version: 66.03
glider: 122
mission: 6
dive: 185
start: 3 25 108 14 22 42
data:
$ID,122
$MISSION,6
$DIVE,185
$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,-30616.791
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,141307,1246.967,12017.804,32,1.1,32,-0.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.1
$GPS2,142209,1247.016,12017.800,11,1.4,11,-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,229.8,4893,-17.4,-9.016
$D_GRID,871
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.42,-146.0,0.0,0.0,0,87,0.00,0.00,-63.22,0.000,2,0.000,0.000,251,2111,2463
$GC,89,-1.42,-146.0,3.2,-7.9,10,128,13.62,2.50,-15.73,0.000,4,0.173,0.053,2588,3558,3276
$GC,202,-1.11,-146.0,29.0,-21.4,29,210,0.38,2.30,0.00,0.000,6,0.117,0.027,2658,2176,3277
$GC,547,-0.99,-146.0,86.6,-16.2,90,555,0.15,2.38,0.00,0.000,4,0.111,0.041,2689,3557,3278
$GC,584,-0.99,-146.0,91.2,-12.3,96,591,0.00,2.30,0.00,0.000,6,0.000,0.027,2689,2166,3278
$GC,929,-0.99,-146.0,129.2,-9.5,157,936,0.00,2.40,0.00,0.000,4,0.000,0.042,2689,3564,3280
$GC,982,-1.03,-146.0,134.7,-9.9,166,989,0.00,2.25,0.00,0.000,6,0.000,0.027,2689,2202,3281
$GC,1324,-1.13,-146.0,164.1,-8.3,227,1333,0.15,0.00,0.00,0.000,6,0.051,0.000,2638,2198,3281
$GC,1670,-1.13,-146.0,196.8,-9.3,288,1678,0.10,2.35,0.00,0.000,4,0.100,0.044,2657,3565,3282
$GC,1732,-1.17,-146.0,202.2,-9.0,298,1739,0.00,2.22,0.00,0.000,6,0.000,0.029,2657,2225,3282
$GC,2076,-1.23,-146.0,228.7,-7.7,359,2082,0.00,2.58,0.00,0.000,4,0.000,0.047,2658,749,3282
$GC,2112,-1.31,-146.0,231.5,-7.1,365,2119,0.17,2.55,0.00,0.000,6,0.046,0.033,2604,2254,3281
$GC,2450,-1.26,-146.0,263.3,-9.8,413,2455,0.15,2.65,0.00,0.000,4,0.097,0.049,2637,750,3279
$GC,2524,-1.31,-146.0,269.7,-8.0,419,2528,0.00,2.50,0.00,0.000,6,0.000,0.032,2637,2228,3279
$GC,2850,-1.31,-146.0,294.6,-8.0,449,2855,0.00,2.60,0.00,0.000,4,0.000,0.051,2637,757,3278
$GC,2883,-1.35,-146.0,297.6,-8.4,451,2890,0.12,2.47,0.00,0.000,6,0.054,0.032,2597,2215,3277
$GC,3208,-1.29,-146.0,327.5,-8.5,482,3210,0.12,0.00,0.00,0.000,6,0.104,0.000,2619,2215,3275
$GC,3527,-1.29,-146.0,353.0,-8.1,512,3532,0.00,2.58,0.00,0.000,4,0.000,0.051,2619,758,3273
$GC,3549,-1.29,-146.0,355.0,-7.9,513,3556,0.00,2.47,0.00,0.000,6,0.000,0.033,2619,2222,3273
$GC,3875,-1.29,-146.0,380.2,-8.1,544,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2223,3271
$GC,4193,-1.29,-146.0,406.1,-7.7,574,4197,0.00,2.33,0.00,0.000,4,0.000,0.051,2620,3555,3269
$GC,4225,-1.29,-146.0,408.8,-7.8,576,4232,0.00,2.25,0.00,0.000,6,0.000,0.034,2619,2227,3269
