version: 66.03
glider: 122
mission: 6
dive: 283
start: 4 16 108 16 49 8
data:
$ID,122
$MISSION,6
$DIVE,283
$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,-33145.668
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,164138,1247.386,12020.177,42,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.7
$GPS2,164833,1247.441,12020.174,11,1.7,11,-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,94.7,41212,-18.6,-9.016
$D_GRID,886
$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,-1.56,-146.0,0.0,0.0,0,84,0.00,0.00,-59.85,0.000,2,0.000,0.000,250,2217,2436
$GC,87,-1.56,-146.0,3.1,-7.3,10,126,13.38,2.62,-18.12,0.000,4,0.170,0.051,2562,745,3346
$GC,184,-1.34,-146.0,22.3,-18.0,26,192,0.28,2.38,0.00,0.000,6,0.116,0.026,2612,2166,3347
$GC,530,-1.17,-146.0,79.8,-16.4,87,537,0.15,2.38,0.00,0.000,4,0.117,0.044,2643,3549,3349
$GC,686,-1.11,-146.0,101.4,-12.5,114,693,0.00,2.28,0.00,0.000,6,0.000,0.027,2644,2170,3350
$GC,1031,-1.11,-146.0,136.0,-9.3,175,1038,0.00,2.38,0.00,0.000,4,0.000,0.043,2644,3552,3353
$GC,1078,-1.11,-146.0,140.7,-10.2,183,1085,0.00,2.22,0.00,0.000,6,0.000,0.026,2643,2196,3353
$GC,1424,-1.26,-146.0,170.5,-8.5,244,1431,0.00,2.33,0.00,0.000,4,0.000,0.043,2643,3552,3353
$GC,1480,-1.32,-146.0,175.2,-8.7,253,1488,0.12,2.20,0.00,0.000,6,0.055,0.028,2603,2214,3353
$GC,1826,-1.32,-146.0,209.7,-9.0,314,1833,0.00,2.30,0.00,0.000,4,0.000,0.044,2603,3554,3353
$GC,1868,-1.28,-146.0,214.0,-9.8,321,1875,0.12,2.15,0.00,0.000,6,0.099,0.028,2627,2254,3353
$GC,2215,-1.40,-146.0,243.0,-8.3,382,2222,0.12,0.00,0.00,0.000,6,0.053,0.000,2586,2253,3352
$GC,2546,-1.45,-146.0,272.8,-8.6,419,2550,0.00,2.25,0.00,0.000,4,0.000,0.047,2586,3553,3350
$GC,2613,-1.37,-146.0,279.3,-9.8,424,2620,0.00,2.12,0.00,0.000,6,0.000,0.031,2586,2271,3349
$GC,2940,-1.34,-146.0,309.7,-9.5,455,2945,0.12,2.67,0.00,0.000,4,0.108,0.050,2609,762,3348
$GC,2962,-1.34,-146.0,312.0,-9.0,456,2970,0.00,2.60,0.00,0.000,6,0.000,0.033,2609,2285,3348
$GC,3291,-1.34,-146.0,339.2,-8.4,487,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2285,3345
$GC,3616,-1.34,-146.0,366.3,-8.0,518,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2284,3343
$GC,3934,-1.34,-146.0,391.5,-7.5,548,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2284,3342
$GC,4255,-1.38,-146.0,417.0,-8.2,578,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2285,3339
$GC,4583,-1.42,-146.0,443.4,-8.4,609,4588,0.00,2.72,0.00,0.000,4,0.000,0.052,2609,756,3337
$GC,4613,-1.45,-146.0,446.1,-8.7,611,4617,0.00,2.58,0.00,0.000,6,0.000,0.034,2609,2252,3336
$GC,4940,-1.58,-146.0,472.5,-7.6,641,4945,0.20,2.65,0.00,0.000,4,0.048,0.052,2553,761,3335
