version: 66.03
glider: 122
mission: 6
dive: 337
start: 4 29 108 9 7 27
data:
$ID,122
$MISSION,6
$DIVE,337
$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,-34019.078
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$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
$GPS1,090038,1248.660,12022.580,39,1.3,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.6
$GPS2,090651,1248.703,12022.611,17,1.3,17,-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,78.5,36553,-18.6,-9.016
$D_GRID,917
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-64.68,0.000,2,0.000,0.000,252,2197,2500
$GC,92,-1.56,-146.0,3.7,-7.5,10,130,13.32,2.45,-15.82,0.000,4,0.168,0.051,2559,794,3346
$GC,171,-1.35,-146.0,21.7,-18.9,23,179,0.25,2.40,0.00,0.000,6,0.110,0.027,2605,2229,3348
$GC,519,-1.20,-146.0,78.7,-14.9,84,527,0.17,2.47,0.00,0.000,4,0.114,0.039,2640,796,3349
$GC,590,-1.13,-146.0,88.8,-13.5,96,597,0.00,2.55,0.00,0.000,6,0.000,0.027,2640,2323,3350
$GC,937,-1.13,-146.0,127.6,-9.5,157,944,0.00,2.20,0.00,0.000,4,0.000,0.044,2640,3617,3352
$GC,990,-1.10,-146.0,133.3,-10.6,166,998,0.12,2.22,0.00,0.000,6,0.098,0.026,2664,2254,3352
$GC,1337,-1.29,-146.0,163.2,-7.6,227,1345,0.15,2.35,0.00,0.000,4,0.047,0.044,2609,3622,3353
$GC,1426,-1.29,-146.0,171.8,-9.5,242,1433,0.00,2.10,0.00,0.000,6,0.000,0.027,2609,2330,3353
$GC,1772,-1.29,-146.0,203.7,-8.9,303,1779,0.00,2.60,0.00,0.000,4,0.000,0.044,2609,830,3354
$GC,1792,-1.29,-146.0,205.5,-9.1,306,1799,0.00,2.55,0.00,0.000,6,0.000,0.031,2609,2338,3353
$GC,2137,-1.29,-146.0,234.4,-7.9,367,2144,0.00,2.20,0.00,0.000,4,0.000,0.048,2609,3615,3352
$GC,2202,-1.29,-146.0,240.1,-8.5,378,2209,0.00,2.08,0.00,0.000,6,0.000,0.030,2609,2356,3351
$GC,2541,-1.29,-146.0,266.0,-8.0,421,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2357,3350
$GC,2860,-1.29,-146.0,291.9,-8.5,451,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2357,3348
$GC,3179,-1.29,-146.0,319.5,-8.6,481,3183,0.00,2.70,0.00,0.000,4,0.000,0.048,2609,825,3346
$GC,3202,-1.29,-146.0,321.6,-8.7,482,3209,0.00,2.65,0.00,0.000,6,0.000,0.034,2609,2373,3346
$GC,3529,-1.38,-146.0,349.1,-8.6,513,3533,0.00,2.15,0.00,0.000,4,0.000,0.050,2609,3615,3343
$GC,3598,-1.38,-146.0,355.2,-9.2,519,3602,0.00,2.33,0.00,0.000,6,0.000,0.032,2609,2238,3343
$GC,3927,-1.50,-146.0,380.9,-7.5,549,3932,0.15,2.53,0.00,0.000,4,0.052,0.050,2560,811,3341
$GC,4006,-1.42,-146.0,388.3,-9.7,555,4013,0.17,2.67,0.00,0.000,6,0.104,0.035,2592,2367,3340
$GC,4331,-1.42,-146.0,414.4,-8.2,586,4335,0.00,2.20,0.00,0.000,4,0.000,0.052,2592,3622,3338
$GC,4361,-1.42,-146.0,416.8,-8.2,588,4365,0.00,2.10,0.00,0.000,6,0.000,0.032,2592,2369,3338
$GC,4688,-1.42,-146.0,443.1,-8.2,618,4692,0.00,2.75,0.00,0.000,4,0.000,0.051,2593,820,3335
