version: 66.03
glider: 122
mission: 6
dive: 275
start: 4 14 108 17 54 31
data:
$ID,122
$MISSION,6
$DIVE,275
$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,-33037.723
$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,67
$R_STBD_OVSHOOT,22
$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
$GPS1,174801,1247.971,12020.947,38,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.0
$GPS2,175357,1248.015,12020.873,15,1.9,15,-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,234.8,10671,-18.6,-9.016
$D_GRID,886
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-61.42,0.000,2,0.000,0.000,251,2154,2446
$GC,89,-1.56,-146.0,3.3,-7.5,10,128,13.35,2.40,-17.38,0.000,4,0.170,0.051,2562,771,3344
$GC,221,-1.31,-146.0,31.5,-21.7,32,229,0.30,2.33,0.00,0.000,6,0.114,0.027,2617,2168,3345
$GC,567,-1.20,-146.0,85.3,-12.6,93,574,0.12,2.38,0.00,0.000,4,0.115,0.042,2640,3556,3347
$GC,650,-1.13,-146.0,95.4,-11.4,107,657,0.00,2.15,0.00,0.000,6,0.000,0.026,2640,2241,3348
$GC,995,-1.13,-146.0,131.8,-8.8,168,1002,0.00,2.53,0.00,0.000,4,0.000,0.041,2640,775,3350
$GC,1026,-1.17,-146.0,134.8,-9.8,173,1033,0.00,2.47,0.00,0.000,6,0.000,0.028,2640,2252,3351
$GC,1372,-1.31,-146.0,164.8,-8.6,234,1379,0.00,2.20,0.00,0.000,4,0.000,0.044,2640,3547,3352
$GC,1410,-1.39,-146.0,168.1,-8.7,240,1417,0.17,2.05,0.00,0.000,6,0.048,0.027,2589,2291,3352
$GC,1755,-1.33,-146.0,203.0,-9.9,301,1763,0.12,2.62,0.00,0.000,4,0.101,0.044,2613,781,3352
$GC,1782,-1.33,-146.0,205.6,-9.9,305,1789,0.00,2.55,0.00,0.000,6,0.000,0.031,2613,2290,3352
$GC,2127,-1.33,-146.0,237.1,-9.0,366,2134,0.00,2.17,0.00,0.000,4,0.000,0.048,2613,3554,3350
$GC,2157,-1.33,-146.0,240.0,-9.3,371,2164,0.00,2.08,0.00,0.000,6,0.000,0.029,2613,2297,3350
$GC,2490,-1.33,-146.0,267.8,-8.3,412,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2297,3349
$GC,2808,-1.33,-146.0,293.5,-8.3,442,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2297,3348
$GC,3127,-1.33,-146.0,319.3,-8.8,472,3131,0.00,2.17,0.00,0.000,4,0.000,0.048,2613,3545,3346
$GC,3205,-1.33,-146.0,326.7,-9.4,478,3212,0.00,2.08,0.00,0.000,6,0.000,0.031,2612,2323,3346
$GC,3534,-1.37,-146.0,354.4,-8.1,509,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2322,3344
$GC,3862,-1.40,-146.0,380.2,-8.0,540,3866,0.00,2.72,0.00,0.000,4,0.000,0.051,2613,785,3342
$GC,3906,-1.46,-146.0,384.1,-8.6,543,3914,0.12,2.62,0.00,0.000,6,0.057,0.035,2575,2315,3342
$GC,4232,-1.42,-146.0,412.3,-8.5,574,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2315,3339
$GC,4551,-1.38,-146.0,439.7,-8.6,604,4557,0.15,2.75,0.00,0.000,4,0.104,0.051,2607,777,3337
$GC,4582,-1.42,-146.0,442.3,-9.0,606,4586,0.00,2.62,0.00,0.000,6,0.000,0.035,2607,2297,3336