$GC,5026,-1.50,-146.0,480.4,-9.6,648,5031,0.12,2.42,0.00,0.000,6,0.116,0.035,2574,2169,3334
$GC,5359,-1.46,-146.0,509.4,-8.8,674,5364,0.00,2.42,0.00,0.000,4,0.000,0.053,2574,3552,3332
$GC,5451,-1.40,-146.0,517.7,-8.6,678,5455,0.12,2.28,0.00,0.000,6,0.111,0.035,2596,2210,3332
$GC,5785,-1.40,-146.0,544.4,-8.0,694,5789,0.00,2.38,0.00,0.000,4,0.000,0.053,2596,3551,3330
$GC,5829,-1.40,-146.0,548.5,-8.5,696,5833,0.00,2.22,0.00,0.000,6,0.000,0.034,2596,2242,3330
$GC,6150,-1.40,-146.0,574.4,-8.4,712,6154,0.00,2.33,0.00,0.000,4,0.000,0.053,2596,3560,3328
$GC,6195,-1.40,-146.0,578.4,-9.1,714,6199,0.00,2.15,0.00,0.000,6,0.000,0.035,2597,2290,3328
$GC,6528,-1.40,-146.0,604.1,-7.6,730,6532,0.00,2.72,0.00,0.000,4,0.000,0.056,2596,766,3327
$GC,6568,-1.43,-146.0,607.4,-8.2,732,6573,0.00,2.65,0.00,0.000,6,0.000,0.037,2596,2296,3326
$GC,6900,-1.43,-146.0,631.0,-6.8,748,6904,0.00,2.22,0.00,0.000,4,0.000,0.057,2596,3552,3325
$GC,6972,-1.43,-146.0,636.9,-7.1,751,6976,0.00,2.08,0.00,0.000,6,0.000,0.035,2596,2325,3324
$GC,7296,-1.43,-146.0,661.0,-7.8,767,7301,0.00,2.83,0.00,0.000,4,0.000,0.058,2596,759,3323
$GC,7332,-1.47,-146.0,664.1,-8.1,768,7339,0.00,2.67,0.00,0.000,6,0.000,0.036,2596,2301,3323
$GC,7648,-1.47,-146.0,688.1,-7.7,784,7651,0.00,2.22,0.00,0.000,4,0.000,0.058,2596,3558,3321
$GC,7703,-1.47,-146.0,692.5,-8.1,786,7710,0.00,2.10,0.00,0.000,6,0.000,0.035,2597,2319,3321
$GC,8020,-1.50,-146.0,716.9,-7.6,802,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2316,3320
$GC,8329,-1.53,-146.0,739.3,-6.9,817,8330,0.12,0.00,0.00,0.000,6,0.061,0.000,2563,2317,3318
$GC,8638,-1.49,-146.0,764.6,-8.1,832,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2317,3317
$GC,8947,-1.45,-146.0,789.6,-8.2,847,8952,0.12,2.20,0.00,0.000,4,0.116,0.057,2584,3551,3316
$GC,8994,-1.45,-146.0,793.5,-8.4,849,8998,0.00,2.10,0.00,0.000,6,0.000,0.037,2584,2325,3317
$GC,9321,-1.45,-146.0,819.1,-7.8,865,9325,0.00,2.80,0.00,0.000,4,0.000,0.060,2584,765,3315
$GC,9342,-1.45,-146.0,821.1,-8.1,866,9347,0.00,2.70,0.00,0.000,6,0.000,0.039,2584,2313,3315
$GC,9664,-1.45,-146.0,846.0,-7.6,882,9668,0.00,2.20,0.00,0.000,4,0.000,0.061,2584,3549,3314
$GC,9692,-1.45,-146.0,848.4,-8.6,883,9695,0.00,2.08,0.00,0.000,6,0.000,0.037,2584,2332,3314
$GC,10016,-1.45,-146.0,870.8,-7.2,899,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2330,3313
$STATE,10217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10217,begin apogee
$GC,10223,-0.35,0.0,886.1,7.8,909,10348,1.20,0.00,120.72,1.295,6,0.099,0.000,2825,2386,2748
$STATE,10348,end apogee,CONTROL_FINISHED_OK
$STATE,10348,begin climb
$GC,10351,1.56,146.0,891.0,0.0,915,10482,1.95,0.00,126.85,1.251,6,0.055,0.000,3248,2386,2152
$GC,10792,1.31,146.0,854.1,11.6,937,10797,0.28,2.58,0.00,0.000,4,0.122,0.058,3195,985,2150
