version: 66.03
glider: 122
mission: 6
dive: 313
start: 4 23 108 22 4 27
data:
$ID,122
$MISSION,6
$DIVE,313
$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,-33637.094
$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,52
$R_STBD_OVSHOOT,30
$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
$GPS1,215732,1248.043,12020.551,39,0.9,39,-0.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.8
$GPS2,220351,1248.104,12020.541,13,0.9,13,-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,242.9,10202,-18.6,-9.016
$D_GRID,907
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-58.97,0.000,2,0.000,0.000,249,2136,2430
$GC,86,-1.56,-146.0,3.3,-7.7,9,124,13.50,2.45,-17.65,0.000,4,0.173,0.051,2558,3557,3346
$GC,217,-1.25,-146.0,30.5,-19.8,31,225,0.38,2.33,0.00,0.000,6,0.119,0.027,2627,2151,3346
$GC,565,-1.13,-146.0,81.3,-10.3,92,572,0.15,0.00,0.00,0.000,6,0.117,0.000,2658,2150,3348
$GC,911,-1.16,-146.0,118.4,-9.0,153,918,0.00,2.42,0.00,0.000,4,0.000,0.042,2658,3564,3350
$GC,953,-1.20,-146.0,122.6,-9.8,160,960,0.00,2.30,0.00,0.000,6,0.000,0.025,2658,2162,3351
$GC,1300,-1.38,-146.0,150.9,-8.0,221,1307,0.20,2.40,0.00,0.000,4,0.041,0.041,2590,3560,3353
$GC,1416,-1.30,-146.0,162.8,-10.1,241,1423,0.15,2.17,0.00,0.000,6,0.098,0.027,2619,2234,3353
$GC,1763,-1.42,-146.0,192.4,-8.0,302,1770,0.00,2.28,0.00,0.000,4,0.000,0.043,2619,3560,3353
$GC,1857,-1.47,-146.0,199.8,-8.3,318,1864,0.15,2.03,0.00,0.000,6,0.051,0.028,2573,2318,3353
$GC,2203,-1.47,-146.0,226.0,-8.3,379,2210,0.00,2.12,0.00,0.000,4,0.000,0.044,2573,3559,3353
$GC,2284,-1.38,-146.0,233.6,-9.9,393,2291,0.15,2.17,0.00,0.000,6,0.101,0.029,2600,2246,3353
$GC,2625,-1.45,-146.0,266.4,-9.2,439,2629,0.00,2.28,0.00,0.000,4,0.000,0.044,2601,3567,3351
$GC,2648,-1.45,-146.0,268.7,-10.2,441,2652,0.00,2.03,0.00,0.000,6,0.000,0.029,2601,2336,3351
$GC,2982,-1.54,-146.0,296.3,-7.4,472,2987,0.15,2.78,0.00,0.000,4,0.050,0.047,2549,756,3350
$GC,3049,-1.44,-146.0,302.7,-9.7,477,3056,0.22,2.53,0.00,0.000,6,0.100,0.032,2591,2248,3349
$GC,3375,-1.49,-146.0,329.5,-8.7,508,3379,0.00,2.62,0.00,0.000,4,0.000,0.048,2591,760,3347
$GC,3437,-1.49,-146.0,335.7,-9.4,513,3441,0.00,2.42,0.00,0.000,6,0.000,0.032,2592,2189,3347
$GC,3765,-1.57,-146.0,364.7,-8.3,543,3770,0.12,2.53,0.00,0.000,4,0.055,0.048,2555,757,3345
$GC,3798,-1.48,-146.0,367.9,-9.2,545,3806,0.12,2.33,0.00,0.000,6,0.110,0.031,2577,2132,3345
$GC,4124,-1.52,-146.0,393.6,-8.2,576,4129,0.00,2.42,0.00,0.000,4,0.000,0.050,2577,761,3343
$GC,4221,-1.48,-146.0,402.3,-9.1,584,4225,0.00,2.40,0.00,0.000,6,0.000,0.032,2577,2169,3342
$GC,4551,-1.52,-146.0,429.5,-8.2,614,4555,0.00,2.40,0.00,0.000,4,0.000,0.048,2577,3550,3341
