version: 66.03
glider: 122
mission: 6
dive: 292
start: 4 18 108 11 56 50
data:
$ID,122
$MISSION,6
$DIVE,292
$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,-33295.852
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,115008,1247.692,12032.116,41,1.1,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.7
$GPS2,115615,1247.716,12032.038,14,1.3,14,-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,72.9,20121,-18.6,-9.016
$D_GRID,1049
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-59.60,0.000,2,0.000,0.000,248,2131,2457
$GC,86,-1.56,-146.0,3.4,-7.9,10,125,13.38,2.40,-16.95,0.000,4,0.170,0.051,2558,753,3345
$GC,166,-1.31,-146.0,20.4,-18.2,23,173,0.32,2.35,0.00,0.000,6,0.117,0.026,2618,2159,3345
$GC,512,-1.17,-146.0,73.3,-13.5,84,519,0.15,2.38,0.00,0.000,4,0.111,0.043,2650,3546,3347
$GC,605,-1.09,-146.0,85.8,-13.3,100,612,0.00,2.20,0.00,0.000,6,0.000,0.026,2650,2207,3347
$GC,950,-1.09,-146.0,125.8,-9.6,161,957,0.00,2.30,0.00,0.000,4,0.000,0.043,2650,3549,3349
$GC,1009,-1.09,-146.0,131.5,-9.7,171,1016,0.00,2.15,0.00,0.000,6,0.000,0.026,2650,2226,3350
$GC,1355,-1.21,-146.0,161.6,-8.4,232,1363,0.00,2.28,0.00,0.000,4,0.000,0.044,2650,3552,3352
$GC,1440,-1.32,-146.0,168.6,-8.7,246,1447,0.15,1.98,0.00,0.000,6,0.052,0.027,2606,2336,3352
$GC,1785,-1.32,-146.0,200.2,-9.4,307,1792,0.00,2.78,0.00,0.000,4,0.000,0.044,2605,745,3352
$GC,1804,-1.32,-146.0,202.0,-9.3,310,1811,0.00,2.72,0.00,0.000,6,0.000,0.031,2605,2352,3352
$GC,2149,-1.32,-146.0,232.3,-9.0,371,2156,0.00,2.05,0.00,0.000,4,0.000,0.048,2605,3545,3352
$GC,2174,-1.32,-146.0,234.6,-8.7,375,2181,0.00,2.00,0.00,0.000,6,0.000,0.030,2605,2331,3352
$GC,2517,-1.41,-146.0,263.6,-8.5,422,2521,0.00,2.75,0.00,0.000,4,0.000,0.048,2605,755,3350
$GC,2539,-1.47,-146.0,265.5,-8.5,423,2546,0.00,2.70,0.00,0.000,6,0.000,0.032,2605,2345,3350
$GC,2866,-1.47,-146.0,293.8,-8.2,454,2869,0.00,2.08,0.00,0.000,4,0.000,0.049,2605,3545,3348
$GC,2905,-1.47,-146.0,297.3,-8.5,457,2912,0.00,1.98,0.00,0.000,6,0.000,0.031,2605,2350,3348
$GC,3232,-1.47,-146.0,322.2,-7.2,488,3237,0.00,2.83,0.00,0.000,4,0.000,0.050,2605,750,3346
$GC,3261,-1.47,-146.0,324.7,-8.5,490,3265,0.00,2.75,0.00,0.000,6,0.000,0.033,2605,2356,3346
$GC,3589,-1.57,-146.0,351.5,-8.4,520,3594,0.17,2.85,0.00,0.000,4,0.049,0.048,2552,750,3343
$GC,3674,-1.48,-146.0,360.1,-9.8,527,3679,0.15,2.58,0.00,0.000,6,0.107,0.032,2579,2256,3342
$GC,4000,-1.43,-146.0,389.4,-9.0,557,4004,0.00,2.25,0.00,0.000,4,0.000,0.049,2579,3549,3341
$GC,4067,-1.38,-146.0,395.8,-9.8,562,4074,0.12,2.15,0.00,0.000,6,0.108,0.032,2602,2269,3341
$GC,4395,-1.49,-146.0,420.6,-7.6,593,4399,0.10,2.25,0.00,0.000,4,0.063,0.049,2572,3548,3338
