version: 66.03
glider: 122
mission: 6
dive: 218
start: 4 1 108 14 52 36
data:
$ID,122
$MISSION,6
$DIVE,218
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-31219.717
$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,14.2
$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,46
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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
$GPS1,144531,1246.144,12016.543,41,0.8,41,-0.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.0
$GPS2,145202,1246.138,12016.453,11,1.0,16,-0.8
$SPEED_LIMITS,0.156,0.206
$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,89.7,48233,-18.6,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.56,-146.0,0.0,0.0,0,78,0.00,0.00,-56.15,0.000,2,0.000,0.000,253,2168,2350
$GC,81,-1.56,-146.0,3.1,-7.4,11,120,13.50,2.53,-19.17,0.000,4,0.174,0.053,2561,756,3346
$GC,172,-1.29,-146.0,23.6,-19.9,26,180,0.32,2.33,0.00,0.000,6,0.121,0.026,2620,2149,3347
$GC,518,-1.12,-146.0,84.6,-17.3,87,525,0.17,2.40,0.00,0.000,4,0.115,0.042,2656,3549,3349
$GC,543,-1.02,-146.0,88.3,-14.9,91,551,0.12,2.38,0.00,0.000,6,0.102,0.027,2679,2117,3350
$GC,889,-1.11,-146.0,122.7,-8.8,152,896,0.00,2.45,0.00,0.000,4,0.000,0.042,2679,3545,3352
$GC,971,-1.21,-146.0,130.0,-8.9,166,979,0.17,2.28,0.00,0.000,6,0.048,0.027,2628,2168,3351
$GC,1317,-1.21,-146.0,161.7,-7.9,227,1324,0.00,2.38,0.00,0.000,4,0.000,0.043,2629,3554,3352
$GC,1382,-1.26,-146.0,167.4,-9.0,238,1389,0.00,2.20,0.00,0.000,6,0.000,0.027,2628,2216,3353
$GC,1728,-1.30,-146.0,196.8,-7.7,299,1734,0.00,2.30,0.00,0.000,4,0.000,0.043,2629,3557,3353
$GC,1764,-1.36,-146.0,200.0,-8.6,305,1771,0.00,2.15,0.00,0.000,6,0.000,0.028,2628,2252,3353
$GC,2109,-1.40,-146.0,229.4,-8.5,366,2116,0.15,2.22,0.00,0.000,4,0.050,0.043,2578,3548,3353
$GC,2175,-1.34,-146.0,236.3,-10.7,377,2182,0.17,2.05,0.00,0.000,6,0.097,0.028,2612,2303,3353
$GC,2515,-1.34,-146.0,267.8,-8.8,421,2519,0.00,2.70,0.00,0.000,4,0.000,0.048,2611,758,3352
$GC,2549,-1.38,-146.0,270.9,-9.3,423,2556,0.00,2.60,0.00,0.000,6,0.000,0.031,2612,2299,3351
$GC,2875,-1.38,-146.0,300.8,-9.2,454,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2299,3350
$GC,3191,-1.38,-146.0,329.0,-9.2,484,3195,0.00,2.70,0.00,0.000,4,0.000,0.048,2612,756,3349
$GC,3265,-1.43,-146.0,335.7,-10.0,490,3269,0.00,2.58,0.00,0.000,6,0.000,0.032,2612,2269,3348
$GC,3591,-1.46,-146.0,364.0,-8.7,520,3596,0.12,2.67,0.00,0.000,4,0.056,0.048,2574,756,3347
$GC,3632,-1.43,-146.0,367.9,-9.7,523,3636,0.00,2.55,0.00,0.000,6,0.000,0.031,2574,2255,3346
$GC,3958,-1.37,-146.0,400.9,-9.8,553,3960,0.17,0.00,0.00,0.000,6,0.103,0.000,2606,2256,3345
