version: 66.03
glider: 122
mission: 6
dive: 174
start: 3 22 108 23 52 47
data:
$ID,122
$MISSION,6
$DIVE,174
$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,-30466.686
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,234701,1250.738,12042.535,39,1.0,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.3
$GPS2,235214,1250.778,12042.525,10,1.3,10,-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,238.1,49741,-17.4,-9.016
$D_GRID,1098
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-62.70,0.000,2,0.000,0.000,249,2117,2425
$GC,88,-1.42,-146.0,3.1,-7.5,10,126,13.62,2.38,-16.40,0.000,4,0.173,0.055,2590,763,3277
$GC,256,-1.14,-146.0,42.1,-23.6,39,264,0.35,2.35,0.00,0.000,6,0.114,0.028,2655,2167,3277
$GC,602,-1.04,-146.0,97.0,-12.7,100,609,0.10,2.38,0.00,0.000,4,0.110,0.044,2674,3550,3279
$GC,672,-1.04,-146.0,105.6,-11.8,112,679,0.00,2.22,0.00,0.000,6,0.000,0.027,2674,2202,3279
$GC,1016,-1.04,-146.0,141.7,-9.1,173,1023,0.00,2.50,0.00,0.000,4,0.000,0.044,2674,759,3280
$GC,1058,-1.10,-146.0,145.7,-9.2,180,1065,0.00,2.42,0.00,0.000,6,0.000,0.028,2674,2208,3281
$GC,1393,-1.19,-146.0,172.9,-7.7,241,1400,0.12,0.00,0.00,0.000,6,0.053,0.000,2632,2209,3282
$GC,1737,-1.19,-146.0,203.4,-8.1,302,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2209,3282
$GC,2080,-1.19,-146.0,230.6,-8.7,363,2087,0.00,2.33,0.00,0.000,4,0.000,0.048,2632,3556,3282
$GC,2132,-1.19,-146.0,235.5,-9.5,372,2138,0.00,2.22,0.00,0.000,6,0.000,0.029,2632,2214,3282
$GC,2466,-1.19,-146.0,263.9,-8.1,417,2470,0.00,2.53,0.00,0.000,4,0.000,0.049,2632,762,3281
$GC,2493,-1.23,-146.0,266.3,-9.2,419,2500,0.00,2.42,0.00,0.000,6,0.000,0.031,2632,2207,3280
$GC,2821,-1.23,-146.0,294.8,-8.9,450,2825,0.00,2.33,0.00,0.000,4,0.000,0.048,2632,3556,3280
$GC,2842,-1.23,-146.0,297.1,-9.1,451,2850,0.00,2.28,0.00,0.000,6,0.000,0.030,2632,2207,3279
$GC,3169,-1.23,-146.0,324.3,-8.1,482,3173,0.00,2.53,0.00,0.000,4,0.000,0.051,2632,769,3278
$GC,3202,-1.27,-146.0,327.2,-8.4,484,3209,0.00,2.38,0.00,0.000,6,0.000,0.033,2632,2174,3277
$GC,3528,-1.30,-146.0,351.7,-7.2,515,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2174,3276
$GC,3847,-1.34,-146.0,374.5,-7.5,545,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2175,3274
$GC,4164,-1.38,-146.0,398.7,-7.4,575,4169,0.12,2.40,0.00,0.000,4,0.057,0.050,2594,3549,3272
$GC,4231,-1.33,-146.0,404.5,-8.5,580,4239,0.10,2.35,0.00,0.000,6,0.107,0.033,2613,2161,3271
$GC,4556,-1.33,-146.0,429.7,-8.3,611,4560,0.00,2.45,0.00,0.000,4,0.000,0.050,2613,3555,3269
