version: 66.03
glider: 122
mission: 6
dive: 291
start: 4 18 108 6 25 19
data:
$ID,122
$MISSION,6
$DIVE,291
$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,-33281.121
$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,61
$R_STBD_OVSHOOT,25
$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
$GPS1,061838,1247.685,12030.774,27,1.5,27,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.2
$GPS2,062445,1247.687,12030.691,16,1.5,16,-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,80.4,22482,-18.6,-9.016
$D_GRID,837
$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,23,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-57.78,0.000,2,0.000,0.000,250,2129,2396
$GC,86,-1.56,-146.0,3.2,-7.4,9,125,13.38,2.42,-18.88,0.000,4,0.170,0.051,2561,766,3346
$GC,183,-1.31,-146.0,21.9,-17.7,25,190,0.30,2.33,0.00,0.000,6,0.112,0.027,2617,2165,3347
$GC,529,-1.19,-146.0,73.9,-12.3,86,537,0.15,2.38,0.00,0.000,4,0.111,0.041,2649,3557,3349
$GC,583,-1.14,-146.0,80.8,-12.4,95,590,0.00,2.30,0.00,0.000,6,0.000,0.026,2649,2158,3349
$GC,928,-1.14,-146.0,120.5,-11.2,156,935,0.00,2.38,0.00,0.000,4,0.000,0.041,2649,3549,3352
$GC,980,-1.14,-146.0,126.4,-10.9,165,988,0.00,2.20,0.00,0.000,6,0.000,0.026,2649,2206,3352
$GC,1327,-1.20,-146.0,157.2,-7.9,226,1334,0.00,2.30,0.00,0.000,4,0.000,0.043,2649,3549,3353
$GC,1381,-1.24,-146.0,161.6,-8.2,235,1388,0.00,2.17,0.00,0.000,6,0.000,0.027,2648,2224,3353
$GC,1727,-1.39,-146.0,191.8,-8.2,296,1735,0.20,2.55,0.00,0.000,4,0.042,0.044,2584,753,3354
$GC,1828,-1.35,-146.0,201.3,-9.6,313,1836,0.12,2.70,0.00,0.000,6,0.103,0.031,2608,2352,3354
$GC,2174,-1.35,-146.0,230.9,-8.8,374,2181,0.00,2.80,0.00,0.000,4,0.000,0.046,2608,752,3353
$GC,2204,-1.35,-146.0,233.8,-9.1,379,2211,0.00,2.67,0.00,0.000,6,0.000,0.031,2608,2330,3353
$GC,2542,-1.44,-146.0,263.1,-8.7,426,2545,0.00,2.10,0.00,0.000,4,0.000,0.048,2608,3553,3351
$GC,2603,-1.44,-146.0,268.5,-8.5,431,2610,0.00,2.22,0.00,0.000,6,0.000,0.031,2608,2211,3351
$GC,2930,-1.44,-146.0,295.5,-8.5,462,2935,0.00,2.55,0.00,0.000,4,0.000,0.049,2608,762,3349
$GC,2953,-1.47,-146.0,297.7,-8.7,463,2960,0.12,2.47,0.00,0.000,6,0.056,0.033,2569,2223,3349
$GC,3278,-1.40,-146.0,328.6,-9.7,494,3282,0.15,2.30,0.00,0.000,4,0.103,0.048,2600,3546,3347
$GC,3342,-1.40,-146.0,334.3,-9.0,499,3346,0.00,2.22,0.00,0.000,6,0.000,0.032,2600,2224,3346
$GC,3669,-1.40,-146.0,360.8,-7.5,529,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2222,3343
$GC,3987,-1.40,-146.0,384.2,-7.5,559,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2222,3342
