version: 66.03
glider: 122
mission: 6
dive: 361
start: 5 5 108 7 12 15
data:
$ID,122
$MISSION,6
$DIVE,361
$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,-34425.766
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,66
$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
$GPS1,070525,1251.170,12039.190,40,1.2,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.2
$GPS2,071139,1251.180,12039.159,14,1.2,14,-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,112.6,6542,-18.6,-9.016
$D_GRID,1169
$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,22,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-61.05,0.000,2,0.000,0.000,246,2256,2456
$GC,89,-1.56,-146.0,3.5,-7.3,10,127,13.38,2.53,-16.75,0.000,4,0.168,0.050,2560,808,3345
$GC,208,-1.32,-146.0,28.0,-18.0,30,216,0.30,2.33,0.00,0.000,6,0.117,0.028,2615,2198,3346
$GC,555,-1.20,-146.0,81.7,-13.7,91,562,0.15,2.40,0.00,0.000,4,0.113,0.039,2643,804,3347
$GC,643,-1.16,-146.0,93.1,-12.9,106,649,0.00,2.47,0.00,0.000,6,0.000,0.028,2642,2282,3348
$GC,988,-1.16,-146.0,130.1,-9.3,167,995,0.00,2.30,0.00,0.000,4,0.000,0.045,2642,3623,3350
$GC,1059,-1.19,-146.0,137.0,-10.2,179,1066,0.00,2.17,0.00,0.000,6,0.000,0.025,2642,2283,3350
$GC,1405,-1.32,-146.0,165.4,-7.5,240,1413,0.12,2.55,0.00,0.000,4,0.053,0.041,2601,804,3351
$GC,1456,-1.27,-146.0,169.6,-8.1,248,1464,0.12,2.75,0.00,0.000,6,0.106,0.030,2624,2435,3351
$GC,1803,-1.37,-146.0,197.5,-8.4,309,1811,0.00,2.03,0.00,0.000,4,0.000,0.047,2624,3621,3352
$GC,1892,-1.42,-146.0,205.0,-8.5,324,1899,0.15,2.15,0.00,0.000,6,0.052,0.027,2580,2303,3352
$GC,2239,-1.46,-146.0,235.0,-8.9,385,2246,0.00,2.25,0.00,0.000,4,0.000,0.044,2580,3616,3350
$GC,2320,-1.37,-146.0,242.8,-9.9,399,2328,0.12,2.03,0.00,0.000,6,0.103,0.028,2603,2383,3351
$GC,2658,-1.41,-146.0,271.3,-8.2,437,2662,0.00,2.72,0.00,0.000,4,0.000,0.046,2603,816,3350
$GC,2713,-1.41,-146.0,276.1,-8.0,441,2720,0.00,2.65,0.00,0.000,6,0.000,0.032,2604,2387,3349
$GC,3041,-1.48,-146.0,300.5,-7.5,472,3046,0.00,2.75,0.00,0.000,4,0.000,0.052,2604,809,3348
$GC,3063,-1.54,-146.0,302.5,-8.0,473,3071,0.15,2.53,0.00,0.000,6,0.051,0.031,2558,2299,3348
$GC,3392,-1.47,-146.0,331.3,-9.5,504,3397,0.12,2.60,0.00,0.000,4,0.105,0.047,2581,817,3346
$GC,3465,-1.47,-146.0,338.2,-9.3,510,3469,0.00,2.50,0.00,0.000,6,0.000,0.032,2580,2293,3345
$GC,3799,-1.51,-146.0,365.1,-8.0,541,3804,0.00,2.62,0.00,0.000,4,0.000,0.048,2581,807,3344
$GC,3873,-1.51,-146.0,372.1,-9.6,547,3878,0.00,2.70,0.00,0.000,6,0.000,0.033,2581,2388,3343
$GC,4202,-1.56,-146.0,400.2,-8.9,577,4206,0.00,2.12,0.00,0.000,4,0.000,0.050,2581,3614,3341