$GC,4651,-1.45,-146.0,438.7,-8.7,622,4658,0.00,2.22,0.00,0.000,6,0.000,0.032,2577,2225,3340
$GC,4981,-1.50,-146.0,465.0,-8.0,653,4985,0.00,2.33,0.00,0.000,4,0.000,0.049,2577,3550,3338
$GC,5037,-1.45,-146.0,470.3,-8.8,657,5044,0.00,2.15,0.00,0.000,6,0.000,0.033,2577,2268,3337
$GC,5365,-1.49,-146.0,497.3,-7.9,688,5369,0.00,2.67,0.00,0.000,4,0.000,0.051,2577,765,3336
$GC,5437,-1.45,-146.0,503.7,-8.8,692,5441,0.00,2.45,0.00,0.000,6,0.000,0.033,2577,2202,3335
$GC,5759,-1.51,-146.0,529.0,-7.7,708,5763,0.00,2.55,0.00,0.000,4,0.000,0.053,2577,768,3333
$GC,5802,-1.47,-146.0,532.2,-7.7,710,5806,0.00,2.38,0.00,0.000,6,0.000,0.034,2577,2152,3333
$GC,6129,-1.47,-146.0,557.3,-7.7,726,6133,0.00,2.45,0.00,0.000,4,0.000,0.052,2577,3549,3331
$GC,6219,-1.41,-146.0,564.6,-8.1,730,6223,0.00,2.30,0.00,0.000,6,0.000,0.034,2577,2192,3331
$GC,6543,-1.41,-146.0,590.2,-8.3,746,6547,0.00,2.38,0.00,0.000,4,0.000,0.051,2577,3549,3329
$GC,6599,-1.37,-146.0,595.6,-10.0,748,6604,0.15,2.28,0.00,0.000,6,0.110,0.035,2604,2212,3329
$GC,6920,-1.49,-146.0,621.6,-8.0,763,6925,0.12,2.62,0.00,0.000,4,0.058,0.054,2569,747,3327
$GC,6970,-1.44,-146.0,626.6,-9.2,765,6974,0.00,2.45,0.00,0.000,6,0.000,0.035,2570,2170,3327
$GC,7288,-1.41,-146.0,652.9,-8.3,780,7293,0.15,2.45,0.00,0.000,4,0.110,0.053,2597,3556,3326
$GC,7383,-1.41,-146.0,661.0,-8.4,784,7388,0.00,2.33,0.00,0.000,6,0.000,0.035,2597,2196,3326
$GC,7700,-1.51,-146.0,681.8,-6.4,799,7704,0.00,2.60,0.00,0.000,4,0.000,0.057,2597,746,3325
$GC,7778,-1.54,-146.0,687.3,-6.4,802,7786,0.12,2.75,0.00,0.000,6,0.061,0.036,2563,2335,3324
$GC,8097,-1.49,-146.0,712.7,-8.5,818,8100,0.00,2.15,0.00,0.000,4,0.000,0.057,2563,3553,3322
$GC,8136,-1.42,-146.0,716.9,-9.7,819,8143,0.17,2.08,0.00,0.000,6,0.109,0.035,2594,2325,3322
$GC,8454,-1.52,-146.0,741.7,-7.5,835,8459,0.00,2.85,0.00,0.000,4,0.000,0.058,2594,743,3321
$GC,8566,-1.55,-146.0,750.5,-8.0,840,8571,0.12,2.58,0.00,0.000,6,0.060,0.036,2561,2235,3320
$GC,8890,-1.50,-146.0,777.3,-8.5,856,8894,0.00,2.33,0.00,0.000,4,0.000,0.057,2561,3559,3319
$GC,8974,-1.44,-146.0,785.1,-9.1,859,8981,0.15,2.25,0.00,0.000,6,0.113,0.036,2586,2241,3319
$GC,9293,-1.44,-146.0,810.6,-8.2,875,9297,0.00,2.33,0.00,0.000,4,0.000,0.055,2587,3556,3318
$GC,9344,-1.44,-146.0,815.4,-9.0,877,9348,0.00,2.20,0.00,0.000,6,0.000,0.036,2586,2266,3318
$GC,9666,-1.44,-146.0,842.3,-8.3,893,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2266,3317
$GC,9975,-1.44,-146.0,866.4,-7.4,908,9979,0.00,2.30,0.00,0.000,4,0.000,0.056,2587,3558,3316
$GC,10041,-1.44,-146.0,871.6,-8.0,911,10045,0.00,2.20,0.00,0.000,6,0.000,0.037,2587,2275,3316
$GC,10363,-1.44,-146.0,894.8,-7.5,927,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2275,3315
