version: 66.03
glider: 122
mission: 6
dive: 36
start: 2 22 108 19 38 37
data:
$ID,122
$MISSION,6
$DIVE,36
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,425
$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,-28092.322
$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,45
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,192002,1249.473,12034.686,40,1.5,40,-0.8
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.0
$GPS2,193745,1249.528,12034.721,12,1.4,12,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,2000.000
$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,259.0,35465,-22.8,-9.016
$D_GRID,1377
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-66.43,0.000,2,0.000,0.000,252,2129,2627
$GC,88,-1.68,-83.7,3.4,-8.4,13,115,13.20,2.47,-4.82,0.000,4,0.171,0.051,2533,3551,2883
$GC,194,-1.38,-83.7,33.7,-24.0,32,201,0.35,2.33,0.00,0.000,6,0.114,0.029,2598,2157,2884
$GC,538,-1.30,-83.7,92.9,-13.6,93,544,0.12,2.47,0.00,0.000,4,0.124,0.045,2620,734,2885
$GC,729,-1.30,-83.7,119.7,-12.6,127,735,0.00,2.38,0.00,0.000,6,0.000,0.028,2620,2159,2886
$GC,1072,-1.34,-83.7,156.4,-9.8,188,1078,0.00,2.38,0.00,0.000,4,0.000,0.045,2620,3550,2886
$GC,1224,-1.38,-83.7,172.3,-10.6,215,1230,0.00,2.28,0.00,0.000,6,0.000,0.028,2619,2176,2886
$GC,1567,-1.46,-84.6,203.1,-8.9,276,1573,0.15,0.00,0.00,0.000,6,0.053,0.000,2573,2176,2887
$GC,1910,-1.47,-90.5,232.2,-8.5,337,1916,0.00,2.38,0.00,0.000,4,0.000,0.045,2573,3559,2885
$GC,2028,-1.48,-93.7,242.8,-8.7,358,2034,0.00,2.28,0.00,0.000,6,0.000,0.030,2573,2189,2885
$GC,2364,-1.49,-100.6,271.9,-8.4,397,2368,0.00,2.35,0.00,0.000,4,0.000,0.046,2573,3554,2885
$GC,2460,-1.49,-101.1,280.6,-9.0,405,2464,0.00,2.25,0.00,0.000,6,0.000,0.031,2573,2204,2884
$GC,2784,-1.50,-108.5,306.9,-8.3,435,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2201,2882
$GC,3103,-1.55,-134.0,331.8,-6.7,465,3108,0.00,2.58,0.00,0.000,4,0.000,0.054,2573,751,2880
$GC,3144,-1.57,-146.0,334.9,-7.1,468,3148,0.00,2.42,0.00,0.000,6,0.000,0.031,2573,2186,2879
$GC,3468,-1.57,-146.0,359.6,-8.1,498,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2187,2878
$GC,3788,-1.57,-146.0,383.9,-6.8,528,3792,0.00,2.38,0.00,0.000,4,0.000,0.048,2573,3557,2877
$GC,3916,-1.57,-146.0,393.8,-7.8,539,3921,0.00,2.33,0.00,0.000,6,0.000,0.033,2573,2174,2876
$GC,4241,-1.57,-146.0,416.7,-7.3,569,4245,0.00,2.53,0.00,0.000,4,0.000,0.054,2573,752,2874
$GC,4324,-1.57,-146.0,423.0,-7.8,576,4328,0.00,2.40,0.00,0.000,6,0.000,0.033,2573,2165,2874
$GC,4649,-1.57,-146.0,445.2,-7.0,606,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2166,2872
$GC,4967,-1.60,-146.0,468.2,-7.0,636,4972,0.00,2.53,0.00,0.000,4,0.000,0.055,2573,752,2870
$GC,5011,-1.60,-146.0,471.9,-8.7,639,5017,0.00,2.40,0.00,0.000,6,0.000,0.034,2573,2138,2870
$GC,5336,-1.64,-146.0,494.2,-6.6,670,5338,0.12,0.00,0.00,0.000,6,0.062,0.000,2541,2139,2868
$GC,5647,-1.64,-146.0,517.8,-7.4,689,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2140,2867
$GC,5957,-1.64,-146.0,541.0,-7.8,704,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2139,2866
$GC,6266,-1.64,-146.0,563.3,-6.8,719,6270,0.00,2.47,0.00,0.000,4,0.000,0.052,2542,3557,2864
$GC,6332,-1.60,-146.0,568.2,-8.0,722,6336,0.00,2.40,0.00,0.000,6,0.000,0.035,2541,2140,2864
$GC,6659,-1.60,-146.0,590.1,-6.6,738,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2138,2862
$GC,6968,-1.60,-146.0,610.6,-6.5,753,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2138,2862
$GC,7276,-1.60,-146.0,629.8,-6.4,768,7284,0.00,2.50,0.00,0.000,4,0.000,0.053,2541,3560,2861
