version: 66.03
glider: 122
mission: 6
dive: 154
start: 3 18 108 16 42 47
data:
$ID,122
$MISSION,6
$DIVE,154
$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,-30153.975
$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,64
$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
$GPS1,163637,1248.802,12028.466,36,1.1,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.2
$GPS2,164215,1248.788,12028.461,16,1.1,16,-0.8
$SPEED_LIMITS,0.156,0.209
$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,246.9,24135,-17.4,-9.016
$D_GRID,947
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-62.38,0.000,2,0.000,0.000,251,2100,2445
$GC,87,-1.42,-146.0,3.4,-7.8,10,126,13.57,2.55,-15.20,0.000,4,0.172,0.052,2588,3560,3277
$GC,223,-1.11,-146.0,37.7,-23.0,33,231,0.38,2.30,0.00,0.000,6,0.117,0.027,2658,2166,3277
$GC,569,-1.01,-146.0,94.2,-14.0,94,576,0.12,2.40,0.00,0.000,4,0.116,0.040,2681,3567,3280
$GC,606,-0.96,-146.0,98.8,-12.4,100,613,0.00,2.35,0.00,0.000,6,0.000,0.027,2681,2142,3280
$GC,950,-0.96,-146.0,138.3,-10.6,161,957,0.00,2.42,0.00,0.000,4,0.000,0.041,2681,3561,3281
$GC,991,-0.96,-146.0,142.6,-10.8,168,998,0.00,2.33,0.00,0.000,6,0.000,0.028,2681,2155,3281
$GC,1336,-1.01,-146.0,174.8,-8.7,229,1343,0.00,2.42,0.00,0.000,4,0.000,0.042,2681,3570,3282
$GC,1384,-1.07,-146.0,179.1,-8.8,237,1391,0.00,2.33,0.00,0.000,6,0.000,0.028,2681,2167,3282
$GC,1727,-1.17,-146.0,206.3,-7.1,298,1733,0.15,0.00,0.00,0.000,6,0.050,0.000,2630,2164,3282
$GC,2070,-1.17,-146.0,238.5,-9.0,359,2077,0.00,2.40,0.00,0.000,4,0.000,0.044,2630,3560,3282
$GC,2105,-1.17,-146.0,242.1,-10.0,365,2112,0.00,2.30,0.00,0.000,6,0.000,0.031,2630,2182,3282
$GC,2441,-1.17,-146.0,272.1,-8.8,404,2445,0.00,2.53,0.00,0.000,4,0.000,0.051,2630,743,3281
$GC,2481,-1.20,-146.0,275.7,-9.5,407,2485,0.00,2.45,0.00,0.000,6,0.000,0.032,2630,2191,3280
$GC,2806,-1.20,-146.0,306.2,-9.4,437,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2192,3279
$GC,3124,-1.20,-146.0,334.4,-8.4,467,3129,0.00,2.55,0.00,0.000,4,0.000,0.052,2630,752,3277
$GC,3157,-1.23,-146.0,337.4,-8.6,469,3164,0.00,2.40,0.00,0.000,6,0.000,0.032,2630,2165,3276
$GC,3483,-1.23,-146.0,364.6,-8.3,500,3487,0.00,2.40,0.00,0.000,4,0.000,0.048,2630,3547,3274
$GC,3549,-1.23,-146.0,370.8,-9.3,505,3556,0.00,2.30,0.00,0.000,6,0.000,0.033,2630,2184,3273
$GC,3875,-1.23,-146.0,398.2,-8.1,536,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2183,3271
$GC,4193,-1.23,-146.0,424.1,-8.0,566,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2182,3270
$GC,4511,-1.23,-146.0,449.7,-8.0,596,4515,0.00,2.55,0.00,0.000,4,0.000,0.055,2630,752,3267
