version: 66.03
glider: 122
mission: 6
dive: 173
start: 3 22 108 19 9 12
data:
$ID,122
$MISSION,6
$DIVE,173
$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,-30455.033
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,190237,1249.565,12041.025,34,1.3,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,190826,1249.586,12041.024,11,1.5,16,-0.8
$SPEED_LIMITS,0.156,0.209
$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,69.2,3747,-21.4,-9.016
$D_GRID,1166
$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,19,-1.62,-99.4,0.0,0.0,0,86,0.00,0.00,-64.70,0.000,2,0.000,0.000,252,2128,2510
$GC,89,-1.63,-106.6,3.5,-8.5,11,120,13.38,0.00,-11.10,0.000,6,0.173,0.000,2545,2127,3112
$GC,457,-1.38,-106.6,91.7,-19.0,76,465,0.28,2.45,0.00,0.000,4,0.130,0.041,2597,3560,3115
$GC,516,-1.26,-106.6,102.1,-15.9,86,524,0.15,2.33,0.00,0.000,6,0.116,0.027,2624,2151,3116
$GC,862,-1.26,-106.6,146.1,-11.0,147,869,0.00,2.42,0.00,0.000,4,0.000,0.041,2624,3570,3118
$GC,925,-1.26,-106.6,154.0,-12.2,158,932,0.00,2.33,0.00,0.000,6,0.000,0.028,2624,2168,3118
$GC,1271,-1.32,-106.6,187.3,-10.0,219,1278,0.00,2.40,0.00,0.000,4,0.000,0.042,2624,3568,3118
$GC,1325,-1.37,-106.6,192.8,-10.8,228,1332,0.00,2.28,0.00,0.000,6,0.000,0.028,2624,2194,3119
$GC,1671,-1.44,-110.4,224.1,-8.8,289,1678,0.15,2.53,0.00,0.000,4,0.053,0.047,2575,749,3118
$GC,1735,-1.44,-110.4,231.0,-10.6,300,1742,0.00,2.45,0.00,0.000,6,0.000,0.030,2575,2207,3118
$GC,2070,-1.44,-110.4,266.9,-10.3,346,2074,0.00,2.33,0.00,0.000,4,0.000,0.046,2575,3557,3118
$GC,2121,-1.41,-110.4,272.1,-10.4,350,2126,0.12,2.28,0.00,0.000,6,0.110,0.031,2597,2196,3117
$GC,2446,-1.44,-112.9,301.4,-8.8,380,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2193,3115
$GC,2765,-1.50,-126.5,328.1,-8.1,410,2769,0.00,2.38,0.00,0.000,4,0.000,0.047,2597,3558,3114
$GC,2852,-1.50,-126.5,335.8,-9.5,417,2856,0.00,2.28,0.00,0.000,6,0.000,0.032,2597,2209,3113
$GC,3178,-1.57,-133.5,363.8,-8.5,447,3180,0.15,0.00,0.00,0.000,6,0.055,0.000,2558,2206,3112
$GC,3498,-1.53,-133.5,396.0,-10.0,477,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2205,3110
$GC,3823,-1.50,-133.5,429.8,-10.3,508,3828,0.00,2.58,0.00,0.000,4,0.000,0.053,2557,753,3108
$GC,3875,-1.50,-133.5,435.0,-10.0,512,3879,0.00,2.47,0.00,0.000,6,0.000,0.033,2558,2201,3107
$GC,4200,-1.50,-133.5,466.3,-9.4,542,4205,0.00,2.58,0.00,0.000,4,0.000,0.054,2557,754,3106
$GC,4240,-1.50,-133.5,470.3,-9.8,545,4245,0.00,2.45,0.00,0.000,6,0.000,0.034,2557,2187,3105
$GC,4568,-1.50,-133.5,500.2,-9.1,575,4572,0.00,2.40,0.00,0.000,4,0.000,0.053,2558,3555,3103
$GC,4623,-1.47,-133.5,505.9,-10.2,577,4631,0.15,2.33,0.00,0.000,6,0.114,0.034,2583,2187,3103
$GC,4941,-1.51,-137.9,531.8,-8.7,593,4945,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,744,3101
$GC,4968,-1.55,-137.9,534.5,-9.0,594,4972,0.00,2.50,0.00,0.000,6,0.000,0.035,2584,2193,3101
