version: 66.03
glider: 122
mission: 6
dive: 72
start: 2 29 108 5 12 52
data:
$ID,122
$MISSION,6
$DIVE,72
$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,440
$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,-28761.35
$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,59
$R_STBD_OVSHOOT,35
$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,5
$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
$GPS1,050731,1250.386,12041.835,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.6
$GPS2,051220,1250.369,12041.820,16,1.0,16,-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,299.7,48348,-17.4,-9.016
$D_GRID,1293
$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,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,77,0.00,0.00,-56.28,0.000,2,0.000,0.000,254,2120,2424
$GC,79,-1.42,-146.0,3.3,-8.0,9,117,13.30,2.38,-16.23,0.000,4,0.165,0.056,2590,766,3276
$GC,242,-1.11,-146.0,43.9,-24.5,37,250,0.35,2.33,0.00,0.000,6,0.111,0.028,2657,2154,3277
$GC,588,-0.97,-146.0,107.0,-16.9,98,595,0.15,2.38,0.00,0.000,4,0.100,0.041,2690,774,3279
$GC,652,-1.03,-146.0,115.0,-11.2,109,658,0.00,2.25,0.00,0.000,6,0.000,0.028,2690,2120,3279
$GC,996,-1.12,-146.0,148.3,-7.1,170,1003,0.15,2.45,0.00,0.000,4,0.049,0.044,2638,3549,3281
$GC,1048,-1.12,-146.0,153.4,-10.0,179,1056,0.12,2.33,0.00,0.000,6,0.094,0.028,2662,2140,3281
$GC,1393,-1.19,-146.0,181.7,-7.7,240,1400,0.00,2.42,0.00,0.000,4,0.000,0.044,2662,3554,3282
$GC,1468,-1.29,-146.0,188.1,-7.9,253,1476,0.17,2.38,0.00,0.000,6,0.046,0.028,2600,2122,3282
$GC,1814,-1.23,-146.0,226.2,-11.2,314,1820,0.15,0.00,0.00,0.000,6,0.101,0.000,2633,2120,3282
$GC,2154,-1.23,-146.0,257.4,-9.3,368,2158,0.00,2.47,0.00,0.000,4,0.000,0.045,2633,3559,3282
$GC,2197,-1.26,-146.0,261.7,-9.8,371,2204,0.00,2.38,0.00,0.000,6,0.000,0.030,2633,2131,3281
$GC,2523,-1.26,-146.0,290.8,-9.0,402,2527,0.00,2.45,0.00,0.000,4,0.000,0.046,2633,3550,3280
$GC,2544,-1.29,-146.0,293.0,-9.0,403,2552,0.00,2.40,0.00,0.000,6,0.000,0.031,2633,2116,3280
$GC,2870,-1.29,-146.0,322.9,-9.5,434,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2114,3279
$GC,3188,-1.29,-146.0,353.3,-9.6,464,3192,0.00,2.50,0.00,0.000,4,0.000,0.048,2633,3552,3277
$GC,3254,-1.33,-146.0,359.9,-9.4,469,3262,0.00,2.40,0.00,0.000,6,0.000,0.031,2633,2125,3277
$GC,3580,-1.37,-146.0,387.2,-7.7,500,3582,0.12,0.00,0.00,0.000,6,0.058,0.000,2596,2123,3275
$GC,3898,-1.33,-146.0,417.7,-9.6,530,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2123,3273
$GC,4216,-1.33,-146.0,449.5,-9.7,560,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2123,3271
$GC,4534,-1.33,-146.0,479.3,-9.4,590,4538,0.00,2.50,0.00,0.000,4,0.000,0.050,2596,3548,3270