$GC,4423,-1.49,-146.0,423.1,-8.6,595,4427,0.00,2.10,0.00,0.000,6,0.000,0.032,2571,2302,3337
$GC,4753,-1.44,-146.0,450.7,-8.3,625,4757,0.00,2.75,0.00,0.000,4,0.000,0.051,2571,757,3335
$GC,4774,-1.40,-146.0,453.0,-8.4,626,4782,0.15,2.65,0.00,0.000,6,0.107,0.035,2598,2296,3335
$GC,5100,-1.40,-146.0,477.3,-7.7,657,5104,0.00,2.20,0.00,0.000,4,0.000,0.053,2598,3546,3332
$GC,5155,-1.40,-146.0,481.8,-8.0,661,5162,0.00,2.08,0.00,0.000,6,0.000,0.033,2598,2318,3332
$GC,5480,-1.40,-146.0,506.7,-7.9,688,5485,0.00,2.80,0.00,0.000,4,0.000,0.054,2598,752,3331
$GC,5513,-1.40,-146.0,509.9,-8.3,689,5522,0.00,2.70,0.00,0.000,6,0.000,0.036,2598,2312,3331
$GC,5830,-1.40,-146.0,533.5,-7.5,705,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2312,3329
$GC,6139,-1.40,-146.0,555.9,-7.4,720,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2312,3327
$GC,6448,-1.40,-146.0,578.8,-7.2,735,6452,0.00,2.80,0.00,0.000,4,0.000,0.054,2598,752,3326
$GC,6473,-1.43,-146.0,580.4,-7.2,736,6477,0.00,2.67,0.00,0.000,6,0.000,0.036,2598,2299,3326
$GC,6794,-1.43,-146.0,604.8,-7.7,752,6798,0.00,2.20,0.00,0.000,4,0.000,0.057,2598,3545,3324
$GC,6862,-1.43,-146.0,610.5,-8.8,755,6865,0.00,2.08,0.00,0.000,6,0.000,0.035,2598,2317,3324
$GC,7184,-1.43,-146.0,635.8,-8.0,771,7188,0.00,2.80,0.00,0.000,4,0.000,0.056,2598,755,3322
$GC,7207,-1.47,-146.0,637.9,-8.7,772,7211,0.00,2.70,0.00,0.000,6,0.000,0.038,2598,2310,3322
$GC,7530,-1.50,-146.0,663.2,-7.8,788,7534,0.00,2.17,0.00,0.000,4,0.000,0.057,2598,3541,3320
$GC,7581,-1.53,-146.0,667.3,-7.3,790,7585,0.12,2.05,0.00,0.000,6,0.063,0.035,2566,2334,3320
$GC,7899,-1.49,-146.0,694.4,-8.6,805,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2331,3319
$GC,8207,-1.45,-146.0,721.2,-8.6,820,8213,0.10,2.83,0.00,0.000,4,0.123,0.056,2583,756,3318
$GC,8240,-1.45,-146.0,724.4,-8.4,821,8248,0.00,2.72,0.00,0.000,6,0.000,0.038,2583,2322,3317
$GC,8558,-1.45,-146.0,750.3,-8.1,837,8562,0.00,2.15,0.00,0.000,4,0.000,0.058,2583,3542,3317
$GC,8604,-1.45,-146.0,754.6,-9.1,839,8608,0.00,2.03,0.00,0.000,6,0.000,0.036,2583,2344,3317
$GC,8940,-1.45,-146.0,780.9,-7.8,855,8944,0.00,2.85,0.00,0.000,4,0.000,0.058,2583,759,3316
$GC,8960,-1.45,-146.0,783.2,-9.0,856,8965,0.00,2.72,0.00,0.000,6,0.000,0.038,2583,2327,3316
$GC,9290,-1.45,-146.0,810.1,-8.2,872,9294,0.00,2.15,0.00,0.000,4,0.000,0.059,2583,3540,3315
$GC,9318,-1.45,-146.0,812.6,-7.7,873,9321,0.00,2.05,0.00,0.000,6,0.000,0.036,2583,2349,3314
$GC,9645,-1.45,-146.0,838.6,-8.3,889,9650,0.00,2.85,0.00,0.000,4,0.000,0.058,2583,761,3313
$GC,9685,-1.45,-146.0,842.0,-8.3,891,9690,0.00,2.75,0.00,0.000,6,0.000,0.038,2583,2332,3312
$GC,10013,-1.45,-146.0,867.2,-7.7,907,10016,0.00,2.15,0.00,0.000,4,0.000,0.060,2583,3541,3313
