version: 66.03
glider: 122
mission: 6
dive: 198
start: 3 28 108 2 28 37
data:
$ID,122
$MISSION,6
$DIVE,198
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-30881.055
$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,65
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$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,8
$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
$GPS1,022202,1247.801,12035.082,40,1.9,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.9
$GPS2,022802,1247.818,12035.047,14,2.0,14,-0.8
$SPEED_LIMITS,0.156,0.206
$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,68.3,14905,-18.6,-9.016
$D_GRID,1541
$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,-1.51,-146.0,0.0,0.0,0,80,0.00,0.00,-58.05,0.000,2,0.000,0.000,252,2107,2384
$GC,82,-1.51,-146.0,3.0,-7.2,9,120,13.50,0.00,-18.62,0.000,6,0.173,0.000,2569,2107,3346
$GC,458,-1.23,-146.0,88.7,-20.6,75,465,0.30,0.00,0.00,0.000,6,0.119,0.000,2629,2107,3349
$GC,802,-1.19,-146.0,135.0,-11.3,136,809,0.00,2.50,0.00,0.000,4,0.000,0.043,2629,3562,3352
$GC,900,-1.19,-146.0,146.5,-11.6,153,907,0.00,2.30,0.00,0.000,6,0.000,0.027,2629,2166,3352
$GC,1244,-1.19,-146.0,179.7,-9.0,214,1251,0.00,2.40,0.00,0.000,4,0.000,0.043,2629,3561,3353
$GC,1314,-1.23,-146.0,186.8,-10.6,226,1321,0.00,2.35,0.00,0.000,6,0.000,0.028,2629,2149,3353
$GC,1660,-1.27,-146.0,219.6,-9.3,287,1666,0.00,2.42,0.00,0.000,4,0.000,0.044,2629,3564,3353
$GC,1724,-1.32,-146.0,225.5,-9.4,298,1731,0.00,2.33,0.00,0.000,6,0.000,0.030,2629,2175,3353
$GC,2076,-1.38,-146.0,251.8,-7.5,358,2081,0.12,2.42,0.00,0.000,4,0.056,0.046,2591,3569,3352
$GC,2109,-1.34,-146.0,255.1,-9.6,360,2117,0.12,2.28,0.00,0.000,6,0.100,0.031,2614,2208,3351
$GC,2436,-1.37,-146.0,284.6,-9.4,391,2440,0.00,2.35,0.00,0.000,4,0.000,0.048,2614,3558,3350
$GC,2476,-1.40,-146.0,288.7,-9.9,394,2480,0.00,2.22,0.00,0.000,6,0.000,0.031,2614,2235,3349
$GC,2804,-1.43,-146.0,317.2,-8.6,424,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2230,3348
$GC,3129,-1.48,-146.0,346.6,-9.4,455,3131,0.15,0.00,0.00,0.000,6,0.054,0.000,2573,2230,3346
$GC,3449,-1.43,-146.0,381.1,-10.5,485,3451,0.12,0.00,0.00,0.000,6,0.110,0.000,2595,2230,3343
$GC,3767,-1.43,-146.0,410.1,-8.8,515,3771,0.00,2.33,0.00,0.000,4,0.000,0.051,2595,3556,3342
$GC,3795,-1.43,-146.0,412.7,-9.1,517,3799,0.00,2.22,0.00,0.000,6,0.000,0.034,2595,2243,3342
$GC,4127,-1.43,-146.0,441.0,-8.3,548,4131,0.00,2.67,0.00,0.000,4,0.000,0.054,2595,746,3339
$GC,4159,-1.43,-146.0,444.3,-9.0,550,4167,0.00,2.60,0.00,0.000,6,0.000,0.035,2595,2256,3339
$GC,4486,-1.43,-146.0,472.8,-8.7,581,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2257,3337