$GC,4910,-1.46,-146.0,468.6,-8.6,636,4914,0.00,2.20,0.00,0.000,4,0.000,0.053,2607,3551,3335
$GC,4951,-1.49,-146.0,472.5,-9.6,639,4956,0.12,2.03,0.00,0.000,6,0.061,0.033,2573,2352,3334
$GC,5276,-1.46,-146.0,502.1,-9.2,668,5280,0.00,2.80,0.00,0.000,4,0.000,0.052,2573,781,3332
$GC,5320,-1.46,-146.0,506.3,-8.9,670,5324,0.00,2.65,0.00,0.000,6,0.000,0.035,2573,2316,3332
$GC,5640,-1.46,-146.0,534.4,-9.0,686,5644,0.00,2.15,0.00,0.000,4,0.000,0.054,2573,3542,3330
$GC,5709,-1.41,-146.0,540.7,-9.4,689,5713,0.12,2.00,0.00,0.000,6,0.111,0.035,2595,2358,3330
$GC,6037,-1.41,-146.0,567.5,-7.5,705,6042,0.00,2.80,0.00,0.000,4,0.000,0.054,2595,787,3328
$GC,6081,-1.41,-146.0,571.3,-8.0,707,6085,0.00,2.62,0.00,0.000,6,0.000,0.036,2595,2307,3328
$GC,6403,-1.41,-146.0,595.5,-7.7,723,6407,0.00,2.17,0.00,0.000,4,0.000,0.056,2595,3542,3327
$GC,6453,-1.41,-146.0,599.6,-7.7,725,6457,0.00,2.00,0.00,0.000,6,0.000,0.035,2595,2357,3326
$GC,6775,-1.41,-146.0,624.4,-8.1,741,6780,0.00,2.80,0.00,0.000,4,0.000,0.054,2595,787,3326
$GC,6815,-1.45,-146.0,627.9,-8.6,743,6820,0.00,2.67,0.00,0.000,6,0.000,0.036,2595,2327,3325
$GC,7144,-1.45,-146.0,654.6,-8.2,759,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2327,3323
$GC,7452,-1.45,-146.0,679.5,-7.9,774,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2327,3322
$GC,7761,-1.49,-146.0,703.6,-7.8,789,7765,0.00,2.78,0.00,0.000,4,0.000,0.056,2595,782,3320
$GC,7789,-1.53,-146.0,706.0,-8.1,790,7794,0.12,2.65,0.00,0.000,6,0.061,0.038,2561,2310,3320
$GC,8106,-1.49,-146.0,735.0,-9.3,805,8110,0.00,2.17,0.00,0.000,4,0.000,0.058,2561,3540,3319
$GC,8156,-1.45,-146.0,740.3,-9.8,807,8161,0.15,2.03,0.00,0.000,6,0.112,0.036,2587,2345,3319
$GC,8473,-1.45,-146.0,767.2,-8.8,822,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2341,3317
$GC,8781,-1.45,-146.0,792.2,-7.8,837,8786,0.00,2.80,0.00,0.000,4,0.000,0.058,2587,789,3317
$GC,8815,-1.48,-146.0,795.0,-8.2,838,8822,0.00,2.65,0.00,0.000,6,0.000,0.039,2587,2310,3317
$GC,9131,-1.48,-146.0,818.5,-7.6,854,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2310,3316
$GC,9440,-1.48,-146.0,842.5,-7.7,869,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2310,3315
$GC,9749,-1.48,-146.0,867.4,-8.2,884,9754,0.00,2.75,0.00,0.000,4,0.000,0.058,2587,787,3313
$GC,9789,-1.53,-146.0,870.7,-8.6,886,9794,0.00,2.65,0.00,0.000,6,0.000,0.040,2587,2303,3313
$STATE,9990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9990,begin apogee
$GC,9996,-0.35,0.0,886.6,7.8,896,10121,1.17,0.00,120.75,1.295,6,0.100,0.000,2823,2369,2748
$STATE,10122,end apogee,CONTROL_FINISHED_OK
$STATE,10122,begin climb
$GC,10124,1.56,146.0,890.5,0.0,902,10259,1.92,2.58,125.72,1.250,4,0.054,0.059,3245,1015,2152