$GC,4606,-1.33,-146.0,486.5,-10.7,596,4610,0.00,2.40,0.00,0.000,6,0.000,0.033,2596,2132,3270
$GC,4927,-1.33,-146.0,516.3,-9.1,618,4931,0.00,2.47,0.00,0.000,4,0.000,0.050,2596,3548,3268
$GC,4972,-1.33,-146.0,520.6,-9.3,620,4976,0.00,2.40,0.00,0.000,6,0.000,0.034,2596,2134,3268
$GC,5298,-1.33,-146.0,549.5,-8.5,636,5307,0.00,2.50,0.00,0.000,4,0.000,0.051,2596,3555,3266
$GC,5347,-1.33,-146.0,554.0,-8.9,638,5351,0.00,2.38,0.00,0.000,6,0.000,0.034,2596,2148,3266
$GC,5679,-1.33,-146.0,581.3,-8.6,654,5683,0.00,2.47,0.00,0.000,4,0.000,0.052,2596,3552,3264
$GC,5712,-1.33,-146.0,584.2,-8.9,655,5719,0.00,2.35,0.00,0.000,6,0.000,0.034,2596,2163,3264
$GC,6028,-1.33,-146.0,610.2,-8.4,671,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2162,3261
$GC,6337,-1.33,-146.0,637.4,-8.7,686,6341,0.00,2.45,0.00,0.000,4,0.000,0.053,2596,3549,3259
$GC,6414,-1.33,-146.0,644.7,-8.7,689,6421,0.00,2.30,0.00,0.000,6,0.000,0.035,2596,2196,3259
$GC,6729,-1.33,-146.0,672.2,-8.7,705,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2195,3258
$GC,7039,-1.33,-146.0,699.2,-8.2,720,7043,0.00,2.40,0.00,0.000,4,0.000,0.054,2596,3552,3256
$GC,7071,-1.33,-146.0,702.1,-8.9,721,7079,0.00,2.30,0.00,0.000,6,0.000,0.035,2596,2198,3256
$GC,7388,-1.33,-146.0,726.7,-7.9,737,7393,0.00,2.60,0.00,0.000,4,0.000,0.058,2596,743,3254
$GC,7421,-1.33,-146.0,729.6,-8.0,738,7429,0.00,2.53,0.00,0.000,6,0.000,0.038,2596,2185,3254
$GC,7737,-1.33,-146.0,754.3,-7.7,754,7741,0.00,2.42,0.00,0.000,4,0.000,0.057,2596,3560,3253
$GC,7791,-1.33,-146.0,758.8,-8.0,756,7799,0.00,2.35,0.00,0.000,6,0.000,0.036,2596,2200,3253
$GC,8107,-1.33,-146.0,782.3,-7.1,772,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2200,3251
$GC,8417,-1.33,-146.0,806.0,-7.8,787,8421,0.00,2.40,0.00,0.000,4,0.000,0.056,2596,3554,3250
$GC,8456,-1.33,-146.0,809.2,-7.7,789,8460,0.00,2.30,0.00,0.000,6,0.000,0.037,2596,2208,3250
$GC,8783,-1.33,-146.0,834.3,-7.5,805,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2208,3249
$GC,9092,-1.33,-146.0,858.5,-7.8,820,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2207,3248
$GC,9401,-1.33,-146.0,882.1,-7.7,835,9405,0.00,2.40,0.00,0.000,4,0.000,0.057,2596,3557,3247
$GC,9429,-1.33,-146.0,884.4,-8.1,836,9433,0.00,2.28,0.00,0.000,6,0.000,0.037,2597,2221,3246
$GC,9745,-1.33,-146.0,907.4,-7.0,851,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2221,3246
$GC,10054,-1.33,-146.0,926.9,-6.1,866,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2220,3245
$GC,10364,-1.33,-146.0,947.8,-7.3,881,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2220,3243
$GC,10672,-1.33,-146.0,969.8,-7.2,896,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2220,3243
$STATE,10938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10938,begin apogee
