version: 66.03
glider: 122
mission: 6
dive: 189
start: 3 26 108 11 31 54
data:
$ID,122
$MISSION,6
$DIVE,189
$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,-30679.018
$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,57
$R_STBD_OVSHOOT,25
$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
$GPS1,112537,1246.976,12019.648,36,0.9,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.7
$GPS2,113121,1247.025,12019.660,14,0.9,14,-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,108.9,42248,-17.4,-9.016
$D_GRID,844
$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,-63.05,0.000,2,0.000,0.000,252,2108,2455
$GC,88,-1.42,-146.0,3.3,-7.1,11,126,13.57,2.38,-15.50,0.000,4,0.172,0.054,2590,769,3276
$GC,235,-1.22,-146.0,34.8,-19.2,36,243,0.25,2.33,0.00,0.000,6,0.107,0.027,2637,2164,3277
$GC,581,-1.08,-146.0,92.7,-13.9,97,588,0.15,2.38,0.00,0.000,4,0.104,0.043,2669,3550,3279
$GC,729,-1.08,-146.0,111.0,-11.4,123,736,0.00,2.25,0.00,0.000,6,0.000,0.026,2669,2182,3279
$GC,1074,-1.13,-146.0,145.1,-8.7,184,1081,0.00,2.47,0.00,0.000,4,0.000,0.044,2669,752,3282
$GC,1110,-1.22,-146.0,148.4,-9.4,190,1119,0.15,2.35,0.00,0.000,6,0.048,0.028,2619,2160,3282
$GC,1457,-1.17,-146.0,182.7,-9.6,251,1464,0.15,2.40,0.00,0.000,4,0.092,0.046,2653,3553,3282
$GC,1594,-1.17,-146.0,194.9,-9.0,275,1601,0.00,2.28,0.00,0.000,6,0.000,0.029,2653,2184,3282
$GC,1940,-1.22,-146.0,223.5,-8.6,336,1946,0.00,2.35,0.00,0.000,4,0.000,0.045,2653,3545,3282
$GC,2009,-1.25,-146.0,229.6,-8.6,348,2016,0.00,2.25,0.00,0.000,6,0.000,0.030,2653,2192,3282
$GC,2349,-1.32,-146.0,255.9,-7.6,402,2354,0.15,2.35,0.00,0.000,4,0.052,0.045,2602,3548,3280
$GC,2389,-1.26,-146.0,259.3,-8.8,405,2394,0.12,2.25,0.00,0.000,6,0.099,0.031,2626,2203,3280
$GC,2714,-1.26,-146.0,284.2,-7.4,435,2718,0.00,2.33,0.00,0.000,4,0.000,0.048,2626,3543,3279
$GC,2746,-1.26,-146.0,287.1,-8.1,437,2753,0.00,2.20,0.00,0.000,6,0.000,0.031,2626,2232,3279
$GC,3072,-1.26,-146.0,314.4,-9.3,468,3077,0.00,2.62,0.00,0.000,4,0.000,0.052,2626,747,3277
$GC,3100,-1.26,-146.0,317.0,-8.6,470,3105,0.00,2.50,0.00,0.000,6,0.000,0.033,2627,2215,3277
$GC,3427,-1.26,-146.0,343.2,-7.4,500,3431,0.00,2.33,0.00,0.000,4,0.000,0.049,2626,3549,3274
$GC,3455,-1.26,-146.0,345.6,-7.9,502,3459,0.00,2.28,0.00,0.000,6,0.000,0.032,2626,2205,3274
$GC,3781,-1.26,-146.0,370.4,-7.5,532,3786,0.00,2.58,0.00,0.000,4,0.000,0.053,2627,753,3272
$GC,3821,-1.30,-146.0,373.6,-8.1,535,3826,0.00,2.50,0.00,0.000,6,0.000,0.034,2627,2215,3272
$GC,4147,-1.30,-146.0,398.2,-7.5,565,4151,0.00,2.33,0.00,0.000,4,0.000,0.051,2626,3545,3269
$GC,4192,-1.30,-146.0,402.2,-8.9,568,4198,0.00,2.25,0.00,0.000,6,0.000,0.034,2627,2217,3269