$GC,4721,-1.42,-146.0,446.2,-8.6,620,4728,0.00,2.65,0.00,0.000,6,0.000,0.035,2593,2361,3335
$GC,5048,-1.42,-146.0,473.6,-8.5,651,5053,0.00,2.75,0.00,0.000,4,0.000,0.051,2593,820,3333
$GC,5079,-1.42,-146.0,476.3,-8.6,653,5083,0.00,2.60,0.00,0.000,6,0.000,0.035,2593,2326,3333
$GC,5405,-1.42,-146.0,503.8,-8.0,681,5409,0.00,2.28,0.00,0.000,4,0.000,0.054,2593,3615,3331
$GC,5490,-1.42,-146.0,511.5,-9.3,685,5494,0.00,2.12,0.00,0.000,6,0.000,0.034,2593,2358,3331
$GC,5818,-1.42,-146.0,537.2,-7.6,701,5823,0.00,2.75,0.00,0.000,4,0.000,0.052,2593,816,3329
$GC,5858,-1.42,-146.0,540.6,-8.6,703,5863,0.00,2.67,0.00,0.000,6,0.000,0.037,2592,2354,3328
$GC,6186,-1.42,-146.0,565.7,-7.5,719,6190,0.00,2.20,0.00,0.000,4,0.000,0.056,2593,3610,3327
$GC,6225,-1.42,-146.0,569.0,-8.0,720,6232,0.00,2.15,0.00,0.000,6,0.000,0.034,2593,2335,3327
$GC,6541,-1.42,-146.0,593.2,-7.6,736,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2334,3326
$GC,6851,-1.42,-146.0,617.1,-8.1,751,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2334,3324
$GC,7161,-1.42,-146.0,640.6,-7.6,766,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2335,3323
$GC,7469,-1.42,-146.0,662.1,-6.7,781,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2334,3321
$GC,7779,-1.42,-146.0,685.6,-8.2,796,7783,0.00,2.28,0.00,0.000,4,0.000,0.058,2593,3611,3320
$GC,7807,-1.42,-146.0,688.1,-8.5,797,7811,0.00,2.12,0.00,0.000,6,0.000,0.035,2593,2355,3319
$GC,8126,-1.45,-146.0,715.0,-8.6,812,8130,0.00,2.25,0.00,0.000,4,0.000,0.058,2593,3615,3318
$GC,8166,-1.45,-146.0,718.8,-9.0,814,8170,0.00,2.10,0.00,0.000,6,0.000,0.036,2593,2377,3318
$GC,8495,-1.49,-146.0,745.8,-8.2,830,8500,0.00,2.80,0.00,0.000,4,0.000,0.057,2593,822,3317
$GC,8536,-1.54,-146.0,749.6,-9.4,832,8544,0.08,2.67,0.00,0.000,6,0.050,0.039,2565,2363,3317
$GC,8873,-1.54,-146.0,780.0,-9.2,848,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2363,3316
$GC,9181,-1.54,-146.0,809.0,-9.3,863,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2362,3314
$GC,9490,-1.54,-146.0,836.7,-8.1,878,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2362,3313
$GC,9799,-1.54,-146.0,862.4,-8.3,893,9804,0.00,2.78,0.00,0.000,4,0.000,0.058,2565,822,3312
$GC,9855,-1.54,-146.0,867.2,-8.4,895,9862,0.00,2.65,0.00,0.000,6,0.000,0.039,2565,2340,3312
$GC,10171,-1.54,-146.0,893.6,-8.2,911,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2340,3310
$STATE,10457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10457,begin apogee
$GC,10463,-0.35,0.0,917.3,7.3,925,10590,1.33,0.00,122.43,1.324,6,0.107,0.000,2826,2340,2748
$STATE,10590,end apogee,CONTROL_FINISHED_OK
$STATE,10591,begin climb
$GC,10593,1.56,146.0,919.9,0.0,931,10731,1.92,2.62,128.00,1.273,4,0.054,0.062,3249,3721,2152
