version: 66.03
glider: 122
mission: 6
dive: 184
start: 3 25 108 8 37 47
data:
$ID,122
$MISSION,6
$DIVE,184
$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,-30604.637
$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,24
$R_STBD_OVSHOOT,41
$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,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
$GPS1,083131,1247.396,12019.978,38,1.5,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.6
$GPS2,083714,1247.458,12019.973,10,1.9,10,-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,244.3,8767,-17.4,-9.016
$D_GRID,868
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-64.05,0.000,2,0.000,0.000,247,2174,2487
$GC,89,-1.42,-146.0,3.3,-7.5,11,128,13.65,2.40,-14.48,0.000,4,0.174,0.053,2588,3544,3276
$GC,146,-0.97,-146.0,19.0,-24.3,20,154,0.52,2.35,0.00,0.000,6,0.115,0.028,2687,2138,3277
$GC,492,-0.87,-146.0,73.6,-15.1,81,499,0.15,2.42,0.00,0.000,4,0.108,0.044,2718,742,3278
$GC,517,-0.83,-146.0,77.2,-14.7,85,525,0.00,2.35,0.00,0.000,6,0.000,0.028,2718,2147,3278
$GC,862,-0.92,-146.0,113.1,-8.6,146,871,0.00,2.40,0.00,0.000,4,0.000,0.044,2718,3549,3281
$GC,940,-1.02,-146.0,120.3,-8.7,159,950,0.17,2.33,0.00,0.000,6,0.045,0.027,2666,2141,3281
$GC,1288,-1.06,-146.0,151.4,-9.3,220,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2141,3282
$GC,1632,-1.13,-146.0,181.6,-7.9,281,1641,0.00,2.40,0.00,0.000,4,0.000,0.043,2665,3551,3283
$GC,1772,-1.20,-146.0,192.7,-7.6,305,1781,0.10,2.28,0.00,0.000,6,0.061,0.028,2630,2175,3283
$GC,2119,-1.20,-146.0,224.7,-9.0,366,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2175,3283
$GC,2459,-1.20,-146.0,254.9,-8.6,422,2463,0.00,2.38,0.00,0.000,4,0.000,0.044,2631,3554,3283
$GC,2499,-1.20,-146.0,258.7,-9.5,425,2503,0.00,2.30,0.00,0.000,6,0.000,0.030,2631,2176,3281
$GC,2825,-1.20,-146.0,287.6,-8.6,455,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2177,3281
$GC,3143,-1.20,-146.0,314.7,-8.3,485,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2174,3279
$GC,3461,-1.20,-146.0,339.0,-7.6,515,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2174,3276
$GC,3780,-1.20,-146.0,362.5,-7.8,545,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2173,3275
$GC,4098,-1.20,-146.0,386.5,-7.5,575,4102,0.00,2.40,0.00,0.000,4,0.000,0.049,2631,3546,3273
$GC,4153,-1.20,-146.0,391.0,-8.3,579,4161,0.00,2.35,0.00,0.000,6,0.000,0.033,2631,2163,3272
$GC,4480,-1.20,-146.0,415.8,-7.6,610,4485,0.00,2.42,0.00,0.000,4,0.000,0.049,2631,3544,3270
$GC,4513,-1.20,-146.0,418.6,-8.0,612,4521,0.00,2.33,0.00,0.000,6,0.000,0.033,2630,2174,3270
$GC,4840,-1.20,-146.0,442.9,-7.4,643,4845,0.00,2.42,0.00,0.000,4,0.000,0.050,2631,3552,3268
$GC,4893,-1.24,-146.0,447.1,-7.2,647,4897,0.00,2.33,0.00,0.000,6,0.000,0.034,2631,2186,3269
$GC,5219,-1.24,-146.0,471.0,-7.4,677,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2184,3266
$GC,5538,-1.27,-146.0,497.0,-8.3,707,5542,0.00,2.40,0.00,0.000,4,0.000,0.051,2631,3548,3265
$GC,5582,-1.31,-146.0,500.9,-8.7,710,5585,0.00,2.28,0.00,0.000,6,0.000,0.034,2631,2201,3265
$GC,5909,-1.35,-146.0,527.3,-8.5,726,5913,0.00,2.38,0.00,0.000,4,0.000,0.051,2631,3549,3263
$GC,5944,-1.38,-146.0,530.4,-8.8,727,5952,0.12,2.25,0.00,0.000,6,0.061,0.034,2597,2224,3263
$GC,6261,-1.35,-146.0,559.4,-9.0,743,6266,0.00,2.65,0.00,0.000,4,0.000,0.056,2596,746,3261
$GC,6288,-1.35,-146.0,562.4,-9.0,744,6292,0.00,2.55,0.00,0.000,6,0.000,0.035,2596,2227,3261