$GC,4277,-1.37,-146.0,428.8,-8.6,583,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2256,3343
$GC,4595,-1.37,-146.0,455.1,-8.2,613,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2256,3341
$GC,4912,-1.37,-146.0,481.3,-8.4,643,4916,0.00,2.25,0.00,0.000,4,0.000,0.050,2606,3547,3339
$GC,4944,-1.37,-146.0,484.4,-9.1,645,4952,0.00,2.17,0.00,0.000,6,0.000,0.032,2606,2274,3339
$GC,5278,-1.40,-146.0,512.0,-8.3,670,5283,0.00,2.70,0.00,0.000,4,0.000,0.052,2606,753,3338
$GC,5305,-1.45,-146.0,514.7,-9.1,671,5309,0.00,2.58,0.00,0.000,6,0.000,0.033,2606,2257,3338
$GC,5624,-1.48,-146.0,540.9,-8.3,686,5628,0.12,2.25,0.00,0.000,4,0.059,0.051,2571,3542,3336
$GC,5673,-1.43,-146.0,545.9,-9.8,688,5678,0.12,2.15,0.00,0.000,6,0.110,0.033,2592,2267,3335
$GC,5990,-1.43,-146.0,573.1,-9.0,703,5994,0.00,2.25,0.00,0.000,4,0.000,0.051,2593,3545,3334
$GC,6017,-1.43,-146.0,575.9,-9.7,704,6021,0.00,2.17,0.00,0.000,6,0.000,0.034,2592,2263,3333
$GC,6345,-1.43,-146.0,605.4,-9.0,720,6349,0.00,2.67,0.00,0.000,4,0.000,0.054,2593,761,3331
$GC,6378,-1.43,-146.0,608.8,-9.6,721,6385,0.00,2.55,0.00,0.000,6,0.000,0.035,2593,2242,3331
$GC,6694,-1.43,-146.0,635.8,-8.2,737,6698,0.00,2.30,0.00,0.000,4,0.000,0.054,2593,3552,3329
$GC,6756,-1.43,-146.0,641.2,-8.6,740,6760,0.00,2.17,0.00,0.000,6,0.000,0.035,2592,2265,3330
$GC,7088,-1.43,-146.0,668.9,-8.3,756,7093,0.00,2.70,0.00,0.000,4,0.000,0.056,2593,756,3328
$GC,7132,-1.46,-146.0,673.0,-8.9,758,7137,0.00,2.55,0.00,0.000,6,0.000,0.035,2593,2238,3328
$GC,7456,-1.46,-146.0,700.1,-8.5,774,7460,0.00,2.30,0.00,0.000,4,0.000,0.055,2593,3543,3326
$GC,7523,-1.46,-146.0,706.6,-9.0,777,7527,0.00,2.17,0.00,0.000,6,0.000,0.035,2593,2261,3326
$GC,7850,-1.46,-146.0,733.5,-8.3,793,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2260,3325
$GC,8160,-1.46,-146.0,759.6,-8.4,808,8165,0.00,2.28,0.00,0.000,4,0.000,0.055,2593,3546,3323
$GC,8192,-1.46,-146.0,762.5,-8.4,809,8196,0.00,2.20,0.00,0.000,6,0.000,0.035,2593,2271,3323
$GC,8514,-1.46,-146.0,789.0,-8.6,825,8518,0.00,2.70,0.00,0.000,4,0.000,0.058,2593,763,3323
$GC,8547,-1.51,-146.0,792.0,-8.9,826,8554,0.00,2.58,0.00,0.000,6,0.000,0.038,2593,2249,3322
$GC,8862,-1.51,-146.0,819.0,-8.4,842,8866,0.00,2.30,0.00,0.000,4,0.000,0.058,2593,3547,3321
$GC,8902,-1.51,-146.0,822.6,-8.9,844,8906,0.00,2.17,0.00,0.000,6,0.000,0.036,2593,2271,3321
$GC,9233,-1.54,-146.0,850.9,-9.0,860,9238,0.12,2.25,0.00,0.000,4,0.061,0.055,2559,3540,3320
$GC,9282,-1.49,-146.0,856.6,-10.9,862,9286,0.00,2.15,0.00,0.000,6,0.000,0.036,2559,2278,3319
$STATE,9438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9438,begin apogee
$GC,9444,-0.35,0.0,871.5,9.5,870,9569,1.35,0.00,121.30,1.282,6,0.104,0.000,2827,2382,2748
