version: 66.03
glider: 122
mission: 6
dive: 263
start: 4 11 108 19 3 42
data:
$ID,122
$MISSION,6
$DIVE,263
$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,-32841.707
$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,31
$R_STBD_OVSHOOT,50
$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
$GPS1,185738,1250.574,12042.337,35,1.8,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.1
$GPS2,190308,1250.554,12042.290,10,1.8,15,-0.8
$SPEED_LIMITS,0.156,0.206
$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,241.8,49245,-18.6,-9.016
$D_GRID,1246
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-57.05,0.000,2,0.000,0.000,251,2181,2400
$GC,85,-1.56,-146.0,3.6,-8.7,10,123,13.35,2.50,-17.88,0.000,4,0.170,0.051,2559,743,3346
$GC,204,-1.30,-146.0,29.6,-20.1,30,211,0.32,2.33,0.00,0.000,6,0.114,0.026,2620,2143,3347
$GC,550,-1.18,-146.0,85.2,-14.3,91,557,0.12,2.38,0.00,0.000,4,0.117,0.041,2642,3546,3349
$GC,650,-1.14,-146.0,98.8,-14.0,108,657,0.00,2.30,0.00,0.000,6,0.000,0.026,2642,2150,3349
$GC,994,-1.14,-146.0,136.2,-9.5,169,1001,0.00,2.40,0.00,0.000,4,0.000,0.041,2642,3555,3351
$GC,1048,-1.17,-146.0,141.6,-10.7,178,1054,0.00,2.28,0.00,0.000,6,0.000,0.026,2642,2170,3351
$GC,1392,-1.23,-146.0,172.5,-7.9,239,1399,0.00,2.35,0.00,0.000,4,0.000,0.041,2642,3548,3352
$GC,1436,-1.30,-146.0,176.2,-8.5,246,1443,0.00,2.20,0.00,0.000,6,0.000,0.027,2642,2206,3352
$GC,1781,-1.36,-146.0,202.3,-7.1,307,1788,0.15,0.00,0.00,0.000,6,0.051,0.000,2593,2203,3353
$GC,2126,-1.33,-146.0,236.6,-9.8,368,2133,0.12,2.30,0.00,0.000,4,0.097,0.044,2617,3544,3352
$GC,2169,-1.33,-146.0,240.7,-9.5,375,2176,0.00,2.17,0.00,0.000,6,0.000,0.029,2617,2228,3351
$GC,2501,-1.33,-146.0,268.4,-7.9,415,2505,0.00,2.28,0.00,0.000,4,0.000,0.044,2617,3552,3350
$GC,2541,-1.33,-146.0,271.9,-8.7,418,2544,0.00,2.10,0.00,0.000,6,0.000,0.029,2617,2278,3350
$GC,2873,-1.33,-146.0,297.8,-7.8,449,2878,0.00,2.65,0.00,0.000,4,0.000,0.048,2617,756,3349
$GC,2928,-1.36,-146.0,302.4,-8.4,453,2935,0.00,2.50,0.00,0.000,6,0.000,0.031,2617,2243,3348
$GC,3256,-1.40,-146.0,327.3,-8.1,484,3260,0.00,2.22,0.00,0.000,4,0.000,0.047,2618,3542,3347
$GC,3302,-1.40,-146.0,331.6,-8.5,488,3306,0.00,2.12,0.00,0.000,6,0.000,0.031,2617,2258,3347
$GC,3635,-1.44,-146.0,358.5,-8.4,519,3642,0.12,0.00,0.00,0.000,6,0.057,0.000,2578,2256,3345
$GC,3962,-1.41,-146.0,390.7,-9.5,550,3967,0.00,2.65,0.00,0.000,4,0.000,0.050,2579,755,3343
$GC,4003,-1.41,-146.0,394.9,-10.1,553,4007,0.00,2.60,0.00,0.000,6,0.000,0.032,2579,2280,3342
$GC,4331,-1.37,-146.0,426.4,-10.1,583,4338,0.15,0.00,0.00,0.000,6,0.106,0.000,2607,2280,3341
