version: 66.03
glider: 122
mission: 6
dive: 116
start: 3 10 108 7 47 53
data:
$ID,122
$MISSION,6
$DIVE,116
$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,-29515.238
$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,29
$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
$GPS1,073707,1248.739,12035.394,36,1.2,36,-0.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.2
$GPS2,074720,1248.652,12035.425,10,1.2,15,-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,63.8,13765,-17.4,-9.016
$D_GRID,1620
$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,19,-1.42,-146.0,0.0,0.0,0,88,0.00,0.00,-66.05,0.000,2,0.000,0.000,251,2122,2557
$GC,90,-1.42,-146.0,3.6,-8.9,12,123,13.50,2.42,-12.85,0.000,4,0.170,0.051,2590,755,3276
$GC,226,-1.13,-146.0,39.5,-23.0,35,233,0.35,2.35,0.00,0.000,6,0.111,0.027,2657,2164,3277
$GC,571,-1.02,-146.0,96.5,-15.3,96,578,0.12,2.38,0.00,0.000,4,0.104,0.043,2680,3548,3279
$GC,607,-0.97,-146.0,101.5,-13.2,102,614,0.00,2.28,0.00,0.000,6,0.000,0.026,2680,2172,3279
$GC,952,-0.97,-146.0,143.2,-9.9,163,959,0.00,2.45,0.00,0.000,4,0.000,0.044,2680,756,3279
$GC,999,-1.05,-146.0,147.8,-9.6,171,1006,0.00,2.30,0.00,0.000,6,0.000,0.028,2680,2135,3280
$GC,1344,-1.12,-146.0,179.3,-9.2,232,1351,0.00,2.42,0.00,0.000,4,0.000,0.044,2680,3547,3280
$GC,1446,-1.22,-146.0,188.4,-8.3,250,1453,0.20,2.33,0.00,0.000,6,0.044,0.028,2621,2146,3280
$GC,1791,-1.19,-146.0,223.1,-10.4,311,1798,0.12,0.00,0.00,0.000,6,0.101,0.000,2645,2146,3280
$GC,2133,-1.23,-146.0,253.8,-8.6,368,2137,0.00,2.42,0.00,0.000,4,0.000,0.045,2645,3548,3279
$GC,2184,-1.28,-146.0,258.6,-9.0,372,2188,0.00,2.38,0.00,0.000,6,0.000,0.031,2645,2132,3279
$GC,2510,-1.32,-146.0,286.1,-8.3,402,2515,0.12,2.45,0.00,0.000,4,0.056,0.045,2605,3543,3278
$GC,2583,-1.28,-146.0,293.8,-10.6,408,2587,0.00,2.33,0.00,0.000,6,0.000,0.031,2605,2156,3278
$GC,2908,-1.24,-146.0,326.7,-9.5,438,2913,0.15,2.42,0.00,0.000,4,0.100,0.047,2638,3546,3275
$GC,2941,-1.27,-146.0,330.0,-8.7,440,2948,0.00,2.33,0.00,0.000,6,0.000,0.031,2638,2166,3275
$GC,3267,-1.32,-146.0,358.0,-8.5,471,3271,0.00,2.42,0.00,0.000,4,0.000,0.048,2638,3552,3273
$GC,3323,-1.36,-146.0,362.9,-8.4,475,3330,0.15,2.33,0.00,0.000,6,0.053,0.032,2595,2178,3272
$GC,3648,-1.32,-146.0,394.2,-9.9,506,3653,0.12,2.53,0.00,0.000,4,0.110,0.051,2618,753,3270
$GC,3676,-1.32,-146.0,396.9,-9.5,508,3680,0.00,2.45,0.00,0.000,6,0.000,0.032,2618,2186,3270
$GC,4001,-1.32,-146.0,425.9,-8.6,538,4006,0.00,2.40,0.00,0.000,4,0.000,0.051,2618,3560,3268
$GC,4074,-1.32,-146.0,432.6,-8.9,544,4079,0.00,2.33,0.00,0.000,6,0.000,0.033,2618,2190,3268
$GC,4400,-1.32,-146.0,457.0,-6.9,574,4404,0.00,2.58,0.00,0.000,4,0.000,0.054,2618,740,3266