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9572,1.56,146.0,875.7,0.0,876,9705,1.90,2.45,124.78,1.242,4,0.054,0.058,3245,3712,2151
$GC,9819,1.28,146.0,856.6,12.9,887,9824,0.35,2.30,0.00,0.000,6,0.133,0.039,3185,2390,2150
$GC,10140,1.16,146.0,825.6,9.5,903,10145,0.15,2.38,0.00,0.000,4,0.124,0.056,3159,3712,2149
$GC,10180,1.06,146.0,821.9,10.0,905,10185,0.12,2.30,0.00,0.000,6,0.133,0.038,3139,2385,2148
$GC,10507,1.10,167.8,795.4,8.0,921,10531,0.00,2.70,17.80,1.249,4,0.000,0.060,3139,963,2063
$GC,10603,1.10,167.8,786.8,9.5,925,10608,0.00,2.47,0.00,0.000,6,0.000,0.039,3139,2373,2063
$GC,10925,1.15,199.9,760.5,7.6,941,10958,0.00,2.62,27.62,1.223,4,0.000,0.058,3139,963,1932
$GC,11002,1.18,217.7,754.3,8.2,944,11024,0.10,2.50,15.50,1.217,6,0.079,0.039,3162,2380,1860
$GC,11340,1.18,217.7,722.2,10.2,961,11345,0.00,2.58,0.00,0.000,4,0.000,0.059,3162,969,1857
$GC,11425,1.15,217.7,713.0,10.9,965,11430,0.00,2.42,0.00,0.000,6,0.000,0.039,3162,2352,1857
$GC,11753,1.15,217.7,680.8,10.0,981,11757,0.00,2.53,0.00,0.000,4,0.000,0.060,3162,964,1857
$GC,11785,1.15,217.7,677.2,10.4,982,11792,0.00,2.42,0.00,0.000,6,0.000,0.038,3162,2352,1857
$GC,12101,1.15,217.7,645.1,9.8,998,12105,0.00,2.50,0.00,0.000,4,0.000,0.060,3162,972,1857
$GC,12145,1.11,217.7,640.5,10.6,1000,12149,0.00,2.38,0.00,0.000,6,0.000,0.039,3162,2338,1856
$GC,12465,1.11,217.7,610.0,9.2,1016,12470,0.00,2.47,0.00,0.000,4,0.000,0.059,3162,970,1856
$GC,12498,1.11,217.7,606.8,9.2,1017,12506,0.00,2.35,0.00,0.000,6,0.000,0.038,3162,2323,1856
$GC,12815,1.11,219.1,577.7,9.0,1033,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2322,1856
$GC,13123,1.14,235.5,552.1,8.3,1048,13146,0.00,2.53,14.32,1.129,4,0.000,0.059,3162,964,1787
$GC,13184,1.14,235.5,546.4,9.4,1050,13192,0.00,2.35,0.00,0.000,6,0.000,0.038,3162,2308,1786
$GC,13501,1.15,243.7,519.5,8.7,1066,13510,0.00,0.00,7.28,1.120,6,0.000,0.000,3162,2307,1754
$GC,13812,1.16,246.5,491.2,8.9,1085,13825,0.00,2.47,2.70,1.081,4,0.000,0.058,3162,965,1743
$GC,13871,1.16,246.5,485.5,9.1,1090,13875,0.00,2.33,0.00,0.000,6,0.000,0.038,3162,2302,1742
$GC,14197,1.17,251.2,457.2,8.8,1120,14206,0.00,0.00,4.65,1.076,6,0.000,0.000,3162,2301,1723
$GC,14526,1.20,251.2,427.0,9.2,1151,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2301,1722
$GC,14844,1.24,255.8,398.1,8.8,1181,14856,0.00,2.42,4.22,1.032,4,0.000,0.056,3162,970,1704
$GC,14902,1.25,258.2,392.7,8.9,1186,14914,0.00,2.33,2.47,1.014,6,0.000,0.038,3162,2310,1695
$GC,15232,1.32,274.8,365.0,8.3,1217,15257,0.12,2.50,14.48,0.974,4,0.063,0.056,3196,971,1626
$GC,15316,1.28,274.8,357.0,10.2,1224,15320,0.00,2.30,0.00,0.000,6,0.000,0.038,3196,2292,1625