$GC,4659,-1.37,-146.0,455.1,-8.6,614,4663,0.00,2.70,0.00,0.000,4,0.000,0.051,2607,756,3339
$GC,4691,-1.41,-146.0,458.1,-8.5,616,4698,0.00,2.58,0.00,0.000,6,0.000,0.034,2607,2266,3338
$GC,5019,-1.41,-146.0,482.6,-6.8,647,5023,0.00,2.22,0.00,0.000,4,0.000,0.051,2607,3542,3336
$GC,5070,-1.41,-146.0,486.5,-7.8,651,5074,0.00,2.12,0.00,0.000,6,0.000,0.033,2607,2279,3336
$GC,5404,-1.41,-146.0,511.2,-7.6,675,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2276,3333
$GC,5711,-1.44,-146.0,534.1,-6.9,690,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2276,3332
$GC,6020,-1.44,-146.0,555.7,-7.2,705,6024,0.00,2.22,0.00,0.000,4,0.000,0.052,2607,3543,3330
$GC,6047,-1.44,-146.0,557.8,-7.5,706,6051,0.00,2.10,0.00,0.000,6,0.000,0.034,2607,2295,3329
$GC,6367,-1.48,-146.0,580.1,-6.9,721,6372,0.12,2.72,0.00,0.000,4,0.060,0.053,2571,764,3328
$GC,6395,-1.48,-146.0,582.9,-9.1,722,6399,0.00,2.62,0.00,0.000,6,0.000,0.036,2572,2288,3328
$GC,6711,-1.44,-146.0,612.8,-10.4,737,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2288,3326
$GC,7020,-1.41,-146.0,642.9,-9.2,752,7025,0.15,2.72,0.00,0.000,4,0.107,0.054,2603,762,3325
$GC,7061,-1.46,-146.0,646.1,-7.7,754,7065,0.00,2.62,0.00,0.000,6,0.000,0.037,2603,2279,3325
$GC,7392,-1.49,-146.0,670.5,-7.4,770,7396,0.12,2.22,0.00,0.000,4,0.060,0.054,2569,3542,3323
$GC,7436,-1.45,-146.0,675.0,-10.2,772,7441,0.10,2.10,0.00,0.000,6,0.117,0.035,2585,2295,3323
$GC,7759,-1.45,-146.0,701.0,-7.7,788,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2294,3322
$GC,8067,-1.45,-146.0,723.8,-8.3,803,8071,0.00,2.75,0.00,0.000,4,0.000,0.057,2586,761,3320
$GC,8122,-1.45,-146.0,728.8,-8.8,805,8129,0.00,2.62,0.00,0.000,6,0.000,0.036,2586,2280,3320
$GC,8438,-1.45,-146.0,753.6,-7.8,821,8442,0.00,2.22,0.00,0.000,4,0.000,0.057,2586,3542,3318
$GC,8493,-1.45,-146.0,758.2,-8.0,823,8500,0.00,2.10,0.00,0.000,6,0.000,0.036,2585,2301,3318
$GC,8809,-1.45,-146.0,780.7,-6.5,839,8814,0.00,2.75,0.00,0.000,4,0.000,0.058,2585,765,3317
$GC,8843,-1.45,-146.0,783.3,-7.6,840,8851,0.00,2.60,0.00,0.000,6,0.000,0.038,2586,2272,3317
$GC,9160,-1.45,-146.0,807.4,-8.7,856,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2272,3316
$GC,9468,-1.45,-146.0,834.1,-7.4,871,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2273,3315
$GC,9778,-1.45,-146.0,858.9,-8.3,886,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2273,3314
$GC,10087,-1.45,-146.0,885.3,-9.2,901,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2273,3313
$STATE,10333,end dive,NO_VERTICAL_VELOCITY
$STATE,10333,begin apogee
$GC,10339,-0.35,0.0,888.4,0.0,913,10463,1.20,0.00,119.85,1.292,6,0.109,0.000,2823,2366,2748