$GC,10943,-0.34,0.0,991.0,8.0,909,11068,1.15,0.00,121.45,1.397,6,0.097,0.000,2828,2394,2678
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11071,1.42,146.0,995.4,0.0,915,11205,1.77,2.47,126.10,1.348,4,0.059,0.061,3215,3720,2082
$GC,11273,1.16,146.0,978.7,14.3,924,11278,0.30,2.35,0.00,0.000,6,0.121,0.041,3162,2382,2081
$GC,11594,1.05,146.0,943.4,10.3,940,11596,0.15,0.00,0.00,0.000,6,0.119,0.000,3136,2381,2079
$GC,11903,0.99,146.0,914.8,9.3,955,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2380,2079
$GC,12212,0.93,146.0,886.3,9.0,970,12214,0.15,0.00,0.00,0.000,6,0.122,0.000,3110,2380,2078
$GC,12522,0.96,164.9,860.4,8.0,985,12545,0.00,2.65,15.75,1.341,4,0.000,0.064,3110,972,2004
$GC,12572,0.96,166.8,856.0,8.9,987,12577,0.00,2.50,0.00,0.000,6,0.000,0.040,3110,2361,2003
$GC,12900,0.98,176.0,827.0,8.5,1003,12911,0.00,0.00,9.98,1.331,6,0.000,0.000,3110,2361,1960
$GC,13209,0.98,176.0,797.4,9.8,1018,13213,0.00,2.55,0.00,0.000,4,0.000,0.062,3110,970,1959
$GC,13263,0.98,179.8,792.1,8.8,1020,13272,0.00,2.47,3.78,1.295,6,0.000,0.039,3110,2365,1944
$GC,13579,0.99,186.0,764.4,8.7,1036,13587,0.00,0.00,5.95,1.297,6,0.000,0.000,3110,2365,1919
$GC,13888,1.01,193.2,737.7,8.6,1051,13897,0.00,0.00,6.45,1.280,6,0.000,0.000,3110,2365,1890
$GC,14198,1.04,193.2,709.0,9.5,1066,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2365,1889
$GC,14507,1.10,203.4,681.2,8.5,1081,14519,0.15,0.00,9.12,1.248,6,0.069,0.000,3144,2365,1848
$GC,14816,1.10,203.4,650.9,9.8,1096,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2365,1848
$GC,15125,1.10,203.4,621.6,9.8,1111,15129,0.00,2.45,0.00,0.000,4,0.000,0.061,3144,3730,1848
$GC,15164,1.05,203.4,617.4,11.0,1113,15168,0.00,2.38,0.00,0.000,6,0.000,0.038,3144,2359,1848
$GC,15490,1.05,203.4,583.7,10.5,1129,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2358,1848
$GC,15799,1.05,203.4,551.3,10.0,1144,15803,0.00,2.45,0.00,0.000,4,0.000,0.059,3144,3726,1848
$GC,15866,1.00,203.4,544.4,10.8,1147,15871,0.00,2.35,0.00,0.000,6,0.000,0.038,3144,2364,1848
$GC,16193,1.00,203.4,514.7,9.1,1163,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2363,1848
$GC,16506,1.00,203.4,486.1,9.3,1185,16507,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2363,1848
$GC,16824,1.00,203.4,455.8,9.2,1215,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2363,1848
$GC,17143,1.00,203.4,425.9,9.1,1245,17147,0.00,2.42,0.00,0.000,4,0.000,0.058,3144,3726,1848
$GC,17190,1.00,203.4,421.3,9.4,1249,17194,0.00,2.35,0.00,0.000,6,0.000,0.037,3144,2355,1848
$GC,17514,1.00,203.4,391.5,9.3,1279,17518,0.00,2.47,0.00,0.000,4,0.000,0.057,3144,970,1848
$GC,17576,1.02,210.5,386.1,8.7,1284,17590,0.00,2.38,6.40,1.035,6,0.000,0.037,3144,2341,1818
