version: 66.03
glider: 122
mission: 6
dive: 159
start: 3 19 108 19 59 30
data:
$ID,122
$MISSION,6
$DIVE,159
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,-30227.996
$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,14.76
$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,44
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$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,9
$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
$GPS1,195327,1247.312,12016.833,26,5.7,45,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-73.0
$GPS2,195857,1247.333,12016.739,15,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,197.9,3882,-17.4,-9.016
$D_GRID,933
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-62.88,0.000,2,0.000,0.000,254,2119,2442
$GC,87,-1.42,-146.0,3.2,-7.2,9,125,13.48,2.40,-15.60,0.000,4,0.170,0.056,2588,754,3277
$GC,228,-1.13,-146.0,37.7,-24.1,33,236,0.35,2.35,0.00,0.000,6,0.111,0.026,2655,2168,3278
$GC,574,-1.01,-146.0,89.5,-14.3,94,582,0.15,2.38,0.00,0.000,4,0.103,0.044,2686,3549,3280
$GC,605,-0.96,-146.0,93.6,-12.9,99,613,0.00,2.28,0.00,0.000,6,0.000,0.027,2686,2173,3281
$GC,950,-0.96,-146.0,134.2,-12.5,160,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2173,3282
$GC,1293,-1.04,-146.0,164.8,-7.4,221,1301,0.00,2.38,0.00,0.000,4,0.000,0.043,2687,3555,3283
$GC,1330,-1.12,-146.0,167.9,-8.4,227,1339,0.12,2.33,0.00,0.000,6,0.056,0.028,2646,2152,3283
$GC,1677,-1.12,-146.0,199.7,-8.7,288,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2151,3283
$GC,2021,-1.12,-146.0,228.7,-7.8,349,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2151,3283
$GC,2362,-1.16,-146.0,255.2,-8.3,404,2366,0.00,2.42,0.00,0.000,4,0.000,0.046,2646,3553,3282
$GC,2428,-1.22,-146.0,260.6,-8.3,409,2436,0.00,2.28,0.00,0.000,6,0.000,0.031,2647,2193,3281
$GC,2755,-1.26,-146.0,284.4,-6.8,440,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2192,3280
$GC,3072,-1.32,-146.0,308.1,-7.6,470,3074,0.12,0.00,0.00,0.000,6,0.056,0.000,2608,2190,3278
$GC,3390,-1.32,-146.0,336.6,-8.8,500,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,3276
$GC,3707,-1.32,-146.0,364.0,-8.4,530,3711,0.00,2.38,0.00,0.000,4,0.000,0.050,2609,3547,3274
$GC,3763,-1.28,-146.0,369.3,-9.3,534,3770,0.00,2.30,0.00,0.000,6,0.000,0.033,2608,2193,3273
$GC,4089,-1.28,-146.0,396.8,-8.5,565,4093,0.00,2.58,0.00,0.000,4,0.000,0.054,2608,749,3271
$GC,4117,-1.28,-146.0,399.4,-9.0,567,4122,0.00,2.45,0.00,0.000,6,0.000,0.034,2608,2181,3271
$GC,4443,-1.28,-146.0,429.3,-9.5,597,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2182,3269
$GC,4761,-1.28,-146.0,457.0,-8.3,627,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2182,3268