$STATE,10464,end apogee,CONTROL_FINISHED_OK
$STATE,10464,begin climb
$GC,10467,1.56,146.0,887.9,0.0,919,10600,2.00,2.53,125.12,1.249,4,0.072,0.061,3242,3722,2152
$GC,10742,1.28,146.0,865.6,12.4,931,10750,0.32,2.33,0.00,0.000,6,0.132,0.040,3186,2390,2150
$GC,11059,1.19,166.3,836.4,8.1,947,11079,0.12,0.00,16.98,1.259,6,0.127,0.000,3165,2389,2070
$GC,11387,1.14,174.9,808.8,8.6,963,11401,0.00,2.67,7.68,1.262,4,0.000,0.058,3164,966,2034
$GC,11477,1.05,174.9,800.3,9.2,967,11483,0.17,2.47,0.00,0.000,6,0.117,0.039,3133,2371,2034
$GC,11804,1.11,210.5,774.7,7.4,983,11840,0.00,2.65,30.55,1.229,4,0.000,0.059,3133,960,1888
$GC,11916,1.15,231.8,765.9,8.1,988,11940,0.00,2.47,18.23,1.218,6,0.000,0.040,3133,2357,1803
$GC,12248,1.19,231.8,735.2,9.4,1004,12249,0.15,0.00,0.00,0.000,6,0.068,0.000,3167,2357,1801
$GC,12557,1.19,231.8,703.5,9.7,1019,12561,0.00,2.53,0.00,0.000,4,0.000,0.060,3167,966,1799
$GC,12623,1.16,231.8,697.1,9.4,1022,12627,0.00,2.42,0.00,0.000,6,0.000,0.040,3167,2344,1799
$GC,12944,1.16,231.8,665.8,10.2,1038,12948,0.00,2.50,0.00,0.000,4,0.000,0.059,3167,972,1799
$GC,12999,1.12,231.8,659.8,10.7,1040,13006,0.00,2.38,0.00,0.000,6,0.000,0.040,3167,2326,1798
$GC,13314,1.12,231.8,628.4,10.0,1056,13319,0.00,2.47,0.00,0.000,4,0.000,0.058,3167,964,1798
$GC,13381,1.08,231.8,621.5,9.8,1059,13386,0.15,2.35,0.00,0.000,6,0.114,0.039,3141,2304,1798
$GC,13703,1.16,255.6,594.9,8.0,1075,13729,0.00,2.53,20.00,1.141,4,0.000,0.058,3141,977,1705
$GC,13795,1.21,255.9,586.9,9.0,1079,13799,0.12,2.28,0.00,0.000,6,0.067,0.038,3175,2267,1704
$GC,14123,1.21,255.9,554.3,10.2,1095,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2267,1704
$GC,14430,1.21,255.9,524.7,9.8,1110,14434,0.00,2.35,0.00,0.000,4,0.000,0.058,3175,970,1703
$GC,14462,1.21,255.9,521.3,9.9,1111,14470,0.00,2.28,0.00,0.000,6,0.000,0.038,3175,2270,1703
$GC,14782,1.21,257.3,491.4,9.0,1131,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2270,1703
$GC,15101,1.21,257.4,462.5,9.0,1161,15105,0.00,2.35,0.00,0.000,4,0.000,0.058,3176,961,1703
$GC,15139,1.21,257.4,458.5,9.1,1164,15146,0.00,2.25,0.00,0.000,6,0.000,0.038,3176,2257,1703
$GC,15466,1.26,285.9,430.9,7.7,1195,15501,0.00,2.72,25.73,1.013,4,0.000,0.058,3175,3719,1582
$GC,15529,1.26,289.0,425.3,8.9,1200,15537,0.00,2.58,2.85,1.013,6,0.000,0.038,3176,2245,1569
$GC,15854,1.30,313.9,397.8,7.9,1231,15880,0.00,2.40,21.00,0.982,4,0.000,0.058,3175,970,1467
$GC,15926,1.30,313.9,391.2,9.2,1237,15933,0.00,2.25,0.00,0.000,6,0.000,0.037,3176,2256,1465
$GC,16254,1.38,331.5,362.9,8.2,1268,16273,0.12,0.00,14.88,0.965,6,0.065,0.000,3207,2256,1396