$GC,4305,-1.51,-146.0,409.7,-8.0,589,4310,0.12,2.60,0.00,0.000,4,0.056,0.051,2564,758,3340
$GC,4361,-1.45,-146.0,414.9,-10.0,593,4369,0.12,2.53,0.00,0.000,6,0.112,0.034,2585,2234,3339
$GC,4687,-1.45,-146.0,441.7,-8.2,624,4691,0.00,2.30,0.00,0.000,4,0.000,0.051,2585,3552,3337
$GC,4754,-1.45,-146.0,447.6,-8.4,629,4761,0.00,2.17,0.00,0.000,6,0.000,0.033,2586,2262,3336
$GC,5081,-1.45,-146.0,473.8,-7.9,660,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2259,3335
$GC,5399,-1.45,-146.0,499.6,-7.9,690,5404,0.00,2.28,0.00,0.000,4,0.000,0.052,2586,3548,3333
$GC,5445,-1.42,-146.0,503.5,-8.3,693,5449,0.00,2.15,0.00,0.000,6,0.000,0.034,2585,2280,3333
$GC,5772,-1.42,-146.0,529.7,-8.0,709,5780,0.00,2.67,0.00,0.000,4,0.000,0.054,2585,768,3331
$GC,5808,-1.42,-146.0,533.0,-9.0,710,5812,0.00,2.60,0.00,0.000,6,0.000,0.036,2586,2274,3331
$GC,6124,-1.42,-146.0,558.1,-8.2,725,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2275,3328
$GC,6433,-1.42,-146.0,583.1,-8.1,740,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2275,3327
$GC,6742,-1.42,-146.0,606.8,-7.6,755,6746,0.00,2.25,0.00,0.000,4,0.000,0.056,2586,3548,3326
$GC,6764,-1.42,-146.0,608.7,-8.3,756,6768,0.00,2.17,0.00,0.000,6,0.000,0.035,2586,2264,3326
$GC,7086,-1.42,-146.0,634.1,-7.9,772,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2262,3325
$GC,7394,-1.42,-146.0,658.2,-7.7,787,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2262,3323
$GC,7704,-1.42,-146.0,682.9,-8.2,802,7708,0.00,2.28,0.00,0.000,4,0.000,0.054,2586,3543,3322
$GC,7737,-1.42,-146.0,685.9,-8.8,803,7744,0.00,2.12,0.00,0.000,6,0.000,0.035,2586,2292,3322
$GC,8055,-1.42,-146.0,711.3,-7.9,819,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2290,3320
$GC,8363,-1.42,-146.0,735.1,-7.7,834,8367,0.00,2.20,0.00,0.000,4,0.000,0.055,2586,3541,3319
$GC,8401,-1.42,-146.0,738.5,-8.8,835,8409,0.00,2.12,0.00,0.000,6,0.000,0.036,2586,2294,3319
$GC,8718,-1.42,-146.0,764.3,-8.1,851,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2292,3318
$GC,9027,-1.42,-146.0,789.9,-8.2,866,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2292,3317
$GC,9336,-1.42,-146.0,815.4,-8.0,881,9340,0.00,2.22,0.00,0.000,4,0.000,0.058,2586,3541,3316
$GC,9380,-1.42,-146.0,819.2,-8.0,883,9384,0.00,2.10,0.00,0.000,6,0.000,0.037,2585,2306,3316
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9623,-0.35,0.0,837.7,7.7,895,9747,1.20,0.00,120.12,1.253,6,0.101,0.000,2825,2373,2748
$STATE,9747,end apogee,CONTROL_FINISHED_OK
$STATE,9748,begin climb
$GC,9750,1.56,146.0,842.2,0.0,901,9885,1.90,2.55,124.78,1.212,4,0.052,0.059,3246,3720,2152
