version: 66.03
glider: 122
mission: 6
dive: 310
start: 4 23 108 4 32 44
data:
$ID,122
$MISSION,6
$DIVE,310
$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,-33595.34
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,042537,1248.459,12024.989,35,1.1,35,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.8
$GPS2,043209,1248.469,12024.879,13,1.1,13,-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,273.2,17744,-18.6,-9.016
$D_GRID,878
$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,22,-1.56,-146.0,0.0,0.0,0,96,0.00,0.00,-71.62,0.000,2,0.000,0.000,254,2154,2511
$GC,99,-1.56,-146.0,3.8,-8.9,11,138,13.40,2.53,-15.30,0.000,4,0.172,0.055,2558,742,3347
$GC,168,-1.27,-146.0,19.9,-19.3,22,175,0.35,2.40,0.00,0.000,6,0.115,0.027,2623,2169,3347
$GC,514,-1.16,-146.0,74.2,-13.7,83,521,0.15,2.47,0.00,0.000,4,0.110,0.041,2655,740,3349
$GC,585,-1.11,-146.0,82.9,-12.4,95,592,0.00,2.47,0.00,0.000,6,0.000,0.027,2655,2217,3349
$GC,931,-1.20,-146.0,119.2,-9.6,156,938,0.00,2.55,0.00,0.000,4,0.000,0.041,2655,738,3351
$GC,956,-1.30,-146.0,121.9,-10.0,160,964,0.15,2.72,0.00,0.000,6,0.049,0.028,2608,2356,3352
$GC,1302,-1.30,-146.0,157.0,-9.4,221,1309,0.00,2.05,0.00,0.000,4,0.000,0.048,2608,3550,3352
$GC,1351,-1.26,-146.0,161.2,-8.7,229,1358,0.10,1.95,0.00,0.000,6,0.100,0.026,2627,2346,3352
$GC,1698,-1.40,-146.0,187.4,-7.8,290,1705,0.12,2.05,0.00,0.000,4,0.052,0.043,2583,3548,3353
$GC,1792,-1.33,-146.0,196.1,-9.9,306,1799,0.15,1.80,0.00,0.000,6,0.096,0.027,2612,2437,3353
$GC,2137,-1.42,-146.0,223.7,-7.1,367,2145,0.00,1.90,0.00,0.000,4,0.000,0.045,2612,3550,3353
$GC,2175,-1.47,-146.0,226.2,-7.0,373,2183,0.12,2.03,0.00,0.000,6,0.057,0.028,2574,2313,3353
$GC,2524,-1.47,-146.0,254.0,-8.7,431,2529,0.00,2.78,0.00,0.000,4,0.000,0.048,2573,731,3353
$GC,2591,-1.42,-146.0,260.6,-9.4,436,2599,0.12,2.70,0.00,0.000,6,0.107,0.031,2596,2327,3352
$GC,2917,-1.50,-146.0,289.5,-8.9,467,2921,0.00,2.78,0.00,0.000,4,0.000,0.047,2596,732,3351
$GC,3001,-1.50,-146.0,297.3,-9.2,474,3005,0.00,2.55,0.00,0.000,6,0.000,0.031,2596,2236,3350
$GC,3329,-1.58,-146.0,325.8,-8.7,504,3334,0.15,2.65,0.00,0.000,4,0.050,0.048,2547,734,3348
$GC,3373,-1.46,-146.0,330.7,-10.5,507,3381,0.20,2.75,0.00,0.000,6,0.100,0.033,2585,2345,3348
$GC,3698,-1.46,-146.0,361.6,-9.6,538,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2345,3346
$GC,4017,-1.46,-146.0,387.6,-7.4,568,4022,0.00,2.85,0.00,0.000,4,0.000,0.051,2585,743,3344
$GC,4081,-1.46,-146.0,392.6,-7.8,573,4086,0.00,2.70,0.00,0.000,6,0.000,0.033,2585,2318,3344
$GC,4409,-1.52,-146.0,416.9,-7.9,603,4413,0.00,2.80,0.00,0.000,4,0.000,0.049,2585,741,3342