$GC,4552,-1.29,-146.0,436.0,-8.6,607,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2224,3267
$GC,4868,-1.29,-146.0,461.6,-8.0,637,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2224,3265
$GC,5187,-1.29,-146.0,485.4,-6.5,667,5191,0.00,2.35,0.00,0.000,4,0.000,0.053,2620,3556,3262
$GC,5275,-1.29,-146.0,491.4,-6.9,674,5282,0.00,2.25,0.00,0.000,6,0.000,0.035,2619,2235,3262
$GC,5607,-1.29,-146.0,513.4,-7.6,697,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2233,3260
$GC,5916,-1.29,-146.0,536.9,-7.4,712,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2233,3258
$GC,6224,-1.29,-146.0,558.8,-6.8,727,6228,0.00,2.65,0.00,0.000,4,0.000,0.057,2619,750,3256
$GC,6245,-1.29,-146.0,560.4,-7.1,728,6249,0.00,2.60,0.00,0.000,6,0.000,0.036,2620,2256,3256
$GC,6566,-1.29,-146.0,584.0,-7.6,744,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2257,3255
$GC,6876,-1.29,-146.0,607.3,-7.1,759,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2257,3254
$GC,7187,-1.29,-146.0,629.3,-7.3,774,7192,0.00,2.67,0.00,0.000,4,0.000,0.057,2619,754,3253
$GC,7214,-1.33,-146.0,631.7,-7.7,775,7218,0.00,2.58,0.00,0.000,6,0.000,0.037,2619,2249,3252
$GC,7535,-1.36,-146.0,656.8,-7.9,791,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2250,3251
$GC,7844,-1.39,-146.0,679.0,-6.8,806,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2250,3249
$GC,8153,-1.43,-146.0,701.8,-7.9,821,8155,0.12,0.00,0.00,0.000,6,0.061,0.000,2585,2249,3248
$GC,8463,-1.39,-146.0,728.4,-8.0,836,8468,0.00,2.67,0.00,0.000,4,0.000,0.058,2585,761,3247
$GC,8490,-1.35,-146.0,730.8,-8.0,837,8495,0.12,2.55,0.00,0.000,6,0.114,0.037,2607,2236,3247
$GC,8806,-1.35,-146.0,751.8,-6.5,852,8810,0.00,2.33,0.00,0.000,4,0.000,0.058,2607,3552,3247
$GC,8838,-1.35,-146.0,754.3,-7.2,853,8845,0.00,2.25,0.00,0.000,6,0.000,0.037,2607,2233,3247
$GC,9154,-1.35,-146.0,776.3,-7.3,869,9158,0.00,2.65,0.00,0.000,4,0.000,0.061,2607,760,3245
$GC,9227,-1.35,-146.0,782.1,-8.3,872,9232,0.00,2.50,0.00,0.000,6,0.000,0.038,2607,2209,3245
$GC,9544,-1.35,-146.0,807.2,-8.4,887,9548,0.00,2.38,0.00,0.000,4,0.000,0.058,2607,3552,3244
$GC,9570,-1.35,-146.0,809.9,-9.1,888,9578,0.00,2.30,0.00,0.000,6,0.000,0.038,2607,2207,3244
$GC,9896,-1.35,-146.0,833.7,-7.1,904,9900,0.00,2.40,0.00,0.000,4,0.000,0.058,2607,3552,3243
$GC,9928,-1.35,-146.0,836.4,-7.8,905,9935,0.00,2.28,0.00,0.000,6,0.000,0.038,2607,2223,3243
$GC,10246,-1.35,-146.0,859.1,-7.4,921,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2223,3242
$STATE,10427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10427,begin apogee
$GC,10433,-0.34,0.0,872.1,7.2,930,10556,1.10,0.00,119.93,1.301,6,0.099,0.000,2828,2381,2678
