version: 66.03
glider: 122
mission: 6
dive: 200
start: 3 28 108 14 57 38
data:
$ID,122
$MISSION,6
$DIVE,200
$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,-30909.723
$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,14.2
$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,43
$R_STBD_OVSHOOT,24
$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
$GPS1,145108,1250.339,12039.249,31,1.0,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.9
$GPS2,145703,1250.374,12039.235,11,1.0,11,-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,114.2,6377,-18.6,-9.016
$D_GRID,1368
$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,20,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-59.62,0.000,2,0.000,0.000,253,2123,2440
$GC,84,-1.56,-146.0,3.3,-8.1,10,123,13.40,2.38,-16.90,0.000,4,0.171,0.052,2561,758,3344
$GC,197,-1.30,-146.0,28.7,-20.1,29,205,0.30,2.35,0.00,0.000,6,0.111,0.027,2617,2167,3345
$GC,543,-1.16,-146.0,89.2,-16.0,90,550,0.15,2.38,0.00,0.000,4,0.105,0.042,2650,3553,3346
$GC,635,-1.10,-146.0,102.2,-13.5,106,642,0.00,2.28,0.00,0.000,6,0.000,0.026,2650,2174,3347
$GC,980,-1.10,-146.0,141.2,-10.7,167,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2174,3349
$GC,1324,-1.17,-146.0,175.3,-9.4,228,1331,0.00,2.38,0.00,0.000,4,0.000,0.043,2649,3557,3350
$GC,1389,-1.24,-146.0,181.1,-8.7,239,1396,0.00,2.28,0.00,0.000,6,0.000,0.028,2650,2185,3350
$GC,1734,-1.32,-146.0,209.7,-8.7,300,1742,0.15,2.35,0.00,0.000,4,0.051,0.043,2600,3548,3350
$GC,1805,-1.29,-146.0,217.3,-11.1,312,1812,0.12,2.28,0.00,0.000,6,0.097,0.030,2624,2185,3350
$GC,2151,-1.33,-146.0,249.7,-7.8,373,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2184,3349
$GC,2477,-1.37,-146.0,276.0,-8.1,404,2481,0.00,2.35,0.00,0.000,4,0.000,0.047,2624,3549,3348
$GC,2550,-1.42,-146.0,282.7,-8.6,410,2557,0.12,2.25,0.00,0.000,6,0.061,0.031,2589,2203,3347
$GC,2874,-1.42,-146.0,314.4,-9.5,441,2878,0.00,2.35,0.00,0.000,4,0.000,0.048,2589,3551,3346
$GC,2929,-1.42,-146.0,319.9,-9.7,445,2937,0.00,2.25,0.00,0.000,6,0.000,0.031,2588,2231,3345
$GC,3257,-1.42,-146.0,349.4,-9.0,476,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2227,3343
$GC,3573,-1.42,-146.0,379.7,-10.6,506,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2227,3342
$GC,3892,-1.42,-146.0,411.4,-9.3,536,3896,0.00,2.33,0.00,0.000,4,0.000,0.051,2589,3552,3339
$GC,3931,-1.42,-146.0,414.8,-9.1,539,3935,0.00,2.22,0.00,0.000,6,0.000,0.033,2589,2241,3339
$GC,4258,-1.42,-146.0,443.6,-8.9,569,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2240,3337
$GC,4574,-1.42,-146.0,472.9,-9.3,599,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2240,3335
$GC,4902,-1.42,-146.0,504.7,-9.3,628,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2240,3333
