version: 66.03
glider: 122
mission: 6
dive: 187
start: 3 26 108 0 31 40
data:
$ID,122
$MISSION,6
$DIVE,187
$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,-30647.734
$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,71
$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,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
$GPS1,002425,1245.403,12015.300,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.4
$GPS2,003108,1245.402,12015.271,10,1.2,15,-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,85.6,50583,-17.4,-9.016
$D_GRID,823
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.42,-146.0,0.0,0.0,0,104,0.00,0.00,-79.12,0.000,2,0.000,0.000,254,2104,2559
$GC,107,-1.42,-146.0,3.6,-8.7,13,139,13.52,2.35,-13.18,0.000,4,0.171,0.054,2588,785,3276
$GC,202,-1.13,-146.0,27.8,-22.8,29,209,0.35,2.30,0.00,0.000,6,0.114,0.026,2653,2163,3277
$GC,547,-0.98,-146.0,89.1,-15.7,90,555,0.15,2.38,0.00,0.000,4,0.102,0.041,2686,785,3278
$GC,573,-0.92,-146.0,92.6,-13.7,94,581,0.00,2.25,0.00,0.000,6,0.000,0.026,2686,2141,3278
$GC,918,-0.92,-146.0,129.0,-9.4,155,925,0.00,2.40,0.00,0.000,4,0.000,0.043,2686,3548,3279
$GC,1000,-0.96,-146.0,137.0,-10.2,169,1007,0.00,2.25,0.00,0.000,6,0.000,0.027,2685,2181,3280
$GC,1341,-1.04,-146.0,165.1,-7.5,230,1348,0.00,2.35,0.00,0.000,4,0.000,0.043,2686,3553,3280
$GC,1389,-1.14,-146.0,168.8,-8.3,238,1396,0.15,2.33,0.00,0.000,6,0.050,0.028,2639,2144,3280
$GC,1734,-1.14,-146.0,196.0,-8.3,299,1741,0.00,2.40,0.00,0.000,4,0.000,0.043,2639,3543,3280
$GC,1788,-1.14,-146.0,201.0,-9.4,308,1795,0.00,2.28,0.00,0.000,6,0.000,0.028,2639,2173,3280
$GC,2132,-1.14,-146.0,230.2,-8.8,369,2139,0.00,2.38,0.00,0.000,4,0.000,0.044,2639,3552,3280
$GC,2212,-1.14,-146.0,236.9,-8.6,383,2219,0.00,2.28,0.00,0.000,6,0.000,0.030,2639,2189,3279
$GC,2555,-1.17,-146.0,263.5,-7.7,429,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2189,3278
$GC,2875,-1.21,-146.0,288.0,-7.3,459,2879,0.00,2.35,0.00,0.000,4,0.000,0.047,2639,3543,3275
$GC,2909,-1.24,-146.0,291.0,-8.1,461,2916,0.00,2.30,0.00,0.000,6,0.000,0.032,2639,2176,3275
$GC,3236,-1.28,-146.0,314.4,-7.3,492,3240,0.00,2.40,0.00,0.000,4,0.000,0.048,2639,3550,3273
$GC,3287,-1.32,-146.0,318.7,-8.3,496,3291,0.00,2.30,0.00,0.000,6,0.000,0.033,2639,2189,3272
$GC,3613,-1.36,-146.0,345.1,-8.3,526,3618,0.15,2.55,0.00,0.000,4,0.055,0.052,2593,751,3270
$GC,3642,-1.33,-146.0,347.9,-10.5,528,3647,0.10,2.47,0.00,0.000,6,0.116,0.033,2610,2200,3270
$GC,3966,-1.33,-146.0,377.8,-9.4,558,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2202,3268
$GC,4285,-1.33,-146.0,405.6,-8.8,588,4289,0.00,2.35,0.00,0.000,4,0.000,0.050,2610,3550,3266
$GC,4359,-1.33,-146.0,412.5,-9.7,594,4363,0.00,2.33,0.00,0.000,6,0.000,0.034,2610,2182,3264
$GC,4685,-1.33,-146.0,440.2,-7.8,624,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2177,3263
$GC,5002,-1.33,-146.0,466.6,-8.4,654,5006,0.00,2.42,0.00,0.000,4,0.000,0.051,2610,3555,3261
$GC,5046,-1.33,-146.0,470.7,-9.1,657,5053,0.00,2.35,0.00,0.000,6,0.000,0.035,2610,2173,3260
$GC,5372,-1.33,-146.0,498.5,-9.0,688,5377,0.00,2.42,0.00,0.000,4,0.000,0.051,2610,3549,3258
$GC,5427,-1.33,-146.0,503.9,-9.1,690,5434,0.00,2.33,0.00,0.000,6,0.000,0.035,2610,2201,3258
$GC,5744,-1.33,-146.0,529.1,-7.7,706,5748,0.00,2.38,0.00,0.000,4,0.000,0.052,2610,3552,3257