$GC,6613,-1.31,-146.0,590.7,-8.8,760,6618,0.10,2.62,0.00,0.000,4,0.118,0.055,2614,752,3259
$GC,6639,-1.31,-146.0,593.4,-8.7,761,6643,0.00,2.50,0.00,0.000,6,0.000,0.036,2614,2204,3259
$GC,6961,-1.31,-146.0,617.9,-7.7,777,6965,0.00,2.35,0.00,0.000,4,0.000,0.055,2614,3542,3257
$GC,7011,-1.31,-146.0,622.0,-8.3,779,7015,0.00,2.25,0.00,0.000,6,0.000,0.035,2614,2219,3257
$GC,7332,-1.31,-146.0,648.8,-8.2,795,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2218,3256
$GC,7642,-1.31,-146.0,671.9,-7.2,810,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2217,3255
$GC,7951,-1.31,-146.0,693.7,-7.0,825,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2217,3254
$GC,8260,-1.31,-146.0,716.1,-7.7,840,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2217,3253
$GC,8571,-1.31,-146.0,739.8,-7.3,855,8576,0.00,2.65,0.00,0.000,4,0.000,0.060,2614,734,3251
$GC,8603,-1.31,-146.0,742.5,-7.8,856,8607,0.00,2.55,0.00,0.000,6,0.000,0.037,2614,2206,3251
$GC,8919,-1.31,-146.0,766.6,-7.1,871,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,3250
$GC,9228,-1.31,-146.0,787.2,-6.7,886,9232,0.00,2.35,0.00,0.000,4,0.000,0.059,2614,3543,3249
$GC,9254,-1.31,-146.0,789.2,-7.0,887,9258,0.00,2.25,0.00,0.000,6,0.000,0.037,2614,2225,3249
$GC,9582,-1.31,-146.0,812.4,-7.5,903,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2225,3248
$GC,9891,-1.34,-146.0,834.9,-7.6,918,9896,0.00,2.65,0.00,0.000,4,0.000,0.061,2614,753,3247
$GC,9936,-1.39,-146.0,838.2,-7.2,920,9940,0.00,2.53,0.00,0.000,6,0.000,0.038,2614,2215,3247
$GC,10259,-1.42,-146.0,860.4,-7.0,936,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2215,3247
$STATE,10357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10357,begin apogee
$GC,10363,-0.34,0.0,868.2,7.6,941,10487,1.05,0.00,120.55,1.289,6,0.093,0.000,2827,2380,2678
$STATE,10488,end apogee,CONTROL_FINISHED_OK
$STATE,10488,begin climb
$GC,10490,1.42,146.0,872.2,0.0,947,10624,1.77,2.53,124.55,1.238,4,0.058,0.062,3215,3716,2082
$GC,10704,1.18,146.0,854.4,15.1,956,10712,0.30,2.33,0.00,0.000,6,0.126,0.039,3163,2382,2080
$GC,11021,1.08,146.0,819.7,10.6,972,11023,0.12,0.00,0.00,0.000,6,0.125,0.000,3142,2381,2078
$GC,11329,1.02,146.0,789.3,9.8,987,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2381,2078
$GC,11638,0.96,146.0,758.5,10.0,1002,11643,0.15,2.42,0.00,0.000,4,0.118,0.059,3115,3722,2077
$GC,11700,0.93,146.0,752.2,10.4,1005,11704,0.00,2.33,0.00,0.000,6,0.000,0.039,3115,2373,2077
$GC,12033,0.93,151.6,721.8,8.7,1021,12039,0.00,0.00,4.30,1.228,6,0.000,0.000,3115,2373,2059
$GC,12342,0.99,184.3,697.4,7.3,1036,12375,0.00,2.62,28.02,1.201,4,0.000,0.061,3115,973,1925
$GC,12427,1.03,208.3,691.0,7.8,1040,12453,0.00,2.47,20.85,1.185,6,0.000,0.039,3116,2386,1827
$GC,12783,1.08,216.5,661.6,8.6,1057,12792,0.12,0.00,6.60,1.204,6,0.073,0.000,3144,2387,1795
$GC,13090,1.08,216.5,629.4,11.1,1072,13094,0.00,2.58,0.00,0.000,4,0.000,0.060,3144,973,1794
$GC,13122,1.08,216.5,625.7,11.4,1073,13129,0.00,2.50,0.00,0.000,6,0.000,0.039,3144,2398,1794
$GC,13437,1.08,216.5,592.2,10.2,1089,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2398,1793
$GC,13747,1.08,216.5,560.3,10.3,1104,13751,0.00,2.60,0.00,0.000,4,0.000,0.058,3144,963,1793
$GC,13808,1.08,216.5,553.9,10.6,1107,13813,0.00,2.47,0.00,0.000,6,0.000,0.038,3144,2379,1793
$GC,14135,1.08,216.5,522.7,9.3,1123,14140,0.00,2.55,0.00,0.000,4,0.000,0.058,3144,970,1793