$GC,4509,-1.52,-146.0,425.6,-8.6,611,4517,0.00,2.55,0.00,0.000,6,0.000,0.032,2585,2236,3342
$GC,4836,-1.52,-146.0,453.1,-8.3,642,4840,0.00,2.30,0.00,0.000,4,0.000,0.050,2585,3553,3339
$GC,4881,-1.47,-146.0,457.5,-9.2,645,4888,0.00,2.25,0.00,0.000,6,0.000,0.032,2585,2217,3339
$GC,5209,-1.54,-146.0,484.9,-8.0,676,5213,0.00,2.35,0.00,0.000,4,0.000,0.050,2585,3552,3337
$GC,5284,-1.51,-146.0,491.2,-8.5,682,5288,0.00,2.15,0.00,0.000,6,0.000,0.033,2585,2273,3336
$GC,5611,-1.58,-146.0,516.4,-7.7,703,5615,0.12,2.25,0.00,0.000,4,0.059,0.050,2550,3548,3334
$GC,5718,-1.46,-146.0,526.1,-9.2,708,5723,0.20,1.98,0.00,0.000,6,0.110,0.033,2585,2364,3334
$GC,6052,-1.46,-146.0,552.3,-7.8,724,6057,0.00,2.90,0.00,0.000,4,0.000,0.054,2586,740,3331
$GC,6079,-1.46,-146.0,554.6,-8.3,725,6084,0.00,2.80,0.00,0.000,6,0.000,0.035,2586,2362,3332
$GC,6396,-1.46,-146.0,579.8,-7.9,740,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2362,3330
$GC,6705,-1.54,-146.0,605.5,-8.2,755,6708,0.00,2.08,0.00,0.000,4,0.000,0.054,2586,3542,3329
$GC,6800,-1.54,-146.0,613.9,-8.6,759,6804,0.00,2.05,0.00,0.000,6,0.000,0.035,2586,2329,3328
$GC,7128,-1.62,-146.0,637.0,-6.5,775,7132,0.17,2.12,0.00,0.000,4,0.053,0.051,2540,3542,3326
$GC,7247,-1.50,-146.0,646.3,-8.0,780,7252,0.20,2.22,0.00,0.000,6,0.107,0.035,2576,2236,3327
$GC,7570,-1.50,-146.0,668.2,-6.6,796,7574,0.00,2.33,0.00,0.000,4,0.000,0.053,2576,3546,3325
$GC,7615,-1.46,-146.0,671.9,-8.0,798,7619,0.00,2.15,0.00,0.000,6,0.000,0.035,2576,2272,3325
$GC,7942,-1.46,-146.0,698.4,-8.8,814,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2270,3323
$GC,8251,-1.46,-146.0,725.7,-9.4,829,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2270,3322
$GC,8561,-1.46,-146.0,752.0,-8.1,844,8565,0.00,2.28,0.00,0.000,4,0.000,0.054,2576,3552,3321
$GC,8611,-1.46,-146.0,756.5,-8.6,846,8615,0.00,2.15,0.00,0.000,6,0.000,0.035,2576,2287,3320
$GC,8928,-1.46,-146.0,782.4,-8.6,861,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2286,3319
$GC,9236,-1.46,-146.0,809.2,-8.6,876,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2286,3318
$GC,9546,-1.46,-146.0,834.8,-8.4,891,9550,0.00,2.22,0.00,0.000,4,0.000,0.056,2576,3541,3317
$GC,9573,-1.46,-146.0,837.2,-9.2,892,9578,0.00,2.15,0.00,0.000,6,0.000,0.036,2576,2300,3317
$GC,9896,-1.46,-146.0,864.0,-8.7,908,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2298,3316
$STATE,10058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10058,begin apogee
$GC,10064,-0.35,0.0,878.4,8.7,916,10190,1.25,0.00,121.88,1.284,6,0.100,0.000,2826,2374,2748
$STATE,10191,end apogee,CONTROL_FINISHED_OK
$STATE,10191,begin climb