$GC,4595,-1.33,-146.0,432.9,-8.5,614,4600,0.00,2.35,0.00,0.000,6,0.000,0.033,2613,2170,3270
$GC,4921,-1.33,-146.0,459.6,-8.3,644,4925,0.00,2.42,0.00,0.000,4,0.000,0.051,2613,3548,3268
$GC,4976,-1.33,-146.0,464.8,-9.4,648,4983,0.00,2.33,0.00,0.000,6,0.000,0.034,2613,2181,3268
$GC,5302,-1.33,-146.0,491.3,-8.0,679,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2180,3266
$GC,5625,-1.33,-146.0,517.5,-8.4,700,5629,0.00,2.40,0.00,0.000,4,0.000,0.052,2613,3550,3264
$GC,5679,-1.33,-146.0,522.5,-9.1,702,5686,0.00,2.33,0.00,0.000,6,0.000,0.035,2613,2203,3263
$GC,5995,-1.33,-146.0,547.6,-7.9,718,5999,0.00,2.38,0.00,0.000,4,0.000,0.052,2613,3548,3261
$GC,6028,-1.33,-146.0,550.4,-8.5,719,6035,0.00,2.28,0.00,0.000,6,0.000,0.034,2613,2209,3261
$GC,6344,-1.33,-146.0,572.8,-6.6,735,6348,0.00,2.60,0.00,0.000,4,0.000,0.057,2613,752,3260
$GC,6393,-1.37,-146.0,576.6,-8.7,737,6397,0.00,2.47,0.00,0.000,6,0.000,0.035,2613,2192,3259
$GC,6710,-1.37,-146.0,600.2,-7.1,752,6714,0.00,2.40,0.00,0.000,4,0.000,0.055,2613,3557,3257
$GC,6749,-1.37,-146.0,603.2,-7.4,754,6753,0.00,2.33,0.00,0.000,6,0.000,0.035,2613,2191,3257
$GC,7075,-1.37,-146.0,626.6,-7.5,770,7080,0.00,2.42,0.00,0.000,4,0.000,0.054,2613,3558,3256
$GC,7118,-1.37,-146.0,630.0,-8.9,772,7122,0.00,2.30,0.00,0.000,6,0.000,0.035,2613,2204,3256
$GC,7450,-1.37,-146.0,659.3,-9.1,788,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,3255
$GC,7759,-1.37,-146.0,683.5,-7.3,803,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,3253
$GC,8069,-1.37,-146.0,709.4,-8.2,818,8073,0.00,2.40,0.00,0.000,4,0.000,0.055,2613,3556,3252
$GC,8154,-1.37,-146.0,717.1,-7.4,822,8158,0.00,2.30,0.00,0.000,6,0.000,0.036,2612,2207,3251
$GC,8481,-1.37,-146.0,742.3,-7.8,838,8485,0.00,2.62,0.00,0.000,4,0.000,0.059,2613,747,3250
$GC,8536,-1.41,-146.0,746.6,-7.6,840,8543,0.00,2.50,0.00,0.000,6,0.000,0.038,2613,2194,3250
$GC,8852,-1.41,-146.0,769.8,-7.5,856,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2194,3249
$GC,9160,-1.41,-146.0,793.0,-8.0,871,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,3248
$GC,9470,-1.41,-146.0,817.4,-7.4,886,9474,0.00,2.42,0.00,0.000,4,0.000,0.057,2613,3561,3247
$GC,9491,-1.41,-146.0,819.1,-7.6,887,9495,0.00,2.35,0.00,0.000,6,0.000,0.037,2613,2191,3247
$GC,9812,-1.46,-146.0,840.4,-7.5,903,9814,0.12,0.00,0.00,0.000,6,0.062,0.000,2580,2190,3246
$GC,10122,-1.90,-146.0,855.7,0.2,918,10127,0.38,2.45,0.00,0.000,4,0.052,0.058,2488,3562,3245
$STATE,10197,end dive,NO_VERTICAL_VELOCITY
$STATE,10197,begin apogee
