version: 66.03
glider: 122
mission: 6
dive: 149
start: 3 17 108 9 37 53
data:
$ID,122
$MISSION,6
$DIVE,149
$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,-30083.537
$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,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
$GPS1,092607,1250.308,12042.571,13,1.0,29,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.3
$GPS2,093721,1250.368,12042.557,11,1.3,11,-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,264.1,49656,-17.4,-9.016
$D_GRID,1166
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-61.83,0.000,2,0.000,0.000,252,2116,2449
$GC,86,-1.42,-146.0,3.2,-8.2,11,124,13.55,2.53,-15.35,0.000,4,0.173,0.052,2588,3561,3275
$GC,176,-1.10,-146.0,26.6,-24.0,26,184,0.40,2.33,0.00,0.000,6,0.113,0.027,2663,2158,3276
$GC,521,-1.00,-146.0,83.6,-13.3,87,529,0.12,2.42,0.00,0.000,4,0.115,0.042,2685,753,3277
$GC,563,-1.00,-146.0,88.5,-11.5,94,570,0.00,2.30,0.00,0.000,6,0.000,0.026,2685,2137,3277
$GC,908,-1.05,-146.0,126.6,-9.5,155,914,0.00,2.40,0.00,0.000,4,0.000,0.043,2685,3545,3278
$GC,1006,-1.11,-146.0,135.6,-8.8,172,1013,0.00,2.33,0.00,0.000,6,0.000,0.027,2685,2134,3278
$GC,1340,-1.20,-146.0,162.7,-7.8,233,1347,0.17,2.42,0.00,0.000,4,0.047,0.041,2628,3552,3279
$GC,1376,-1.20,-146.0,166.4,-10.3,239,1383,0.00,2.28,0.00,0.000,6,0.000,0.027,2628,2173,3278
$GC,1720,-1.20,-146.0,200.1,-9.9,300,1726,0.00,2.35,0.00,0.000,4,0.000,0.042,2628,3550,3279
$GC,1750,-1.20,-146.0,202.9,-9.3,305,1757,0.00,2.28,0.00,0.000,6,0.000,0.028,2628,2172,3278
$GC,2094,-1.20,-146.0,233.8,-9.1,366,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2172,3277
$GC,2434,-1.20,-146.0,264.7,-8.6,413,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2171,3277
$GC,2752,-1.20,-146.0,292.6,-9.2,443,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2171,3275
$GC,3073,-1.20,-146.0,320.0,-8.9,473,3077,0.00,2.47,0.00,0.000,4,0.000,0.051,2627,757,3273
$GC,3139,-1.25,-146.0,326.3,-8.8,478,3146,0.00,2.40,0.00,0.000,6,0.000,0.031,2628,2184,3272
$GC,3465,-1.25,-146.0,352.5,-7.9,509,3469,0.00,2.35,0.00,0.000,4,0.000,0.048,2627,3549,3271
$GC,3516,-1.25,-146.0,356.6,-8.3,513,3520,0.00,2.25,0.00,0.000,6,0.000,0.031,2628,2203,3270
$GC,3842,-1.28,-146.0,383.8,-8.2,543,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2198,3267
$GC,4160,-1.32,-146.0,409.7,-8.4,573,4165,0.00,2.35,0.00,0.000,4,0.000,0.049,2628,3548,3266
$GC,4189,-1.35,-146.0,412.3,-8.8,575,4193,0.00,2.25,0.00,0.000,6,0.000,0.032,2628,2212,3265
$GC,4516,-1.39,-146.0,437.9,-8.1,605,4520,0.12,2.35,0.00,0.000,4,0.057,0.049,2592,3551,3264
$GC,4555,-1.34,-146.0,441.6,-9.2,608,4559,0.12,2.22,0.00,0.000,6,0.100,0.033,2615,2230,3263
$GC,4879,-1.34,-146.0,468.6,-8.5,638,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2228,3260
$GC,5199,-1.34,-146.0,494.6,-7.8,668,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2228,3258
$GC,5511,-1.34,-146.0,521.3,-8.8,686,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2228,3256
$GC,5818,-1.34,-146.0,546.1,-7.4,701,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2228,3254
$GC,6127,-1.34,-146.0,569.7,-7.6,716,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2227,3252
$GC,6437,-1.34,-146.0,594.8,-8.1,731,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2226,3250
$GC,6746,-1.34,-146.0,619.1,-7.8,746,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2226,3248
$GC,7056,-1.34,-146.0,643.3,-7.8,761,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2226,3247
$GC,7364,-1.34,-146.0,668.2,-8.6,776,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2226,3246