$GC,10193,1.56,146.0,882.6,0.0,922,10325,1.92,0.00,127.10,1.239,6,0.059,0.000,3242,2374,2152
$GC,10632,1.32,146.0,853.9,9.1,944,10637,0.22,2.55,0.00,0.000,4,0.121,0.058,3199,973,2149
$GC,10734,1.15,155.1,844.9,8.6,948,10747,0.22,2.45,7.55,1.262,6,0.117,0.040,3159,2364,2115
$GC,11072,1.13,185.1,820.2,7.7,965,11102,0.00,2.53,25.95,1.247,4,0.000,0.061,3159,3723,1993
$GC,11139,1.05,185.1,814.3,9.0,968,11144,0.12,2.35,0.00,0.000,6,0.127,0.039,3138,2383,1992
$GC,11466,1.11,218.9,789.4,7.5,984,11502,0.00,2.67,29.27,1.233,4,0.000,0.060,3138,974,1854
$GC,11617,1.12,227.9,777.3,8.6,990,11630,0.00,2.42,7.75,1.246,6,0.000,0.039,3138,2347,1818
$GC,11952,1.16,248.7,750.4,8.1,1007,11975,0.00,2.65,18.42,1.222,4,0.000,0.060,3138,970,1733
$GC,12045,1.16,248.7,741.9,9.8,1011,12049,0.00,2.38,0.00,0.000,6,0.000,0.039,3138,2311,1731
$GC,12374,1.26,282.6,716.0,7.5,1027,12410,0.17,2.58,29.50,1.195,4,0.065,0.060,3181,970,1595
$GC,12488,1.22,282.6,705.4,10.1,1032,12492,0.00,2.33,0.00,0.000,6,0.000,0.039,3181,2283,1593
$GC,12814,1.22,282.6,671.0,10.8,1048,12818,0.00,2.40,0.00,0.000,4,0.000,0.060,3181,973,1592
$GC,12836,1.22,282.6,668.5,11.3,1049,12840,0.00,2.33,0.00,0.000,6,0.000,0.039,3181,2276,1591
$GC,13164,1.22,282.6,635.9,9.8,1065,13168,0.00,2.38,0.00,0.000,4,0.000,0.060,3182,973,1591
$GC,13196,1.22,282.6,632.4,10.6,1066,13203,0.00,2.22,0.00,0.000,6,0.000,0.038,3181,2241,1591
$GC,13513,1.22,282.6,602.5,9.2,1082,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2241,1591
$GC,13821,1.22,282.6,573.1,9.8,1097,13825,0.00,2.33,0.00,0.000,4,0.000,0.060,3181,967,1590
$GC,13899,1.22,282.8,565.4,9.0,1100,13906,0.00,2.20,0.00,0.000,6,0.000,0.038,3181,2225,1590
$GC,14217,1.24,291.0,537.3,8.6,1116,14225,0.00,0.00,6.80,1.131,6,0.000,0.000,3182,2226,1561
$GC,14524,1.24,291.0,509.8,9.2,1131,14528,0.00,2.70,0.00,0.000,4,0.000,0.058,3182,3731,1561
$GC,14546,1.24,291.0,507.6,9.7,1132,14550,0.00,2.65,0.00,0.000,6,0.000,0.039,3181,2210,1560
$GC,14876,1.25,297.8,477.3,8.7,1159,14889,0.00,2.28,6.40,1.091,4,0.000,0.057,3181,965,1532
$GC,14957,1.25,297.8,469.3,9.6,1166,14961,0.00,2.17,0.00,0.000,6,0.000,0.038,3181,2208,1531
$GC,15282,1.25,297.8,440.3,9.3,1196,15287,0.00,2.70,0.00,0.000,4,0.000,0.056,3181,3730,1531
$GC,15327,1.25,297.8,435.6,10.6,1199,15334,0.00,2.65,0.00,0.000,6,0.000,0.038,3181,2206,1532
$GC,15654,1.25,297.8,405.3,9.3,1230,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2205,1531
$GC,15972,1.26,305.2,376.8,8.7,1260,15981,0.00,0.00,6.22,1.017,6,0.000,0.000,3182,2206,1503
$GC,16301,1.32,325.8,349.8,8.1,1291,16326,0.00,2.33,17.92,0.954,4,0.000,0.056,3182,971,1418