$GC,9930,1.27,146.0,832.9,11.7,909,9935,0.35,2.33,0.00,0.000,6,0.137,0.039,3186,2395,2150
$GC,10252,1.14,146.0,802.7,9.1,925,10257,0.17,2.60,0.00,0.000,4,0.121,0.060,3152,970,2149
$GC,10296,1.06,153.8,798.7,8.7,927,10308,0.00,2.47,6.32,1.230,6,0.000,0.041,3153,2375,2120
$GC,10618,1.03,169.4,771.2,8.3,942,10641,0.12,2.67,13.38,1.227,4,0.120,0.060,3131,968,2057
$GC,10688,1.03,169.4,765.2,9.0,945,10692,0.00,2.47,0.00,0.000,6,0.000,0.040,3131,2363,2057
$GC,11014,1.09,205.9,740.0,7.4,961,11051,0.00,2.62,31.30,1.198,4,0.000,0.060,3131,972,1908
$GC,11098,1.11,217.0,733.2,8.5,964,11112,0.00,2.45,9.60,1.196,6,0.000,0.039,3131,2351,1862
$GC,11424,1.16,227.0,705.2,8.6,979,11439,0.12,2.60,8.73,1.206,4,0.068,0.059,3163,963,1821
$GC,11479,1.12,227.0,700.0,9.8,981,11483,0.00,2.40,0.00,0.000,6,0.000,0.039,3163,2320,1821
$GC,11795,1.12,227.1,671.5,9.0,996,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2320,1820
$GC,12104,1.13,234.8,644.4,8.7,1011,12117,0.00,2.50,6.45,1.190,4,0.000,0.058,3162,971,1789
$GC,12174,1.09,234.8,637.7,9.6,1014,12178,0.00,2.35,0.00,0.000,6,0.000,0.038,3162,2315,1789
$GC,12501,1.10,240.1,609.1,8.8,1030,12508,0.00,0.00,4.97,1.167,6,0.000,0.000,3163,2314,1769
$GC,12811,1.10,240.1,580.8,9.2,1045,12815,0.00,2.45,0.00,0.000,4,0.000,0.058,3163,970,1768
$GC,12860,1.10,240.1,575.9,10.1,1047,12864,0.00,2.33,0.00,0.000,6,0.000,0.038,3163,2298,1768
$GC,13182,1.12,247.9,547.6,8.7,1063,13196,0.00,2.50,7.12,1.134,4,0.000,0.058,3163,970,1737
$GC,13219,1.12,247.9,544.1,9.5,1064,13226,0.00,2.28,0.00,0.000,6,0.000,0.038,3163,2270,1736
$GC,13537,1.13,259.1,516.9,8.5,1080,13551,0.00,2.42,9.95,1.101,4,0.000,0.058,3162,968,1691
$GC,13568,1.13,259.1,513.9,9.3,1080,13576,0.00,2.25,0.00,0.000,6,0.000,0.037,3163,2247,1691
$GC,13889,1.13,259.1,485.6,9.4,1103,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2246,1690
$GC,14208,1.15,268.8,457.7,8.6,1133,14222,0.00,2.40,8.32,1.063,4,0.000,0.056,3163,970,1652
$GC,14250,1.15,268.8,453.5,10.1,1136,14256,0.00,2.20,0.00,0.000,6,0.000,0.037,3163,2231,1651
$GC,14576,1.15,269.6,425.7,9.0,1167,14581,0.00,2.67,0.00,0.000,4,0.000,0.056,3163,3727,1651
$GC,14620,1.15,269.6,421.4,9.1,1170,14628,0.00,2.60,0.00,0.000,6,0.000,0.038,3163,2224,1651
$GC,14949,1.18,287.2,394.5,8.2,1201,14974,0.00,2.33,15.82,0.989,4,0.000,0.057,3163,965,1576
$GC,15001,1.19,295.3,389.7,8.7,1205,15013,0.00,2.20,7.25,0.985,6,0.000,0.035,3163,2224,1544
$GC,15333,1.28,315.7,362.3,8.1,1236,15358,0.00,2.75,17.33,0.949,4,0.000,0.054,3163,3730,1459
$GC,15460,1.28,315.7,350.7,9.3,1247,15465,0.00,2.50,0.00,0.000,6,0.000,0.037,3162,2289,1458