$GC,4518,-1.30,-146.0,429.3,-8.5,599,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2212,3267
$GC,4835,-1.30,-146.0,455.5,-7.7,629,4839,0.00,2.33,0.00,0.000,4,0.000,0.051,2626,3542,3266
$GC,4862,-1.30,-146.0,457.7,-8.5,631,4869,0.00,2.25,0.00,0.000,6,0.000,0.034,2626,2222,3265
$GC,5189,-1.34,-146.0,481.2,-7.1,662,5194,0.00,2.62,0.00,0.000,4,0.000,0.054,2626,750,3263
$GC,5240,-1.39,-146.0,485.3,-7.6,666,5245,0.12,2.50,0.00,0.000,6,0.058,0.035,2589,2204,3263
$GC,5572,-1.34,-146.0,512.4,-8.5,690,5574,0.12,0.00,0.00,0.000,6,0.110,0.000,2611,2205,3261
$GC,5880,-1.34,-146.0,535.8,-7.1,705,5884,0.00,2.35,0.00,0.000,4,0.000,0.054,2611,3542,3259
$GC,5965,-1.34,-146.0,542.5,-7.6,709,5969,0.00,2.28,0.00,0.000,6,0.000,0.035,2611,2205,3258
$GC,6291,-1.34,-146.0,565.9,-7.0,725,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2202,3256
$GC,6600,-1.34,-146.0,585.2,-5.9,740,6604,0.00,2.38,0.00,0.000,4,0.000,0.053,2611,3548,3256
$GC,6645,-1.34,-146.0,588.2,-6.8,742,6649,0.00,2.25,0.00,0.000,6,0.000,0.035,2612,2223,3256
$GC,6967,-1.34,-146.0,609.2,-6.7,758,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2221,3254
$GC,7275,-1.34,-146.0,629.6,-6.5,773,7280,0.00,2.35,0.00,0.000,4,0.000,0.054,2612,3550,3253
$GC,7307,-1.34,-146.0,632.1,-6.8,774,7312,0.00,2.30,0.00,0.000,6,0.000,0.036,2611,2218,3253
$GC,7630,-1.34,-146.0,652.0,-6.1,790,7635,0.00,2.62,0.00,0.000,4,0.000,0.059,2612,756,3251
$GC,7671,-1.34,-146.0,654.9,-7.1,792,7675,0.00,2.47,0.00,0.000,6,0.000,0.036,2612,2191,3251
$GC,7997,-1.34,-146.0,674.2,-5.8,808,8001,0.00,2.40,0.00,0.000,4,0.000,0.057,2612,3553,3249
$GC,8069,-1.34,-146.0,679.1,-6.9,811,8073,0.00,2.30,0.00,0.000,6,0.000,0.037,2612,2208,3249
$GC,8390,-1.34,-146.0,699.7,-6.4,827,8398,0.00,2.40,0.00,0.000,4,0.000,0.055,2612,3558,3248
$GC,8431,-1.34,-146.0,702.5,-6.0,828,8438,0.00,2.28,0.00,0.000,6,0.000,0.037,2612,2229,3248
$GC,8747,-1.34,-146.0,722.7,-6.9,844,8751,0.00,2.65,0.00,0.000,4,0.000,0.060,2612,756,3247
$GC,8774,-1.37,-146.0,724.8,-7.3,845,8778,0.00,2.53,0.00,0.000,6,0.000,0.037,2611,2219,3247
$GC,9089,-1.37,-146.0,746.1,-6.6,860,9094,0.00,2.38,0.00,0.000,4,0.000,0.058,2612,3561,3247
$GC,9146,-1.37,-146.0,750.1,-6.7,862,9153,0.00,2.28,0.00,0.000,6,0.000,0.037,2612,2228,3246
$GC,9462,-1.37,-146.0,772.3,-7.3,878,9466,0.00,2.38,0.00,0.000,4,0.000,0.057,2612,3561,3246
$GC,9501,-1.37,-146.0,775.3,-7.4,880,9505,0.00,2.25,0.00,0.000,6,0.000,0.037,2612,2247,3245
$GC,9828,-1.37,-146.0,796.5,-6.3,896,9833,0.00,2.70,0.00,0.000,4,0.000,0.061,2612,753,3245
$GC,9885,-1.41,-146.0,800.1,-6.4,898,9892,0.00,2.55,0.00,0.000,6,0.000,0.038,2612,2228,3244
