version: 66.03
glider: 122
mission: 6
dive: 278
start: 4 15 108 11 10 43
data:
$ID,122
$MISSION,6
$DIVE,278
$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,-33078.207
$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,57
$R_STBD_OVSHOOT,23
$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
$GPS1,110402,1245.942,12015.434,42,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.6
$GPS2,111009,1246.103,12015.382,13,1.4,13,-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,91.9,50149,-18.6,-9.016
$D_GRID,876
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-60.20,0.000,2,0.000,0.000,250,2116,2446
$GC,88,-1.56,-146.0,3.4,-8.0,10,126,13.45,2.50,-17.20,0.000,4,0.173,0.051,2558,3570,3345
$GC,207,-1.23,-146.0,30.6,-22.6,30,214,0.40,2.35,0.00,0.000,6,0.114,0.028,2633,2163,3346
$GC,553,-1.13,-146.0,83.2,-13.5,91,560,0.12,2.42,0.00,0.000,4,0.120,0.042,2655,3570,3348
$GC,623,-1.13,-146.0,92.2,-12.1,103,630,0.00,2.40,0.00,0.000,6,0.000,0.027,2655,2127,3348
$GC,969,-1.23,-146.0,125.8,-8.1,164,976,0.00,2.38,0.00,0.000,4,0.000,0.043,2655,751,3350
$GC,1039,-1.30,-146.0,131.7,-8.5,176,1047,0.15,2.55,0.00,0.000,6,0.048,0.028,2607,2277,3351
$GC,1386,-1.38,-146.0,163.4,-8.3,237,1392,0.00,2.20,0.00,0.000,4,0.000,0.044,2607,3565,3353
$GC,1501,-1.38,-146.0,173.6,-9.0,257,1508,0.00,2.08,0.00,0.000,6,0.000,0.027,2607,2295,3352
$GC,1845,-1.38,-146.0,204.8,-9.2,318,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2294,3352
$GC,2189,-1.38,-146.0,235.3,-8.8,379,2196,0.00,2.20,0.00,0.000,4,0.000,0.045,2607,3573,3352
$GC,2214,-1.38,-146.0,237.4,-8.5,383,2221,0.00,2.08,0.00,0.000,6,0.000,0.028,2607,2313,3353
$GC,2549,-1.38,-146.0,264.3,-8.0,427,2553,0.00,2.72,0.00,0.000,4,0.000,0.047,2607,754,3351
$GC,2578,-1.38,-146.0,266.7,-8.3,429,2582,0.00,2.65,0.00,0.000,6,0.000,0.031,2607,2317,3351
$GC,2906,-1.38,-146.0,292.8,-8.2,459,2910,0.00,2.75,0.00,0.000,4,0.000,0.052,2607,754,3350
$GC,2927,-1.38,-146.0,294.8,-8.0,460,2934,0.00,2.65,0.00,0.000,6,0.000,0.031,2607,2317,3349
$GC,3254,-1.38,-146.0,320.8,-8.1,491,3258,0.00,2.15,0.00,0.000,4,0.000,0.048,2607,3563,3348
$GC,3282,-1.38,-146.0,323.4,-8.4,493,3289,0.00,2.15,0.00,0.000,6,0.000,0.030,2607,2268,3348
$GC,3609,-1.38,-146.0,349.0,-7.4,524,3614,0.00,2.67,0.00,0.000,4,0.000,0.049,2607,752,3347
$GC,3630,-1.38,-146.0,351.1,-8.3,525,3638,0.00,2.65,0.00,0.000,6,0.000,0.031,2607,2308,3346
$GC,3959,-1.38,-146.0,378.1,-8.7,556,3963,0.00,2.17,0.00,0.000,4,0.000,0.048,2607,3563,3345
$GC,3991,-1.38,-146.0,381.4,-9.1,558,3998,0.00,2.15,0.00,0.000,6,0.000,0.031,2607,2276,3345
$GC,4318,-1.38,-146.0,408.9,-8.2,589,4323,0.00,2.70,0.00,0.000,4,0.000,0.051,2607,753,3343