$GC,15786,1.39,327.3,322.6,8.5,1277,15803,0.17,2.45,9.57,0.937,4,0.058,0.054,3209,968,1412
$GC,15878,1.34,327.3,312.9,10.6,1285,15882,0.00,2.33,0.00,0.000,6,0.000,0.035,3209,2301,1411
$GC,16206,1.34,327.3,279.5,11.0,1315,16210,0.00,2.40,0.00,0.000,4,0.000,0.054,3209,965,1411
$GC,16257,1.30,327.3,273.8,10.4,1319,16262,0.12,2.25,0.00,0.000,6,0.116,0.035,3188,2267,1411
$GC,16586,1.30,327.3,241.8,9.2,1356,16594,0.00,2.33,0.00,0.000,4,0.000,0.054,3188,963,1410
$GC,16674,1.30,327.3,233.2,9.6,1371,16681,0.00,2.15,0.00,0.000,6,0.000,0.035,3188,2213,1410
$GC,17019,1.34,353.9,202.4,7.8,1432,17045,0.00,0.00,22.30,0.809,6,0.000,0.000,3188,2213,1304
$GC,17383,1.42,356.2,170.6,8.9,1496,17391,0.12,2.67,0.00,0.000,4,0.065,0.051,3220,3727,1301
$GC,17471,1.42,356.2,161.3,11.0,1511,17478,0.00,2.70,0.00,0.000,6,0.000,0.035,3220,2160,1301
$GC,17817,1.48,368.7,130.7,8.5,1572,17837,0.00,2.17,11.88,0.762,4,0.000,0.054,3220,958,1244
$GC,17861,1.52,372.4,126.9,8.8,1579,17869,0.00,2.17,3.45,0.779,6,0.000,0.033,3220,2219,1229
$GC,18209,1.77,429.3,101.4,6.5,1640,18262,0.28,2.35,47.40,0.678,4,0.044,0.051,3298,962,997
$GC,18309,1.77,429.3,92.6,10.0,1656,18316,0.00,2.35,0.00,0.000,6,0.000,0.031,3298,2328,993
$GC,18656,1.79,437.4,60.6,8.7,1717,18669,0.00,2.47,5.47,0.684,4,0.000,0.049,3298,3727,964
$GC,18778,1.79,437.4,49.3,9.0,1738,18785,0.00,2.55,0.00,0.000,6,0.000,0.031,3298,2224,964
$GC,19124,1.87,454.8,22.8,8.2,1799,19145,0.00,2.30,14.07,0.597,4,0.000,0.048,3298,961,892
$GC,19272,1.94,454.8,10.1,10.0,1824,19279,0.12,2.08,0.00,0.000,6,0.049,0.028,3347,2204,891
$STATE,19356,end climb,SURFACE_DEPTH_REACHED
$STATE,19356,begin surface coast
$FINISH,0.2,1.020981
$STATE,19374,end surface coast,CONTROL_FINISHED_OK
$STATE,19377,begin surface
$SM_CCo,19400,10.30,0.581,0,0,811,475.15
$SM_GC,0.85,0.00,0.00,10.30,0.000,0.000,0.581,248,2135,811,-12.22,-0.42,475.15
$IRIDIUM_FIX,1243.25,12029.39,130797,010119
$TT8_MAMPS,0.023777
$HUMID,2013
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,432
$24V_AH,23.2,53.621
$10V_AH,10.1,27.445
$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,32.925,181.675,505.600,10.300,0.000,30.801,37.822,164.884,116.500,0.000,0.000,16.427,3853.733,11582.477,714.192,3026.208,604.979,0.000,2252.295,0.000,2962.863,0.000,62.592
$DEVICE_MAMPS,170.274,72.865,1252.511,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59795,1842
$CAP_FILE_SIZE,191742,0
$CFSIZE,260165632,233316352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,217.6,1
$GPS,180408,115008,1247.692,12032.116,41,1.1,41,-0.8