$GC,10807,1.27,146.0,904.0,12.1,940,10815,0.38,2.42,0.00,0.000,6,0.134,0.041,3184,2340,2150
$GC,11124,1.17,167.9,878.5,8.0,956,11148,0.12,2.70,18.90,1.289,4,0.130,0.061,3163,934,2063
$GC,11258,1.14,195.3,867.6,7.8,961,11288,0.00,2.40,24.30,1.275,6,0.000,0.039,3163,2291,1951
$GC,11596,1.07,195.3,835.5,9.3,978,11601,0.12,2.50,0.00,0.000,4,0.121,0.060,3141,934,1949
$GC,11640,1.07,195.3,831.4,9.2,980,11644,0.00,2.40,0.00,0.000,6,0.000,0.040,3141,2293,1949
$GC,11962,1.11,214.3,804.4,8.2,996,11985,0.00,0.00,16.48,1.272,6,0.000,0.000,3141,2293,1873
$GC,12293,1.13,231.2,776.9,8.3,1012,12316,0.00,2.67,14.75,1.263,4,0.000,0.062,3141,3729,1805
$GC,12334,1.13,231.2,773.4,9.3,1013,12341,0.00,2.55,0.00,0.000,6,0.000,0.041,3141,2285,1804
$GC,12650,1.14,236.6,745.2,8.8,1029,12659,0.00,2.53,4.85,1.252,4,0.000,0.061,3141,927,1783
$GC,12712,1.14,236.6,739.4,9.4,1032,12716,0.00,2.40,0.00,0.000,6,0.000,0.039,3141,2289,1782
$GC,13045,1.15,238.3,709.2,8.9,1048,13049,0.00,2.50,0.00,0.000,4,0.000,0.061,3141,925,1782
$GC,13094,1.15,238.3,704.4,9.5,1050,13098,0.00,2.35,0.00,0.000,6,0.000,0.039,3141,2260,1781
$GC,13411,1.17,250.4,677.6,8.5,1065,13433,0.00,2.75,12.45,1.220,4,0.000,0.061,3141,3721,1727
$GC,13472,1.17,250.4,671.6,9.2,1067,13479,0.00,2.55,0.00,0.000,6,0.000,0.040,3141,2271,1727
$GC,13789,1.19,266.1,644.4,8.3,1083,13813,0.10,2.53,14.02,1.193,4,0.081,0.061,3164,938,1663
$GC,13837,1.19,266.1,639.8,10.7,1085,13841,0.00,2.38,0.00,0.000,6,0.000,0.038,3164,2279,1662
$GC,14164,1.19,266.1,608.6,9.4,1101,14168,0.00,2.47,0.00,0.000,4,0.000,0.059,3164,927,1661
$GC,14204,1.19,266.1,604.7,10.1,1103,14208,0.00,2.35,0.00,0.000,6,0.000,0.038,3164,2265,1660
$GC,14531,1.19,266.1,573.4,9.6,1119,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2265,1660
$GC,14840,1.19,267.3,545.8,9.0,1134,14844,0.00,2.45,0.00,0.000,4,0.000,0.059,3164,924,1660
$GC,14913,1.20,272.3,539.1,8.8,1137,14926,0.00,2.33,5.60,1.141,6,0.000,0.038,3164,2251,1637
$GC,15234,1.22,284.6,512.1,8.5,1153,15255,0.00,2.53,11.40,1.104,4,0.000,0.058,3164,926,1585
$GC,15272,1.22,284.6,508.6,9.4,1154,15279,0.00,2.33,0.00,0.000,6,0.000,0.038,3164,2241,1585
$GC,15594,1.24,297.2,481.0,8.5,1180,15607,0.00,0.00,11.02,1.076,6,0.000,0.000,3164,2242,1536
$GC,15924,1.25,302.6,452.2,8.8,1211,15936,0.00,2.42,4.78,1.064,4,0.000,0.057,3164,928,1514
$GC,15973,1.29,305.0,447.8,8.9,1215,15985,0.00,2.25,2.42,1.032,6,0.000,0.036,3164,2214,1504
$GC,16303,1.32,305.0,419.6,9.0,1246,16308,0.12,2.72,0.00,0.000,4,0.066,0.055,3196,3736,1503
$GC,16348,1.28,305.0,414.8,10.6,1249,16355,0.00,2.60,0.00,0.000,6,0.000,0.037,3196,2232,1504
$GC,16675,1.28,305.0,382.3,9.4,1280,16679,0.00,2.35,0.00,0.000,4,0.000,0.056,3196,923,1504