$GC,17906,1.05,228.2,358.0,8.1,1315,17927,0.00,0.00,15.15,0.976,6,0.000,0.000,3144,2341,1746
$GC,18245,1.07,241.2,329.3,8.4,1347,18261,0.00,2.53,10.88,0.956,4,0.000,0.055,3144,3733,1693
$GC,18295,1.07,243.1,324.7,8.9,1351,18300,0.00,2.42,0.00,0.000,6,0.000,0.036,3144,2331,1693
$GC,18620,1.11,243.1,294.9,9.1,1381,18624,0.00,2.42,0.00,0.000,4,0.000,0.054,3144,973,1693
$GC,18652,1.15,243.1,291.6,10.0,1383,18660,0.00,2.38,0.00,0.000,6,0.000,0.035,3144,2344,1692
$GC,18978,1.20,247.9,262.5,8.8,1414,18991,0.00,2.47,5.65,0.918,4,0.000,0.054,3144,3729,1666
$GC,19025,1.25,247.9,257.9,9.6,1418,19030,0.15,2.38,0.00,0.000,6,0.062,0.035,3180,2346,1666
$GC,19364,1.25,247.9,221.2,10.9,1471,19371,0.00,2.45,0.00,0.000,4,0.000,0.053,3180,3728,1666
$GC,19394,1.25,247.9,217.7,11.7,1476,19401,0.00,2.30,0.00,0.000,6,0.000,0.035,3181,2378,1667
$GC,19738,1.25,247.9,182.7,10.2,1537,19744,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2377,1667
$GC,20082,1.37,296.0,151.6,6.6,1598,20129,0.00,2.50,38.88,0.749,4,0.000,0.051,3180,3726,1470
$GC,20329,1.48,309.3,130.5,8.3,1640,20347,0.20,2.28,10.27,0.759,6,0.053,0.033,3233,2388,1417
$GC,20685,1.51,330.6,98.6,7.9,1702,20706,0.00,0.00,17.08,0.703,6,0.000,0.000,3233,2385,1330
$GC,21044,1.59,345.1,68.3,8.3,1765,21061,0.00,2.60,11.23,0.680,4,0.000,0.050,3233,974,1270
$GC,21192,1.74,388.2,57.1,6.8,1790,21232,0.22,2.42,34.45,0.630,6,0.046,0.031,3293,2394,1095
$GC,21570,1.74,388.2,16.3,10.6,1855,21578,0.00,2.50,0.00,0.000,4,0.000,0.048,3293,973,1090
$GC,21606,1.74,388.2,12.2,11.4,1861,21613,0.00,2.35,0.00,0.000,6,0.000,0.030,3293,2357,1090
$STATE,21707,end climb,SURFACE_DEPTH_REACHED
$STATE,21707,begin surface coast
$FINISH,-0.1,1.021513
$STATE,21725,end surface coast,CONTROL_FINISHED_OK
$STATE,21727,begin surface
$SM_CCo,21748,25.58,0.572,0,0,884,440.07
$SM_GC,1.02,0.00,0.00,25.58,0.000,0.000,0.572,251,2125,884,-12.20,-0.71,440.07
$IRIDIUM_FIX,1245.46,12047.21,250597,010154
$TT8_MAMPS,0.023777
$HUMID,1915
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.10
$XPDR_PINGS,470
$ALTIM_BOTTOM_PING,550.0,8.1
$24V_AH,23.2,15.059
$10V_AH,10.1,6.831
$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,32.375,150.600,448.550,25.575,0.000,30.694,14.628,144.285,119.250,0.000,0.000,16.119,3992.644,13977.106,676.607,3010.770,416.329,0.000,2192.761,0.000,2977.646,0.000,14.469
$DEVICE_MAMPS,164.905,63.661,1397.474,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1267.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59721,1882
$CAP_FILE_SIZE,186732,0
$CFSIZE,260165632,251867136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,225.6,1
$GPS,290208,111701,1251.193,12039.347,36,1.6,41,-0.8