version: 66.03
glider: 122
mission: 6
dive: 121
start: 3 11 108 8 9 39
data:
$ID,122
$MISSION,6
$DIVE,121
$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,-29631.488
$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,41
$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,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
$GPS1,075426,1250.996,12041.833,9,1.7,14,-0.8
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.5
$GPS2,080908,1250.929,12041.863,36,1.2,36,-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,260.5,48624,-17.4,-9.016
$D_GRID,1169
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-69.43,0.000,2,0.000,0.000,251,2136,2673
$GC,93,-1.42,-146.0,3.9,-9.5,12,125,13.50,2.42,-10.32,0.000,4,0.171,0.051,2590,3552,3276
$GC,210,-1.03,-146.0,39.7,-27.0,32,218,0.45,2.33,0.00,0.000,6,0.114,0.028,2675,2154,3277
$GC,556,-0.97,-146.0,95.5,-12.8,93,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2154,3278
$GC,899,-0.97,-146.0,135.8,-9.6,154,906,0.00,2.40,0.00,0.000,4,0.000,0.042,2675,3557,3279
$GC,929,-0.97,-146.0,138.6,-8.9,159,936,0.00,2.35,0.00,0.000,6,0.000,0.027,2675,2135,3279
$GC,1273,-1.06,-146.0,166.3,-8.6,220,1279,0.00,2.42,0.00,0.000,4,0.000,0.042,2675,3552,3279
$GC,1403,-1.15,-146.0,177.2,-8.3,243,1410,0.00,2.28,0.00,0.000,6,0.000,0.028,2675,2171,3279
$GC,1748,-1.25,-146.0,203.9,-7.1,304,1755,0.17,0.00,0.00,0.000,6,0.046,0.000,2618,2171,3280
$GC,2093,-1.25,-146.0,236.5,-8.9,365,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2171,3279
$GC,2430,-1.25,-146.0,268.1,-8.7,408,2434,0.00,2.38,0.00,0.000,4,0.000,0.044,2617,3554,3277
$GC,2507,-1.25,-146.0,275.3,-9.4,414,2514,0.00,2.33,0.00,0.000,6,0.000,0.030,2618,2176,3276
$GC,2833,-1.25,-146.0,305.0,-9.4,445,2837,0.00,2.50,0.00,0.000,4,0.000,0.050,2617,746,3275
$GC,2883,-1.25,-146.0,309.7,-9.8,449,2887,0.00,2.35,0.00,0.000,6,0.000,0.031,2617,2142,3274
$GC,3208,-1.25,-146.0,343.8,-10.8,479,3212,0.00,2.45,0.00,0.000,4,0.000,0.048,2617,3558,3272
$GC,3271,-1.25,-146.0,350.3,-9.9,484,3275,0.00,2.35,0.00,0.000,6,0.000,0.031,2617,2155,3272
$GC,3596,-1.25,-146.0,375.8,-7.5,514,3600,0.00,2.42,0.00,0.000,4,0.000,0.048,2618,3548,3270
$GC,3630,-1.25,-146.0,378.8,-8.4,516,3637,0.00,2.30,0.00,0.000,6,0.000,0.032,2617,2180,3269
$GC,3955,-1.25,-146.0,409.0,-9.3,547,3959,0.00,2.40,0.00,0.000,4,0.000,0.048,2617,3553,3268
$GC,3983,-1.25,-146.0,411.7,-10.1,549,3987,0.00,2.30,0.00,0.000,6,0.000,0.032,2617,2191,3268
$GC,4309,-1.25,-146.0,439.0,-7.9,579,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2187,3266
$GC,4626,-1.25,-146.0,466.2,-8.4,609,4630,0.00,2.38,0.00,0.000,4,0.000,0.050,2617,3548,3264
$GC,4681,-1.25,-146.0,471.4,-9.8,613,4688,0.00,2.30,0.00,0.000,6,0.000,0.034,2617,2206,3264