$GC,4443,-1.35,-146.0,460.7,-7.8,577,4450,0.00,2.50,0.00,0.000,6,0.000,0.035,2618,2193,3265
$GC,4769,-1.35,-146.0,484.0,-7.8,608,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2194,3262
$GC,5084,-1.35,-146.0,508.8,-8.2,633,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2194,3260
$GC,5393,-1.35,-146.0,533.6,-7.6,648,5397,0.00,2.40,0.00,0.000,4,0.000,0.054,2618,3556,3258
$GC,5442,-1.35,-146.0,537.7,-8.3,650,5446,0.00,2.33,0.00,0.000,6,0.000,0.035,2618,2187,3258
$GC,5763,-1.35,-146.0,565.0,-8.5,666,5767,0.00,2.58,0.00,0.000,4,0.000,0.056,2618,744,3256
$GC,5802,-1.39,-146.0,568.5,-9.0,668,5807,0.00,2.50,0.00,0.000,6,0.000,0.037,2617,2188,3256
$GC,6130,-1.39,-146.0,596.2,-8.4,684,6134,0.00,2.42,0.00,0.000,4,0.000,0.057,2618,3561,3255
$GC,6197,-1.43,-146.0,602.2,-9.0,687,6202,0.12,2.35,0.00,0.000,6,0.059,0.035,2583,2184,3254
$GC,6525,-1.38,-146.0,635.5,-10.7,703,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2182,3252
$GC,6833,-1.34,-146.0,666.3,-9.5,718,6835,0.15,0.00,0.00,0.000,6,0.112,0.000,2611,2181,3251
$GC,7143,-1.34,-146.0,691.5,-8.4,733,7147,0.00,2.45,0.00,0.000,4,0.000,0.056,2611,3561,3249
$GC,7197,-1.37,-146.0,696.7,-9.7,735,7204,0.00,2.33,0.00,0.000,6,0.000,0.036,2611,2203,3249
$GC,7514,-1.37,-146.0,723.6,-8.3,751,7518,0.00,2.62,0.00,0.000,4,0.000,0.059,2611,742,3248
$GC,7557,-1.41,-146.0,727.5,-8.4,753,7561,0.00,2.55,0.00,0.000,6,0.000,0.038,2611,2214,3248
$GC,7878,-1.41,-146.0,749.8,-6.7,769,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2215,3247
$GC,8189,-1.41,-146.0,771.0,-6.4,784,8193,0.00,2.65,0.00,0.000,4,0.000,0.058,2611,745,3246
$GC,8228,-1.45,-146.0,773.8,-7.3,786,8233,0.12,2.55,0.00,0.000,6,0.060,0.038,2577,2214,3246
$GC,8557,-1.41,-146.0,801.6,-8.6,802,8558,0.10,0.00,0.00,0.000,6,0.119,0.000,2594,2214,3245
$GC,8863,-1.41,-146.0,827.3,-8.4,817,8867,0.00,2.65,0.00,0.000,4,0.000,0.060,2594,746,3243
$GC,8902,-1.41,-146.0,830.5,-8.7,819,8906,0.00,2.53,0.00,0.000,6,0.000,0.039,2594,2196,3243
$GC,9228,-1.41,-146.0,853.8,-7.1,835,9232,0.00,2.42,0.00,0.000,4,0.000,0.061,2594,3556,3242
$GC,9283,-1.41,-146.0,858.1,-7.7,837,9287,0.00,2.33,0.00,0.000,6,0.000,0.037,2594,2196,3242
$GC,9604,-1.41,-146.0,883.6,-8.3,853,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2196,3240
$GC,9913,-1.41,-146.0,908.9,-7.9,868,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2197,3239
$GC,10224,-1.41,-146.0,933.0,-7.5,883,10228,0.00,2.45,0.00,0.000,4,0.000,0.059,2594,3561,3238
$GC,10265,-1.41,-146.0,936.1,-7.6,885,10269,0.00,2.35,0.00,0.000,6,0.000,0.038,2594,2197,3239
$GC,10593,-1.41,-146.0,960.1,-7.5,901,10597,0.00,2.62,0.00,0.000,4,0.000,0.061,2594,743,3237