$GC,7356,-1.56,-146.0,635.0,-6.9,771,7361,0.12,2.40,0.00,0.000,6,0.126,0.036,2562,2150,2860
$GC,7672,-1.56,-146.0,654.4,-6.5,786,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2150,2859
$GC,7981,-1.59,-146.0,674.4,-6.3,801,7985,0.00,2.45,0.00,0.000,4,0.000,0.054,2562,3552,2858
$GC,8018,-1.59,-146.0,677.0,-7.0,802,8025,0.00,2.42,0.00,0.000,6,0.000,0.036,2562,2146,2857
$GC,8334,-1.63,-146.0,695.2,-5.7,818,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2146,2857
$GC,8644,-1.67,-146.0,713.4,-6.0,833,8648,0.00,2.50,0.00,0.000,4,0.000,0.054,2562,3559,2855
$GC,8790,-1.67,-146.0,722.8,-6.1,839,8796,0.00,2.40,0.00,0.000,6,0.000,0.038,2562,2150,2855
$GC,9106,-1.71,-146.0,741.3,-6.2,855,9108,0.15,0.00,0.00,0.000,6,0.062,0.000,2525,2150,2854
$GC,9414,-1.68,-146.0,762.7,-6.7,870,9418,0.00,2.47,0.00,0.000,4,0.000,0.054,2525,3555,2853
$GC,9498,-1.62,-146.0,768.7,-7.7,874,9503,0.15,2.38,0.00,0.000,6,0.125,0.037,2550,2162,2853
$GC,9823,-1.62,-146.0,788.7,-6.0,890,9828,0.00,2.55,0.00,0.000,4,0.000,0.064,2550,750,2852
$GC,9878,-1.62,-146.0,792.3,-6.4,892,9885,0.00,2.45,0.00,0.000,6,0.000,0.036,2550,2161,2852
$GC,10194,-1.62,-146.0,807.7,-4.4,908,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2162,2851
$GC,10505,-1.62,-146.0,820.6,-3.9,923,10510,0.00,2.45,0.00,0.000,4,0.000,0.058,2550,3551,2851
$GC,10589,-1.62,-146.0,824.6,-5.4,927,10593,0.00,2.35,0.00,0.000,6,0.000,0.038,2550,2175,2850
$GC,10916,-1.62,-146.0,840.1,-5.3,943,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2174,2849
$GC,11225,-1.65,-146.0,858.6,-6.6,958,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2174,2849
$GC,11533,-1.65,-146.0,878.1,-6.2,973,11538,0.00,2.45,0.00,0.000,4,0.000,0.056,2551,3555,2848
$GC,11605,-1.65,-146.0,882.7,-6.7,976,11609,0.00,2.38,0.00,0.000,6,0.000,0.038,2551,2179,2848
$GC,11929,-1.65,-146.0,900.9,-5.3,992,11933,0.00,2.45,0.00,0.000,4,0.000,0.057,2551,3559,2847
$GC,12029,-1.65,-146.0,907.0,-5.8,996,12035,0.00,2.33,0.00,0.000,6,0.000,0.038,2551,2194,2847
$GC,12346,-1.68,-146.0,925.8,-5.8,1012,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2194,2847
$GC,12653,-1.71,-146.0,944.9,-6.5,1027,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2194,2846
$GC,12963,-1.74,-146.0,963.7,-5.6,1042,12968,0.12,2.42,0.00,0.000,4,0.066,0.056,2519,3560,2845
$GC,13024,-1.69,-146.0,967.7,-7.1,1045,13028,0.00,2.30,0.00,0.000,6,0.000,0.038,2518,2210,2845
$STATE,13183,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13183,begin apogee
$GC,13187,-0.34,0.0,977.0,6.0,1053,13257,1.58,0.00,65.95,1.414,6,0.116,0.000,2825,2387,2539
$STATE,13258,end apogee,CONTROL_FINISHED_OK
$STATE,13258,begin climb
$GC,13259,1.79,146.0,977.9,0.0,1056,13395,2.15,2.67,127.95,1.367,4,0.060,0.061,3294,973,1942
$GC,13450,1.59,146.0,952.0,19.0,1066,13456,0.20,2.50,0.00,0.000,6,0.127,0.040,3256,2361,1939
$GC,13777,1.48,146.0,900.5,15.4,1082,13779,0.15,0.00,0.00,0.000,6,0.134,0.000,3230,2361,1939
$GC,14086,1.41,146.0,855.1,14.5,1097,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2361,1937
$GC,14396,1.36,146.0,811.1,14.1,1112,14397,0.15,0.00,0.00,0.000,6,0.130,0.000,3205,2361,1937
$GC,14704,1.36,146.0,769.6,13.4,1127,14708,0.00,2.53,0.00,0.000,4,0.000,0.061,3205,976,1936
$GC,14776,1.33,146.0,759.3,14.9,1130,14781,0.00,2.47,0.00,0.000,6,0.000,0.040,3205,2369,1936
$GC,15097,1.33,146.0,718.5,12.3,1146,15101,0.00,2.45,0.00,0.000,4,0.000,0.061,3205,3735,1936
$GC,15135,1.26,146.0,713.6,13.5,1148,15140,0.15,2.35,0.00,0.000,6,0.133,0.038,3180,2373,1936