$GC,10379,1.28,146.0,871.0,12.2,913,10384,0.32,2.40,0.00,0.000,6,0.121,0.041,3187,2376,2151
$GC,10695,1.15,146.0,840.9,9.2,928,10700,0.15,2.50,0.00,0.000,4,0.126,0.058,3158,1006,2150
$GC,10758,1.05,146.0,835.3,10.0,931,10763,0.12,2.38,0.00,0.000,6,0.127,0.041,3137,2354,2149
$GC,11085,1.06,177.6,809.8,7.6,947,11117,0.00,2.53,26.88,1.251,4,0.000,0.058,3137,1008,2022
$GC,11185,1.04,184.6,801.0,8.7,951,11196,0.00,2.35,6.05,1.249,6,0.000,0.041,3136,2335,1995
$GC,11518,1.06,197.0,772.6,8.5,968,11534,0.00,2.47,10.98,1.253,4,0.000,0.058,3137,1012,1943
$GC,11573,1.06,197.0,767.4,9.5,969,11580,0.00,2.30,0.00,0.000,6,0.000,0.041,3136,2310,1943
$GC,11889,1.10,219.7,741.0,8.0,985,11915,0.00,2.47,19.60,1.224,4,0.000,0.059,3136,1014,1852
$GC,11971,1.12,230.8,733.6,8.5,988,11987,0.00,2.28,10.00,1.219,6,0.000,0.040,3136,2297,1805
$GC,12310,1.12,230.8,702.9,9.2,1005,12314,0.00,2.35,0.00,0.000,4,0.000,0.059,3136,1010,1803
$GC,12377,1.12,230.8,696.6,9.3,1008,12381,0.00,2.22,0.00,0.000,6,0.000,0.039,3136,2276,1803
$GC,12705,1.12,234.4,667.7,8.9,1024,12714,0.00,2.35,2.75,1.173,4,0.000,0.058,3137,1017,1792
$GC,12782,1.12,234.4,660.1,10.2,1027,12786,0.00,2.12,0.00,0.000,6,0.000,0.038,3136,2229,1791
$GC,13104,1.17,245.0,632.2,8.5,1043,13119,0.12,2.28,9.73,1.189,4,0.070,0.059,3166,1011,1749
$GC,13159,1.13,245.0,626.9,10.2,1045,13163,0.00,2.10,0.00,0.000,6,0.000,0.038,3166,2208,1748
$GC,13474,1.13,245.0,597.2,9.4,1060,13479,0.00,2.75,0.00,0.000,4,0.000,0.060,3167,3736,1748
$GC,13507,1.10,245.0,593.9,9.8,1061,13515,0.12,2.62,0.00,0.000,6,0.128,0.039,3147,2225,1748
$GC,13824,1.14,267.3,568.2,8.0,1077,13850,0.00,2.30,19.48,1.122,4,0.000,0.059,3146,1013,1657
$GC,13879,1.14,267.3,563.1,9.3,1079,13886,0.00,2.08,0.00,0.000,6,0.000,0.037,3146,2198,1657
$GC,14196,1.20,284.6,536.6,8.2,1095,14219,0.00,2.80,15.50,1.101,4,0.000,0.056,3146,3725,1586
$GC,14236,1.25,284.6,533.0,9.1,1096,14244,0.15,2.62,0.00,0.000,6,0.067,0.038,3180,2232,1585
$GC,14553,1.25,284.6,501.9,10.0,1112,14557,0.00,2.20,0.00,0.000,4,0.000,0.058,3180,1010,1584
$GC,14586,1.22,284.6,498.3,10.9,1113,14593,0.00,2.08,0.00,0.000,6,0.000,0.036,3180,2202,1583
$GC,14913,1.22,284.6,466.0,10.1,1144,14917,0.00,2.72,0.00,0.000,4,0.000,0.055,3180,3732,1583
$GC,14933,1.22,284.6,463.6,10.3,1145,14941,0.00,2.60,0.00,0.000,6,0.000,0.038,3180,2231,1583
$GC,15262,1.22,284.6,431.4,9.6,1176,15266,0.00,2.20,0.00,0.000,4,0.000,0.056,3180,1001,1583
$GC,15347,1.22,284.6,422.6,9.7,1183,15351,0.00,2.05,0.00,0.000,6,0.000,0.035,3180,2193,1583
$GC,15679,1.22,284.6,391.9,9.3,1214,15684,0.00,2.72,0.00,0.000,4,0.000,0.055,3180,3726,1583
$GC,15711,1.22,284.6,388.4,9.9,1216,15719,0.00,2.62,0.00,0.000,6,0.000,0.037,3180,2207,1583