$GC,16590,1.38,331.5,329.8,10.2,1300,16594,0.00,2.33,0.00,0.000,4,0.000,0.056,3207,969,1393
$GC,16663,1.38,331.5,322.1,10.0,1306,16667,0.00,2.22,0.00,0.000,6,0.000,0.037,3206,2246,1392
$GC,16988,1.38,331.5,288.2,9.9,1336,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2246,1392
$GC,17307,1.38,331.5,257.0,9.5,1366,17311,0.00,2.30,0.00,0.000,4,0.000,0.055,3207,967,1392
$GC,17385,1.38,331.5,249.3,10.4,1373,17392,0.00,2.20,0.00,0.000,6,0.000,0.036,3207,2239,1392
$GC,17730,1.38,331.5,218.2,9.4,1434,17737,0.00,2.28,0.00,0.000,4,0.000,0.054,3207,968,1392
$GC,17800,1.38,331.5,211.2,10.1,1446,17807,0.00,2.12,0.00,0.000,6,0.000,0.035,3207,2201,1392
$GC,18145,1.41,331.5,178.8,9.1,1507,18151,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2204,1391
$GC,18491,1.50,355.0,149.8,8.0,1568,18518,0.12,2.75,19.42,0.773,4,0.061,0.051,3241,3726,1299
$GC,18541,1.50,355.0,145.0,9.4,1576,18549,0.00,2.75,0.00,0.000,6,0.000,0.036,3241,2146,1299
$GC,18888,1.62,395.9,114.9,7.2,1637,18928,0.00,2.20,33.65,0.713,4,0.000,0.052,3241,966,1133
$GC,18964,1.76,427.1,109.5,7.6,1649,18999,0.20,2.12,26.25,0.699,6,0.050,0.034,3291,2197,1006
$GC,19339,1.84,445.5,77.6,8.2,1714,19360,0.00,2.75,14.25,0.685,4,0.000,0.049,3291,3732,929
$GC,19395,1.88,445.5,72.1,10.0,1723,19403,0.10,2.67,0.00,0.000,6,0.068,0.032,3318,2175,929
$GC,19741,1.98,481.4,40.9,7.4,1784,19780,0.00,2.83,29.25,0.615,4,0.000,0.044,3318,3733,785
$GC,19879,2.03,481.5,28.6,9.0,1807,19886,0.12,2.58,0.00,0.000,6,0.060,0.031,3354,2215,782
$STATE,20138,end climb,SURFACE_DEPTH_REACHED
$STATE,20138,begin surface coast
$FINISH,-0.1,1.020918
$STATE,20161,end surface coast,CONTROL_FINISHED_OK
$STATE,20161,begin surface
$SM_CCo,20245,0.00,0.000,0,0,776,483.73
$SM_GC,0.83,13.68,0.00,0.00,0.040,0.000,0.000,250,2125,776,-12.18,-0.71,483.73
$IRIDIUM_FIX,1243.25,12042.28,060797,151503
$TT8_MAMPS,0.023777
$HUMID,2028
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.80
$XPDR_PINGS,381
$ALTIM_BOTTOM_PING,750.3,74.6
$24V_AH,23.2,48.402
$10V_AH,10.1,24.708
$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,33.450,174.450,525.675,0.000,0.000,27.278,35.689,147.345,102.000,0.000,0.000,15.920,3889.088,12335.812,716.871,3059.996,582.131,0.000,2276.588,0.000,3011.253,0.000,50.911
$DEVICE_MAMPS,170.274,66.729,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1246.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59761,1857
$CAP_FILE_SIZE,192686,0
$CFSIZE,260165632,235794432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,343.8,1
$GPS,120408,004208,1249.996,12040.514,26,0.9,26,-0.8