$GC,5212,-1.42,-146.0,531.3,-8.3,643,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2240,3330
$GC,5521,-1.42,-146.0,556.7,-7.8,658,5525,0.00,2.30,0.00,0.000,4,0.000,0.053,2589,3542,3328
$GC,5565,-1.42,-146.0,560.7,-8.8,660,5569,0.00,2.22,0.00,0.000,6,0.000,0.035,2588,2237,3328
$GC,5886,-1.42,-146.0,587.4,-8.3,676,5890,0.00,2.65,0.00,0.000,4,0.000,0.057,2588,758,3327
$GC,5913,-1.42,-146.0,589.6,-8.7,677,5917,0.00,2.53,0.00,0.000,6,0.000,0.037,2588,2222,3326
$GC,6228,-1.42,-146.0,614.1,-7.7,692,6232,0.00,2.33,0.00,0.000,4,0.000,0.055,2589,3541,3325
$GC,6268,-1.42,-146.0,617.4,-8.3,694,6272,0.00,2.28,0.00,0.000,6,0.000,0.035,2588,2211,3325
$GC,6597,-1.42,-146.0,644.0,-8.7,710,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2209,3323
$GC,6904,-1.42,-146.0,669.0,-8.0,725,6909,0.00,2.38,0.00,0.000,4,0.000,0.055,2588,3547,3322
$GC,6945,-1.42,-146.0,672.3,-8.7,727,6949,0.00,2.25,0.00,0.000,6,0.000,0.036,2588,2234,3322
$GC,7272,-1.42,-146.0,699.0,-8.0,743,7276,0.00,2.33,0.00,0.000,4,0.000,0.055,2588,3542,3321
$GC,7312,-1.42,-146.0,702.6,-9.5,745,7316,0.00,2.20,0.00,0.000,6,0.000,0.037,2589,2257,3321
$GC,7639,-1.42,-146.0,732.1,-9.6,761,7643,0.00,2.70,0.00,0.000,4,0.000,0.060,2588,755,3318
$GC,7688,-1.46,-146.0,737.1,-10.1,763,7692,0.00,2.55,0.00,0.000,6,0.000,0.037,2588,2226,3319
$GC,8004,-1.46,-146.0,765.1,-8.7,778,8008,0.00,2.33,0.00,0.000,4,0.000,0.058,2588,3540,3318
$GC,8048,-1.46,-146.0,769.4,-8.9,780,8052,0.00,2.25,0.00,0.000,6,0.000,0.037,2588,2229,3317
$GC,8376,-1.46,-146.0,796.7,-8.3,796,8380,0.00,2.35,0.00,0.000,4,0.000,0.058,2588,3542,3316
$GC,8417,-1.46,-146.0,800.1,-8.6,798,8421,0.00,2.22,0.00,0.000,6,0.000,0.038,2588,2246,3316
$GC,8743,-1.46,-146.0,827.4,-8.8,814,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2246,3315
$GC,9053,-1.46,-146.0,852.7,-8.2,829,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2246,3314
$GC,9362,-1.46,-146.0,877.2,-8.1,844,9366,0.00,2.33,0.00,0.000,4,0.000,0.058,2588,3545,3312
$GC,9416,-1.46,-146.0,882.0,-8.6,846,9424,0.00,2.22,0.00,0.000,6,0.000,0.038,2588,2250,3313
$GC,9733,-1.46,-146.0,907.4,-8.2,862,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3312
$GC,10042,-1.49,-146.0,932.3,-8.0,877,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3311
$GC,10352,-1.53,-146.0,955.1,-7.0,892,10356,0.00,2.72,0.00,0.000,4,0.000,0.064,2588,753,3310
$GC,10379,-1.57,-146.0,957.3,-7.9,893,10384,0.12,2.58,0.00,0.000,6,0.061,0.039,2555,2230,3310
$GC,10696,-1.53,-146.0,986.9,-10.0,908,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2230,3310
$STATE,10734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10734,begin apogee
$GC,10740,-0.35,0.0,990.9,9.9,910,10865,1.38,0.00,121.32,1.395,6,0.107,0.000,2826,2366,2748
$STATE,10866,end apogee,CONTROL_FINISHED_OK
$STATE,10866,begin climb