$STATE,10557,end apogee,CONTROL_FINISHED_OK
$STATE,10557,begin climb
$GC,10559,1.42,146.0,875.6,0.0,936,10692,1.83,0.00,125.80,1.249,6,0.062,0.000,3220,2382,2081
$GC,11001,1.20,146.0,829.3,13.7,958,11003,0.30,0.00,0.00,0.000,6,0.116,0.000,3166,2381,2079
$GC,11310,1.07,146.0,795.5,10.5,973,11315,0.15,2.40,0.00,0.000,4,0.123,0.060,3140,3712,2078
$GC,11360,0.98,146.0,790.0,10.6,975,11364,0.00,2.28,0.00,0.000,6,0.000,0.040,3140,2406,2078
$GC,11676,0.92,152.0,760.6,8.7,990,11683,0.17,0.00,4.47,1.253,6,0.125,0.000,3110,2405,2058
$GC,11985,0.95,169.5,736.8,8.1,1005,12009,0.00,2.70,15.55,1.243,4,0.000,0.061,3109,960,1986
$GC,12087,0.95,169.5,727.5,9.0,1009,12091,0.00,2.47,0.00,0.000,6,0.000,0.041,3110,2359,1985
$GC,12409,1.00,195.2,701.3,7.7,1025,12437,0.00,2.58,21.85,1.213,4,0.000,0.062,3109,3725,1882
$GC,12464,1.00,195.2,696.3,10.1,1027,12469,0.00,2.38,0.00,0.000,6,0.000,0.039,3109,2389,1882
$GC,12786,1.01,205.8,668.8,8.5,1043,12800,0.00,2.65,9.32,1.215,4,0.000,0.061,3109,969,1838
$GC,12859,1.05,205.8,661.9,10.4,1046,12864,0.10,2.50,0.00,0.000,6,0.075,0.041,3133,2385,1836
$GC,13180,1.05,205.8,632.5,9.2,1062,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2385,1836
$GC,13489,1.05,207.8,604.3,8.9,1077,13493,0.00,2.58,0.00,0.000,4,0.000,0.059,3133,969,1836
$GC,13522,1.05,207.8,601.0,10.4,1078,13530,0.00,2.47,0.00,0.000,6,0.000,0.039,3133,2380,1835
$GC,13838,1.05,207.8,570.6,9.3,1094,13842,0.00,2.55,0.00,0.000,4,0.000,0.058,3133,968,1836
$GC,13881,1.05,207.8,566.4,9.1,1096,13885,0.00,2.45,0.00,0.000,6,0.000,0.038,3133,2352,1835
$GC,14209,1.06,212.3,537.6,8.8,1112,14219,0.00,2.55,5.47,1.151,4,0.000,0.058,3133,960,1812
$GC,14274,1.06,212.3,530.9,9.5,1115,14279,0.00,2.45,0.00,0.000,6,0.000,0.038,3133,2336,1811
$GC,14602,1.09,226.9,502.9,8.3,1131,14621,0.00,0.00,12.73,1.100,6,0.000,0.000,3133,2336,1753
$GC,14940,1.10,235.4,473.4,8.6,1161,14950,0.00,0.00,7.55,1.086,6,0.000,0.000,3133,2335,1718
$GC,15269,1.14,239.0,445.0,8.8,1192,15278,0.00,0.00,3.62,1.065,6,0.000,0.000,3133,2336,1703
$GC,15598,1.17,239.1,415.9,9.0,1223,15600,0.12,0.00,0.00,0.000,6,0.069,0.000,3168,2336,1703
$GC,15916,1.13,239.1,383.8,10.0,1253,15920,0.00,2.47,0.00,0.000,4,0.000,0.055,3168,960,1703
$GC,15955,1.10,239.1,379.3,10.8,1256,15960,0.12,2.38,0.00,0.000,6,0.115,0.036,3147,2330,1702
$GC,16280,1.12,252.4,351.0,8.3,1286,16296,0.00,2.50,11.52,0.983,4,0.000,0.054,3146,967,1648
$GC,16323,1.12,252.4,347.0,9.8,1289,16330,0.00,2.38,0.00,0.000,6,0.000,0.035,3146,2332,1647