$GC,5291,-1.60,-146.0,561.8,-8.4,610,5293,0.12,0.00,0.00,0.000,6,0.060,0.000,2551,2194,3098
$GC,5600,-1.57,-146.0,590.8,-9.4,625,5604,0.00,2.40,0.00,0.000,4,0.000,0.055,2551,3558,3097
$GC,5627,-1.52,-146.0,593.8,-10.8,626,5632,0.12,2.35,0.00,0.000,6,0.120,0.035,2571,2177,3096
$GC,5951,-1.52,-146.0,621.0,-7.8,642,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2176,3095
$GC,6257,-1.52,-146.0,645.5,-8.1,657,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2176,3094
$GC,6568,-1.52,-146.0,671.3,-8.3,672,6571,0.00,2.42,0.00,0.000,4,0.000,0.054,2571,3553,3092
$GC,6606,-1.52,-146.0,674.9,-8.4,673,6614,0.00,2.35,0.00,0.000,6,0.000,0.036,2571,2178,3092
$GC,6922,-1.52,-146.0,699.6,-7.6,689,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2177,3090
$GC,7231,-1.56,-146.0,724.5,-8.2,704,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2177,3089
$GC,7541,-1.59,-146.0,748.3,-7.7,719,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2177,3088
$GC,7852,-2.18,-146.0,759.6,0.3,734,7854,0.65,0.00,0.00,0.000,6,0.054,0.000,2424,2176,3087
$STATE,7889,end dive,NO_VERTICAL_VELOCITY
$STATE,7889,begin apogee
$GC,7894,-0.34,0.0,759.2,0.0,736,7983,1.92,0.00,85.20,1.206,6,0.074,0.000,2832,2384,2677
$STATE,7984,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7987,1.70,146.0,759.2,0.0,740,8120,2.00,2.70,123.10,1.157,4,0.057,0.058,3275,975,2081
$GC,8149,1.52,146.0,749.3,13.2,747,8156,0.22,2.45,0.00,0.000,6,0.127,0.038,3236,2363,2080
$GC,8464,1.43,146.0,711.6,11.6,763,8469,0.00,2.55,0.00,0.000,4,0.000,0.058,3236,967,2079
$GC,8508,1.33,146.0,706.2,11.5,765,8513,0.22,2.45,0.00,0.000,6,0.119,0.039,3196,2362,2079
$GC,8829,1.33,146.0,675.4,9.5,781,8833,0.00,2.53,0.00,0.000,4,0.000,0.058,3196,974,2078
$GC,8873,1.29,146.0,671.1,10.1,783,8877,0.00,2.42,0.00,0.000,6,0.000,0.038,3196,2359,2078
$GC,9195,1.29,146.0,641.6,9.4,799,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2359,2077
$GC,9503,1.29,146.0,613.5,9.4,814,9507,0.00,2.53,0.00,0.000,4,0.000,0.058,3196,967,2076
$GC,9542,1.29,146.0,609.8,9.7,816,9547,0.00,2.42,0.00,0.000,6,0.000,0.039,3196,2352,2075
$GC,9869,1.29,146.0,579.2,9.6,832,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,2076
$GC,10178,1.29,146.0,549.7,9.2,847,10182,0.00,2.50,0.00,0.000,4,0.000,0.058,3196,969,2075
$GC,10210,1.29,146.0,546.7,9.4,848,10217,0.00,2.42,0.00,0.000,6,0.000,0.038,3196,2357,2075
$GC,10528,1.29,148.7,519.1,8.8,864,10532,0.00,2.50,0.00,0.000,4,0.000,0.057,3196,974,2075
$GC,10599,1.29,148.7,512.0,9.5,867,10603,0.00,2.38,0.00,0.000,6,0.000,0.037,3196,2326,2075
$GC,10926,1.29,148.7,482.1,9.1,892,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2325,2074
$GC,11246,1.31,156.4,454.1,8.5,922,11256,0.00,0.00,7.30,1.077,6,0.000,0.000,3196,2325,2040
$GC,11575,1.31,157.3,423.9,9.0,953,11579,0.00,2.45,0.00,0.000,4,0.000,0.056,3196,966,2040
