version: 66.03
glider: 122
mission: 6
dive: 214
start: 3 31 108 18 12 1
data:
$ID,122
$MISSION,6
$DIVE,214
$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,-31154.66
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,180532,1247.529,12020.509,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.9
$GPS2,181127,1247.498,12020.485,12,1.4,12,-0.8
$SPEED_LIMITS,0.156,0.206
$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,244.4,9654,-18.6,-9.016
$D_GRID,868
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,79,0.00,0.00,-55.78,0.000,2,0.000,0.000,253,2108,2327
$GC,82,-1.56,-146.0,3.0,-8.0,11,121,13.45,2.58,-19.77,0.000,4,0.173,0.052,2562,3567,3347
$GC,195,-1.18,-146.0,30.8,-25.2,30,203,0.45,2.33,0.00,0.000,6,0.122,0.028,2645,2170,3348
$GC,541,-1.09,-146.0,87.7,-15.7,91,548,0.10,2.40,0.00,0.000,4,0.115,0.041,2662,3565,3350
$GC,650,-1.09,-146.0,102.1,-12.4,110,657,0.00,2.25,0.00,0.000,6,0.000,0.026,2662,2203,3350
$GC,995,-1.15,-146.0,138.9,-9.4,171,1001,0.00,2.33,0.00,0.000,4,0.000,0.043,2662,3559,3352
$GC,1030,-1.21,-146.0,142.6,-10.0,177,1038,0.00,2.28,0.00,0.000,6,0.000,0.027,2662,2183,3352
$GC,1376,-1.33,-146.0,172.3,-7.3,238,1382,0.17,0.00,0.00,0.000,6,0.046,0.000,2605,2182,3353
$GC,1720,-1.33,-146.0,205.0,-9.2,299,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2182,3353
$GC,2064,-1.33,-146.0,234.3,-8.4,360,2071,0.00,2.38,0.00,0.000,4,0.000,0.044,2605,3563,3353
$GC,2100,-1.33,-146.0,237.5,-8.7,366,2107,0.00,2.22,0.00,0.000,6,0.000,0.029,2605,2222,3353
$GC,2434,-1.33,-146.0,266.9,-9.2,410,2438,0.00,2.58,0.00,0.000,4,0.000,0.048,2605,749,3352
$GC,2474,-1.36,-146.0,270.7,-9.8,413,2478,0.00,2.50,0.00,0.000,6,0.000,0.031,2605,2229,3352
$GC,2801,-1.36,-146.0,301.1,-9.1,443,2805,0.00,2.30,0.00,0.000,4,0.000,0.048,2604,3561,3351
$GC,2845,-1.36,-146.0,305.7,-9.8,446,2852,0.00,2.22,0.00,0.000,6,0.000,0.031,2605,2225,3350
$GC,3171,-1.36,-146.0,335.9,-9.4,477,3175,0.00,2.33,0.00,0.000,4,0.000,0.047,2604,3565,3349
$GC,3215,-1.36,-146.0,340.6,-10.1,480,3222,0.00,2.20,0.00,0.000,6,0.000,0.031,2605,2267,3348
$GC,3542,-1.36,-146.0,370.1,-8.8,511,3546,0.00,2.25,0.00,0.000,4,0.000,0.048,2605,3558,3347
$GC,3581,-1.36,-146.0,373.9,-9.3,514,3585,0.00,2.15,0.00,0.000,6,0.000,0.031,2605,2275,3346
$GC,3908,-1.36,-146.0,401.4,-8.8,544,3912,0.00,2.70,0.00,0.000,4,0.000,0.051,2604,750,3345
$GC,3948,-1.40,-146.0,405.0,-9.3,547,3952,0.00,2.62,0.00,0.000,6,0.000,0.032,2605,2283,3345
$GC,4274,-1.40,-146.0,433.1,-8.9,577,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2283,3343
$GC,4591,-1.40,-146.0,461.7,-8.9,607,4596,0.00,2.70,0.00,0.000,4,0.000,0.051,2604,757,3341