$GC,4297,-1.52,-146.0,409.2,-9.1,585,4304,0.00,2.25,0.00,0.000,6,0.000,0.031,2581,2269,3341
$GC,4625,-1.57,-146.0,436.0,-8.4,616,4629,0.00,2.58,0.00,0.000,4,0.000,0.050,2581,813,3338
$GC,4725,-1.57,-146.0,445.2,-8.9,624,4732,0.00,2.72,0.00,0.000,6,0.000,0.034,2581,2404,3337
$GC,5053,-1.57,-146.0,473.2,-8.9,655,5058,0.00,2.83,0.00,0.000,4,0.000,0.050,2581,817,3335
$GC,5086,-1.57,-146.0,476.6,-9.2,657,5093,0.00,2.70,0.00,0.000,6,0.000,0.035,2581,2384,3335
$GC,5414,-1.57,-146.0,503.5,-8.0,686,5419,0.00,2.80,0.00,0.000,4,0.000,0.050,2581,816,3333
$GC,5459,-1.57,-146.0,507.7,-8.7,688,5463,0.00,2.67,0.00,0.000,6,0.000,0.035,2581,2362,3332
$GC,5780,-1.57,-146.0,532.3,-7.9,704,5785,0.00,2.78,0.00,0.000,4,0.000,0.051,2581,811,3331
$GC,5821,-1.57,-146.0,535.9,-9.0,706,5826,0.00,2.62,0.00,0.000,6,0.000,0.035,2581,2328,3331
$GC,6154,-1.62,-146.0,560.3,-7.3,722,6158,0.15,2.28,0.00,0.000,4,0.054,0.053,2539,3621,3329
$GC,6172,-1.62,-146.0,562.2,-7.9,723,6175,0.00,2.05,0.00,0.000,6,0.000,0.032,2539,2402,3328
$GC,6507,-1.52,-146.0,593.2,-9.5,739,6512,0.17,2.15,0.00,0.000,4,0.114,0.051,2570,3618,3327
$GC,6570,-1.46,-146.0,599.1,-9.0,742,6574,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,2376,3327
$GC,6901,-1.43,-146.0,625.1,-7.5,758,6906,0.12,2.80,0.00,0.000,4,0.118,0.053,2592,809,3326
$GC,6964,-1.43,-146.0,630.5,-8.2,761,6968,0.00,2.65,0.00,0.000,6,0.000,0.036,2592,2344,3325
$GC,7294,-1.52,-146.0,654.7,-7.9,777,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2343,3324
$GC,7600,-1.61,-146.0,679.3,-8.0,792,7605,0.15,2.75,0.00,0.000,4,0.054,0.053,2546,810,3322
$GC,7686,-1.53,-146.0,687.3,-9.4,796,7691,0.12,2.62,0.00,0.000,6,0.114,0.036,2568,2325,3321
$GC,8015,-1.53,-146.0,715.6,-8.6,812,8019,0.00,2.28,0.00,0.000,4,0.000,0.056,2568,3610,3320
$GC,8062,-1.49,-146.0,720.1,-9.7,814,8066,0.00,2.17,0.00,0.000,6,0.000,0.035,2568,2327,3319
$GC,8383,-1.49,-146.0,749.7,-9.6,830,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2325,3318
$GC,8692,-1.49,-146.0,777.4,-9.1,845,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2325,3317
$GC,9002,-1.49,-146.0,804.4,-9.2,860,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2325,3316
$GC,9311,-1.49,-146.0,832.2,-8.6,875,9316,0.00,2.70,0.00,0.000,4,0.000,0.057,2568,821,3315
$GC,9344,-1.49,-146.0,835.3,-9.1,876,9352,0.00,2.65,0.00,0.000,6,0.000,0.038,2569,2337,3315
$STATE,9596,end dive,NO_VERTICAL_VELOCITY
$STATE,9596,begin apogee
$GC,9602,-0.35,0.0,839.5,0.0,889,9727,1.20,0.00,121.07,1.244,6,0.067,0.000,2826,2337,2748
$STATE,9728,end apogee,CONTROL_FINISHED_OK
$STATE,9728,begin climb
$GC,9731,1.56,146.0,839.4,0.0,895,9865,1.92,2.65,126.22,1.199,4,0.054,0.058,3246,934,2152