$GC,5010,-1.25,-146.0,500.5,-9.0,644,5014,0.00,2.38,0.00,0.000,4,0.000,0.051,2617,3554,3261
$GC,5050,-1.25,-146.0,504.5,-9.8,646,5054,0.00,2.28,0.00,0.000,6,0.000,0.034,2617,2215,3261
$GC,5377,-1.25,-146.0,532.4,-8.7,662,5382,0.00,2.60,0.00,0.000,4,0.000,0.054,2617,752,3258
$GC,5433,-1.28,-146.0,537.5,-8.9,664,5439,0.00,2.50,0.00,0.000,6,0.000,0.035,2617,2204,3258
$GC,5748,-1.28,-146.0,564.1,-8.8,680,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,3256
$GC,6058,-1.28,-146.0,590.8,-8.2,695,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,3255
$GC,6366,-1.28,-146.0,617.2,-8.6,710,6371,0.00,2.60,0.00,0.000,4,0.000,0.055,2617,749,3253
$GC,6400,-1.28,-146.0,620.2,-9.2,711,6406,0.00,2.47,0.00,0.000,6,0.000,0.036,2617,2190,3253
$GC,6715,-1.28,-146.0,647.9,-8.7,727,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2191,3251
$GC,7024,-1.28,-146.0,674.4,-8.4,742,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2192,3250
$GC,7333,-1.28,-146.0,698.5,-7.4,757,7337,0.00,2.42,0.00,0.000,4,0.000,0.057,2617,3561,3247
$GC,7377,-1.31,-146.0,701.7,-7.5,759,7381,0.00,2.33,0.00,0.000,6,0.000,0.035,2617,2198,3247
$GC,7704,-1.31,-146.0,725.2,-7.0,775,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2197,3247
$GC,8013,-1.34,-146.0,748.2,-7.7,790,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,3246
$GC,8323,-1.38,-146.0,771.6,-7.2,805,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,3244
$GC,8632,-1.38,-146.0,795.8,-7.7,820,8637,0.00,2.60,0.00,0.000,4,0.000,0.059,2617,749,3243
$GC,8674,-1.42,-146.0,799.0,-8.3,822,8678,0.00,2.55,0.00,0.000,6,0.000,0.038,2617,2222,3243
$GC,9001,-1.46,-146.0,825.3,-8.1,838,9003,0.15,0.00,0.00,0.000,6,0.055,0.000,2576,2222,3242
$GC,9309,-1.40,-146.0,853.2,-9.0,853,9311,0.12,0.00,0.00,0.000,6,0.114,0.000,2598,2223,3240
$GC,9618,-1.40,-146.0,877.0,-6.8,868,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2222,3239
$GC,9927,-1.40,-146.0,901.4,-9.1,883,9931,0.00,2.67,0.00,0.000,4,0.000,0.061,2598,743,3239
$GC,9981,-1.40,-146.0,906.9,-10.1,885,9988,0.00,2.55,0.00,0.000,6,0.000,0.040,2598,2209,3239
$GC,10297,-1.40,-146.0,934.4,-8.3,901,10301,0.00,2.65,0.00,0.000,4,0.000,0.060,2598,741,3237
$GC,10362,-1.40,-146.0,940.4,-8.9,904,10367,0.00,2.53,0.00,0.000,6,0.000,0.038,2598,2196,3237
$GC,10690,-1.40,-146.0,968.4,-8.6,920,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2196,3236
$STATE,10955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10960,-0.34,0.0,991.3,8.7,933,11084,1.12,0.00,120.07,1.398,6,0.098,0.000,2825,2389,2678
$STATE,11085,end apogee,CONTROL_FINISHED_OK
$STATE,11085,begin climb
$GC,11087,1.42,146.0,994.8,0.0,939,11221,1.80,2.47,126.50,1.343,4,0.058,0.062,3218,3716,2081