$STATE,10545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10552,-0.35,0.0,908.0,6.9,936,10677,1.20,0.00,121.88,1.309,6,0.102,0.000,2826,2383,2748
$STATE,10678,end apogee,CONTROL_FINISHED_OK
$STATE,10678,begin climb
$GC,10681,1.56,146.0,911.6,0.0,942,10816,1.90,2.67,127.20,1.267,4,0.052,0.060,3244,970,2152
$GC,10858,1.27,146.0,902.0,12.6,951,10863,0.32,2.47,0.00,0.000,6,0.119,0.040,3186,2362,2150
$GC,11182,1.16,157.9,872.6,8.5,967,11198,0.15,2.60,10.10,1.279,4,0.127,0.059,3157,973,2103
$GC,11284,1.08,163.2,863.5,8.8,970,11294,0.00,2.42,5.03,1.266,6,0.000,0.039,3157,2345,2082
$GC,11626,1.04,174.0,835.5,8.5,987,11643,0.12,0.00,9.50,1.288,6,0.126,0.000,3136,2345,2038
$GC,11952,1.06,183.6,807.0,8.6,1003,11966,0.00,2.60,8.57,1.279,4,0.000,0.060,3135,978,1999
$GC,12005,1.06,183.6,802.1,9.3,1005,12010,0.00,2.42,0.00,0.000,6,0.000,0.040,3135,2341,1998
$GC,12322,1.14,234.1,779.7,6.8,1020,12371,0.00,2.60,43.65,1.231,4,0.000,0.061,3135,970,1793
$GC,12400,1.15,236.9,773.6,8.9,1024,12410,0.00,2.42,2.67,1.174,6,0.000,0.040,3135,2328,1782
$GC,12734,1.19,236.9,745.3,9.2,1040,12738,0.12,2.47,0.00,0.000,4,0.073,0.059,3164,978,1780
$GC,12796,1.15,236.9,738.5,10.7,1043,12800,0.00,2.33,0.00,0.000,6,0.000,0.040,3163,2300,1779
$GC,13129,1.15,236.9,706.9,9.0,1059,13133,0.00,2.42,0.00,0.000,4,0.000,0.060,3164,975,1779
$GC,13192,1.11,236.9,701.3,9.1,1062,13196,0.00,2.25,0.00,0.000,6,0.000,0.039,3163,2265,1778
$GC,13524,1.18,279.8,675.1,7.1,1078,13567,0.00,0.00,37.80,1.174,6,0.000,0.000,3164,2265,1607
$GC,13876,1.18,279.8,641.1,9.9,1095,13880,0.00,2.38,0.00,0.000,4,0.000,0.061,3164,970,1603
$GC,13938,1.18,279.8,634.7,9.7,1098,13942,0.00,2.25,0.00,0.000,6,0.000,0.038,3163,2250,1603
$GC,14265,1.18,280.1,604.6,9.0,1114,14266,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2248,1603
$GC,14576,1.18,282.1,576.1,8.9,1129,14580,0.00,2.33,0.00,0.000,4,0.000,0.060,3164,976,1602
$GC,14625,1.18,282.1,571.2,9.4,1131,14629,0.00,2.22,0.00,0.000,6,0.000,0.038,3164,2248,1601
$GC,14949,1.24,296.9,543.2,8.4,1147,14967,0.00,0.00,14.32,1.118,6,0.000,0.000,3164,2248,1536
$GC,15277,1.29,306.3,515.1,8.6,1163,15292,0.10,2.40,8.05,1.110,4,0.074,0.058,3189,979,1499
$GC,15348,1.29,306.3,507.9,10.8,1166,15352,0.00,2.17,0.00,0.000,6,0.000,0.037,3189,2201,1498
$GC,15675,1.29,306.3,476.8,10.0,1192,15679,0.00,2.75,0.00,0.000,4,0.000,0.056,3189,3736,1499
$GC,15714,1.29,306.3,472.1,11.4,1195,15719,0.00,2.65,0.00,0.000,6,0.000,0.039,3189,2214,1498
$GC,16039,1.29,306.3,439.4,9.6,1225,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2214,1498
$GC,16358,1.29,306.3,409.7,9.3,1255,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2213,1498