$GC,10642,-1.41,-146.0,964.2,-8.3,903,10646,0.00,2.55,0.00,0.000,6,0.000,0.039,2594,2206,3237
$GC,10958,-1.41,-146.0,987.8,-7.4,918,10962,0.00,2.42,0.00,0.000,4,0.000,0.061,2594,3565,3237
$STATE,10984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10984,begin apogee
$GC,10990,-0.34,0.0,990.2,8.4,919,11115,1.12,0.00,120.75,1.393,6,0.097,0.000,2824,2360,2678
$STATE,11116,end apogee,CONTROL_FINISHED_OK
$STATE,11116,begin climb
$GC,11117,1.42,146.0,992.8,0.0,925,11254,1.77,2.55,127.10,1.341,4,0.058,0.061,3218,3722,2082
$GC,11305,1.15,146.0,977.2,14.3,934,11311,0.32,2.38,0.00,0.000,6,0.120,0.040,3161,2375,2080
$GC,11626,1.03,146.0,940.7,11.1,950,11631,0.17,2.47,0.00,0.000,4,0.117,0.061,3127,3730,2079
$GC,11659,0.95,146.0,937.1,10.8,951,11666,0.00,2.35,0.00,0.000,6,0.000,0.040,3126,2385,2079
$GC,11976,0.90,146.0,907.1,9.6,967,11978,0.15,0.00,0.00,0.000,6,0.121,0.000,3101,2383,2077
$GC,12284,0.92,156.2,880.0,8.5,982,12294,0.00,0.00,8.30,1.351,6,0.000,0.000,3101,2382,2041
$GC,12593,0.93,165.6,854.0,8.5,997,12604,0.00,0.00,8.77,1.341,6,0.000,0.000,3101,2382,2002
$GC,12902,0.94,170.4,827.5,8.8,1012,12908,0.00,0.00,4.30,1.313,6,0.000,0.000,3101,2381,1983
$GC,13212,0.95,177.7,800.7,8.6,1027,13225,0.00,2.55,6.93,1.316,4,0.000,0.061,3100,3732,1953
$GC,13265,0.95,177.7,795.6,9.5,1029,13269,0.00,2.38,0.00,0.000,6,0.000,0.039,3101,2394,1953
$GC,13587,1.03,203.2,769.1,7.7,1045,13612,0.12,0.00,22.25,1.273,6,0.070,0.000,3130,2393,1848
$GC,13916,1.03,203.2,737.1,10.5,1061,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2393,1847
$GC,14225,1.03,203.2,706.7,9.9,1076,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2392,1846
$GC,14534,1.03,203.2,674.7,11.0,1091,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2392,1846
$GC,14843,1.03,203.2,639.5,10.7,1106,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2392,1846
$GC,15153,1.03,203.2,606.8,10.6,1121,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2392,1846
$GC,15462,1.03,203.2,573.4,11.1,1136,15466,0.00,2.40,0.00,0.000,4,0.000,0.060,3130,3726,1846
$GC,15533,1.03,203.2,565.2,11.4,1139,15537,0.00,2.33,0.00,0.000,6,0.000,0.038,3130,2396,1846
$GC,15855,1.03,203.2,532.4,10.5,1155,15859,0.00,2.55,0.00,0.000,4,0.000,0.058,3130,972,1846
$GC,15904,1.03,203.2,527.0,10.5,1157,15909,0.00,2.47,0.00,0.000,6,0.000,0.038,3130,2394,1846
$GC,16221,1.03,203.2,495.2,10.0,1174,16222,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2394,1846
$GC,16539,1.03,203.2,463.4,9.8,1204,16540,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2394,1846
$GC,16858,1.03,203.2,433.1,9.2,1234,16862,0.00,2.55,0.00,0.000,4,0.000,0.054,3130,970,1846
$GC,16942,1.03,203.2,425.3,9.8,1241,16946,0.00,2.45,0.00,0.000,6,0.000,0.038,3130,2379,1846