$GC,4541,-1.27,-146.0,452.0,-8.4,598,4545,0.00,2.47,0.00,0.000,6,0.000,0.035,2630,2192,3268
$GC,4867,-1.30,-146.0,477.6,-8.1,628,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2193,3265
$GC,5195,-1.34,-146.0,503.4,-8.1,657,5199,0.00,2.40,0.00,0.000,4,0.000,0.054,2630,3555,3263
$GC,5239,-1.38,-146.0,507.3,-8.2,659,5244,0.12,2.33,0.00,0.000,6,0.060,0.035,2594,2184,3262
$GC,5562,-1.33,-146.0,537.1,-9.6,675,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2181,3261
$GC,5869,-1.29,-146.0,565.7,-9.2,690,5874,0.15,2.58,0.00,0.000,4,0.109,0.056,2626,746,3259
$GC,5902,-1.34,-146.0,568.7,-9.2,691,5909,0.00,2.47,0.00,0.000,6,0.000,0.036,2626,2181,3259
$GC,6219,-1.37,-146.0,592.9,-7.7,707,6223,0.00,2.42,0.00,0.000,4,0.000,0.056,2626,3555,3257
$GC,6269,-1.40,-146.0,597.1,-8.3,709,6274,0.12,2.35,0.00,0.000,6,0.062,0.035,2592,2178,3256
$GC,6586,-1.36,-146.0,624.9,-9.0,724,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2176,3256
$GC,6894,-1.32,-146.0,651.7,-8.2,739,6899,0.12,2.42,0.00,0.000,4,0.113,0.054,2614,3551,3255
$GC,6921,-1.32,-146.0,654.0,-7.9,740,6925,0.00,2.33,0.00,0.000,6,0.000,0.037,2614,2190,3254
$GC,7237,-1.32,-146.0,677.4,-7.7,755,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2189,3253
$GC,7547,-1.32,-146.0,700.5,-7.6,770,7551,0.00,2.60,0.00,0.000,4,0.000,0.061,2614,749,3252
$GC,7579,-1.32,-146.0,703.2,-7.9,771,7586,0.00,2.50,0.00,0.000,6,0.000,0.037,2614,2192,3251
$GC,7895,-1.32,-146.0,727.6,-8.4,787,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,3250
$GC,8204,-1.32,-146.0,752.2,-7.9,802,8209,0.00,2.42,0.00,0.000,4,0.000,0.058,2614,3558,3249
$GC,8244,-1.32,-146.0,755.5,-8.8,804,8248,0.00,2.33,0.00,0.000,6,0.000,0.037,2614,2199,3249
$GC,8572,-1.32,-146.0,780.6,-7.5,820,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3247
$GC,8879,-1.32,-146.0,803.6,-7.4,835,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3247
$GC,9188,-1.32,-146.0,825.6,-7.1,850,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3246
$GC,9500,-1.32,-146.0,850.6,-8.6,865,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,3245
$GC,9808,-1.35,-146.0,875.4,-7.7,880,9812,0.00,2.42,0.00,0.000,4,0.000,0.058,2614,3557,3244
$GC,9863,-1.40,-146.0,879.9,-8.2,882,9870,0.00,2.33,0.00,0.000,6,0.000,0.038,2614,2205,3243
$GC,10180,-1.43,-146.0,902.6,-7.5,898,10184,0.00,2.65,0.00,0.000,4,0.000,0.064,2614,743,3242
$GC,10235,-1.48,-146.0,907.1,-8.1,900,10242,0.15,2.55,0.00,0.000,6,0.059,0.038,2575,2205,3242
$GC,10552,-1.74,-146.0,927.2,-1.0,916,10554,0.22,0.00,0.00,0.000,6,0.050,0.000,2518,2206,3242
$STATE,10692,end dive,NO_VERTICAL_VELOCITY