$GC,4802,-1.43,-146.0,499.3,-7.9,611,4807,0.00,2.70,0.00,0.000,4,0.000,0.056,2595,755,3336
$GC,4847,-1.43,-146.0,503.3,-9.0,613,4851,0.00,2.58,0.00,0.000,6,0.000,0.035,2595,2248,3335
$GC,5167,-1.43,-146.0,529.5,-8.4,629,5175,0.00,2.33,0.00,0.000,4,0.000,0.055,2595,3564,3333
$GC,5202,-1.43,-146.0,532.7,-8.6,630,5206,0.00,2.25,0.00,0.000,6,0.000,0.035,2595,2246,3333
$GC,5526,-1.43,-146.0,561.2,-9.2,646,5531,0.00,2.67,0.00,0.000,4,0.000,0.056,2596,751,3331
$GC,5560,-1.46,-146.0,564.5,-8.7,647,5567,0.00,2.60,0.00,0.000,6,0.000,0.036,2595,2257,3330
$GC,5876,-1.46,-146.0,589.1,-7.5,663,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2257,3329
$GC,6184,-1.46,-146.0,612.6,-7.8,678,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2257,3328
$GC,6494,-1.46,-146.0,636.6,-7.8,693,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2257,3326
$GC,6804,-1.46,-146.0,661.1,-8.1,708,6809,0.00,2.70,0.00,0.000,4,0.000,0.058,2595,753,3324
$GC,6844,-1.49,-146.0,664.8,-9.8,710,6849,0.00,2.58,0.00,0.000,6,0.000,0.037,2595,2239,3324
$GC,7172,-1.49,-146.0,693.0,-8.7,726,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2239,3323
$GC,7483,-1.53,-146.0,720.0,-8.8,741,7485,0.12,0.00,0.00,0.000,6,0.061,0.000,2561,2239,3322
$GC,7793,-1.48,-146.0,751.1,-10.6,756,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2239,3321
$GC,8102,-1.44,-146.0,781.5,-9.6,771,8103,0.15,0.00,0.00,0.000,6,0.112,0.000,2588,2239,3320
$GC,8408,-1.44,-146.0,804.7,-6.8,786,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2239,3319
$GC,8718,-1.44,-146.0,826.7,-6.9,801,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2239,3318
$GC,9027,-1.47,-146.0,847.1,-6.6,816,9031,0.00,2.67,0.00,0.000,4,0.000,0.061,2588,757,3317
$GC,9054,-1.51,-146.0,849.2,-7.7,817,9059,0.00,2.58,0.00,0.000,6,0.000,0.040,2588,2237,3317
$GC,9370,-1.54,-146.0,876.4,-9.6,832,9374,0.00,2.35,0.00,0.000,4,0.000,0.061,2588,3558,3315
$GC,9438,-1.58,-146.0,883.3,-10.0,835,9443,0.12,2.25,0.00,0.000,6,0.067,0.038,2557,2245,3315
$GC,9760,-1.55,-146.0,916.4,-10.2,851,9765,0.00,2.70,0.00,0.000,4,0.000,0.061,2557,751,3315
$GC,9793,-1.55,-146.0,920.1,-10.2,852,9800,0.00,2.60,0.00,0.000,6,0.000,0.040,2557,2244,3314
$GC,10110,-1.51,-146.0,950.7,-9.5,868,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2244,3314
$GC,10419,-1.48,-146.0,980.7,-10.1,883,10421,0.12,0.00,0.00,0.000,6,0.118,0.000,2578,2245,3313
$STATE,10520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10520,begin apogee
$GC,10526,-0.34,0.0,990.4,9.3,888,10652,1.25,0.00,122.75,1.397,6,0.100,0.000,2829,2381,2748
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10655,1.51,146.0,995.3,0.0,894,10793,1.83,2.70,128.35,1.350,4,0.054,0.061,3237,983,2152