$GC,4348,-1.41,-146.0,411.5,-9.2,591,4352,0.00,2.65,0.00,0.000,6,0.000,0.034,2607,2296,3343
$GC,4675,-1.41,-146.0,436.9,-8.0,621,4678,0.00,2.20,0.00,0.000,4,0.000,0.050,2607,3561,3342
$GC,4704,-1.41,-146.0,439.4,-8.1,623,4707,0.00,2.15,0.00,0.000,6,0.000,0.032,2607,2284,3342
$GC,5031,-1.41,-146.0,465.9,-8.4,653,5035,0.00,2.70,0.00,0.000,4,0.000,0.051,2607,754,3339
$GC,5071,-1.45,-146.0,469.4,-8.5,656,5075,0.00,2.62,0.00,0.000,6,0.000,0.033,2607,2283,3339
$GC,5398,-1.45,-146.0,497.2,-8.6,686,5402,0.00,2.25,0.00,0.000,4,0.000,0.052,2607,3567,3337
$GC,5442,-1.45,-146.0,501.4,-8.8,689,5446,0.00,2.22,0.00,0.000,6,0.000,0.033,2607,2253,3336
$GC,5764,-1.48,-146.0,528.6,-8.5,705,5769,0.12,2.30,0.00,0.000,4,0.061,0.051,2572,3562,3335
$GC,5792,-1.45,-146.0,531.5,-10.5,706,5796,0.00,2.17,0.00,0.000,6,0.000,0.033,2572,2278,3334
$GC,6117,-1.41,-146.0,561.6,-9.3,722,6122,0.15,2.72,0.00,0.000,4,0.109,0.053,2599,752,3332
$GC,6134,-1.41,-146.0,563.6,-9.8,723,6138,0.00,2.67,0.00,0.000,6,0.000,0.035,2599,2298,3333
$GC,6463,-1.41,-146.0,591.3,-8.3,739,6467,0.00,2.22,0.00,0.000,4,0.000,0.055,2599,3559,3331
$GC,6513,-1.41,-146.0,595.9,-8.7,741,6517,0.00,2.15,0.00,0.000,6,0.000,0.034,2599,2287,3331
$GC,6829,-1.41,-146.0,619.6,-7.2,756,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2284,3329
$GC,7139,-1.41,-146.0,643.2,-7.8,771,7143,0.00,2.25,0.00,0.000,4,0.000,0.054,2599,3558,3328
$GC,7172,-1.41,-146.0,646.1,-8.5,772,7179,0.00,2.17,0.00,0.000,6,0.000,0.035,2599,2279,3328
$GC,7488,-1.41,-146.0,669.9,-7.4,788,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2278,3326
$GC,7799,-1.44,-146.0,691.4,-7.1,803,7803,0.00,2.28,0.00,0.000,4,0.000,0.054,2599,3561,3326
$GC,7843,-1.44,-146.0,695.0,-7.7,805,7846,0.00,2.15,0.00,0.000,6,0.000,0.035,2599,2296,3325
$GC,8170,-1.44,-146.0,719.3,-7.4,821,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2294,3324
$GC,8480,-1.48,-146.0,741.7,-7.2,836,8484,0.00,2.22,0.00,0.000,4,0.000,0.056,2599,3558,3322
$GC,8519,-1.51,-146.0,745.0,-7.8,837,8526,0.12,2.15,0.00,0.000,6,0.067,0.036,2568,2293,3322
$GC,8835,-1.48,-146.0,771.3,-8.0,853,8840,0.00,2.78,0.00,0.000,4,0.000,0.058,2568,750,3321
$GC,8875,-1.48,-146.0,774.6,-7.6,855,8879,0.00,2.70,0.00,0.000,6,0.000,0.038,2568,2301,3320
$GC,9202,-1.48,-146.0,799.9,-7.9,871,9206,0.00,2.25,0.00,0.000,4,0.000,0.058,2568,3567,3319
$GC,9235,-1.45,-146.0,802.9,-8.7,872,9243,0.12,2.15,0.00,0.000,6,0.117,0.036,2589,2302,3319
$GC,9552,-1.65,-146.0,815.7,0.4,888,9557,0.17,2.78,0.00,0.000,4,0.049,0.056,2531,758,3318
$STATE,9612,end dive,NO_VERTICAL_VELOCITY
$STATE,9612,begin apogee
$GC,9620,-0.35,0.0,815.5,0.0,891,9745,1.42,0.00,120.35,1.236,6,0.081,0.000,2827,2389,2748
$STATE,9745,end apogee,CONTROL_FINISHED_OK