$GC,10201,-1.44,-146.0,817.2,-5.6,914,10205,0.00,2.35,0.00,0.000,4,0.000,0.060,2612,3554,3243
$GC,10249,-1.44,-146.0,820.0,-6.4,916,10253,0.00,2.25,0.00,0.000,6,0.000,0.038,2612,2240,3243
$GC,10578,-1.47,-146.0,840.8,-6.9,932,10583,0.12,2.67,0.00,0.000,4,0.062,0.061,2577,759,3242
$GC,10605,-1.47,-146.0,843.6,-8.5,933,10609,0.00,2.55,0.00,0.000,6,0.000,0.038,2577,2231,3242
$STATE,10615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10615,begin apogee
$GC,10620,-0.34,0.0,844.5,9.2,934,10744,1.25,0.00,119.88,1.281,6,0.104,0.000,2825,2381,2678
$STATE,10744,end apogee,CONTROL_FINISHED_OK
$STATE,10744,begin climb
$GC,10747,1.42,146.0,848.3,0.0,940,10879,1.80,2.50,124.47,1.236,4,0.057,0.063,3219,3717,2082
$GC,10947,1.16,146.0,833.6,11.9,949,10953,0.32,2.33,0.00,0.000,6,0.130,0.040,3163,2389,2081
$GC,11264,1.04,146.0,802.3,10.2,964,11266,0.15,0.00,0.00,0.000,6,0.124,0.000,3137,2389,2080
$GC,11573,1.00,158.6,774.0,8.4,979,11585,0.00,0.00,10.57,1.256,6,0.000,0.000,3136,2387,2031
$GC,11883,0.96,166.5,748.4,8.6,994,11892,0.12,0.00,6.75,1.258,6,0.128,0.000,3116,2386,1999
$GC,12191,0.96,166.5,721.7,9.0,1009,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2386,1999
$GC,12500,0.98,178.1,695.1,8.4,1024,12513,0.00,0.00,10.52,1.234,6,0.000,0.000,3116,2386,1951
$GC,12810,1.02,200.0,669.3,7.9,1039,12831,0.00,0.00,18.75,1.197,6,0.000,0.000,3116,2386,1862
$GC,13139,1.04,210.0,642.2,8.5,1055,13149,0.00,0.00,8.62,1.197,6,0.000,0.000,3116,2386,1821
$GC,13449,1.05,220.8,616.5,8.5,1070,13463,0.00,2.65,9.62,1.179,4,0.000,0.061,3115,963,1777
$GC,13514,1.09,220.8,610.7,10.3,1072,13519,0.12,2.47,0.00,0.000,6,0.071,0.038,3144,2370,1776
$GC,13834,1.09,220.8,580.6,10.0,1088,13839,0.00,2.55,0.00,0.000,4,0.000,0.058,3144,966,1776
$GC,13874,1.09,220.8,576.3,11.7,1090,13879,0.00,2.47,0.00,0.000,6,0.000,0.038,3145,2377,1775
$GC,14201,1.09,220.8,543.0,9.7,1106,14205,0.00,2.55,0.00,0.000,4,0.000,0.058,3145,969,1776
$GC,14233,1.09,220.8,539.9,9.8,1107,14240,0.00,2.42,0.00,0.000,6,0.000,0.038,3144,2356,1775
$GC,14549,1.09,220.8,512.2,9.1,1123,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2356,1776
$GC,14863,1.09,220.8,481.2,10.6,1146,14867,0.00,2.50,0.00,0.000,4,0.000,0.056,3144,969,1775
$GC,14913,1.09,220.8,475.7,10.4,1150,14917,0.00,2.40,0.00,0.000,6,0.000,0.038,3145,2344,1775
$GC,15237,1.09,220.8,442.3,9.5,1180,15242,0.00,2.47,0.00,0.000,4,0.000,0.055,3145,969,1775
$GC,15281,1.09,220.8,437.9,9.7,1183,15288,0.00,2.38,0.00,0.000,6,0.000,0.037,3145,2321,1775
$GC,15608,1.10,228.2,408.0,8.6,1214,15621,0.00,2.53,6.47,1.049,4,0.000,0.054,3145,969,1747
$GC,15680,1.10,228.2,401.2,9.4,1220,15684,0.00,2.33,0.00,0.000,6,0.000,0.037,3145,2301,1746