$GC,10868,1.56,146.0,995.5,0.0,916,11009,1.95,2.60,127.65,1.348,4,0.056,0.064,3250,3723,2152
$GC,11050,1.25,146.0,985.2,13.9,924,11058,0.40,2.35,0.00,0.000,6,0.135,0.041,3181,2389,2150
$GC,11366,1.12,146.0,952.5,10.1,940,11371,0.15,2.60,0.00,0.000,4,0.124,0.061,3151,969,2150
$GC,11422,1.04,156.0,947.2,8.6,942,11437,0.00,2.47,8.55,1.352,6,0.000,0.041,3151,2362,2112
$GC,11761,0.99,166.4,917.7,8.5,959,11772,0.15,0.00,9.38,1.358,6,0.119,0.000,3125,2362,2069
$GC,12068,1.00,169.4,891.0,8.9,974,12077,0.00,2.62,2.90,1.285,4,0.000,0.061,3125,970,2057
$GC,12113,1.00,169.4,886.8,9.3,976,12117,0.00,2.47,0.00,0.000,6,0.000,0.041,3125,2358,2057
$GC,12439,1.00,169.4,857.2,9.2,992,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2358,2056
$GC,12748,1.00,169.4,829.3,9.3,1007,12752,0.00,2.53,0.00,0.000,4,0.000,0.061,3125,970,2056
$GC,12810,1.00,169.4,823.3,9.8,1010,12814,0.00,2.45,0.00,0.000,6,0.000,0.041,3125,2353,2055
$GC,13136,1.02,180.4,794.6,8.5,1026,13148,0.00,0.00,9.75,1.318,6,0.000,0.000,3124,2354,2012
$GC,13446,1.03,185.7,767.4,8.8,1041,13456,0.00,2.60,4.93,1.294,4,0.000,0.061,3124,962,1990
$GC,13500,1.03,185.7,762.0,9.5,1043,13508,0.00,2.45,0.00,0.000,6,0.000,0.041,3124,2337,1990
$GC,13816,1.05,202.0,735.5,8.3,1059,13837,0.00,0.00,14.82,1.268,6,0.000,0.000,3125,2337,1923
$GC,14146,1.11,216.0,708.0,8.4,1075,14168,0.00,2.62,11.88,1.251,4,0.000,0.060,3125,969,1866
$GC,14215,1.15,219.5,702.1,8.9,1078,14225,0.15,2.40,3.55,1.226,6,0.061,0.040,3164,2319,1852
$GC,14548,1.12,219.5,669.0,9.6,1094,14552,0.00,2.47,0.00,0.000,4,0.000,0.060,3164,967,1852
$GC,14580,1.07,219.5,665.4,10.6,1095,14588,0.15,2.38,0.00,0.000,6,0.116,0.040,3138,2313,1851
$GC,14896,1.08,224.2,637.6,8.8,1111,14902,0.00,0.00,4.40,1.209,6,0.000,0.000,3138,2313,1833
$GC,15205,1.08,224.2,609.1,9.3,1126,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2313,1833
$GC,15514,1.08,224.2,580.4,9.1,1141,15518,0.00,2.45,0.00,0.000,4,0.000,0.059,3138,968,1833
$GC,15568,1.08,224.2,575.2,9.2,1143,15576,0.00,2.35,0.00,0.000,6,0.000,0.038,3138,2308,1832
$GC,15884,1.08,224.2,546.7,9.1,1159,15888,0.00,2.42,0.00,0.000,4,0.000,0.058,3138,969,1833
$GC,15945,1.08,224.2,540.7,10.9,1162,15950,0.00,2.30,0.00,0.000,6,0.000,0.038,3138,2286,1832
$GC,16272,1.08,224.2,510.2,9.4,1178,16273,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2286,1832
$GC,16587,1.08,224.2,479.3,9.5,1202,16588,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2286,1832
$GC,16907,1.13,235.6,450.7,8.5,1232,16919,0.00,0.00,9.77,1.076,6,0.000,0.000,3138,2286,1787
$GC,17234,1.18,245.4,421.8,8.6,1263,17250,0.12,2.50,8.93,1.048,4,0.072,0.056,3169,960,1747
$GC,17325,1.15,245.4,412.6,9.6,1271,17329,0.00,2.30,0.00,0.000,6,0.000,0.037,3169,2274,1746