$GC,10047,-1.45,-146.0,870.2,-8.7,908,10050,0.00,2.05,0.00,0.000,6,0.000,0.037,2582,2336,3312
$GC,10368,-1.45,-146.0,896.2,-8.3,924,10373,0.00,2.85,0.00,0.000,4,0.000,0.059,2583,756,3310
$GC,10396,-1.45,-146.0,898.7,-8.9,925,10400,0.00,2.75,0.00,0.000,6,0.000,0.039,2583,2332,3310
$GC,10712,-1.45,-146.0,925.7,-8.5,940,10716,0.00,2.85,0.00,0.000,4,0.000,0.058,2583,761,3310
$GC,10745,-1.49,-146.0,928.7,-9.1,941,10752,0.00,2.70,0.00,0.000,6,0.000,0.039,2583,2305,3309
$GC,11061,-1.49,-146.0,954.5,-8.1,957,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2305,3309
$GC,11371,-1.49,-146.0,981.2,-8.9,972,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2305,3308
$STATE,11471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11471,begin apogee
$GC,11478,-0.35,0.0,990.3,8.9,977,11604,1.23,0.00,122.32,1.382,6,0.103,0.000,2826,2370,2748
$STATE,11605,end apogee,CONTROL_FINISHED_OK
$STATE,11605,begin climb
$GC,11607,1.56,146.0,996.5,0.0,983,11741,1.92,0.00,128.80,1.340,6,0.057,0.000,3245,2371,2152
$GC,12045,1.31,146.0,964.6,10.1,1004,12050,0.28,2.53,0.00,0.000,4,0.126,0.059,3194,985,2150
$GC,12089,1.12,146.0,960.3,9.2,1006,12095,0.22,2.45,0.00,0.000,6,0.123,0.041,3154,2368,2149
$GC,12413,1.08,164.8,934.9,8.2,1022,12437,0.00,2.60,16.12,1.351,4,0.000,0.060,3154,985,2075
$GC,12510,0.99,165.5,926.4,9.0,1026,12515,0.17,2.45,0.00,0.000,6,0.122,0.041,3124,2364,2074
$GC,12834,1.05,202.0,902.8,7.4,1042,12872,0.00,2.62,32.88,1.325,4,0.000,0.061,3124,977,1923
$GC,12910,1.05,202.0,896.2,9.1,1044,12918,0.00,2.47,0.00,0.000,6,0.000,0.041,3124,2363,1922
$GC,13227,1.09,223.2,870.9,8.1,1060,13251,0.00,2.65,18.30,1.321,4,0.000,0.061,3124,986,1838
$GC,13330,1.10,228.0,861.9,8.8,1064,13343,0.00,2.38,4.62,1.301,6,0.000,0.041,3124,2323,1818
$GC,13651,1.15,240.7,834.5,8.4,1080,13674,0.15,2.58,11.68,1.310,4,0.067,0.061,3159,986,1766
$GC,13748,1.11,240.7,824.3,10.5,1084,13752,0.00,2.30,0.00,0.000,6,0.000,0.041,3158,2279,1765
$GC,14070,1.11,240.7,793.1,9.8,1100,14074,0.00,2.38,0.00,0.000,4,0.000,0.061,3158,985,1764
$GC,14126,1.08,240.7,787.1,10.5,1102,14133,0.00,2.25,0.00,0.000,6,0.000,0.040,3158,2263,1764
$GC,14444,1.08,240.7,756.0,9.4,1118,14448,0.00,2.35,0.00,0.000,4,0.000,0.061,3158,977,1764
$GC,14471,1.08,240.7,753.1,9.9,1119,14475,0.00,2.25,0.00,0.000,6,0.000,0.039,3158,2237,1763
$GC,14793,1.08,243.7,724.6,8.9,1135,14797,0.00,0.00,2.50,1.213,6,0.000,0.000,3158,2238,1754
$GC,15102,1.10,251.4,698.0,8.7,1150,15116,0.00,2.40,7.30,1.250,4,0.000,0.060,3158,980,1723
$GC,15184,1.10,251.4,690.2,9.2,1153,15191,0.00,2.20,0.00,0.000,6,0.000,0.039,3159,2225,1722