$GC,10204,-0.34,0.0,855.4,0.0,921,10331,1.58,0.00,120.07,1.279,6,0.065,0.000,2830,2365,2678
$STATE,10332,end apogee,CONTROL_FINISHED_OK
$STATE,10332,begin climb
$GC,10334,1.42,146.0,855.2,0.0,928,10468,1.77,2.62,124.50,1.231,4,0.053,0.059,3217,985,2081
$GC,10492,1.47,173.3,850.5,7.6,935,10520,0.00,2.47,23.42,1.226,6,0.000,0.039,3217,2382,1970
$GC,10828,1.49,187.5,823.9,8.3,952,10850,0.00,2.53,12.05,1.245,4,0.000,0.061,3217,3722,1913
$GC,10905,1.49,187.5,816.9,9.4,955,10910,0.00,2.35,0.00,0.000,6,0.000,0.039,3218,2396,1912
$GC,11226,1.53,207.7,791.0,8.0,971,11249,0.00,2.72,17.12,1.240,4,0.000,0.060,3218,966,1830
$GC,11318,1.55,221.6,783.4,8.3,975,11340,0.12,2.53,12.10,1.235,6,0.070,0.040,3246,2395,1774
$GC,11649,1.42,221.6,743.6,12.4,991,11651,0.17,0.00,0.00,0.000,6,0.115,0.000,3216,2395,1772
$GC,11958,1.31,221.6,707.6,12.3,1006,11963,0.15,2.60,0.00,0.000,4,0.126,0.058,3186,964,1771
$GC,12024,1.25,221.6,699.6,11.3,1009,12028,0.00,2.47,0.00,0.000,6,0.000,0.040,3186,2374,1771
$GC,12351,1.20,221.6,664.0,10.7,1025,12355,0.00,2.55,0.00,0.000,4,0.000,0.059,3186,970,1771
$GC,12407,1.15,221.6,657.7,11.5,1027,12415,0.17,2.42,0.00,0.000,6,0.110,0.040,3155,2350,1770
$GC,12722,1.15,222.5,628.0,9.0,1043,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2350,1770
$GC,13031,1.15,222.5,599.5,9.3,1058,13036,0.00,2.50,0.00,0.000,4,0.000,0.058,3155,970,1770
$GC,13075,1.15,222.5,595.1,10.1,1060,13079,0.00,2.42,0.00,0.000,6,0.000,0.039,3154,2338,1769
$GC,13402,1.15,222.5,563.5,9.2,1076,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2338,1770
$GC,13712,1.16,228.8,536.2,8.7,1091,13723,0.00,2.53,5.95,1.137,4,0.000,0.058,3154,966,1744
$GC,13761,1.16,228.8,531.6,9.6,1093,13766,0.00,2.40,0.00,0.000,6,0.000,0.039,3154,2330,1744
$GC,14083,1.18,244.6,504.2,8.2,1109,14104,0.00,0.00,13.70,1.092,6,0.000,0.000,3154,2330,1679
$GC,14424,1.22,244.6,474.1,9.0,1138,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2330,1679
$GC,14750,1.26,244.6,444.4,9.3,1169,14752,0.12,0.00,0.00,0.000,6,0.066,0.000,3187,2330,1679
$GC,15068,1.26,244.6,411.9,9.4,1199,15072,0.00,2.50,0.00,0.000,4,0.000,0.059,3187,3732,1678
$GC,15101,1.22,244.6,408.1,10.9,1201,15109,0.00,2.45,0.00,0.000,6,0.000,0.039,3187,2310,1678
$GC,15427,1.22,244.6,375.5,10.0,1232,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2310,1678
$GC,15744,1.22,244.6,344.0,9.5,1262,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2309,1679
$GC,16065,1.22,247.9,314.2,8.8,1292,16078,0.00,2.47,2.90,0.967,4,0.000,0.057,3187,962,1666
$GC,16123,1.22,247.9,308.4,9.9,1297,16128,0.00,2.40,0.00,0.000,6,0.000,0.038,3187,2337,1667