$GC,10833,1.23,146.0,986.6,11.2,903,10839,0.35,2.47,0.00,0.000,6,0.122,0.041,3175,2371,2151
$GC,11155,1.10,146.0,955.6,9.7,919,11157,0.17,0.00,0.00,0.000,6,0.127,0.000,3145,2371,2150
$GC,11464,1.04,146.0,927.3,9.3,934,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2371,2149
$GC,11774,0.97,146.0,898.2,9.7,949,11779,0.15,2.55,0.00,0.000,4,0.127,0.061,3119,980,2148
$GC,11823,1.00,164.3,893.7,8.2,951,11844,0.00,2.47,15.48,1.356,6,0.000,0.041,3119,2386,2078
$GC,12166,1.00,164.3,863.0,9.1,968,12170,0.00,2.45,0.00,0.000,4,0.000,0.065,3119,3733,2077
$GC,12198,1.00,164.3,859.8,10.3,969,12206,0.00,2.33,0.00,0.000,6,0.000,0.040,3119,2412,2077
$GC,12514,1.02,177.9,832.6,8.4,985,12537,0.00,2.75,12.15,1.336,4,0.000,0.061,3119,972,2022
$GC,12564,1.02,177.9,828.1,9.6,987,12569,0.00,2.53,0.00,0.000,6,0.000,0.041,3119,2392,2022
$GC,12893,1.05,192.9,800.4,8.3,1003,12912,0.00,0.00,13.32,1.316,6,0.000,0.000,3119,2392,1961
$GC,13221,1.06,199.3,772.1,8.7,1019,13232,0.00,2.65,5.93,1.298,4,0.000,0.061,3119,972,1934
$GC,13310,1.06,199.3,763.9,9.2,1023,13314,0.00,2.50,0.00,0.000,6,0.000,0.041,3120,2386,1934
$GC,13633,1.06,199.3,734.8,9.4,1039,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2386,1934
$GC,13941,1.09,199.3,704.6,9.2,1054,13946,0.10,2.60,0.00,0.000,4,0.076,0.061,3145,963,1934
$GC,14013,1.09,199.3,697.0,10.4,1057,14017,0.00,2.47,0.00,0.000,6,0.000,0.041,3145,2372,1934
$GC,14328,1.09,199.3,667.3,9.1,1072,14333,0.00,2.55,0.00,0.000,4,0.000,0.060,3145,971,1934
$GC,14361,1.09,199.3,664.1,9.1,1073,14369,0.00,2.45,0.00,0.000,6,0.000,0.040,3145,2362,1933
$GC,14678,1.12,220.6,636.9,8.1,1089,14701,0.00,2.67,18.33,1.200,4,0.000,0.059,3145,966,1847
$GC,14784,1.13,225.4,627.5,8.8,1093,14795,0.00,2.42,4.55,1.198,6,0.000,0.040,3145,2334,1828
$GC,15124,1.14,232.8,598.9,8.7,1110,15132,0.00,0.00,6.53,1.190,6,0.000,0.000,3145,2333,1799
$GC,15433,1.14,232.8,568.2,10.0,1125,15437,0.00,2.50,0.00,0.000,4,0.000,0.059,3145,964,1798
$GC,15472,1.14,232.8,564.2,11.0,1127,15476,0.00,2.38,0.00,0.000,6,0.000,0.038,3145,2318,1798
$GC,15799,1.14,232.8,533.4,9.3,1143,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2317,1797
$GC,16107,1.14,232.8,504.6,9.4,1158,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2317,1797
$GC,16424,1.14,232.8,475.2,9.1,1185,16428,0.00,2.45,0.00,0.000,4,0.000,0.058,3145,966,1798
$GC,16489,1.14,233.4,468.7,9.0,1190,16497,0.00,2.35,0.00,0.000,6,0.000,0.038,3145,2317,1797
$GC,16816,1.18,254.1,441.6,8.1,1221,16839,0.00,0.00,18.58,1.044,6,0.000,0.000,3145,2317,1712
$GC,17157,1.22,261.9,410.8,8.7,1253,17171,0.12,2.55,6.75,1.042,4,0.067,0.055,3175,960,1680
$GC,17210,1.19,261.9,405.2,10.0,1257,17217,0.00,2.40,0.00,0.000,6,0.000,0.037,3175,2331,1679