$GC,11351,1.18,146.0,966.8,16.2,951,11356,0.30,2.35,0.00,0.000,6,0.120,0.040,3164,2373,2080
$GC,11678,1.07,146.0,925.2,12.5,967,11680,0.12,0.00,0.00,0.000,6,0.120,0.000,3143,2371,2079
$GC,11987,1.01,146.0,892.1,10.1,982,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2370,2077
$GC,12296,0.94,146.0,861.6,10.5,997,12301,0.15,2.55,0.00,0.000,4,0.114,0.060,3112,969,2077
$GC,12335,0.94,146.0,857.8,9.6,999,12340,0.00,2.47,0.00,0.000,6,0.000,0.042,3112,2369,2077
$GC,12661,0.96,152.9,829.6,8.7,1015,12671,0.00,2.50,5.28,1.328,4,0.000,0.064,3112,3729,2054
$GC,12709,0.96,152.9,824.8,10.5,1017,12713,0.00,2.40,0.00,0.000,6,0.000,0.040,3112,2370,2054
$GC,13031,0.98,169.9,797.4,8.1,1033,13051,0.00,0.00,15.07,1.310,6,0.000,0.000,3112,2369,1984
$GC,13360,0.99,175.0,768.4,8.8,1049,13366,0.00,0.00,4.62,1.299,6,0.000,0.000,3112,2367,1964
$GC,13670,1.03,175.0,740.8,9.0,1064,13674,0.00,2.55,0.00,0.000,4,0.000,0.061,3112,966,1964
$GC,13703,1.03,175.0,737.8,9.1,1065,13709,0.00,2.47,0.00,0.000,6,0.000,0.041,3112,2373,1963
$GC,14019,1.08,183.0,710.6,8.6,1081,14028,0.12,0.00,6.97,1.279,6,0.069,0.000,3146,2373,1932
$GC,14327,1.05,183.0,679.3,9.9,1096,14331,0.00,2.55,0.00,0.000,4,0.000,0.059,3146,971,1931
$GC,14381,1.05,183.0,673.6,10.6,1098,14389,0.00,2.45,0.00,0.000,6,0.000,0.040,3146,2348,1932
$GC,14697,1.05,183.0,643.4,9.2,1114,14701,0.00,2.47,0.00,0.000,4,0.000,0.064,3146,3725,1932
$GC,14747,1.00,183.0,638.5,9.0,1116,14751,0.12,2.38,0.00,0.000,6,0.120,0.040,3125,2352,1932
$GC,15069,1.02,194.1,611.6,8.4,1132,15081,0.00,0.00,10.02,1.199,6,0.000,0.000,3125,2350,1886
$GC,15377,1.05,194.5,584.3,9.0,1147,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2350,1885
$GC,15686,1.10,205.1,558.7,8.5,1162,15697,0.00,0.00,9.45,1.160,6,0.000,0.000,3125,2349,1842
$GC,15995,1.15,205.1,530.6,9.3,1177,16000,0.15,2.50,0.00,0.000,4,0.066,0.058,3167,967,1842
$GC,16035,1.09,205.1,526.1,12.0,1179,16040,0.12,2.45,0.00,0.000,6,0.116,0.039,3146,2365,1841
$GC,16353,1.09,205.1,494.8,9.5,1197,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2365,1841
$GC,16671,1.09,205.1,465.4,9.3,1227,16672,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2365,1841
$GC,16990,1.09,205.1,435.2,9.9,1257,16994,0.00,2.42,0.00,0.000,4,0.000,0.061,3146,3724,1841
$GC,17039,1.09,205.1,430.0,10.0,1261,17047,0.00,2.38,0.00,0.000,6,0.000,0.037,3146,2339,1842
$GC,17365,1.09,205.1,397.6,10.1,1292,17370,0.00,2.45,0.00,0.000,4,0.000,0.057,3145,970,1841
$GC,17398,1.09,205.1,394.0,10.1,1294,17406,0.00,2.40,0.00,0.000,6,0.000,0.038,3145,2349,1841
$GC,17724,1.10,207.9,363.3,8.9,1325,17736,0.00,2.53,3.00,1.019,4,0.000,0.059,3145,3728,1830
$GC,17752,1.10,207.9,360.3,10.2,1327,17760,0.00,2.42,0.00,0.000,6,0.000,0.037,3146,2336,1830