$GC,4625,-1.44,-146.0,464.8,-8.7,609,4632,0.00,2.58,0.00,0.000,6,0.000,0.033,2605,2266,3341
$GC,4951,-1.44,-146.0,491.4,-7.7,640,4955,0.00,2.25,0.00,0.000,4,0.000,0.051,2605,3555,3339
$GC,4991,-1.44,-146.0,494.7,-8.0,643,4995,0.00,2.17,0.00,0.000,6,0.000,0.033,2605,2263,3338
$GC,5309,-1.44,-146.0,519.0,-7.8,661,5313,0.00,2.67,0.00,0.000,4,0.000,0.053,2605,759,3338
$GC,5336,-1.48,-146.0,521.3,-8.0,662,5341,0.00,2.58,0.00,0.000,6,0.000,0.035,2605,2259,3337
$GC,5652,-1.48,-146.0,546.5,-8.3,677,5656,0.00,2.28,0.00,0.000,4,0.000,0.052,2605,3558,3335
$GC,5678,-1.48,-146.0,549.1,-9.0,678,5682,0.00,2.20,0.00,0.000,6,0.000,0.033,2605,2255,3335
$GC,6002,-1.51,-146.0,575.9,-8.5,694,6004,0.12,0.00,0.00,0.000,6,0.061,0.000,2570,2253,3333
$GC,6309,-1.46,-146.0,606.0,-9.7,709,6314,0.00,2.67,0.00,0.000,4,0.000,0.055,2570,755,3331
$GC,6337,-1.42,-146.0,608.9,-10.6,710,6342,0.12,2.60,0.00,0.000,6,0.113,0.035,2592,2266,3330
$GC,6654,-1.42,-146.0,635.3,-8.0,725,6658,0.00,2.28,0.00,0.000,4,0.000,0.054,2592,3560,3329
$GC,6693,-1.42,-146.0,638.9,-8.3,727,6697,0.00,2.25,0.00,0.000,6,0.000,0.034,2591,2237,3329
$GC,7022,-1.42,-146.0,664.8,-8.0,743,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2236,3328
$GC,7329,-1.42,-146.0,689.6,-8.0,758,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2233,3326
$GC,7639,-1.42,-146.0,713.6,-7.7,773,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2233,3324
$GC,7948,-1.42,-146.0,738.6,-8.1,788,7952,0.00,2.35,0.00,0.000,4,0.000,0.055,2592,3562,3324
$GC,7974,-1.42,-146.0,741.1,-9.1,789,7978,0.00,2.25,0.00,0.000,6,0.000,0.035,2591,2260,3324
$GC,8297,-1.42,-146.0,768.9,-8.5,805,8301,0.00,2.30,0.00,0.000,4,0.000,0.054,2592,3557,3323
$GC,8336,-1.42,-146.0,772.6,-9.1,807,8340,0.00,2.20,0.00,0.000,6,0.000,0.036,2592,2269,3323
$GC,8666,-1.42,-146.0,800.1,-8.3,823,8670,0.00,2.72,0.00,0.000,4,0.000,0.059,2592,755,3322
$GC,8693,-1.45,-146.0,802.8,-8.9,824,8697,0.00,2.62,0.00,0.000,6,0.000,0.037,2592,2271,3321
$GC,9009,-1.45,-146.0,828.2,-8.1,839,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2271,3320
$GC,9318,-1.45,-146.0,853.4,-7.9,854,9323,0.00,2.70,0.00,0.000,4,0.000,0.058,2592,762,3319
$GC,9345,-1.45,-146.0,855.8,-8.8,855,9349,0.00,2.62,0.00,0.000,6,0.000,0.038,2592,2270,3319
$STATE,9493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9493,begin apogee
$GC,9499,-0.35,0.0,868.0,8.0,862,9624,1.15,0.00,121.05,1.285,6,0.097,0.000,2824,2383,2748
$STATE,9625,end apogee,CONTROL_FINISHED_OK
$STATE,9625,begin climb
$GC,9627,1.56,146.0,871.8,0.0,868,9760,1.98,2.47,125.07,1.243,4,0.057,0.060,3250,3718,2151