$GC,16448,1.22,247.9,278.6,9.2,1327,16452,0.00,2.47,0.00,0.000,4,0.000,0.054,3187,957,1667
$GC,16558,1.23,251.5,268.1,8.8,1336,16567,0.00,2.35,3.55,0.940,6,0.000,0.036,3187,2314,1651
$GC,16890,1.26,270.5,239.0,8.0,1378,16910,0.00,0.00,15.95,0.866,6,0.000,0.000,3187,2314,1575
$GC,17248,1.27,273.2,206.4,8.9,1441,17257,0.00,2.50,2.42,0.873,4,0.000,0.053,3188,960,1563
$GC,17297,1.27,273.2,201.5,9.6,1449,17304,0.00,2.38,0.00,0.000,6,0.000,0.036,3187,2325,1563
$GC,17643,1.32,278.4,171.9,8.8,1510,17657,0.00,2.53,4.47,0.841,4,0.000,0.054,3187,3721,1543
$GC,17692,1.36,278.4,167.5,9.3,1518,17699,0.00,2.42,0.00,0.000,6,0.000,0.035,3187,2307,1543
$GC,18032,1.53,333.0,141.7,6.2,1579,18081,0.20,0.00,44.17,0.729,6,0.054,0.000,3241,2306,1320
$GC,18419,1.56,347.7,108.6,8.3,1647,18438,0.00,2.45,11.35,0.729,4,0.000,0.052,3241,957,1259
$GC,18467,1.60,349.8,104.4,8.9,1655,18474,0.00,2.42,0.00,0.000,6,0.000,0.033,3241,2363,1258
$GC,18812,1.75,400.2,79.5,6.4,1716,18860,0.17,2.60,42.45,0.647,4,0.056,0.049,3290,964,1045
$GC,18895,1.75,400.2,71.8,9.9,1730,18901,0.00,2.47,0.00,0.000,6,0.000,0.034,3290,2392,1042
$GC,19239,1.79,400.2,39.9,9.3,1791,19245,0.00,2.33,0.00,0.000,4,0.000,0.051,3290,3720,1040
$GC,19285,1.79,400.2,35.7,9.2,1799,19292,0.00,2.30,0.00,0.000,6,0.000,0.030,3290,2351,1040
$GC,19630,1.90,424.2,6.8,7.8,1860,19656,0.12,2.53,18.48,0.580,4,0.059,0.048,3326,969,947
$GC,19679,1.90,424.2,2.3,10.1,1868,19686,0.00,2.38,0.00,0.000,6,0.000,0.031,3326,2355,945
$STATE,19692,end climb,SURFACE_DEPTH_REACHED
$STATE,19692,begin surface coast
$FINISH,-0.2,1.005605
$STATE,19708,end surface coast,CONTROL_FINISHED_OK
$STATE,19709,begin surface
$SM_CCo,19731,25.02,0.557,0,0,740,475.15
$SM_GC,1.03,0.00,0.00,25.02,0.000,0.000,0.557,254,2108,740,-12.19,-1.19,475.15
$IRIDIUM_FIX,1245.46,12042.28,160697,191921
$TT8_MAMPS,0.023777
$HUMID,1967
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.50
$XPDR_PINGS,424
$ALTIM_BOTTOM_PING,651.8,48.6
$24V_AH,23.3,32.593
$10V_AH,10.1,16.305
$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,33.075,170.000,474.675,25.025,0.000,26.576,35.692,143.695,110.500,0.000,0.000,11.026,3777.121,12040.680,713.683,3044.878,501.140,0.000,2256.577,0.000,3004.309,0.000,35.586
$DEVICE_MAMPS,172.575,60.593,1279.356,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59777,1873
$CAP_FILE_SIZE,188710,0
$CFSIZE,260165632,243392512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,  4.3,1
$GPS,230308,052307,1250.099,12040.359,27,1.4,27,-0.8