$GC,5079,-1.28,-146.0,484.0,-8.8,657,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2182,3266
$GC,5403,-1.28,-146.0,513.3,-9.0,681,5408,0.00,2.42,0.00,0.000,4,0.000,0.054,2608,3557,3264
$GC,5430,-1.28,-146.0,516.0,-9.4,682,5434,0.00,2.30,0.00,0.000,6,0.000,0.034,2608,2204,3263
$GC,5752,-1.28,-146.0,543.1,-8.2,698,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2200,3261
$GC,6062,-1.28,-146.0,569.7,-8.9,713,6069,0.00,2.38,0.00,0.000,4,0.000,0.053,2608,3548,3260
$GC,6136,-1.28,-146.0,576.8,-8.8,716,6140,0.00,2.25,0.00,0.000,6,0.000,0.035,2608,2225,3259
$GC,6463,-1.28,-146.0,603.6,-8.1,732,6467,0.00,2.35,0.00,0.000,4,0.000,0.054,2608,3555,3258
$GC,6490,-1.28,-146.0,605.9,-8.5,733,6494,0.00,2.22,0.00,0.000,6,0.000,0.035,2608,2249,3258
$GC,6820,-1.28,-146.0,630.5,-7.2,749,6825,0.00,2.70,0.00,0.000,4,0.000,0.060,2608,750,3257
$GC,6864,-1.28,-146.0,634.4,-8.0,751,6868,0.00,2.58,0.00,0.000,6,0.000,0.036,2608,2238,3257
$GC,7184,-1.28,-146.0,658.6,-7.4,767,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2239,3255
$GC,7494,-1.28,-146.0,682.6,-8.5,782,7498,0.00,2.70,0.00,0.000,4,0.000,0.060,2608,749,3254
$GC,7537,-1.28,-146.0,686.8,-8.6,784,7541,0.00,2.58,0.00,0.000,6,0.000,0.038,2608,2228,3254
$GC,7858,-1.28,-146.0,713.1,-8.1,800,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2229,3252
$GC,8168,-1.28,-146.0,737.6,-7.6,815,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2230,3251
$GC,8477,-1.28,-146.0,759.8,-7.5,830,8482,0.00,2.67,0.00,0.000,4,0.000,0.061,2608,743,3250
$GC,8526,-1.32,-146.0,764.1,-8.9,832,8531,0.00,2.58,0.00,0.000,6,0.000,0.038,2608,2227,3250
$GC,8848,-1.32,-146.0,788.3,-7.2,848,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2228,3249
$GC,9157,-1.32,-146.0,812.4,-8.3,863,9161,0.00,2.67,0.00,0.000,4,0.000,0.061,2608,745,3248
$GC,9212,-1.35,-146.0,817.2,-9.1,865,9219,0.00,2.58,0.00,0.000,6,0.000,0.038,2608,2229,3247
$GC,9529,-1.35,-146.0,841.2,-7.6,881,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2229,3247
$GC,9837,-1.35,-146.0,863.9,-6.7,896,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2229,3246
$GC,10146,-1.35,-146.0,884.3,-6.4,911,10151,0.00,2.67,0.00,0.000,4,0.000,0.061,2608,753,3245
$GC,10187,-1.39,-146.0,887.0,-7.2,913,10191,0.00,2.55,0.00,0.000,6,0.000,0.039,2608,2220,3245
$GC,10515,-1.39,-146.0,907.6,-6.3,929,10519,0.00,2.62,0.00,0.000,4,0.000,0.061,2608,753,3244
$GC,10557,-1.43,-146.0,910.2,-5.8,931,10561,0.00,2.50,0.00,0.000,6,0.000,0.039,2608,2194,3244
$GC,10885,-1.85,-146.0,923.2,0.3,947,10890,0.45,2.42,0.00,0.000,4,0.053,0.064,2499,3558,3242
$STATE,10938,end dive,NO_VERTICAL_VELOCITY
$STATE,10938,begin apogee
$GC,10945,-0.34,0.0,923.1,0.0,949,11072,1.52,0.00,120.75,1.343,6,0.064,0.000,2830,2363,2678
