0.00,2.42,0.00,0.000,4,0.000,0.055,3146,977,1718
$GC,16795,1.21,234.9,350.2,9.3,1287,16800,0.10,2.28,0.00,0.000,6,0.074,0.037,3170,2289,1718
$GC,17119,1.21,235.3,321.5,9.0,1317,17124,0.00,2.35,0.00,0.000,4,0.000,0.055,3170,980,1718
$GC,17152,1.21,235.3,318.5,9.6,1319,17159,0.00,2.25,0.00,0.000,6,0.000,0.036,3170,2277,1718
$GC,17478,1.22,236.1,289.1,9.0,1350,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2276,1718
$GC,17797,1.24,250.4,262.6,8.3,1380,17819,0.00,2.70,12.65,0.903,4,0.000,0.055,3170,3733,1657
$GC,17878,1.27,250.4,255.4,9.1,1387,17882,0.00,2.50,0.00,0.000,6,0.000,0.036,3170,2287,1657
$GC,18217,1.32,257.4,227.2,8.7,1441,18231,0.10,2.60,6.25,0.890,4,0.069,0.051,3196,3735,1628
$GC,18265,1.29,257.4,222.5,10.6,1449,18272,0.00,2.45,0.00,0.000,6,0.000,0.035,3196,2310,1628
$GC,18609,1.29,257.4,191.1,9.2,1510,18615,0.00,2.38,0.00,0.000,4,0.000,0.053,3196,975,1627
$GC,18666,1.29,257.4,185.6,9.6,1520,18673,0.00,2.28,0.00,0.000,6,0.000,0.034,3195,2297,1627
$GC,19012,1.30,268.7,156.5,8.4,1581,19031,0.00,2.42,9.43,0.805,4,0.000,0.051,3196,979,1581
$GC,19065,1.30,268.7,151.5,9.3,1590,19071,0.00,2.25,0.00,0.000,6,0.000,0.034,3196,2278,1581
$GC,19409,1.47,330.2,127.4,5.9,1651,19462,0.12,0.00,49.53,0.712,6,0.063,0.000,3229,2278,1331
$GC,19801,1.61,368.4,96.1,7.1,1720,19838,0.12,2.42,29.92,0.680,4,0.059,0.050,3264,979,1175
$GC,19889,1.61,368.4,88.3,9.7,1735,19895,0.00,2.22,0.00,0.000,6,0.000,0.033,3264,2270,1172
$GC,20233,1.74,413.7,60.0,6.7,1796,20275,0.00,2.67,36.42,0.630,4,0.000,0.048,3264,3733,990
$GC,20378,1.85,413.7,48.4,9.2,1821,20385,0.20,2.47,0.00,0.000,6,0.050,0.031,3315,2273,986
$GC,20723,1.85,413.7,11.5,9.7,1882,20730,0.00,2.28,0.00,0.000,4,0.000,0.048,3315,980,985
$STATE,20818,end climb,SURFACE_DEPTH_REACHED
$STATE,20819,begin surface coast
$FINISH,-0.1,0.999516
$STATE,20842,end surface coast,CONTROL_FINISHED_OK
$STATE,20842,begin surface
$SM_CCo,20866,29.90,0.568,0,0,740,475.15
$SM_GC,1.09,0.00,0.00,29.90,0.000,0.000,0.568,251,2166,740,-12.21,0.45,475.15
$IRIDIUM_FIX,1243.25,12039.25,100697,141440
$TT8_MAMPS,0.023777
$HUMID,1942
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.20
$XPDR_PINGS,438
$ALTIM_BOTTOM_PING,871.2,10.9
$24V_AH,23.2,27.936
$10V_AH,10.1,13.752
$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,33.725,180.100,465.950,29.900,0.000,25.299,38.455,160.928,119.750,0.000,0.000,15.622,3709.221,13221.371,708.929,3098.651,503.137,0.000,2267.304,0.000,3030.906,0.000,79.445
$DEVICE_MAMPS,171.808,60.593,1320.007,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59749,1903
$CAP_FILE_SIZE,197766,0
$CFSIZE,260165632,245710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,339.8,1
$GPS,170308,024956,1249.995,12042.358,41,1.4,41,-0.8