$GC,5782,-1.33,-146.0,532.2,-7.7,707,5788,0.00,2.28,0.00,0.000,6,0.000,0.035,2610,2211,3256
$GC,6100,-1.33,-146.0,555.7,-7.3,723,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2209,3255
$GC,6407,-1.33,-146.0,579.5,-7.6,738,6411,0.00,2.35,0.00,0.000,4,0.000,0.054,2610,3548,3253
$GC,6434,-1.33,-146.0,581.7,-8.0,739,6438,0.00,2.28,0.00,0.000,6,0.000,0.035,2611,2216,3253
$GC,6761,-1.33,-146.0,607.3,-8.1,755,6765,0.00,2.38,0.00,0.000,4,0.000,0.054,2610,3556,3251
$GC,6788,-1.33,-146.0,609.5,-8.8,756,6792,0.00,2.28,0.00,0.000,6,0.000,0.036,2610,2222,3251
$GC,7110,-1.33,-146.0,631.9,-6.8,772,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2220,3250
$GC,7419,-1.33,-146.0,654.3,-7.6,787,7423,0.00,2.38,0.00,0.000,4,0.000,0.055,2611,3557,3248
$GC,7474,-1.33,-146.0,658.8,-8.7,789,7480,0.00,2.30,0.00,0.000,6,0.000,0.037,2610,2217,3248
$GC,7790,-1.33,-146.0,682.9,-7.4,805,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2216,3247
$GC,8099,-1.33,-146.0,705.0,-7.0,820,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2216,3246
$GC,8408,-1.33,-146.0,724.5,-5.9,835,8412,0.00,2.65,0.00,0.000,4,0.000,0.061,2610,747,3245
$GC,8435,-1.33,-146.0,726.5,-6.9,836,8439,0.00,2.58,0.00,0.000,6,0.000,0.039,2610,2229,3244
$GC,8750,-1.33,-146.0,748.4,-7.0,851,8754,0.00,2.35,0.00,0.000,4,0.000,0.060,2611,3549,3243
$GC,8783,-1.33,-146.0,750.9,-7.1,852,8790,0.00,2.28,0.00,0.000,6,0.000,0.038,2610,2222,3243
$GC,9099,-1.33,-146.0,771.7,-7.0,868,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2222,3242
$GC,9412,-1.33,-146.0,791.1,-6.3,883,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2222,3241
$GC,9718,-1.33,-146.0,811.6,-7.1,898,9722,0.00,2.65,0.00,0.000,4,0.000,0.062,2611,748,3240
$GC,9745,-1.37,-146.0,813.8,-7.2,899,9749,0.00,2.55,0.00,0.000,6,0.000,0.039,2610,2213,3240
$STATE,9893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9893,begin apogee
$GC,9899,-0.34,0.0,824.5,7.2,906,10021,1.08,0.00,118.40,1.264,6,0.094,0.000,2828,2376,2679
$STATE,10021,end apogee,CONTROL_FINISHED_OK
$STATE,10021,begin climb
$GC,10023,1.42,146.0,827.9,0.0,912,10157,1.80,0.00,124.65,1.217,6,0.057,0.000,3217,2376,2081
$GC,10467,1.20,146.0,785.7,12.5,934,10469,0.28,0.00,0.00,0.000,6,0.120,0.000,3168,2376,2079
$GC,10775,1.08,146.0,749.4,12.2,949,10780,0.15,2.58,0.00,0.000,4,0.127,0.060,3143,967,2078
$GC,10837,1.00,146.0,742.2,11.4,952,10842,0.00,2.45,0.00,0.000,6,0.000,0.040,3143,2360,2078
$GC,11166,0.93,147.1,711.0,9.0,968,11168,0.20,0.00,0.00,0.000,6,0.115,0.000,3107,2360,2077
$GC,11473,0.97,174.8,687.5,7.6,983,11504,0.00,2.60,23.58,1.202,4,0.000,0.061,3107,976,1965
$GC,11566,0.99,186.2,679.7,8.4,987,11584,0.00,2.42,9.68,1.197,6,0.000,0.040,3107,2347,1919
$GC,11893,1.04,192.6,651.1,8.7,1003,11901,0.12,0.00,5.90,1.204,6,0.074,0.000,3136,2347,1892
$GC,12201,1.04,192.6,621.8,9.1,1018,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2346,1891
$GC,12510,1.04,192.6,592.9,9.3,1033,12514,0.00,2.50,0.00,0.000,4,0.000,0.060,3136,973,1890
$GC,12562,1.01,196.2,588.2,8.8,1035,12571,0.00,2.42,3.38,1.154,6,0.000,0.040,3136,2354,1877
$GC,12888,1.04,216.2,559.6,8.0,1051,12908,0.00,0.00,16.95,1.131,6,0.000,0.000,3136,2354,1796
$GC,13217,1.06,222.5,531.3,8.7,1067,13228,0.00,2.55,5.57,1.130,4,0.000,0.058,3136,972,1770
$GC,13311,1.06,222.5,522.2,9.6,1071,13315,0.00,2.42,0.00,0.000,6,0.000,0.039,3136,2348,1769