$GC,9799,1.26,146.0,862.0,12.8,875,9807,0.38,2.33,0.00,0.000,6,0.134,0.038,3185,2389,2151
$GC,10116,1.14,146.0,828.6,10.5,891,10118,0.17,0.00,0.00,0.000,6,0.125,0.000,3155,2389,2149
$GC,10426,1.08,146.0,799.2,9.4,906,10430,0.00,2.58,0.00,0.000,4,0.000,0.059,3154,969,2148
$GC,10533,1.00,146.0,788.7,9.6,911,10538,0.17,2.45,0.00,0.000,6,0.117,0.039,3123,2361,2148
$GC,10860,1.04,169.5,761.4,8.0,927,10886,0.00,2.65,19.33,1.241,4,0.000,0.058,3123,967,2056
$GC,10914,1.04,169.5,756.6,9.6,929,10919,0.00,2.47,0.00,0.000,6,0.000,0.039,3123,2363,2055
$GC,11230,1.08,194.5,730.6,7.9,944,11254,0.00,0.00,21.33,1.215,6,0.000,0.000,3123,2364,1955
$GC,11560,1.15,204.7,702.5,8.6,960,11574,0.15,2.60,8.93,1.216,4,0.071,0.059,3159,973,1913
$GC,11637,1.12,204.7,694.6,10.9,963,11641,0.00,2.45,0.00,0.000,6,0.000,0.039,3159,2362,1913
$GC,11952,1.12,204.7,664.3,9.4,978,11956,0.00,2.55,0.00,0.000,4,0.000,0.059,3159,962,1912
$GC,12019,1.08,204.7,657.8,9.4,981,12023,0.00,2.42,0.00,0.000,6,0.000,0.039,3159,2343,1912
$GC,12340,1.09,206.1,628.7,9.0,997,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2344,1912
$GC,12649,1.10,215.2,601.8,8.6,1012,12663,0.00,2.58,8.80,1.173,4,0.000,0.059,3159,979,1870
$GC,12742,1.10,215.2,593.1,9.5,1016,12746,0.00,2.38,0.00,0.000,6,0.000,0.038,3159,2331,1869
$GC,13069,1.11,219.7,563.8,8.8,1032,13078,0.00,2.53,4.28,1.145,4,0.000,0.058,3159,963,1852
$GC,13123,1.11,219.7,558.7,9.1,1034,13127,0.00,2.33,0.00,0.000,6,0.000,0.038,3159,2294,1852
$GC,13439,1.12,227.0,531.2,8.7,1049,13452,0.00,2.50,6.57,1.126,4,0.000,0.057,3159,968,1822
$GC,13482,1.12,227.0,527.1,9.4,1051,13486,0.00,2.30,0.00,0.000,6,0.000,0.038,3159,2278,1822
$GC,13809,1.14,236.5,499.2,8.6,1067,13822,0.00,2.70,8.12,1.097,4,0.000,0.057,3159,3729,1783
$GC,13856,1.14,236.5,494.7,9.3,1071,13861,0.00,2.53,0.00,0.000,6,0.000,0.038,3159,2281,1783
$GC,14182,1.14,239.2,466.3,8.9,1101,14194,0.00,2.42,2.80,1.066,4,0.000,0.058,3159,967,1772
$GC,14221,1.14,239.2,462.6,9.3,1104,14229,0.00,2.30,0.00,0.000,6,0.000,0.038,3159,2282,1772
$GC,14550,1.15,246.0,434.3,8.7,1135,14558,0.00,0.00,6.05,1.058,6,0.000,0.000,3159,2282,1745
$GC,14877,1.20,254.6,405.8,8.6,1166,14891,0.00,2.47,7.85,1.029,4,0.000,0.056,3159,965,1709
$GC,14929,1.20,254.6,400.9,9.2,1170,14937,0.00,2.30,0.00,0.000,6,0.000,0.037,3159,2281,1709
$GC,15257,1.28,277.1,373.8,8.0,1201,15282,0.12,2.70,18.92,0.969,4,0.067,0.055,3190,3726,1618
$GC,15321,1.28,277.1,367.4,10.0,1206,15328,0.00,2.53,0.00,0.000,6,0.000,0.037,3190,2276,1617
$GC,15648,1.28,277.1,336.2,9.8,1237,15652,0.00,2.60,0.00,0.000,4,0.000,0.053,3190,3732,1615