$STATE,11072,end apogee,CONTROL_FINISHED_OK
$STATE,11073,begin climb
$GC,11074,1.42,146.0,922.8,0.0,956,11210,1.77,2.60,125.57,1.295,4,0.055,0.061,3221,3732,2082
$GC,11246,1.13,146.0,916.1,13.7,964,11251,0.38,2.38,0.00,0.000,6,0.127,0.041,3155,2378,2081
$GC,11574,1.02,146.0,874.8,12.1,980,11579,0.15,2.58,0.00,0.000,4,0.123,0.061,3125,962,2080
$GC,11668,0.97,146.0,864.3,10.8,984,11672,0.00,2.45,0.00,0.000,6,0.000,0.041,3125,2353,2079
$GC,11991,0.95,155.2,834.6,8.5,1000,12000,0.00,0.00,7.65,1.306,6,0.000,0.000,3125,2353,2045
$GC,12299,0.96,165.0,807.1,8.5,1015,12309,0.00,0.00,8.57,1.302,6,0.000,0.000,3125,2353,2005
$GC,12607,0.96,165.0,779.0,9.5,1030,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2353,2005
$GC,12918,0.97,188.9,753.7,7.8,1045,12944,0.00,2.58,20.90,1.259,4,0.000,0.060,3125,970,1906
$GC,13000,0.98,194.9,746.9,8.7,1049,13010,0.00,2.42,5.22,1.258,6,0.000,0.041,3125,2349,1883
$GC,13326,0.98,194.9,716.2,9.7,1065,13330,0.00,2.50,0.00,0.000,4,0.000,0.060,3125,969,1883
$GC,13369,0.98,194.9,711.6,10.8,1067,13373,0.00,2.40,0.00,0.000,6,0.000,0.040,3125,2338,1883
$GC,13697,0.99,196.2,681.8,9.0,1083,13702,0.00,2.50,0.00,0.000,4,0.000,0.063,3125,3730,1883
$GC,13769,0.99,196.2,674.6,9.8,1086,13773,0.00,2.40,0.00,0.000,6,0.000,0.039,3125,2354,1883
$GC,14091,0.99,196.2,644.0,9.8,1102,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2353,1882
$GC,14400,0.99,196.2,612.2,9.9,1117,14404,0.00,2.50,0.00,0.000,4,0.000,0.059,3125,961,1882
$GC,14438,0.99,196.2,608.2,10.4,1119,14443,0.00,2.47,0.00,0.000,6,0.000,0.038,3125,2386,1882
$GC,14765,1.01,209.6,579.0,8.3,1135,14787,0.00,2.65,12.48,1.167,4,0.000,0.058,3125,972,1823
$GC,14814,1.01,209.6,574.7,9.5,1137,14819,0.00,2.45,0.00,0.000,6,0.000,0.038,3125,2369,1822
$GC,15142,1.04,231.8,548.8,7.9,1153,15163,0.00,0.00,19.48,1.118,6,0.000,0.000,3125,2370,1732
$GC,15471,1.08,231.8,518.7,9.2,1169,15475,0.00,2.53,0.00,0.000,4,0.000,0.057,3125,969,1731
$GC,15514,1.08,231.8,514.4,9.8,1171,15518,0.00,2.45,0.00,0.000,6,0.000,0.038,3125,2361,1730
$GC,15837,1.11,231.8,483.8,9.8,1194,15841,0.00,2.50,0.00,0.000,4,0.000,0.057,3125,969,1730
$GC,15876,1.11,231.8,479.8,10.0,1197,15880,0.00,2.40,0.00,0.000,6,0.000,0.038,3124,2352,1730
$GC,16200,1.15,231.8,449.9,9.1,1227,16202,0.15,0.00,0.00,0.000,6,0.062,0.000,3160,2352,1730
$GC,16520,1.11,231.8,417.3,9.4,1257,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2352,1730
$GC,16839,1.07,231.8,387.2,9.6,1287,16843,0.00,2.47,0.00,0.000,4,0.000,0.054,3160,967,1730
$GC,16902,1.04,231.8,380.8,10.0,1292,16907,0.15,2.38,0.00,0.000,6,0.108,0.037,3133,2343,1730
$GC,17226,1.08,231.8,350.0,9.6,1322,17230,0.00,2.45,0.00,0.000,4,0.000,0.054,3133,968,1730