$GC,17650,1.15,245.4,380.3,9.7,1301,17651,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2274,1747
$GC,17968,1.15,245.4,350.6,9.7,1331,17972,0.00,2.35,0.00,0.000,4,0.000,0.055,3169,967,1747
$GC,18033,1.15,245.4,344.0,9.9,1336,18041,0.00,2.25,0.00,0.000,6,0.000,0.037,3168,2251,1747
$GC,18360,1.15,245.4,314.9,9.6,1367,18362,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2250,1747
$GC,18679,1.18,264.6,287.2,8.2,1397,18698,0.00,0.00,16.08,0.918,6,0.000,0.000,3169,2250,1669
$GC,19017,1.18,264.6,256.4,9.1,1429,19021,0.00,2.30,0.00,0.000,4,0.000,0.053,3169,966,1668
$GC,19072,1.18,264.6,250.7,9.4,1433,19080,0.00,2.22,0.00,0.000,6,0.000,0.035,3169,2240,1668
$GC,19416,1.26,286.3,220.9,8.0,1493,19442,0.00,2.70,18.00,0.847,4,0.000,0.052,3169,3728,1581
$GC,19511,1.29,286.3,212.8,9.1,1509,19518,0.00,2.58,0.00,0.000,6,0.000,0.035,3169,2239,1580
$GC,19855,1.38,308.9,185.0,8.0,1570,19882,0.15,2.72,18.23,0.805,4,0.058,0.051,3211,3738,1488
$GC,19917,1.38,308.9,179.1,9.9,1580,19924,0.00,2.47,0.00,0.000,6,0.000,0.034,3211,2302,1487
$GC,20262,1.38,308.9,145.8,9.1,1641,20269,0.00,2.38,0.00,0.000,4,0.000,0.051,3211,963,1486
$GC,20303,1.38,308.9,141.7,10.2,1648,20311,0.00,2.40,0.00,0.000,6,0.000,0.033,3211,2357,1486
$GC,20649,1.48,341.1,115.0,7.6,1709,20682,0.00,2.45,25.95,0.717,4,0.000,0.050,3211,3720,1356
$GC,20706,1.54,353.8,110.7,8.5,1718,20727,0.12,2.38,10.50,0.723,6,0.061,0.031,3244,2331,1304
$GC,21066,1.65,390.3,82.6,7.4,1781,21105,0.00,2.47,29.17,0.665,4,0.000,0.048,3244,982,1155
$GC,21199,1.76,418.9,72.2,7.7,1803,21233,0.20,2.35,22.77,0.649,6,0.053,0.031,3295,2349,1039
$GC,21572,1.76,418.9,35.0,10.1,1868,21579,0.00,2.40,0.00,0.000,4,0.000,0.045,3295,975,1037
$GC,21759,1.76,418.9,15.2,11.0,1901,21766,0.00,2.28,0.00,0.000,6,0.000,0.029,3295,2319,1036
$STATE,21899,end climb,SURFACE_DEPTH_REACHED
$STATE,21899,begin surface coast
$FINISH,-0.0,1.021271
$STATE,21923,end surface coast,CONTROL_FINISHED_OK
$STATE,21923,begin surface
$SM_CCo,21945,27.33,0.560,0,0,811,475.15
$SM_GC,0.98,0.00,0.00,27.33,0.000,0.000,0.560,251,2128,811,-12.21,-0.62,475.15
$IRIDIUM_FIX,1243.25,12037.35,220697,080823
$TT8_MAMPS,0.023777
$HUMID,1913
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,444
$24V_AH,23.1,37.076
$10V_AH,10.1,18.707
$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,32.675,168.675,478.525,27.325,0.000,23.449,45.295,165.127,123.500,0.000,0.000,11.217,4012.326,13870.320,728.753,3156.632,562.713,0.000,2310.706,0.000,3087.311,0.000,91.583
$DEVICE_MAMPS,171.041,63.661,1395.173,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1298.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59736,1930
$CAP_FILE_SIZE,201131,0
$CFSIZE,260165632,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,344.1,1
$GPS,280308,210508,1249.893,12040.879,41,0.9,41,-0.8