$GC,15642,1.28,274.8,326.7,9.3,1254,15646,0.00,2.38,0.00,0.000,4,0.000,0.055,3197,966,1625
$GC,15719,1.24,274.8,318.8,9.9,1260,15727,0.12,2.22,0.00,0.000,6,0.115,0.037,3175,2264,1625
$GC,16045,1.30,288.6,290.8,8.4,1291,16061,0.00,2.38,11.52,0.923,4,0.000,0.054,3175,961,1571
$GC,16123,1.30,290.0,283.5,9.0,1297,16130,0.00,2.20,0.00,0.000,6,0.000,0.035,3175,2235,1570
$GC,16449,1.36,290.0,254.5,9.2,1328,16451,0.12,0.00,0.00,0.000,6,0.070,0.000,3206,2235,1569
$GC,16781,1.36,290.0,222.3,9.5,1383,16788,0.00,2.25,0.00,0.000,4,0.000,0.054,3207,968,1570
$GC,16833,1.36,290.0,217.0,10.3,1392,16840,0.00,2.15,0.00,0.000,6,0.000,0.035,3207,2225,1570
$GC,17178,1.36,290.8,185.9,9.0,1453,17185,0.00,2.65,0.00,0.000,4,0.000,0.053,3207,3735,1570
$GC,17253,1.36,290.8,178.5,9.4,1466,17260,0.00,2.58,0.00,0.000,6,0.000,0.036,3207,2227,1570
$GC,17598,1.42,329.7,149.7,7.3,1527,17637,0.00,2.78,33.47,0.760,4,0.000,0.050,3207,3735,1403
$GC,17725,1.50,339.4,139.3,8.6,1548,17739,0.12,2.50,7.70,0.785,6,0.063,0.035,3238,2274,1364
$GC,18079,1.58,384.9,110.0,7.0,1610,18126,0.00,2.65,37.08,0.707,4,0.000,0.048,3238,3730,1177
$GC,18150,1.72,414.7,105.0,7.7,1621,18185,0.17,2.38,24.52,0.695,6,0.051,0.033,3288,2337,1056
$GC,18525,1.81,445.7,70.8,7.6,1686,18558,0.00,2.47,24.90,0.663,4,0.000,0.051,3288,969,928
$GC,18648,1.87,445.7,59.9,9.3,1707,18656,0.00,2.28,0.00,0.000,6,0.000,0.032,3288,2301,925
$GC,18996,2.04,498.8,30.9,6.6,1768,19044,0.22,2.45,42.58,0.599,4,0.041,0.048,3356,972,713
$GC,19096,2.04,498.8,20.5,10.4,1784,19103,0.00,2.15,0.00,0.000,6,0.000,0.030,3356,2244,712
$STATE,19258,end climb,SURFACE_DEPTH_REACHED
$STATE,19260,begin surface coast
$FINISH,-0.1,1.021331
$STATE,19276,end surface coast,CONTROL_FINISHED_OK
$STATE,19276,begin surface
$SM_CCo,19359,0.00,0.000,0,0,705,501.15
$SM_GC,0.73,13.68,0.00,0.00,0.038,0.000,0.000,249,2120,705,-12.18,-0.82,501.15
$IRIDIUM_FIX,1241.04,12013.48,260697,090914
$TT8_MAMPS,0.023777
$HUMID,1997
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.30
$XPDR_PINGS,424
$24V_AH,23.2,40.234
$10V_AH,10.1,20.394
$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,33.850,197.425,538.900,0.000,0.000,22.625,35.035,209.760,115.500,0.000,0.000,16.355,3778.949,11586.793,740.576,3045.380,602.486,0.000,2299.335,0.000,2980.538,0.000,69.846
$DEVICE_MAMPS,174.109,59.826,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1219.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56626,1816
$CAP_FILE_SIZE,196638,0
$CFSIZE,260165632,239677440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 16.9,1
$GPS,010408,201632,1246.753,12018.596,43,1.4,43,-0.8