$GC,15461,1.30,146.0,677.1,11.0,1164,15465,0.00,2.55,0.00,0.000,4,0.000,0.062,3180,970,1935
$GC,15503,1.30,146.0,671.9,12.4,1166,15508,0.00,2.50,0.00,0.000,6,0.000,0.039,3180,2382,1935
$GC,15831,1.34,146.0,634.1,11.8,1182,15835,0.00,2.58,0.00,0.000,4,0.000,0.059,3180,967,1935
$GC,15874,1.38,146.0,628.7,11.8,1184,15878,0.12,2.45,0.00,0.000,6,0.073,0.038,3208,2375,1935
$GC,16200,1.38,146.0,586.5,12.7,1200,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2375,1935
$GC,16509,1.38,146.0,547.6,12.9,1215,16513,0.00,2.53,0.00,0.000,4,0.000,0.057,3208,973,1935
$GC,16558,1.38,146.0,541.0,12.4,1217,16563,0.00,2.45,0.00,0.000,6,0.000,0.038,3208,2367,1935
$GC,16879,1.38,146.0,499.8,12.9,1233,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,1935
$GC,17198,1.38,146.0,458.4,12.3,1263,17199,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,1935
$GC,17518,1.38,146.0,420.1,11.8,1293,17519,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2367,1935
$GC,17836,1.38,146.0,383.1,10.9,1323,17841,0.00,2.50,0.00,0.000,4,0.000,0.054,3208,966,1936
$GC,17897,1.38,146.0,376.0,11.0,1328,17901,0.00,2.40,0.00,0.000,6,0.000,0.036,3208,2358,1936
$GC,18228,1.38,146.0,340.0,10.7,1359,18232,0.00,2.47,0.00,0.000,4,0.000,0.054,3208,968,1936
$GC,18290,1.38,146.0,332.7,10.9,1364,18294,0.00,2.38,0.00,0.000,6,0.000,0.035,3208,2349,1936
$GC,18613,1.38,146.0,299.7,10.1,1394,18614,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2349,1937
$GC,18934,1.38,146.0,266.1,10.7,1424,18935,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2349,1937
$GC,19260,1.38,146.0,231.9,10.5,1469,19266,0.00,2.45,0.00,0.000,4,0.000,0.052,3208,966,1938
$GC,19377,1.38,146.0,219.9,10.1,1490,19384,0.00,2.33,0.00,0.000,6,0.000,0.034,3208,2334,1939
$GC,19721,1.43,146.0,186.9,10.7,1551,19727,0.00,2.42,0.00,0.000,4,0.000,0.051,3208,3733,1939
$GC,19979,1.43,146.0,161.8,9.7,1597,19985,0.00,2.35,0.00,0.000,6,0.000,0.032,3208,2333,1940
$GC,20323,1.53,167.6,136.1,7.1,1658,20345,0.12,2.53,16.58,0.749,4,0.069,0.046,3239,3725,1855
$GC,20598,1.53,167.6,113.2,9.6,1707,20604,0.00,2.30,0.00,0.000,6,0.000,0.031,3239,2352,1855
$GC,20942,1.61,189.3,89.9,7.1,1768,20964,0.00,2.53,16.77,0.706,4,0.000,0.051,3240,975,1766
$GC,21020,1.67,193.7,83.5,8.6,1782,21032,0.12,2.42,3.62,0.731,6,0.060,0.031,3273,2399,1748
$GC,21370,1.73,231.3,57.0,5.6,1844,21407,0.00,2.58,29.50,0.645,4,0.000,0.048,3274,976,1594
$GC,21570,1.79,241.5,40.4,8.1,1880,21586,0.00,2.25,7.47,0.653,6,0.000,0.028,3273,2313,1553
$GC,21925,1.89,246.2,9.7,8.6,1943,21937,0.15,2.47,3.50,0.621,4,0.061,0.045,3316,3717,1535
$STATE,22002,end climb,SURFACE_DEPTH_REACHED
$STATE,22002,begin surface coast
$FINISH,-0.2,1.021579
$STATE,22021,end surface coast,CONTROL_FINISHED_OK
$STATE,22021,begin surface
$SM_CCo,22044,85.60,0.550,0,0,805,425.10
$SM_GC,0.67,0.00,0.00,85.60,0.000,0.000,0.550,252,2141,805,-12.20,-0.25,425.10
$IRIDIUM_FIX,1245.46,12111.10,180597,191935
$TT8_MAMPS,0.023777
$HUMID,1791
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,540
$24V_AH,23.1,10.109
$10V_AH,10.1,3.980
$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,33.025,161.025,271.350,85.600,0.000,147.075,93.300,457.929,147.000,0.000,0.000,12.118,3175.634,15307.813,546.968,3246.977,940.786,0.000,2129.709,0.000,3175.775,0.000,87.968
$DEVICE_MAMPS,171.041,63.661,1414.348,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1318.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59764,1960
$CAP_FILE_SIZE,209738,0
$CFSIZE,260165632,254435328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,014838,1249.032,12032.389,38,1.1,38,-0.8