$GC,16006,1.11,235.2,373.3,8.7,1250,16015,0.00,0.00,5.97,1.022,6,0.000,0.000,3145,2301,1719
$GC,16334,1.11,235.2,343.4,9.8,1281,16338,0.00,2.40,0.00,0.000,4,0.000,0.055,3145,966,1719
$GC,16384,1.11,235.2,338.4,10.0,1285,16389,0.00,2.30,0.00,0.000,6,0.000,0.036,3145,2292,1719
$GC,16711,1.12,240.9,308.4,8.7,1315,16720,0.00,0.00,5.15,0.973,6,0.000,0.000,3145,2292,1696
$GC,17039,1.12,241.7,277.5,9.0,1346,17040,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2292,1696
$GC,17358,1.17,267.2,251.1,7.7,1376,17389,0.00,2.62,22.15,0.870,4,0.000,0.054,3145,3732,1588
$GC,17408,1.22,277.2,247.1,8.5,1382,17423,0.12,2.58,8.48,0.875,6,0.064,0.035,3175,2250,1547
$GC,17763,1.22,280.7,212.3,8.8,1444,17769,0.00,0.00,2.83,0.880,6,0.000,0.000,3175,2250,1532
$GC,18107,1.22,280.7,180.1,9.0,1505,18114,0.00,2.28,0.00,0.000,4,0.000,0.053,3175,966,1531
$GC,18143,1.22,280.7,176.6,9.8,1511,18150,0.00,2.22,0.00,0.000,6,0.000,0.034,3175,2260,1532
$GC,18489,1.28,292.7,148.0,8.4,1572,18504,0.00,2.67,9.82,0.801,4,0.000,0.050,3175,3726,1484
$GC,18523,1.33,292.7,144.8,9.6,1577,18530,0.00,2.50,0.00,0.000,6,0.000,0.033,3175,2273,1484
$GC,18866,1.51,344.9,119.8,6.4,1638,18914,0.22,2.42,42.17,0.713,4,0.051,0.051,3238,967,1271
$GC,19167,1.57,378.4,93.2,7.3,1691,19203,0.00,2.25,27.02,0.683,6,0.000,0.031,3238,2286,1133
$GC,19543,1.72,420.3,64.6,6.9,1757,19585,0.15,2.40,33.22,0.634,4,0.054,0.047,3283,957,963
$GC,19683,1.75,435.0,52.2,8.3,1781,19701,0.00,2.22,11.48,0.637,6,0.000,0.029,3283,2277,903
$GC,20039,1.78,435.0,16.2,9.6,1844,20046,0.00,2.50,0.00,0.000,4,0.000,0.044,3283,3727,901
$GC,20086,1.78,435.0,11.1,11.1,1852,20092,0.00,2.50,0.00,0.000,6,0.000,0.029,3283,2241,901
$STATE,20181,end climb,SURFACE_DEPTH_REACHED
$STATE,20181,begin surface coast
$FINISH,-0.2,1.009956
$STATE,20203,end surface coast,CONTROL_FINISHED_OK
$STATE,20205,begin surface
$SM_CCo,20226,19.62,0.565,0,0,740,475.15
$SM_GC,0.93,0.00,0.00,19.62,0.000,0.000,0.565,252,2116,740,-12.20,-0.96,475.15
$IRIDIUM_FIX,1238.83,12016.50,200697,060650
$TT8_MAMPS,0.023777
$HUMID,1922
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.80
$XPDR_PINGS,453
$24V_AH,23.2,35.239
$10V_AH,10.1,17.753
$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,32.550,188.375,483.975,19.625,0.000,22.699,44.962,156.711,122.250,0.000,0.000,14.392,3776.067,12508.976,702.993,3070.551,535.135,0.000,2255.505,0.000,3005.026,0.000,68.963
$DEVICE_MAMPS,171.808,62.894,1280.890,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59680,1873
$CAP_FILE_SIZE,197510,0
$CFSIZE,260165632,242073600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035, 91.6,1
$GPS,260308,171038,1246.041,12022.021,41,2.0,41,-0.8