$GC,11629,1.31,157.3,418.3,10.2,957,11637,0.00,2.42,0.00,0.000,6,0.000,0.038,3196,2340,2039
$GC,11958,1.32,161.1,388.8,8.8,988,11966,0.00,0.00,4.10,1.032,6,0.000,0.000,3196,2339,2021
$GC,12284,1.33,171.9,360.5,8.3,1019,12295,0.00,0.00,9.20,0.996,6,0.000,0.000,3196,2339,1977
$GC,12614,1.38,182.2,332.6,8.3,1050,12627,0.00,2.58,8.57,0.973,4,0.000,0.055,3196,966,1935
$GC,12650,1.39,185.2,329.3,8.8,1053,12663,0.00,2.40,3.28,0.956,6,0.000,0.037,3196,2332,1921
$GC,12980,1.44,193.7,301.5,8.4,1084,12994,0.10,2.58,6.88,0.950,4,0.081,0.056,3218,3729,1887
$GC,13040,1.44,193.7,295.8,9.7,1089,13044,0.00,2.42,0.00,0.000,6,0.000,0.036,3219,2325,1887
$GC,13366,1.44,193.7,266.3,9.1,1119,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2326,1887
$GC,13690,1.45,199.4,236.2,8.6,1162,13704,0.00,2.47,4.88,0.904,4,0.000,0.054,3219,974,1864
$GC,13732,1.45,199.4,232.2,9.7,1169,13740,0.00,2.38,0.00,0.000,6,0.000,0.035,3219,2342,1864
$GC,14078,1.47,211.4,201.6,8.2,1230,14091,0.00,0.00,9.62,0.848,6,0.000,0.000,3219,2342,1817
$GC,14430,1.54,227.2,172.4,8.0,1292,14449,0.00,0.00,13.30,0.805,6,0.000,0.000,3219,2342,1750
$GC,14787,1.69,265.5,143.8,6.4,1355,14829,0.22,2.53,30.73,0.743,4,0.057,0.051,3275,3723,1595
$GC,14863,1.69,265.5,137.6,10.0,1367,14870,0.00,2.42,0.00,0.000,6,0.000,0.034,3275,2313,1594
$GC,15208,1.77,286.7,111.7,7.6,1428,15230,0.00,2.47,16.30,0.722,4,0.000,0.050,3275,970,1509
$GC,15270,1.83,298.2,106.9,8.2,1438,15286,0.12,2.30,9.20,0.726,6,0.069,0.032,3307,2306,1462
$GC,15623,1.88,325.0,75.3,7.2,1500,15651,0.00,2.47,21.08,0.665,4,0.000,0.048,3307,965,1352
$GC,15742,1.88,327.6,65.3,8.8,1520,15748,0.00,2.17,0.00,0.000,6,0.000,0.031,3307,2241,1350
$GC,16087,1.97,341.7,39.4,8.1,1581,16108,0.12,2.62,13.30,0.627,4,0.064,0.047,3340,3727,1283
$GC,16159,1.97,341.7,32.7,9.2,1593,16166,0.00,2.53,0.00,0.000,6,0.000,0.031,3340,2237,1282
$STATE,16484,end climb,SURFACE_DEPTH_REACHED
$STATE,16484,begin surface coast
$FINISH,-0.2,0.998903
$STATE,16508,end surface coast,CONTROL_FINISHED_OK
$STATE,16508,begin surface
$SM_CCo,16530,63.95,0.540,0,0,740,475.15
$SM_GC,0.75,0.00,0.00,63.95,0.000,0.000,0.540,249,2117,740,-12.22,-0.93,475.15
$IRIDIUM_FIX,1245.46,12037.35,160697,121244
$TT8_MAMPS,0.023777
$HUMID,1910
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,399
$ALTIM_BOTTOM_PING,751.5,11.1
$24V_AH,23.3,32.419
$10V_AH,10.1,16.209
$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,33.800,127.400,366.025,63.950,0.000,28.839,39.989,158.758,106.500,0.000,0.000,16.526,3398.625,9834.524,616.585,2618.671,488.756,0.000,1917.181,0.000,2570.831,0.000,50.721
$DEVICE_MAMPS,173.342,58.292,1205.724,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50365,1655
$CAP_FILE_SIZE,159714,0
$CFSIZE,260165632,243515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,  0.1,1
$GPS,220308,234701,1250.738,12042.535,39,1.0,39,-0.8