$GC,17277,1.12,232.8,345.1,9.0,1326,17281,0.00,2.35,0.00,0.000,6,0.000,0.037,3133,2331,1730
$GC,17602,1.17,237.3,315.6,8.8,1356,17614,0.12,2.47,4.65,0.977,4,0.067,0.054,3163,964,1710
$GC,17648,1.17,237.3,310.6,10.9,1360,17652,0.00,2.33,0.00,0.000,6,0.000,0.035,3163,2311,1710
$GC,17972,1.17,237.3,276.7,9.7,1390,17977,0.00,2.40,0.00,0.000,4,0.000,0.054,3163,963,1710
$GC,18079,1.17,237.3,266.0,10.7,1399,18083,0.00,2.28,0.00,0.000,6,0.000,0.035,3163,2291,1710
$GC,18412,1.17,240.9,235.2,8.8,1443,18425,0.00,2.40,3.62,0.913,4,0.000,0.052,3163,969,1695
$GC,18464,1.17,240.9,230.2,10.2,1452,18471,0.00,2.22,0.00,0.000,6,0.000,0.035,3163,2267,1695
$GC,18808,1.20,258.3,198.1,8.1,1513,18828,0.00,2.67,14.30,0.841,4,0.000,0.052,3163,3728,1624
$GC,18862,1.20,258.3,193.2,9.9,1522,18869,0.00,2.58,0.00,0.000,6,0.000,0.035,3163,2233,1624
$GC,19206,1.24,283.5,163.7,7.7,1583,19230,0.00,0.00,20.38,0.788,6,0.000,0.000,3163,2232,1521
$GC,19569,1.40,330.2,137.2,6.6,1647,19616,0.17,2.33,37.80,0.738,4,0.054,0.051,3214,970,1329
$GC,19646,1.42,338.9,130.7,8.6,1660,19659,0.00,2.20,6.80,0.759,6,0.000,0.032,3214,2250,1296
$GC,19998,1.49,352.9,100.6,8.3,1722,20017,0.00,2.62,10.95,0.724,4,0.000,0.049,3214,3726,1238
$GC,20057,1.56,353.1,95.7,9.0,1732,20065,0.12,2.55,0.00,0.000,6,0.059,0.032,3248,2227,1238
$GC,20402,1.60,376.8,65.3,7.8,1793,20427,0.00,2.72,19.08,0.660,4,0.000,0.046,3248,3727,1141
$GC,20490,1.64,376.8,57.6,9.6,1808,20497,0.00,2.50,0.00,0.000,6,0.000,0.031,3248,2251,1140
$GC,20835,1.71,378.8,25.7,8.9,1869,20843,0.12,2.55,0.00,0.000,4,0.058,0.044,3286,3730,1140
$GC,20922,1.71,378.8,16.7,9.4,1884,20929,0.00,2.42,0.00,0.000,6,0.000,0.030,3285,2282,1139
$STATE,21098,end climb,SURFACE_DEPTH_REACHED
$STATE,21098,begin surface coast
$FINISH,-0.1,1.021217
$STATE,21120,end surface coast,CONTROL_FINISHED_OK
$STATE,21120,begin surface
$SM_CCo,21141,47.58,0.555,0,0,740,475.15
$SM_GC,0.82,0.00,0.00,47.58,0.000,0.000,0.555,250,2127,740,-12.21,-0.65,475.15
$IRIDIUM_FIX,1243.25,12021.43,130697,141408
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,468
$24V_AH,23.2,30.123
$10V_AH,10.1,14.964
$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,32.800,172.200,438.200,47.575,0.000,26.358,34.882,152.921,128.250,0.000,0.000,15.704,3952.757,13221.704,683.406,3163.098,502.606,0.000,2265.651,0.000,3095.754,0.000,84.592
$DEVICE_MAMPS,169.507,64.428,1343.017,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1291.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59736,1919
$CAP_FILE_SIZE,199230,0
$CFSIZE,260165632,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,344.1,1
$GPS,200308,015355,1245.300,12015.735,41,0.9,41,-0.8