$GC,16039,1.22,284.6,360.4,9.1,1247,16042,0.00,2.15,0.00,0.000,4,0.000,0.056,3180,1001,1583
$GC,16140,1.22,284.6,350.6,10.0,1256,16144,0.00,2.00,0.00,0.000,6,0.000,0.035,3180,2163,1583
$GC,16473,1.22,285.8,321.1,9.0,1287,16478,0.00,2.78,0.00,0.000,4,0.000,0.054,3180,3732,1583
$GC,16540,1.22,285.8,314.3,10.3,1292,16547,0.00,2.67,0.00,0.000,6,0.000,0.037,3180,2181,1583
$GC,16867,1.22,286.3,285.5,9.0,1323,16871,0.00,2.08,0.00,0.000,4,0.000,0.054,3180,1010,1583
$GC,16906,1.22,286.3,281.7,9.1,1326,16913,0.00,1.98,0.00,0.000,6,0.000,0.035,3180,2149,1583
$GC,17234,1.25,303.2,254.0,8.3,1357,17258,0.00,2.88,15.20,0.877,4,0.000,0.052,3180,3731,1511
$GC,17282,1.25,303.2,249.5,10.0,1361,17289,0.00,2.70,0.00,0.000,6,0.000,0.035,3180,2175,1510
$GC,17628,1.30,332.1,219.8,7.7,1422,17660,0.00,2.17,23.90,0.824,4,0.000,0.054,3180,1008,1393
$GC,17684,1.33,332.1,214.7,9.7,1431,17691,0.00,2.00,0.00,0.000,6,0.000,0.034,3180,2163,1392
$GC,18030,1.42,356.3,185.2,7.9,1492,18057,0.15,0.00,20.23,0.792,6,0.060,0.000,3221,2164,1294
$GC,18395,1.43,357.7,149.2,9.0,1556,18402,0.00,2.05,0.00,0.000,4,0.000,0.051,3221,1009,1290
$GC,18425,1.43,357.7,146.2,10.0,1561,18432,0.00,1.92,0.00,0.000,6,0.000,0.033,3221,2137,1290
$GC,18771,1.48,370.6,115.0,8.4,1622,18791,0.00,2.08,11.35,0.749,4,0.000,0.049,3221,1008,1235
$GC,18840,1.58,392.7,110.0,8.0,1633,18868,0.12,1.90,18.35,0.715,6,0.064,0.032,3253,2125,1145
$GC,19208,1.72,439.3,80.3,6.9,1697,19253,0.12,0.00,38.30,0.655,6,0.062,0.000,3286,2127,956
$GC,19594,1.82,471.2,46.6,7.6,1764,19627,0.00,2.85,25.45,0.617,4,0.000,0.045,3286,3730,826
$GC,19651,1.93,481.3,41.8,8.6,1773,19667,0.17,2.72,7.95,0.629,6,0.054,0.031,3332,2131,786
$GC,20007,1.93,485.3,7.5,8.8,1835,20015,0.00,2.03,2.75,0.611,4,0.000,0.045,3332,1003,769
$STATE,20059,end climb,SURFACE_DEPTH_REACHED
$STATE,20059,begin surface coast
$FINISH,0.1,1.021280
$STATE,20077,end surface coast,CONTROL_FINISHED_OK
$STATE,20077,begin surface
$SM_CCo,20162,0.00,0.000,0,0,764,486.68
$SM_GC,0.77,13.52,0.00,0.00,0.038,0.000,0.000,252,2177,764,-12.16,0.79,486.68
$IRIDIUM_FIX,1243.25,12021.43,090797,121222
$TT8_MAMPS,0.023777
$HUMID,1945
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.90
$XPDR_PINGS,427
$24V_AH,23.2,50.722
$10V_AH,10.1,25.922
$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,33.075,205.375,530.900,0.000,0.000,29.203,37.314,157.791,116.500,0.000,0.000,15.990,3914.351,12117.546,748.288,3130.919,608.450,0.000,2346.657,0.000,3058.589,0.000,71.631
$DEVICE_MAMPS,169.507,77.467,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59786,1847
$CAP_FILE_SIZE,202340,0
$CFSIZE,260165632,234688512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,314.6,1
$GPS,140408,233138,1247.328,12018.995,31,0.9,31,-0.8