$GC,9923,1.31,146.0,827.7,11.0,903,9930,0.30,2.45,0.00,0.000,6,0.116,0.038,3193,2323,2151
$GC,10239,1.22,171.0,803.1,7.9,919,10263,0.12,0.00,21.42,1.211,6,0.124,0.000,3172,2322,2050
$GC,10569,1.15,171.0,774.3,9.4,935,10573,0.00,2.53,0.00,0.000,4,0.000,0.059,3171,941,2049
$GC,10602,1.06,171.0,770.9,9.8,936,10610,0.20,2.47,0.00,0.000,6,0.112,0.041,3135,2343,2048
$GC,10919,1.08,184.4,744.7,8.4,952,10941,0.00,2.62,11.45,1.218,4,0.000,0.061,3135,3735,1995
$GC,10975,1.08,184.4,739.4,10.1,954,10980,0.00,2.45,0.00,0.000,6,0.000,0.039,3136,2334,1995
$GC,11291,1.12,205.5,713.2,8.1,969,11315,0.00,2.67,18.08,1.192,4,0.000,0.060,3135,934,1909
$GC,11349,1.13,213.0,708.3,8.7,971,11362,0.00,2.50,6.78,1.181,6,0.000,0.038,3135,2343,1879
$GC,11671,1.20,231.3,681.3,8.2,987,11691,0.15,0.00,16.02,1.179,6,0.065,0.000,3169,2342,1804
$GC,12000,1.20,232.8,651.5,9.0,1003,12004,0.00,2.60,0.00,0.000,4,0.000,0.060,3169,925,1802
$GC,12067,1.18,245.0,645.5,8.5,1006,12085,0.00,2.45,11.85,1.164,6,0.000,0.038,3169,2320,1749
$GC,12393,1.18,245.5,616.7,9.0,1022,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2318,1748
$GC,12703,1.19,251.7,589.8,8.7,1037,12714,0.00,2.58,6.00,1.147,4,0.000,0.059,3169,929,1721
$GC,12776,1.19,251.7,582.4,10.0,1040,12780,0.00,2.40,0.00,0.000,6,0.000,0.038,3170,2296,1721
$GC,13092,1.21,263.5,554.6,8.5,1055,13108,0.00,2.62,10.65,1.118,4,0.000,0.058,3169,3727,1673
$GC,13147,1.21,263.5,549.5,9.1,1056,13155,0.00,2.47,0.00,0.000,6,0.000,0.038,3169,2310,1672
$GC,13463,1.21,263.5,521.7,9.1,1072,13467,0.00,2.50,0.00,0.000,4,0.000,0.059,3169,933,1671
$GC,13503,1.21,263.5,517.8,9.5,1074,13508,0.00,2.47,0.00,0.000,6,0.000,0.038,3169,2341,1670
$GC,13825,1.21,263.8,489.6,9.0,1095,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2340,1671
$GC,14144,1.27,298.1,464.9,7.5,1125,14181,0.00,2.70,29.90,1.021,4,0.000,0.058,3170,930,1531
$GC,14243,1.28,307.0,456.6,8.6,1133,14256,0.00,2.45,7.62,1.035,6,0.000,0.038,3169,2324,1496
$GC,14576,1.35,324.6,429.1,8.2,1164,14598,0.12,2.65,15.18,1.008,4,0.071,0.057,3198,933,1424
$GC,14622,1.35,324.6,424.6,10.6,1168,14626,0.00,2.42,0.00,0.000,6,0.000,0.038,3199,2304,1423
$GC,14949,1.35,324.6,394.9,9.1,1198,14953,0.00,2.47,0.00,0.000,4,0.000,0.057,3199,934,1422
$GC,14972,1.35,324.6,392.6,9.1,1200,14977,0.00,2.35,0.00,0.000,6,0.000,0.038,3199,2276,1421
$GC,15300,1.36,330.7,363.5,8.7,1230,15312,0.00,2.62,5.25,0.991,4,0.000,0.056,3199,3725,1399
$GC,15336,1.36,330.7,359.8,10.5,1233,15341,0.00,2.58,0.00,0.000,6,0.000,0.038,3198,2251,1398
$GC,15662,1.36,330.7,329.0,9.4,1263,15666,0.00,2.38,0.00,0.000,4,0.000,0.058,3199,934,1398