$GC,16361,1.33,328.1,344.6,8.9,1296,16365,0.00,2.22,0.00,0.000,6,0.000,0.036,3182,2242,1416
$GC,16686,1.40,346.6,317.7,8.2,1326,16709,0.12,0.00,17.83,0.922,6,0.068,0.000,3212,2242,1335
$GC,17026,1.40,346.6,285.9,9.5,1358,17030,0.00,2.30,0.00,0.000,4,0.000,0.055,3212,970,1332
$GC,17079,1.42,354.2,280.9,8.7,1362,17092,0.00,2.22,6.47,0.923,6,0.000,0.036,3212,2248,1302
$GC,17409,1.42,354.2,249.2,9.8,1393,17415,0.00,2.33,0.00,0.000,4,0.000,0.056,3212,964,1301
$GC,17479,1.42,354.2,242.5,10.0,1405,17486,0.00,2.12,0.00,0.000,6,0.000,0.035,3212,2194,1300
$GC,17824,1.43,363.3,212.4,8.6,1466,17838,0.00,2.30,7.53,0.866,4,0.000,0.054,3212,964,1267
$GC,17901,1.43,363.3,205.1,9.7,1479,17908,0.00,2.03,0.00,0.000,6,0.000,0.035,3212,2136,1266
$GC,18247,1.46,363.3,172.5,10.0,1540,18254,0.00,2.83,0.00,0.000,4,0.000,0.053,3212,3729,1265
$GC,18289,1.46,363.3,168.0,10.2,1547,18296,0.00,2.83,0.00,0.000,6,0.000,0.036,3212,2092,1266
$GC,18635,1.60,377.8,137.9,8.4,1608,18656,0.15,2.05,12.57,0.778,4,0.059,0.054,3255,968,1206
$GC,18669,1.61,381.9,134.7,8.8,1613,18678,0.00,2.25,3.50,0.782,6,0.000,0.034,3255,2267,1191
$GC,19017,1.71,423.0,105.6,7.2,1674,19056,0.10,0.00,35.08,0.705,6,0.071,0.000,3281,2267,1022
$GC,19397,1.81,437.8,74.6,8.4,1740,19418,0.00,2.38,11.27,0.696,4,0.000,0.048,3281,971,962
$GC,19540,1.98,482.1,63.0,7.0,1764,19587,0.25,2.15,37.17,0.643,6,0.044,0.031,3345,2230,780
$GC,19928,2.00,496.1,30.9,8.4,1831,19943,0.00,2.33,10.25,0.628,4,0.000,0.047,3345,964,725
$GC,20050,2.00,496.1,18.6,10.5,1852,20057,0.00,2.03,0.00,0.000,6,0.000,0.029,3345,2164,722
$STATE,20226,end climb,SURFACE_DEPTH_REACHED
$STATE,20227,begin surface coast
$FINISH,-0.2,1.020955
$STATE,20249,end surface coast,CONTROL_FINISHED_OK
$STATE,20249,begin surface
$SM_CCo,20332,0.00,0.000,0,0,719,497.71
$SM_GC,0.74,13.55,0.00,0.00,0.036,0.000,0.000,251,2167,719,-12.17,0.48,497.71
$IRIDIUM_FIX,1245.46,12029.39,170797,222234
$TT8_MAMPS,0.02301
$HUMID,2025
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.90
$XPDR_PINGS,379
$24V_AH,23.1,57.471
$10V_AH,10.1,29.472
$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,33.825,185.450,546.450,0.000,0.000,25.700,46.562,182.900,104.750,0.000,0.000,13.479,3990.583,12138.857,765.910,3167.072,660.470,0.000,2354.498,0.000,3101.909,0.000,75.510
$DEVICE_MAMPS,171.808,69.797,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1267.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59796,1887
$CAP_FILE_SIZE,200216,0
$CFSIZE,260165632,231493632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,306.0,1
$GPS,230408,101238,1249.009,12022.954,27,1.3,27,-0.8