$GC,15691,1.28,277.1,331.7,10.3,1240,15699,0.00,2.45,0.00,0.000,6,0.000,0.037,3190,2309,1616
$GC,16020,1.28,277.1,300.8,9.2,1271,16026,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2309,1616
$GC,16344,1.28,277.1,270.0,9.0,1302,16348,0.00,2.53,0.00,0.000,4,0.000,0.052,3190,3735,1616
$GC,16384,1.28,277.1,266.1,9.9,1305,16388,0.00,2.40,0.00,0.000,6,0.000,0.036,3190,2336,1616
$GC,16717,1.29,285.5,234.6,8.6,1349,16731,0.00,2.47,6.97,0.891,4,0.000,0.054,3190,968,1583
$GC,16788,1.29,285.5,227.8,10.3,1361,16795,0.00,2.38,0.00,0.000,6,0.000,0.035,3190,2334,1583
$GC,17134,1.37,311.5,198.3,7.9,1422,17160,0.00,2.58,21.52,0.815,4,0.000,0.052,3190,963,1477
$GC,17212,1.37,311.5,191.4,9.1,1435,17219,0.00,2.33,0.00,0.000,6,0.000,0.035,3190,2299,1475
$GC,17557,1.44,319.6,161.1,8.7,1496,17572,0.12,2.42,6.82,0.814,4,0.065,0.051,3221,961,1442
$GC,17657,1.44,319.6,151.6,10.0,1513,17664,0.00,2.25,0.00,0.000,6,0.000,0.034,3221,2264,1442
$GC,18004,1.58,353.0,125.4,7.5,1574,18038,0.12,2.42,27.12,0.729,4,0.061,0.051,3259,969,1307
$GC,18086,1.58,353.0,118.2,9.3,1587,18093,0.00,2.22,0.00,0.000,6,0.000,0.034,3258,2255,1305
$GC,18431,1.65,368.0,91.2,8.3,1648,18452,0.00,2.62,11.75,0.709,4,0.000,0.049,3259,3724,1246
$GC,18492,1.68,385.8,86.3,8.2,1658,18513,0.00,2.50,14.18,0.686,6,0.000,0.032,3259,2261,1174
$GC,18852,1.85,441.8,60.3,6.5,1721,18906,0.17,2.62,45.85,0.624,4,0.051,0.045,3308,3727,944
$GC,18969,1.85,441.8,48.6,11.2,1740,18976,0.00,2.40,0.00,0.000,6,0.000,0.031,3309,2315,941
$GC,19315,1.93,449.7,18.9,8.7,1801,19329,0.00,2.42,5.22,0.619,4,0.000,0.047,3309,967,913
$GC,19409,2.01,457.7,10.5,8.7,1817,19424,0.15,2.28,6.40,0.611,6,0.050,0.029,3357,2311,880
$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19490,begin surface coast
$FINISH,-0.1,1.021275
$STATE,19512,end surface coast,CONTROL_FINISHED_OK
$STATE,19512,begin surface
$SM_CCo,19535,9.23,0.590,0,0,810,475.15
$SM_GC,1.07,0.00,0.00,9.23,0.000,0.000,0.590,251,2102,810,-12.21,-1.36,475.15
$IRIDIUM_FIX,1245.46,12021.43,250697,131344
$TT8_MAMPS,0.023777
$HUMID,1984
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.70
$XPDR_PINGS,414
$24V_AH,23.2,39.533
$10V_AH,10.1,20.021
$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,32.825,195.500,504.950,9.225,0.000,23.106,44.399,168.481,112.750,0.000,0.000,12.127,3849.884,11751.701,717.420,3021.038,564.380,0.000,2256.821,0.000,2958.087,0.000,68.016
$DEVICE_MAMPS,172.575,64.428,1285.492,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56621,1834
$CAP_FILE_SIZE,194439,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,185.4,1
$GPS,310308,233902,1246.611,12018.585,41,1.1,41,-0.8