$GC,16716,1.28,305.0,378.4,9.4,1283,16720,0.00,2.30,0.00,0.000,6,0.000,0.036,3196,2249,1503
$GC,17043,1.29,312.8,350.2,8.7,1313,17052,0.00,0.00,6.90,0.981,6,0.000,0.000,3196,2248,1472
$GC,17372,1.29,313.3,319.8,9.0,1344,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2248,1472
$GC,17698,1.29,313.3,289.0,9.3,1375,17699,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2249,1472
$GC,18016,1.29,313.3,259.0,9.4,1405,18021,0.00,2.62,0.00,0.000,4,0.000,0.054,3196,3733,1472
$GC,18049,1.29,313.3,255.7,10.2,1407,18056,0.00,2.60,0.00,0.000,6,0.000,0.035,3197,2216,1472
$GC,18388,1.29,313.3,225.3,9.0,1462,18394,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2216,1472
$GC,18733,1.32,334.1,195.7,8.1,1523,18759,0.00,2.75,18.45,0.811,4,0.000,0.050,3196,3733,1384
$GC,18799,1.32,334.1,189.8,9.6,1534,18806,0.00,2.58,0.00,0.000,6,0.000,0.034,3196,2242,1384
$GC,19147,1.39,353.8,160.0,8.1,1595,19166,0.00,0.00,16.42,0.775,6,0.000,0.000,3196,2240,1305
$GC,19504,1.55,371.4,131.3,8.2,1658,19526,0.17,2.45,14.45,0.747,4,0.052,0.053,3246,926,1233
$GC,19566,1.55,371.4,125.8,9.1,1668,19573,0.00,2.33,0.00,0.000,6,0.000,0.032,3247,2272,1231
$GC,19914,1.67,402.3,97.7,7.6,1729,19947,0.00,2.62,25.38,0.692,4,0.000,0.049,3246,3733,1107
$GC,20000,1.78,431.8,91.2,7.7,1743,20034,0.20,2.58,24.85,0.674,6,0.050,0.031,3299,2229,986
$GC,20375,1.80,444.4,59.4,8.5,1808,20389,0.00,2.72,9.40,0.665,4,0.000,0.046,3299,3729,935
$GC,20499,1.89,476.0,48.7,7.6,1829,20532,0.00,2.45,26.08,0.617,6,0.000,0.030,3299,2276,806
$GC,20873,2.04,497.8,18.6,8.0,1894,20901,0.20,2.45,17.25,0.586,4,0.045,0.048,3359,931,717
$GC,20942,2.01,497.8,11.6,10.2,1905,20949,0.00,2.08,0.00,0.000,6,0.000,0.028,3359,2165,715
$STATE,21032,end climb,SURFACE_DEPTH_REACHED
$STATE,21032,begin surface coast
$FINISH,-0.0,0.996700
$STATE,21056,end surface coast,CONTROL_FINISHED_OK
$STATE,21056,begin surface
$SM_CCo,21140,0.00,0.000,0,0,710,499.92
$SM_GC,0.78,13.62,0.00,0.00,0.037,0.000,0.000,250,2255,710,-12.17,1.10,499.92
$IRIDIUM_FIX,1243.25,12019.52,240797,030316
$TT8_MAMPS,0.023777
$HUMID,2011
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,437
$24V_AH,23.0,62.624
$10V_AH,10.1,32.169
$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,32.725,191.725,550.575,0.000,0.000,24.152,27.206,175.806,120.000,0.000,0.000,17.734,3997.094,12896.942,772.194,3188.329,656.535,0.000,2393.298,0.000,3115.405,0.000,81.639
$DEVICE_MAMPS,167.973,77.467,1323.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1292.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59832,1925
$CAP_FILE_SIZE,200474,0
$CFSIZE,260165632,229056512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,312.8,1
$GPS,290408,150102,1249.098,12024.136,40,1.0,40,-0.8