$STATE,10693,begin apogee
$GC,10698,-0.34,0.0,926.7,0.0,923,10822,1.48,0.00,120.88,1.343,6,0.070,0.000,2832,2381,2678
$STATE,10823,end apogee,CONTROL_FINISHED_OK
$STATE,10823,begin climb
$GC,10826,1.42,146.0,926.7,0.0,929,10965,1.83,2.72,125.97,1.291,4,0.065,0.061,3217,967,2082
$GC,11038,1.18,146.0,907.9,13.3,939,11043,0.30,2.50,0.00,0.000,6,0.118,0.041,3164,2370,2081
$GC,11359,1.06,146.0,873.9,10.2,955,11364,0.15,2.58,0.00,0.000,4,0.123,0.060,3134,966,2079
$GC,11393,0.99,146.0,870.3,10.0,956,11400,0.00,2.47,0.00,0.000,6,0.000,0.040,3134,2370,2079
$GC,11709,0.93,146.0,840.6,9.7,972,11710,0.15,0.00,0.00,0.000,6,0.123,0.000,3108,2370,2079
$GC,12019,0.95,157.8,813.9,8.4,987,12031,0.00,0.00,9.95,1.305,6,0.000,0.000,3108,2370,2034
$GC,12327,0.97,165.6,787.1,8.6,1002,12340,0.00,2.65,6.80,1.292,4,0.000,0.060,3108,975,2002
$GC,12386,0.98,177.3,781.7,8.4,1004,12401,0.00,2.47,10.60,1.270,6,0.000,0.041,3108,2371,1955
$GC,12724,1.01,190.3,752.5,8.4,1021,12737,0.00,0.00,11.25,1.266,6,0.000,0.000,3108,2372,1902
$GC,13033,1.06,200.5,726.4,8.5,1036,13045,0.12,0.00,9.12,1.261,6,0.071,0.000,3137,2371,1860
$GC,13341,1.06,200.5,694.9,10.2,1051,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2372,1859
$GC,13651,1.06,200.5,664.2,9.8,1066,13652,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2371,1859
$GC,13960,1.06,200.5,633.0,9.8,1081,13965,0.00,2.55,0.00,0.000,4,0.000,0.058,3137,967,1859
$GC,14027,1.06,200.5,626.0,10.7,1084,14032,0.00,2.45,0.00,0.000,6,0.000,0.039,3137,2368,1859
$GC,14348,1.06,200.5,594.5,9.8,1100,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2369,1859
$GC,14657,1.06,200.5,565.1,9.1,1115,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2369,1859
$GC,14966,1.06,200.5,536.8,9.1,1130,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2368,1859
$GC,15276,1.06,200.5,508.9,9.1,1145,15280,0.00,2.53,0.00,0.000,4,0.000,0.057,3137,969,1859
$GC,15352,1.06,200.5,501.4,10.1,1148,15360,0.00,2.42,0.00,0.000,6,0.000,0.038,3137,2360,1859
$GC,15678,1.07,203.8,472.6,8.8,1178,15687,0.00,0.00,3.10,1.091,6,0.000,0.000,3137,2359,1846
$GC,16008,1.08,214.3,443.7,8.5,1209,16027,0.00,2.60,9.07,1.069,4,0.000,0.055,3137,973,1803
$GC,16050,1.08,214.3,439.7,9.6,1213,16054,0.00,2.42,0.00,0.000,6,0.000,0.038,3138,2352,1803
$GC,16374,1.11,232.3,412.3,8.1,1243,16395,0.00,0.00,15.62,1.017,6,0.000,0.000,3137,2352,1730
$GC,16714,1.11,232.3,382.1,9.3,1275,16718,0.00,2.50,0.00,0.000,4,0.000,0.055,3137,964,1729
$GC,16821,1.14,247.7,371.8,8.2,1284,16843,0.00,2.35,12.85,0.989,6,0.000,0.036,3137,2315,1668
$GC,17161,1.18,247.7,340.8,9.2,1316,17162,0.10,0.00,0.00,0.000,6,0.074,0.000,3161,2314,1667