$GC,10859,1.13,146.0,846.5,11.0,940,10864,0.22,2.45,0.00,0.000,6,0.118,0.041,3156,2370,2149
$GC,11183,1.08,160.8,819.0,8.4,956,11205,0.00,2.65,12.15,1.267,4,0.000,0.059,3155,988,2092
$GC,11261,1.00,160.8,811.3,10.1,959,11266,0.17,2.42,0.00,0.000,6,0.123,0.041,3125,2361,2092
$GC,11578,1.03,179.0,785.2,8.2,974,11601,0.00,2.58,15.80,1.251,4,0.000,0.060,3125,993,2017
$GC,11640,1.08,205.6,779.9,7.8,976,11669,0.00,2.42,23.38,1.222,6,0.000,0.041,3125,2355,1909
$GC,11978,1.09,213.3,750.8,8.7,993,11991,0.00,2.60,6.53,1.239,4,0.000,0.060,3125,992,1878
$GC,12038,1.14,224.7,745.4,8.5,995,12054,0.12,2.38,10.30,1.227,6,0.072,0.040,3153,2332,1831
$GC,12377,1.16,239.3,715.4,8.4,1012,12400,0.00,2.55,12.43,1.217,4,0.000,0.059,3153,992,1772
$GC,12433,1.16,239.3,709.8,9.8,1014,12438,0.00,2.33,0.00,0.000,6,0.000,0.039,3152,2304,1772
$GC,12750,1.16,239.3,680.5,9.3,1029,12755,0.00,2.40,0.00,0.000,4,0.000,0.059,3153,992,1771
$GC,12772,1.16,239.3,678.2,9.7,1030,12776,0.00,2.30,0.00,0.000,6,0.000,0.039,3153,2298,1771
$GC,13100,1.16,239.3,647.7,9.2,1046,13104,0.00,2.38,0.00,0.000,4,0.000,0.058,3153,992,1770
$GC,13154,1.16,239.3,642.3,9.9,1048,13162,0.00,2.22,0.00,0.000,6,0.000,0.039,3153,2261,1770
$GC,13471,1.17,240.9,614.0,8.9,1064,13475,0.00,2.33,0.00,0.000,4,0.000,0.058,3153,983,1770
$GC,13515,1.17,240.9,609.8,9.4,1066,13519,0.00,2.20,0.00,0.000,6,0.000,0.038,3153,2240,1770
$GC,13843,1.20,261.7,583.4,8.1,1082,13869,0.00,2.80,19.50,1.132,4,0.000,0.060,3152,3730,1680
$GC,13892,1.20,261.7,579.2,10.3,1084,13896,0.00,2.60,0.00,0.000,6,0.000,0.039,3153,2251,1679
$GC,14213,1.24,287.4,553.8,7.9,1100,14241,0.10,2.35,22.40,1.097,4,0.072,0.059,3179,986,1575
$GC,14355,1.21,287.4,540.0,11.1,1106,14359,0.00,2.12,0.00,0.000,6,0.000,0.037,3178,2202,1572
$GC,14670,1.21,287.4,509.6,9.4,1121,14674,0.00,2.20,0.00,0.000,4,0.000,0.058,3178,990,1572
$GC,14702,1.21,287.4,506.3,10.1,1122,14710,0.00,2.10,0.00,0.000,6,0.000,0.038,3178,2197,1572
$GC,15028,1.21,287.4,476.5,9.2,1150,15032,0.00,2.75,0.00,0.000,4,0.000,0.058,3178,3733,1572
$GC,15049,1.21,287.4,474.1,9.9,1151,15056,0.00,2.65,0.00,0.000,6,0.000,0.038,3178,2207,1571
$GC,15377,1.21,287.4,442.1,9.6,1182,15381,0.00,2.17,0.00,0.000,4,0.000,0.057,3178,992,1571
$GC,15454,1.21,287.4,434.3,9.3,1188,15461,0.00,2.08,0.00,0.000,6,0.000,0.036,3178,2196,1571
$GC,15781,1.22,294.9,405.4,8.7,1219,15790,0.00,0.00,6.07,1.031,6,0.000,0.000,3178,2196,1546
$GC,16110,1.23,301.4,375.5,8.7,1250,16123,0.00,2.20,5.82,1.009,4,0.000,0.055,3178,991,1518
$GC,16182,1.23,301.4,369.1,9.7,1256,16185,0.00,2.05,0.00,0.000,6,0.000,0.035,3178,2173,1517
$GC,16515,1.24,306.4,341.1,8.8,1287,16523,0.00,0.00,4.32,0.983,6,0.000,0.000,3179,2174,1498