$GC,14197,1.08,216.5,516.7,9.3,1126,14201,0.00,2.40,0.00,0.000,6,0.000,0.038,3144,2343,1792
$GC,14517,1.10,227.4,488.6,8.5,1147,14532,0.00,2.55,9.48,1.099,4,0.000,0.058,3144,3726,1750
$GC,14572,1.10,227.4,483.7,9.1,1152,14576,0.00,2.40,0.00,0.000,6,0.000,0.038,3144,2346,1750
$GC,14896,1.13,242.9,456.6,8.2,1182,14919,0.00,2.58,13.25,1.055,4,0.000,0.058,3144,978,1686
$GC,14977,1.13,242.9,449.1,9.8,1189,14982,0.00,2.42,0.00,0.000,6,0.000,0.038,3144,2358,1686
$GC,15302,1.15,256.1,419.8,8.3,1219,15315,0.00,0.00,11.40,1.028,6,0.000,0.000,3144,2357,1634
$GC,15629,1.15,256.1,389.9,9.8,1250,15630,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2357,1633
$GC,15950,1.20,269.7,360.4,8.3,1280,15968,0.10,2.55,11.80,0.981,4,0.074,0.054,3173,972,1577
$GC,15984,1.20,269.7,356.9,10.7,1282,15991,0.00,2.45,0.00,0.000,6,0.000,0.038,3173,2359,1576
$GC,16310,1.20,269.7,323.6,9.8,1313,16314,0.00,2.50,0.00,0.000,4,0.000,0.054,3173,972,1576
$GC,16350,1.20,269.7,319.5,9.9,1316,16354,0.00,2.38,0.00,0.000,6,0.000,0.037,3173,2335,1576
$GC,16674,1.20,269.7,288.3,9.5,1346,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2334,1576
$GC,16993,1.20,269.7,257.3,9.0,1376,16998,0.00,2.45,0.00,0.000,4,0.000,0.054,3173,969,1576
$GC,17037,1.20,269.7,253.0,9.8,1379,17044,0.00,2.35,0.00,0.000,6,0.000,0.036,3173,2324,1576
$GC,17378,1.20,269.7,222.2,10.7,1437,17385,0.00,2.42,0.00,0.000,4,0.000,0.053,3173,967,1575
$GC,17526,1.20,269.7,205.3,12.9,1463,17533,0.00,2.30,0.00,0.000,6,0.000,0.035,3173,2299,1576
$GC,17871,1.23,283.4,173.7,8.3,1524,17889,0.00,2.58,11.25,0.827,4,0.000,0.053,3173,3729,1522
$GC,17907,1.27,283.4,170.3,9.4,1530,17914,0.00,2.47,0.00,0.000,6,0.000,0.035,3173,2292,1522
$GC,18251,1.38,301.2,144.2,8.1,1591,18270,0.15,0.00,14.35,0.779,6,0.055,0.000,3217,2292,1450
$GC,18607,1.42,325.7,116.1,7.8,1654,18632,0.00,2.45,19.77,0.733,4,0.000,0.051,3218,970,1349
$GC,18656,1.48,338.1,112.2,8.4,1662,18675,0.00,2.38,10.23,0.724,6,0.000,0.034,3217,2337,1298
$GC,19014,1.62,362.5,84.9,7.8,1725,19038,0.15,0.00,19.35,0.683,6,0.051,0.000,3266,2337,1200
$GC,19377,1.69,386.9,57.0,7.8,1789,19401,0.00,0.00,19.55,0.643,6,0.000,0.000,3266,2337,1099
$GC,19739,1.76,402.5,27.4,8.2,1853,19757,0.00,2.45,12.18,0.613,4,0.000,0.046,3266,966,1036
$GC,19798,1.83,412.6,21.9,8.5,1863,19812,0.17,2.28,8.10,0.615,6,0.051,0.029,3318,2307,994
$STATE,19979,end climb,SURFACE_DEPTH_REACHED
$STATE,19979,begin surface coast
$FINISH,0.3,1.021421
$STATE,19998,end surface coast,CONTROL_FINISHED_OK
$STATE,19998,begin surface
$SM_CCo,20021,30.75,0.551,0,0,740,475.15
$SM_GC,0.69,0.00,0.00,30.75,0.000,0.000,0.551,251,2112,740,-12.21,-1.10,475.15
$IRIDIUM_FIX,1241.04,12101.99,190697,030351
$TT8_MAMPS,0.024544
$HUMID,1915
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,462
$24V_AH,23.2,34.373
$10V_AH,10.1,17.276
$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,32.450,151.350,465.575,30.750,0.000,30.096,41.005,155.766,124.750,0.000,0.000,10.985,3839.159,12293.671,671.188,3065.806,528.272,0.000,2208.193,0.000,3007.374,0.000,68.022
$DEVICE_MAMPS,174.109,62.127,1288.560,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1275.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59736,1898
$CAP_FILE_SIZE,190568,0
$CFSIZE,260165632,242511872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 18.0,1
$GPS,250308,141307,1246.967,12017.804,32,1.1,32,-0.8