$GC,16650,1.12,252.4,318.4,9.2,1320,16654,0.00,2.45,0.00,0.000,4,0.000,0.054,3146,965,1647
$GC,16735,1.12,252.4,310.2,10.1,1327,16739,0.00,2.28,0.00,0.000,6,0.000,0.035,3146,2283,1647
$GC,17060,1.16,254.8,281.4,8.9,1357,17064,0.00,2.35,0.00,0.000,4,0.000,0.054,3146,967,1647
$GC,17093,1.16,256.9,278.2,8.9,1359,17102,0.00,2.25,4.18,0.943,6,0.000,0.035,3146,2271,1630
$GC,17419,1.21,267.1,251.7,8.5,1390,17433,0.00,2.42,8.55,0.904,4,0.000,0.053,3147,967,1589
$GC,17462,1.26,276.7,247.9,8.5,1395,17478,0.15,2.25,8.20,0.888,6,0.063,0.035,3187,2262,1549
$GC,17818,1.22,276.7,211.9,11.1,1457,17825,0.00,2.33,0.00,0.000,4,0.000,0.053,3187,963,1549
$GC,17899,1.19,276.7,202.4,11.0,1471,17906,0.12,2.20,0.00,0.000,6,0.111,0.035,3166,2246,1548
$GC,18244,1.24,286.9,171.6,8.5,1532,18259,0.00,2.38,8.70,0.833,4,0.000,0.052,3165,964,1507
$GC,18316,1.28,286.9,164.9,9.0,1544,18324,0.00,2.20,0.00,0.000,6,0.000,0.034,3165,2245,1506
$GC,18661,1.37,302.5,136.4,8.2,1605,18679,0.15,0.00,12.57,0.780,6,0.059,0.000,3208,2246,1444
$GC,19016,1.44,341.5,108.8,7.0,1667,19054,0.00,0.00,31.65,0.711,6,0.000,0.000,3208,2246,1284
$GC,19384,1.62,397.9,81.7,6.1,1732,19437,0.20,2.33,45.20,0.661,4,0.048,0.050,3266,966,1053
$GC,19523,1.62,397.9,69.3,9.8,1756,19530,0.00,2.25,0.00,0.000,6,0.000,0.031,3266,2282,1050
$GC,19867,1.69,401.7,39.9,8.8,1817,19875,0.00,2.40,2.00,0.670,4,0.000,0.046,3266,956,1040
$GC,19910,1.73,402.6,35.9,9.0,1824,19917,0.00,2.25,0.00,0.000,6,0.000,0.029,3266,2284,1039
$GC,20255,1.81,405.4,5.5,8.9,1885,20264,0.15,2.38,2.90,0.615,4,0.049,0.044,3320,963,1025
$STATE,20290,end climb,SURFACE_DEPTH_REACHED
$STATE,20291,begin surface coast
$FINISH,-0.1,1.010190
$STATE,20308,end surface coast,CONTROL_FINISHED_OK
$STATE,20308,begin surface
$SM_CCo,20332,34.08,0.555,0,0,740,475.15
$SM_GC,0.69,0.00,0.00,34.08,0.000,0.000,0.555,248,2165,740,-12.22,0.40,475.15
$IRIDIUM_FIX,1243.25,12016.50,190697,141445
$TT8_MAMPS,0.02301
$HUMID,1912
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.70
$XPDR_PINGS,446
$24V_AH,23.2,34.556
$10V_AH,10.1,17.376
$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,33.200,164.825,461.775,34.075,0.000,53.009,77.474,225.760,121.000,0.000,0.000,11.526,3970.083,12513.887,731.018,3032.594,662.953,0.000,2236.041,0.000,2970.612,0.000,69.831
$DEVICE_MAMPS,173.342,62.127,1300.832,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1273.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59800,1894
$CAP_FILE_SIZE,196287,0
$CFSIZE,260165632,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,358.3,1
$GPS,250308,200325,1245.996,12015.822,40,1.2,40,-0.8