$GC,18080,1.11,214.7,332.9,8.7,1358,18089,0.00,0.00,6.12,0.999,6,0.000,0.000,3145,2334,1802
$GC,18408,1.17,226.5,305.4,8.4,1389,18419,0.00,0.00,10.02,0.956,6,0.000,0.000,3145,2335,1754
$GC,18734,1.23,232.4,279.5,8.7,1420,18749,0.12,2.47,5.38,0.946,4,0.068,0.054,3178,967,1729
$GC,18772,1.23,232.4,275.7,10.8,1423,18776,0.00,2.42,0.00,0.000,6,0.000,0.037,3178,2352,1729
$GC,19100,1.23,232.4,241.7,10.1,1460,19107,0.00,2.47,0.00,0.000,4,0.000,0.053,3178,969,1729
$GC,19153,1.23,232.4,236.2,10.4,1469,19160,0.00,2.42,0.00,0.000,6,0.000,0.036,3178,2366,1729
$GC,19498,1.23,232.4,206.3,9.3,1530,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2366,1729
$GC,19842,1.28,261.3,176.5,7.5,1591,19871,0.00,2.60,23.70,0.802,4,0.000,0.051,3178,974,1611
$GC,19957,1.33,274.5,166.8,8.3,1610,19972,0.00,2.40,10.50,0.806,6,0.000,0.035,3177,2355,1559
$GC,20309,1.48,311.9,139.8,7.1,1672,20346,0.20,2.55,30.00,0.742,4,0.053,0.053,3232,3730,1406
$GC,20438,1.48,311.9,126.5,10.6,1694,20445,0.00,2.33,0.00,0.000,6,0.000,0.034,3232,2371,1404
$GC,20782,1.56,339.6,98.9,7.6,1755,20812,0.00,2.58,21.67,0.704,4,0.000,0.051,3231,973,1292
$GC,20847,1.62,339.6,93.3,9.7,1766,20855,0.08,2.42,0.00,0.000,6,0.053,0.033,3260,2382,1290
$GC,21193,1.63,347.7,64.2,8.6,1827,21206,0.00,2.38,6.38,0.699,4,0.000,0.048,3260,3727,1259
$GC,21245,1.63,347.7,59.2,10.1,1836,21252,0.00,2.25,0.00,0.000,6,0.000,0.031,3260,2397,1258
$GC,21590,1.74,373.8,35.1,7.7,1897,21620,0.10,2.60,20.48,0.623,4,0.065,0.048,3289,972,1152
$GC,21694,1.74,373.8,24.0,11.6,1915,21700,0.00,2.47,0.00,0.000,6,0.000,0.031,3290,2419,1150
$STATE,21917,end climb,SURFACE_DEPTH_REACHED
$STATE,21917,begin surface coast
$FINISH,-0.1,1.021427
$STATE,21941,end surface coast,CONTROL_FINISHED_OK
$STATE,21941,begin surface
$SM_CCo,21963,49.47,0.555,0,0,740,475.15
$SM_GC,0.91,0.00,0.00,49.47,0.000,0.000,0.555,250,2122,740,-12.21,-0.79,475.15
$IRIDIUM_FIX,1247.67,12047.21,050697,080820
$TT8_MAMPS,0.023777
$HUMID,1918
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.30
$XPDR_PINGS,428
$ALTIM_BOTTOM_PING,860.0,73.7
$24V_AH,23.2,23.669
$10V_AH,10.1,11.447
$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,32.425,162.125,435.250,49.475,0.000,128.150,169.714,215.101,116.750,0.000,0.000,36.505,3925.135,14307.716,704.023,3183.806,785.696,0.000,2278.727,0.000,3101.571,0.000,75.297
$DEVICE_MAMPS,171.041,63.661,1398.241,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1317.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59762,1959
$CAP_FILE_SIZE,201348,0
$CFSIZE,260165632,247791616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,110.3,1
$GPS,110308,141737,1250.398,12039.027,30,1.1,30,-0.8