$GC,7673,-1.34,-146.0,693.0,-7.7,791,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2226,3245
$GC,7983,-1.34,-146.0,715.2,-7.0,806,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2225,3243
$GC,8292,-1.34,-146.0,736.6,-7.1,821,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2225,3242
$GC,8603,-1.34,-146.0,760.1,-7.8,836,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2225,3240
$GC,8911,-1.37,-146.0,782.9,-7.4,851,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2225,3239
$GC,9220,-1.41,-146.0,807.6,-8.0,866,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2225,3239
$GC,9532,-1.45,-146.0,830.5,-7.5,881,9537,0.12,2.35,0.00,0.000,4,0.061,0.057,2580,3548,3238
$GC,9575,-1.41,-146.0,834.7,-8.7,883,9579,0.00,2.25,0.00,0.000,6,0.000,0.037,2580,2230,3238
$GC,9904,-1.36,-146.0,864.0,-8.2,899,9906,0.15,0.00,0.00,0.000,6,0.109,0.000,2608,2227,3237
$GC,10211,-1.36,-146.0,887.4,-8.1,914,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2227,3235
$GC,10523,-1.36,-146.0,909.8,-7.2,929,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2227,3234
$GC,10830,-1.36,-146.0,929.6,-5.6,944,10834,0.00,2.35,0.00,0.000,4,0.000,0.059,2608,3545,3233
$GC,10885,-1.40,-146.0,932.6,-6.0,946,10891,0.00,2.25,0.00,0.000,6,0.000,0.038,2608,2230,3233
$GC,11201,-1.40,-146.0,951.9,-6.6,962,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2230,3233
$GC,11510,-1.44,-146.0,972.5,-6.8,977,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2230,3232
$STATE,11796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11796,begin apogee
$GC,11801,-0.34,0.0,990.9,6.6,991,11924,1.05,0.00,119.50,1.400,6,0.077,0.000,2830,2373,2678
$STATE,11925,end apogee,CONTROL_FINISHED_OK
$STATE,11925,begin climb
$GC,11927,1.42,146.0,990.8,0.0,997,12062,1.80,2.65,126.65,1.343,4,0.054,0.061,3224,981,2082
$GC,12126,1.17,146.0,973.4,12.6,1005,12134,0.35,2.47,0.00,0.000,6,0.117,0.041,3162,2368,2080
$GC,12441,1.06,146.0,939.0,10.8,1021,12443,0.12,0.00,0.00,0.000,6,0.123,0.000,3140,2369,2079
$GC,12750,1.00,146.0,907.9,10.1,1036,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2369,2078
$GC,13060,0.93,146.0,877.8,9.7,1051,13061,0.17,0.00,0.00,0.000,6,0.114,0.000,3108,2369,2078
$GC,13369,0.96,162.4,851.6,8.2,1066,13390,0.00,0.00,13.73,1.340,6,0.000,0.000,3108,2369,2016
$GC,13698,0.97,167.6,823.3,8.8,1082,13705,0.00,0.00,5.00,1.322,6,0.000,0.000,3108,2369,1994
$GC,14007,0.97,170.8,796.3,8.8,1097,14012,0.00,0.00,3.15,1.286,6,0.000,0.000,3108,2369,1981
$GC,14316,1.00,188.1,770.7,8.1,1112,14340,0.00,2.60,15.40,1.286,4,0.000,0.061,3108,988,1910
$GC,14363,1.00,188.1,766.7,9.3,1114,14367,0.00,2.47,0.00,0.000,6,0.000,0.041,3108,2373,1910
$GC,14689,1.08,210.5,740.8,7.9,1130,14711,0.15,0.00,19.58,1.257,6,0.067,0.000,3142,2374,1819
$GC,15018,1.08,210.5,708.9,10.0,1146,15023,0.00,2.55,0.00,0.000,4,0.000,0.061,3142,980,1817
$GC,15073,1.08,210.5,703.1,10.3,1148,15080,0.00,2.47,0.00,0.000,6,0.000,0.042,3142,2361,1816
$GC,15390,1.08,210.5,672.1,10.1,1164,15391,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2361,1816
$GC,15698,1.08,210.5,640.5,10.0,1179,15703,0.00,2.50,0.00,0.000,4,0.000,0.060,3142,987,1816
$GC,15737,1.08,210.5,636.6,10.7,1181,15742,0.00,2.42,0.00,0.000,6,0.000,0.042,3142,2358,1816
$GC,16065,1.08,210.5,604.7,9.5,1197,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2358,1816
$GC,16374,1.08,210.5,575.9,9.5,1212,16378,0.00,2.50,0.00,0.000,4,0.000,0.059,3142,982,1816
$GC,16422,1.08,210.5,570.9,10.2,1214,16426,0.00,2.40,0.00,0.000,6,0.000,0.040,3142,2332,1816
$GC,16743,1.08,210.5,540.3,9.5,1230,16748,0.00,2.53,0.00,0.000,4,0.000,0.064,3142,3733,1816
$GC,16805,1.08,210.5,534.1,9.6,1233,16810,0.00,2.38,0.00,0.000,6,0.000,0.039,3142,2360,1816