$GC,16677,1.29,306.3,379.5,9.2,1285,16681,0.00,2.72,0.00,0.000,4,0.000,0.054,3189,3737,1498
$GC,16698,1.29,306.3,377.3,9.3,1286,16706,0.00,2.65,0.00,0.000,6,0.000,0.038,3189,2206,1498
$GC,17025,1.29,306.3,347.0,9.2,1317,17029,0.00,2.20,0.00,0.000,4,0.000,0.058,3189,974,1498
$GC,17047,1.29,306.3,344.4,9.5,1318,17054,0.00,2.15,0.00,0.000,6,0.000,0.036,3189,2223,1498
$GC,17375,1.33,329.4,315.1,8.0,1349,17402,0.00,0.00,20.10,0.927,6,0.000,0.000,3189,2223,1404
$GC,17721,1.40,329.4,286.1,9.4,1382,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2223,1402
$GC,18041,1.49,329.4,255.3,9.5,1412,18046,0.15,2.25,0.00,0.000,4,0.058,0.054,3231,971,1401
$GC,18060,1.53,332.7,253.4,8.9,1413,18072,0.00,2.10,2.47,0.911,6,0.000,0.035,3231,2187,1391
$GC,18406,1.49,336.9,219.6,8.8,1471,18413,0.00,0.00,3.92,0.888,6,0.000,0.000,3231,2187,1374
$GC,18752,1.50,344.2,189.5,8.7,1532,18766,0.00,2.20,6.90,0.850,4,0.000,0.054,3231,968,1343
$GC,18840,1.46,344.2,181.3,9.6,1547,18847,0.00,2.00,0.00,0.000,6,0.000,0.034,3231,2135,1341
$GC,19186,1.48,352.5,147.5,8.6,1608,19199,0.00,2.85,6.97,0.811,4,0.000,0.051,3231,3730,1311
$GC,19296,1.48,352.5,137.1,9.8,1627,19303,0.00,2.75,0.00,0.000,6,0.000,0.036,3231,2142,1309
$GC,19642,1.70,430.1,110.9,5.5,1688,19716,0.15,2.88,65.03,0.698,4,0.057,0.048,3275,3730,992
$GC,19740,1.76,430.1,103.2,9.1,1703,19747,0.00,2.72,0.00,0.000,6,0.000,0.034,3275,2160,990
$GC,20087,1.94,455.8,75.3,7.9,1764,20116,0.20,2.15,20.20,0.673,4,0.050,0.052,3332,974,888
$GC,20196,1.90,455.8,64.7,9.7,1782,20203,0.00,2.05,0.00,0.000,6,0.000,0.031,3332,2175,886
$GC,20542,1.94,478.7,35.3,8.0,1843,20568,0.00,2.17,18.35,0.621,4,0.000,0.048,3332,969,794
$GC,20695,1.96,493.6,23.0,8.3,1869,20716,0.00,1.92,11.93,0.610,6,0.000,0.029,3332,2098,734
$STATE,20935,end climb,SURFACE_DEPTH_REACHED
$STATE,20935,begin surface coast
$FINISH,-0.1,1.021048
$STATE,20957,end surface coast,CONTROL_FINISHED_OK
$STATE,20957,begin surface
$SM_CCo,21041,0.00,0.000,0,0,728,495.51
$SM_GC,0.71,13.52,0.00,0.00,0.037,0.000,0.000,247,2209,728,-12.19,1.64,495.51
$IRIDIUM_FIX,1243.25,12024.46,180797,161656
$TT8_MAMPS,0.023777
$HUMID,2023
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.90
$XPDR_PINGS,385
$24V_AH,23.0,58.069
$10V_AH,10.1,29.783
$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,34.250,200.900,544.650,0.000,0.000,27.507,38.666,173.607,106.500,0.000,0.000,13.543,4113.672,12611.471,775.038,3244.253,674.572,0.000,2407.098,0.000,3181.932,0.000,75.271
$DEVICE_MAMPS,173.342,61.360,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59739,1915
$CAP_FILE_SIZE,210373,0
$CFSIZE,260165632,231202816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,148.4,1
$GPS,240408,035607,1247.340,12019.290,24,1.7,24,-0.8