$GC,17267,1.04,205.3,396.7,8.9,1271,17271,0.00,2.53,0.00,0.000,4,0.000,0.054,3130,968,1846
$GC,17299,1.06,217.3,393.5,8.4,1273,17318,0.00,2.42,11.73,1.027,6,0.000,0.037,3130,2372,1792
$GC,17635,1.07,227.3,363.4,8.5,1305,17650,0.00,2.60,8.68,1.002,4,0.000,0.053,3130,970,1750
$GC,17719,1.17,263.8,356.1,7.2,1312,17755,0.15,2.40,30.73,0.940,6,0.061,0.036,3166,2345,1602
$GC,18073,1.17,263.8,319.9,11.4,1345,18077,0.00,2.47,0.00,0.000,4,0.000,0.053,3166,967,1599
$GC,18116,1.17,263.8,314.8,11.2,1348,18123,0.00,2.40,0.00,0.000,6,0.000,0.036,3166,2332,1598
$GC,18442,1.17,263.8,279.6,10.7,1379,18446,0.00,2.47,0.00,0.000,4,0.000,0.056,3166,3726,1598
$GC,18515,1.17,263.8,270.9,13.2,1385,18519,0.00,2.40,0.00,0.000,6,0.000,0.035,3166,2326,1598
$GC,18848,1.17,263.8,234.0,11.3,1428,18854,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2325,1598
$GC,19190,1.17,263.8,196.9,9.4,1489,19197,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2324,1598
$GC,19534,1.24,279.6,166.6,8.2,1550,19557,0.00,2.47,12.38,0.811,4,0.000,0.051,3166,973,1537
$GC,19642,1.31,293.1,157.3,8.3,1568,19659,0.10,2.38,11.02,0.798,6,0.069,0.033,3193,2349,1483
$GC,19998,1.41,331.5,126.2,7.1,1630,20038,0.00,2.58,31.15,0.724,4,0.000,0.049,3193,966,1324
$GC,20133,1.51,347.6,115.4,8.2,1652,20152,0.20,2.35,12.62,0.732,6,0.051,0.032,3244,2331,1261
$GC,20490,1.51,347.6,77.8,10.6,1714,20496,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2330,1259
$GC,20834,1.57,358.4,46.1,8.5,1775,20848,0.00,0.00,8.45,0.663,6,0.000,0.000,3244,2330,1215
$GC,21181,1.67,377.5,18.8,8.0,1837,21203,0.10,2.47,14.90,0.607,4,0.063,0.044,3276,969,1138
$GC,21311,1.67,377.5,5.8,10.8,1859,21318,0.00,2.33,0.00,0.000,6,0.000,0.029,3276,2344,1136
$STATE,21350,end climb,SURFACE_DEPTH_REACHED
$STATE,21351,begin surface coast
$FINISH,-0.2,1.008716
$STATE,21374,end surface coast,CONTROL_FINISHED_OK
$STATE,21374,begin surface
$SM_CCo,21395,46.70,0.548,0,0,741,475.15
$SM_GC,0.97,0.00,0.00,46.70,0.000,0.000,0.548,248,2119,741,-12.22,-0.88,475.15
$IRIDIUM_FIX,1243.25,12034.32,040697,070735
$TT8_MAMPS,0.024544
$HUMID,1847
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$XPDR_PINGS,460
$24V_AH,23.2,22.849
$10V_AH,10.1,11.002
$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,32.875,170.975,440.050,46.700,0.000,80.311,87.560,209.656,127.500,0.000,0.000,15.841,3855.545,13777.839,682.870,3101.547,639.488,0.000,2231.140,0.000,3025.525,0.000,91.585
$DEVICE_MAMPS,169.507,61.360,1392.872,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59746,1870
$CAP_FILE_SIZE,200649,0
$CFSIZE,260165632,248176640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,142.2,1
$GPS,100308,134632,1249.592,12038.124,42,1.0,42,-0.8