$STATE,9746,begin climb
$GC,9748,1.56,146.0,815.2,0.0,897,9880,1.92,2.47,124.12,1.188,4,0.059,0.061,3245,3723,2152
$GC,10034,1.28,146.0,793.1,12.0,910,10040,0.32,2.33,0.00,0.000,6,0.134,0.039,3189,2387,2150
$GC,10358,1.19,167.6,765.2,8.0,926,10382,0.15,2.70,18.12,1.206,4,0.129,0.058,3163,967,2064
$GC,10451,1.11,167.6,757.0,9.4,930,10455,0.00,2.47,0.00,0.000,6,0.000,0.039,3163,2367,2063
$GC,10780,1.07,188.6,729.6,8.1,946,10804,0.12,2.67,17.52,1.193,4,0.123,0.058,3142,968,1979
$GC,10860,1.09,198.4,722.6,8.6,949,10874,0.00,2.42,8.93,1.192,6,0.000,0.039,3142,2343,1939
$GC,11181,1.13,224.5,697.0,7.8,965,11209,0.00,2.58,22.52,1.172,4,0.000,0.058,3142,965,1831
$GC,11244,1.13,224.5,691.7,9.2,968,11248,0.00,2.40,0.00,0.000,6,0.000,0.039,3142,2318,1830
$GC,11570,1.16,241.2,664.5,8.3,984,11593,0.00,2.55,14.20,1.168,4,0.000,0.059,3142,964,1763
$GC,11648,1.16,241.2,656.9,10.2,987,11653,0.00,2.35,0.00,0.000,6,0.000,0.038,3142,2300,1762
$GC,11971,1.22,255.9,629.1,8.4,1003,11995,0.12,2.53,12.80,1.156,4,0.069,0.058,3173,971,1703
$GC,12028,1.22,255.9,623.4,10.8,1005,12032,0.00,2.28,0.00,0.000,6,0.000,0.038,3172,2265,1702
$GC,12350,1.22,255.9,592.3,9.3,1021,12354,0.00,2.35,0.00,0.000,4,0.000,0.059,3172,971,1702
$GC,12389,1.22,255.9,588.4,10.6,1023,12393,0.00,2.22,0.00,0.000,6,0.000,0.038,3172,2245,1701
$GC,12718,1.22,255.9,557.4,9.6,1039,12722,0.00,2.33,0.00,0.000,4,0.000,0.059,3172,965,1701
$GC,12739,1.22,255.9,555.0,10.0,1040,12743,0.00,2.20,0.00,0.000,6,0.000,0.038,3172,2229,1701
$GC,13067,1.22,255.9,524.9,9.1,1056,13071,0.00,2.30,0.00,0.000,4,0.000,0.059,3172,962,1701
$GC,13099,1.22,255.9,521.8,9.8,1057,13106,0.00,2.17,0.00,0.000,6,0.000,0.038,3172,2213,1700
$GC,13418,1.25,269.3,494.3,8.4,1076,13431,0.00,0.00,11.23,1.085,6,0.000,0.000,3172,2212,1650
$GC,13746,1.26,280.5,466.2,8.5,1107,13761,0.00,2.33,9.75,1.065,4,0.000,0.058,3172,976,1604
$GC,13773,1.26,280.5,463.8,9.3,1109,13780,0.00,2.17,0.00,0.000,6,0.000,0.037,3172,2211,1603
$GC,14101,1.28,289.1,436.8,8.6,1140,14114,0.00,2.35,7.65,1.049,4,0.000,0.058,3172,967,1569
$GC,14160,1.28,292.5,431.4,8.9,1145,14172,0.00,2.15,3.65,1.031,6,0.000,0.038,3172,2197,1554
$GC,14490,1.34,309.1,402.9,8.3,1176,14515,0.12,2.85,14.15,0.996,4,0.067,0.057,3202,3729,1487
$GC,14531,1.34,309.1,398.7,10.6,1179,14538,0.00,2.70,0.00,0.000,6,0.000,0.038,3203,2188,1486
$GC,14861,1.35,313.5,368.0,8.8,1210,14873,0.00,2.25,3.92,0.999,4,0.000,0.056,3203,968,1469
$GC,14923,1.35,313.5,361.5,9.5,1215,14930,0.00,2.17,0.00,0.000,6,0.000,0.036,3203,2218,1468
$GC,15250,1.35,313.5,331.2,9.4,1246,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2218,1468