$GC,17536,1.19,261.9,370.9,10.1,1288,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,1679
$GC,17855,1.19,261.9,339.3,9.8,1318,17859,0.00,2.45,0.00,0.000,4,0.000,0.054,3175,969,1679
$GC,17954,1.19,261.9,328.8,10.3,1326,17962,0.00,2.38,0.00,0.000,6,0.000,0.037,3175,2333,1679
$GC,18281,1.19,261.9,296.6,9.5,1357,18282,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2333,1679
$GC,18598,1.20,269.1,267.6,8.7,1387,18612,0.00,2.47,6.40,0.933,4,0.000,0.053,3175,969,1650
$GC,18639,1.21,275.5,263.5,8.7,1390,18650,0.00,2.35,5.97,0.917,6,0.000,0.035,3175,2322,1623
$GC,18980,1.21,275.5,232.5,9.6,1438,18987,0.00,2.42,0.00,0.000,4,0.000,0.052,3175,967,1623
$GC,19016,1.22,281.2,229.3,8.8,1444,19029,0.00,2.30,5.15,0.899,6,0.000,0.034,3176,2302,1601
$GC,19367,1.24,289.5,198.4,8.6,1506,19381,0.00,2.53,7.25,0.860,4,0.000,0.051,3176,3724,1566
$GC,19427,1.24,289.5,192.8,9.7,1516,19434,0.00,2.42,0.00,0.000,6,0.000,0.034,3176,2312,1566
$GC,19772,1.31,306.0,164.3,8.3,1577,19791,0.00,0.00,13.30,0.800,6,0.000,0.000,3175,2311,1499
$GC,20130,1.46,344.2,134.2,7.3,1640,20170,0.20,2.45,31.00,0.736,4,0.055,0.051,3229,966,1344
$GC,20221,1.47,344.5,125.2,9.0,1655,20228,0.00,2.40,0.00,0.000,6,0.000,0.033,3229,2358,1342
$GC,20566,1.58,374.7,97.5,7.7,1716,20593,0.00,0.00,24.30,0.698,6,0.000,0.000,3229,2358,1219
$GC,20931,1.73,404.0,67.7,7.7,1780,20961,0.20,2.58,23.17,0.657,4,0.051,0.048,3286,962,1100
$GC,21064,1.74,409.7,55.3,8.8,1802,21079,0.00,2.40,4.25,0.683,6,0.000,0.031,3286,2372,1076
$GC,21417,1.77,409.7,23.5,9.0,1864,21424,0.00,2.47,0.00,0.000,4,0.000,0.045,3286,959,1076
$GC,21487,1.77,409.7,16.8,9.7,1876,21494,0.00,2.38,0.00,0.000,6,0.000,0.030,3286,2361,1075
$STATE,21668,end climb,SURFACE_DEPTH_REACHED
$STATE,21668,begin surface coast
$FINISH,-0.2,1.006268
$STATE,21696,end surface coast,CONTROL_FINISHED_OK
$STATE,21696,begin surface
$SM_CCo,21718,32.03,0.558,0,0,810,475.15
$SM_GC,1.01,0.00,0.00,32.03,0.000,0.000,0.558,253,2110,810,-12.20,-1.13,475.15
$IRIDIUM_FIX,1241.04,12031.29,210697,202008
$TT8_MAMPS,0.023777
$HUMID,1924
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,431
$24V_AH,23.1,36.679
$10V_AH,10.1,18.498
$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,32.525,158.750,473.500,32.025,0.000,22.635,36.232,176.944,120.250,0.000,0.000,14.983,3960.478,13770.741,732.855,3094.397,556.144,0.000,2268.540,0.000,3026.965,0.000,91.586
$DEVICE_MAMPS,172.575,65.195,1396.707,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59730,1913
$CAP_FILE_SIZE,194603,0
$CFSIZE,260165632,241393664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 12.5,1
$GPS,280308,083226,1248.967,12037.397,42,1.1,42,-0.8