$GC,13635,1.06,223.0,494.1,9.0,1090,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2348,1769
$GC,13954,1.06,223.0,466.6,9.5,1120,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2348,1769
$GC,14272,1.06,223.0,438.4,9.0,1150,14276,0.00,2.47,0.00,0.000,4,0.000,0.056,3136,976,1769
$GC,14350,1.06,223.0,431.1,9.2,1156,14357,0.00,2.33,0.00,0.000,6,0.000,0.037,3136,2314,1769
$GC,14677,1.09,242.7,403.4,8.0,1187,14702,0.00,2.47,17.27,1.009,4,0.000,0.055,3136,976,1687
$GC,14763,1.10,248.8,396.0,8.7,1194,14775,0.00,2.33,5.32,1.022,6,0.000,0.037,3136,2305,1663
$GC,15102,1.13,249.3,368.3,9.0,1226,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2304,1662
$GC,15421,1.18,253.5,340.1,8.8,1256,15434,0.12,2.42,4.20,0.986,4,0.066,0.055,3171,973,1644
$GC,15458,1.14,253.5,336.1,11.2,1259,15462,0.00,2.28,0.00,0.000,6,0.000,0.036,3171,2278,1644
$GC,15784,1.14,253.5,302.9,10.1,1289,15785,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2277,1644
$GC,16101,1.14,253.5,269.3,10.1,1319,16106,0.00,2.58,0.00,0.000,4,0.000,0.054,3171,3734,1644
$GC,16130,1.11,253.5,266.2,10.9,1321,16135,0.15,2.50,0.00,0.000,6,0.120,0.035,3145,2276,1644
$GC,16463,1.15,262.8,237.2,8.5,1364,16475,0.00,0.00,8.15,0.897,6,0.000,0.000,3146,2276,1605
$GC,16813,1.21,267.3,208.6,8.8,1426,16826,0.00,2.62,3.92,0.885,4,0.000,0.051,3145,3726,1588
$GC,16905,1.25,267.3,199.8,9.6,1442,16913,0.15,2.45,0.00,0.000,6,0.063,0.035,3182,2297,1588
$GC,17250,1.26,273.9,165.9,8.7,1503,17262,0.00,0.00,5.70,0.838,6,0.000,0.000,3182,2297,1560
$GC,17599,1.30,295.8,136.7,7.9,1565,17623,0.00,2.58,17.90,0.764,4,0.000,0.048,3181,3732,1470
$GC,17714,1.37,316.1,127.4,8.0,1585,17738,0.00,2.42,16.20,0.749,6,0.000,0.033,3182,2313,1388
$GC,18078,1.56,365.0,102.0,6.5,1649,18126,0.25,2.42,38.88,0.692,4,0.046,0.051,3250,976,1189
$GC,18249,1.56,365.0,86.3,9.4,1679,18256,0.00,2.25,0.00,0.000,6,0.000,0.031,3250,2290,1186
$GC,18594,1.69,410.3,59.7,6.7,1740,18636,0.10,2.62,36.00,0.632,4,0.066,0.048,3277,3733,1004
$GC,18717,1.69,410.3,48.5,9.5,1761,18724,0.00,2.47,0.00,0.000,6,0.000,0.031,3278,2269,1002
$GC,19062,1.72,412.8,17.0,8.9,1822,19068,0.00,2.28,0.00,0.000,4,0.000,0.047,3278,967,1000
$GC,19102,1.72,412.8,12.8,10.6,1829,19109,0.00,2.20,0.00,0.000,6,0.000,0.028,3278,2281,1000
$STATE,19225,end climb,SURFACE_DEPTH_REACHED
$STATE,19225,begin surface coast
$FINISH,-0.1,1.012392
$STATE,19250,end surface coast,CONTROL_FINISHED_OK
$STATE,19251,begin surface
$SM_CCo,19273,31.08,0.552,0,0,740,475.15
$SM_GC,0.76,0.00,0.00,31.08,0.000,0.000,0.552,250,2122,740,-12.21,-0.79,475.15
$IRIDIUM_FIX,1238.83,12015.39,190697,202057
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.80
$XPDR_PINGS,462
$ALTIM_BOTTOM_PING,820.1,47.3
$24V_AH,23.3,34.883
$10V_AH,10.1,17.558
$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,32.025,154.300,461.650,31.075,0.000,25.009,38.544,224.404,124.250,0.000,0.000,15.415,3627.684,11829.584,714.659,2953.916,589.146,0.000,2185.206,0.000,2897.272,0.000,66.421
$DEVICE_MAMPS,171.041,62.127,1264.016,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1245.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56571,1855
$CAP_FILE_SIZE,185489,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,116.0,1
$GPS,260308,055438,1245.285,12017.638,38,1.6,38,-0.8