$GC,17480,1.18,247.7,308.5,9.5,1346,17484,0.00,2.42,0.00,0.000,4,0.000,0.054,3161,966,1667
$GC,17568,1.19,257.5,299.5,8.5,1353,17586,0.00,2.30,8.35,0.948,6,0.000,0.036,3162,2297,1628
$GC,17903,1.19,257.5,266.7,10.1,1385,17907,0.00,2.38,0.00,0.000,4,0.000,0.054,3162,972,1627
$GC,17935,1.19,257.5,263.0,10.4,1387,17943,0.00,2.28,0.00,0.000,6,0.000,0.035,3162,2270,1627
$GC,18271,1.19,257.5,230.6,9.6,1436,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2270,1627
$GC,18615,1.21,269.1,197.5,8.4,1497,18633,0.00,2.65,9.85,0.854,4,0.000,0.052,3162,3724,1581
$GC,18679,1.21,269.4,191.6,9.0,1508,18686,0.00,2.50,0.00,0.000,6,0.000,0.035,3162,2272,1581
$GC,19024,1.31,297.6,163.0,7.6,1569,19055,0.12,2.38,23.25,0.779,4,0.066,0.051,3192,963,1462
$GC,19078,1.32,305.8,158.6,8.6,1578,19091,0.00,2.30,6.53,0.793,6,0.000,0.033,3193,2289,1431
$GC,19431,1.41,323.6,128.8,8.1,1640,19450,0.00,2.62,14.25,0.755,4,0.000,0.049,3192,3726,1358
$GC,19479,1.47,324.7,124.6,9.0,1648,19486,0.15,2.42,0.00,0.000,6,0.060,0.032,3229,2309,1357
$GC,19824,1.48,327.3,93.9,8.9,1709,19832,0.00,2.55,2.83,0.752,4,0.000,0.046,3229,3727,1343
$GC,19883,1.48,327.3,88.5,9.0,1719,19890,0.00,2.33,0.00,0.000,6,0.000,0.031,3229,2353,1343
$GC,20227,1.56,343.8,61.5,8.2,1780,20246,0.00,2.53,13.45,0.667,4,0.000,0.048,3229,973,1275
$GC,20443,1.69,376.7,44.7,7.3,1818,20480,0.20,2.35,25.98,0.623,6,0.048,0.029,3283,2368,1141
$GC,20819,1.70,385.3,9.5,8.6,1884,20832,0.00,2.47,6.50,0.612,4,0.000,0.043,3283,964,1105
$GC,20866,1.70,385.3,5.4,9.1,1892,20872,0.00,2.33,0.00,0.000,6,0.000,0.028,3283,2342,1105
$STATE,20904,end climb,SURFACE_DEPTH_REACHED
$STATE,20904,begin surface coast
$FINISH,-0.0,1.021199
$STATE,20928,end surface coast,CONTROL_FINISHED_OK
$STATE,20928,begin surface
$SM_CCo,20950,43.50,0.549,0,0,741,475.15
$SM_GC,0.69,0.00,0.00,43.50,0.000,0.000,0.549,249,2115,741,-12.22,-0.99,475.15
$IRIDIUM_FIX,1245.46,12029.39,120697,111102
$TT8_MAMPS,0.023777
$HUMID,1863
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,468
$ALTIM_BOTTOM_PING,910.8,18.4
$24V_AH,23.2,29.267
$10V_AH,10.1,14.493
$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,33.075,157.200,446.200,43.500,0.000,26.055,37.943,158.330,128.250,0.000,0.000,16.174,3690.221,13357.411,710.662,3061.906,515.160,0.000,2235.167,0.000,2993.569,0.000,85.517
$DEVICE_MAMPS,171.808,63.661,1343.017,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59715,1903
$CAP_FILE_SIZE,195154,0
$CFSIZE,260165632,245047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 20.4,1
$GPS,180308,223355,1248.634,12025.896,38,1.2,38,-0.8