$GC,15702,1.36,330.7,325.2,9.4,1266,15706,0.00,2.33,0.00,0.000,6,0.000,0.037,3199,2268,1397
$GC,16030,1.38,340.3,296.9,8.6,1296,16043,0.00,2.70,8.43,0.930,4,0.000,0.055,3199,3725,1360
$GC,16067,1.38,341.6,293.3,9.0,1299,16072,0.00,2.62,0.00,0.000,6,0.000,0.037,3198,2222,1360
$GC,16395,1.44,341.9,264.5,9.0,1329,16399,0.00,2.67,0.00,0.000,4,0.000,0.052,3199,3723,1358
$GC,16490,1.44,341.9,255.4,9.6,1337,16495,0.00,2.78,0.00,0.000,6,0.000,0.038,3199,2127,1358
$GC,16831,1.56,354.8,225.7,8.4,1391,16853,0.17,2.90,12.55,0.853,4,0.058,0.050,3246,3723,1301
$GC,16872,1.56,354.8,222.0,9.9,1397,16879,0.00,2.62,0.00,0.000,6,0.000,0.036,3246,2218,1300
$GC,17218,1.57,362.4,188.1,8.7,1458,17232,0.00,2.35,6.68,0.838,4,0.000,0.055,3246,925,1269
$GC,17329,1.59,372.8,178.6,8.6,1477,17343,0.00,2.28,8.77,0.815,6,0.000,0.034,3246,2241,1228
$GC,17682,1.59,372.8,147.3,9.2,1539,17689,0.00,2.62,0.00,0.000,4,0.000,0.051,3246,3724,1227
$GC,17758,1.59,372.8,140.4,9.8,1552,17765,0.00,2.53,0.00,0.000,6,0.000,0.035,3246,2253,1226
$GC,18105,1.73,402.0,115.0,7.7,1613,18139,0.15,2.70,24.25,0.714,4,0.057,0.048,3291,3729,1109
$GC,18153,1.75,411.8,111.4,8.6,1620,18167,0.00,2.80,8.40,0.720,6,0.000,0.034,3291,2115,1069
$GC,18507,1.91,458.4,83.6,6.9,1682,18554,0.12,2.15,39.03,0.654,4,0.060,0.051,3327,930,877
$GC,18603,1.89,466.2,75.8,8.7,1697,18616,0.00,2.28,6.20,0.681,6,0.000,0.031,3327,2255,846
$GC,18956,2.02,499.7,44.5,7.5,1759,18990,0.00,2.67,27.42,0.607,4,0.000,0.046,3328,3726,709
$GC,19101,2.09,499.7,32.1,9.3,1783,19109,0.15,2.72,0.00,0.000,6,0.054,0.031,3370,2129,705
$STATE,19399,end climb,SURFACE_DEPTH_REACHED
$STATE,19399,begin surface coast
$FINISH,0.4,1.020602
$STATE,19419,end surface coast,CONTROL_FINISHED_OK
$STATE,19419,begin surface
$SM_CCo,19504,0.00,0.000,0,0,702,501.88
$SM_GC,0.74,13.73,0.00,0.00,0.038,0.000,0.000,248,2271,702,-12.18,1.55,501.88
$IRIDIUM_FIX,1247.67,12037.35,300797,000051
$TT8_MAMPS,0.023777
$HUMID,2046
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.80
$XPDR_PINGS,378
$ALTIM_BOTTOM_PING,791.6,58.3
$24V_AH,23.0,67.320
$10V_AH,10.1,34.637
$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,33.700,211.275,549.225,0.000,0.000,22.743,31.822,170.139,102.250,0.000,0.000,14.167,3877.446,11500.816,758.920,3066.513,669.954,0.000,2324.903,0.000,3006.441,0.000,58.115
$DEVICE_MAMPS,167.973,60.593,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1232.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59736,1839
$CAP_FILE_SIZE,197882,0
$CFSIZE,260165632,226840576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,327.7,1
$GPS,050508,123832,1251.478,12039.666,37,1.1,37,-0.8