$GC,15501,1.11,260.1,662.5,8.6,1169,15511,0.00,0.00,8.38,1.226,6,0.000,0.000,3158,2225,1687
$GC,15809,1.11,260.1,633.6,9.3,1184,15813,0.00,2.28,0.00,0.000,4,0.000,0.060,3158,980,1686
$GC,15865,1.11,260.1,628.2,9.3,1186,15872,0.00,2.15,0.00,0.000,6,0.000,0.038,3159,2208,1685
$GC,16182,1.15,281.8,601.3,8.0,1202,16207,0.00,2.33,19.08,1.153,4,0.000,0.059,3158,987,1599
$GC,16241,1.15,281.8,595.7,9.6,1204,16248,0.00,2.12,0.00,0.000,6,0.000,0.038,3159,2190,1598
$GC,16557,1.15,281.8,567.1,9.3,1220,16558,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2190,1597
$GC,16866,1.15,281.8,537.8,9.2,1235,16868,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2190,1597
$GC,17175,1.15,281.8,509.2,9.3,1250,17179,0.00,2.20,0.00,0.000,4,0.000,0.058,3158,979,1597
$GC,17214,1.15,281.8,505.6,10.4,1252,17218,0.00,2.10,0.00,0.000,6,0.000,0.037,3159,2184,1597
$GC,17541,1.17,296.6,477.6,8.4,1279,17564,0.00,2.90,13.00,1.072,4,0.000,0.056,3158,3734,1538
$GC,17577,1.20,296.6,474.2,10.0,1282,17581,0.00,2.75,0.00,0.000,6,0.000,0.038,3159,2171,1538
$GC,17902,1.27,311.7,445.9,8.3,1312,17921,0.10,2.25,12.88,1.041,4,0.077,0.058,3182,982,1477
$GC,17982,1.27,311.7,438.1,9.6,1318,17990,0.00,2.05,0.00,0.000,6,0.000,0.035,3183,2167,1475
$GC,18309,1.27,311.7,406.7,10.1,1349,18314,0.00,2.80,0.00,0.000,4,0.000,0.055,3183,3733,1475
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$GC,20112,1.41,347.4,244.9,8.9,1520,20119,0.15,2.80,0.00,0.000,4,0.058,0.048,3225,3727,1339
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$GC,22257,1.84,453.2,56.4,7.3,1894,22298,0.15,2.75,31.42,0.621,4,0.054,0.047,3321,3733,899
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$STATE,22868,end climb,SURFACE_DEPTH_REACHED
$STATE,22868,begin surface coast
$FINISH,-0.1,1.021098
$STATE,22891,end surface coast,CONTROL_FINISHED_OK
$STATE,22891,begin surface
$SM_CCo,22915,8.27,0.591,0,0,811,475.15
$SM_GC,1.39,0.00,0.00,8.27,0.000,0.000,0.591,249,2127,811,-12.21,-0.65,475.15
$IRIDIUM_FIX,1241.04,12029.39,130797,060631
$TT8_MAMPS,0.023777
$HUMID,1979
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.90
$XPDR_PINGS,415
$24V_AH,23.0,53.823
$10V_AH,10.1,27.554
$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,33.125,253.475,519.525,8.275,0.000,27.721,35.488,171.176,116.250,0.000,0.000,14.102,4240.375,14185.481,801.911,3359.216,707.117,0.000,2535.380,0.000,3293.387,0.000,91.585
$DEVICE_MAMPS,170.274,78.234,1382.134,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1347.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62945,2004
$CAP_FILE_SIZE,225094,0
$CFSIZE,260165632,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,315.8,1
$GPS,180408,182007,1248.391,12033.728,36,1.0,36,-0.8