$GC,16842,1.24,306.4,312.0,9.2,1318,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2174,1498
$GC,17162,1.27,306.4,283.3,9.1,1348,17166,0.00,2.78,0.00,0.000,4,0.000,0.054,3179,3737,1498
$GC,17194,1.27,306.4,279.9,9.2,1350,17201,0.00,2.70,0.00,0.000,6,0.000,0.036,3178,2166,1498
$GC,17522,1.31,306.4,250.8,9.1,1381,17523,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2165,1498
$GC,17856,1.35,315.7,220.1,8.6,1440,17870,0.00,2.88,8.12,0.867,4,0.000,0.050,3179,3734,1461
$GC,17939,1.35,315.7,212.4,9.3,1454,17946,0.00,2.70,0.00,0.000,6,0.000,0.036,3178,2174,1460
$GC,18284,1.43,332.7,183.8,8.3,1515,18306,0.15,2.22,14.25,0.802,4,0.058,0.054,3220,981,1391
$GC,18335,1.39,332.7,178.9,10.6,1523,18342,0.00,2.05,0.00,0.000,6,0.000,0.033,3220,2171,1389
$GC,18680,1.39,333.4,147.3,9.0,1584,18687,0.00,2.75,0.00,0.000,4,0.000,0.050,3220,3736,1389
$GC,18728,1.40,339.2,143.1,8.8,1592,18742,0.00,2.70,5.40,0.802,6,0.000,0.035,3220,2160,1365
$GC,19082,1.56,397.5,114.8,6.4,1654,19140,0.10,2.85,48.17,0.693,4,0.067,0.048,3249,3730,1126
$GC,19169,1.59,397.5,107.2,9.1,1668,19176,0.00,2.70,0.00,0.000,6,0.000,0.033,3249,2167,1124
$GC,19516,1.76,438.4,79.4,7.2,1729,19556,0.15,2.80,32.95,0.650,4,0.052,0.045,3295,3731,959
$GC,19580,1.80,438.4,74.0,9.5,1739,19587,0.00,2.62,0.00,0.000,6,0.000,0.032,3295,2202,958
$GC,19926,1.90,472.3,45.6,7.5,1800,19959,0.10,2.25,27.02,0.604,4,0.066,0.050,3324,983,821
$GC,20018,1.90,472.3,36.8,9.5,1815,20024,0.00,2.08,0.00,0.000,6,0.000,0.029,3324,2210,819
$GC,20363,1.90,472.3,3.3,9.2,1876,20370,0.00,2.65,0.00,0.000,4,0.000,0.044,3324,3743,818
$STATE,20374,end climb,SURFACE_DEPTH_REACHED
$STATE,20374,begin surface coast
$FINISH,0.8,1.021303
$STATE,20386,end surface coast,CONTROL_FINISHED_OK
$STATE,20386,begin surface
$SM_CCo,20412,0.28,1.104,0,0,811,475.15
$SM_GC,1.43,0.00,0.00,0.28,0.000,0.000,1.104,251,2154,811,-12.21,0.11,475.15
$IRIDIUM_FIX,1245.46,12014.59,110797,111108
$TT8_MAMPS,0.023777
$HUMID,1980
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.80
$XPDR_PINGS,459
$24V_AH,23.1,52.258
$10V_AH,10.1,26.736
$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,33.100,198.950,522.200,0.275,0.000,25.394,52.426,170.953,124.500,0.000,0.000,11.973,3935.538,12334.998,760.860,3112.906,686.984,0.000,2339.676,0.000,3055.550,0.000,71.655
$DEVICE_MAMPS,169.507,88.972,1295.463,1104.480,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1262.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59763,1880
$CAP_FILE_SIZE,200311,0
$CFSIZE,260165632,233959424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,341.6,1
$GPS,160408,223038,1247.374,12021.850,40,1.2,40,-0.8