$GC,15566,1.35,313.5,301.2,9.2,1276,15570,0.00,2.67,0.00,0.000,4,0.000,0.054,3203,3726,1468
$GC,15594,1.35,313.5,298.6,10.0,1278,15599,0.00,2.65,0.00,0.000,6,0.000,0.038,3203,2196,1468
$GC,15921,1.35,315.1,268.3,8.9,1308,15925,0.00,2.20,0.00,0.000,4,0.000,0.054,3203,961,1468
$GC,15965,1.32,315.1,263.5,10.1,1311,15972,0.00,2.15,0.00,0.000,6,0.000,0.035,3203,2217,1468
$GC,16300,1.32,316.6,232.2,8.9,1358,16308,0.00,2.33,2.70,0.893,4,0.000,0.054,3203,958,1456
$GC,16343,1.32,316.6,228.2,9.5,1365,16350,0.00,2.12,0.00,0.000,6,0.000,0.035,3203,2190,1456
$GC,16688,1.34,327.4,199.1,8.5,1426,16703,0.00,2.83,9.30,0.845,4,0.000,0.052,3203,3732,1413
$GC,16727,1.34,327.4,195.7,9.2,1432,16733,0.00,2.70,0.00,0.000,6,0.000,0.036,3203,2175,1413
$GC,17072,1.41,347.3,167.5,8.1,1493,17097,0.00,2.25,16.92,0.787,4,0.000,0.055,3203,967,1331
$GC,17127,1.44,347.3,162.6,9.2,1502,17134,0.00,2.12,0.00,0.000,6,0.000,0.033,3203,2197,1329
$GC,17473,1.52,355.6,131.9,8.6,1563,17489,0.15,2.67,6.90,0.785,4,0.058,0.050,3247,3727,1297
$GC,17501,1.52,355.6,128.8,9.8,1567,17508,0.00,2.72,0.00,0.000,6,0.000,0.035,3247,2150,1297
$GC,17847,1.66,410.8,100.6,6.5,1628,17900,0.00,2.85,45.60,0.688,4,0.000,0.046,3247,3733,1072
$GC,18000,1.84,443.6,89.0,7.5,1653,18036,0.25,2.75,26.90,0.676,6,0.048,0.034,3310,2134,939
$GC,18376,1.84,443.6,55.0,9.7,1718,18383,0.00,2.08,0.00,0.000,4,0.000,0.053,3310,963,933
$GC,18468,1.84,446.4,46.6,8.9,1734,18476,0.00,2.03,0.00,0.000,6,0.000,0.030,3310,2165,932
$GC,18817,1.94,475.8,20.0,7.7,1795,18849,0.00,2.78,25.38,0.588,4,0.000,0.045,3310,3732,807
$GC,18907,2.05,498.3,12.6,8.0,1810,18935,0.17,2.72,18.05,0.584,6,0.052,0.030,3356,2128,714
$STATE,19018,end climb,SURFACE_DEPTH_REACHED
$STATE,19018,begin surface coast
$FINISH,-0.0,1.001289
$STATE,19036,end surface coast,CONTROL_FINISHED_OK
$STATE,19036,begin surface
$SM_CCo,19119,0.00,0.000,0,0,711,499.68
$SM_GC,0.67,13.55,0.00,0.00,0.034,0.000,0.000,253,2124,711,-12.16,-0.74,499.68
$IRIDIUM_FIX,1243.25,12018.41,100797,050530
$TT8_MAMPS,0.023777
$HUMID,2007
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.60
$XPDR_PINGS,418
$ALTIM_BOTTOM_PING,740.2,69.4
$24V_AH,23.2,51.286
$10V_AH,10.1,26.221
$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,33.150,217.325,540.675,0.000,0.000,30.558,35.399,167.139,111.000,0.000,0.000,13.035,3816.022,11245.741,764.057,3041.507,617.813,0.000,2338.030,0.000,2988.696,0.000,49.076
$DEVICE_MAMPS,172.575,60.593,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1228.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56691,1832
$CAP_FILE_SIZE,196225,0
$CFSIZE,260165632,234430464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,328.7,1
$GPS,150408,163057,1247.267,12016.124,40,2.1,59,-0.8