$GC,17132,1.08,214.2,505.5,8.8,1249,17141,0.00,2.55,2.97,1.112,4,0.000,0.058,3142,976,1804
$GC,17214,1.08,214.2,497.7,9.5,1253,17221,0.00,2.40,0.00,0.000,6,0.000,0.038,3142,2341,1804
$GC,17540,1.08,214.2,467.9,9.1,1284,17544,0.00,2.50,0.00,0.000,4,0.000,0.061,3142,3735,1804
$GC,17612,1.08,214.2,460.8,9.5,1290,17616,0.00,2.42,0.00,0.000,6,0.000,0.038,3142,2330,1804
$GC,17936,1.10,222.8,433.0,8.6,1320,17947,0.00,0.00,7.70,1.071,6,0.000,0.000,3142,2329,1769
$GC,18266,1.10,222.8,401.8,9.6,1351,18267,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2329,1769
$GC,18584,1.10,223.1,373.6,9.0,1381,18588,0.00,2.45,0.00,0.000,4,0.000,0.057,3142,965,1769
$GC,18612,1.10,223.1,371.1,9.4,1383,18616,0.00,2.40,0.00,0.000,6,0.000,0.038,3142,2339,1769
$GC,18937,1.15,236.1,343.5,8.4,1413,18958,0.00,2.53,12.07,0.979,4,0.000,0.055,3142,970,1714
$GC,18986,1.19,237.5,339.1,8.9,1417,18993,0.00,2.40,0.00,0.000,6,0.000,0.038,3142,2332,1713
$GC,19313,1.28,259.7,312.6,7.9,1448,19339,0.15,2.58,19.58,0.924,4,0.064,0.058,3185,3715,1618
$GC,19361,1.24,259.7,307.7,9.8,1452,19368,0.00,2.38,0.00,0.000,6,0.000,0.036,3185,2347,1618
$GC,19687,1.24,259.7,275.6,10.4,1483,19691,0.00,2.47,0.00,0.000,4,0.000,0.056,3185,969,1616
$GC,19753,1.24,259.7,267.8,11.5,1488,19760,0.00,2.38,0.00,0.000,6,0.000,0.037,3185,2332,1616
$GC,20086,1.24,260.1,233.9,9.0,1533,20093,0.00,2.45,0.00,0.000,4,0.000,0.054,3185,966,1616
$GC,20127,1.24,260.1,229.8,10.6,1540,20133,0.00,2.38,0.00,0.000,6,0.000,0.035,3185,2335,1616
$GC,20471,1.24,263.6,197.0,8.8,1601,20479,0.00,2.53,3.22,0.874,4,0.000,0.053,3185,966,1603
$GC,20553,1.24,263.6,189.3,9.7,1615,20559,0.00,2.30,0.00,0.000,6,0.000,0.035,3185,2296,1602
$GC,20897,1.28,266.3,159.3,8.9,1676,20904,0.00,0.00,2.75,0.838,6,0.000,0.000,3185,2295,1591
$GC,21242,1.40,307.0,133.4,6.9,1737,21284,0.12,2.62,32.78,0.736,4,0.065,0.052,3216,3723,1426
$GC,21377,1.44,307.0,121.6,9.1,1760,21384,0.00,2.50,0.00,0.000,6,0.000,0.034,3216,2268,1424
$GC,21721,1.57,348.8,96.3,6.9,1821,21763,0.15,2.35,33.33,0.687,4,0.058,0.051,3260,972,1254
$GC,21814,1.57,348.8,88.4,9.2,1837,21821,0.00,2.25,0.00,0.000,6,0.000,0.032,3260,2276,1252
$GC,22158,1.64,367.3,59.6,8.1,1898,22178,0.00,2.42,14.02,0.663,4,0.000,0.049,3260,963,1180
$GC,22224,1.68,369.6,53.9,8.9,1909,22231,0.00,2.22,0.00,0.000,6,0.000,0.031,3260,2263,1178
$GC,22569,1.81,399.8,27.1,7.5,1970,22601,0.15,2.40,25.67,0.604,4,0.051,0.047,3309,962,1047
$GC,22669,1.81,399.8,16.4,11.2,1987,22676,0.00,2.15,0.00,0.000,6,0.000,0.029,3309,2233,1045
$STATE,22826,end climb,SURFACE_DEPTH_REACHED
$STATE,22826,begin surface coast
$FINISH,-0.2,1.008817
$STATE,22849,end surface coast,CONTROL_FINISHED_OK
$STATE,22849,begin surface
$SM_CCo,22871,36.72,0.559,0,0,740,475.15
$SM_GC,0.67,0.00,0.00,36.72,0.000,0.000,0.559,252,2112,740,-12.20,-1.07,475.15
$IRIDIUM_FIX,1247.67,12045.31,110697,090947
$TT8_MAMPS,0.023777
$HUMID,1946
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.40
$XPDR_PINGS,422
$ALTIM_BOTTOM_PING,890.7,30.7
$24V_AH,23.2,28.365
$10V_AH,10.1,13.996
$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,32.525,139.850,457.100,36.725,0.000,74.264,202.066,174.398,116.000,0.000,0.000,11.623,3937.354,15048.070,686.245,3191.488,732.139,0.000,2268.510,0.000,3129.850,0.000,79.034
$DEVICE_MAMPS,172.575,63.661,1399.775,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1358.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62901,2019
$CAP_FILE_SIZE,199765,0
$CFSIZE,260165632,245493760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,355.9,1
$GPS,170308,160056,1250.662,12039.358,39,1.6,39,-0.8