version: 66.03
glider: 122
mission: 6
dive: 34
start: 2 22 108 7 9 37
data:
$ID,122
$MISSION,6
$DIVE,34
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,425
$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,-28064.727
$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,14.76
$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,51
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2539
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,070337,1251.146,12038.555,31,0.9,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-71.8
$GPS2,070844,1251.249,12038.532,11,0.9,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,2000.000
$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,256.7,42889,-22.8,-9.016
$D_GRID,1454
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.67,-76.7,0.0,0.0,0,86,0.00,0.00,-67.15,0.000,2,0.000,0.000,249,2124,2603
$GC,88,-1.70,-91.3,3.2,-7.7,13,115,13.15,2.47,-5.97,0.000,4,0.170,0.053,2532,3561,2914
$GC,182,-1.37,-91.3,32.1,-27.4,30,189,0.38,2.33,0.00,0.000,6,0.110,0.030,2602,2173,2915
$GC,526,-1.28,-91.3,90.9,-15.4,91,533,0.12,2.50,0.00,0.000,4,0.121,0.046,2624,740,2917
$GC,729,-1.32,-91.3,117.1,-12.0,127,735,0.00,2.33,0.00,0.000,6,0.000,0.028,2624,2133,2917
$GC,1072,-1.38,-91.3,155.6,-9.6,188,1078,0.00,2.42,0.00,0.000,4,0.000,0.045,2623,3548,2919
$GC,1185,-1.46,-98.6,166.0,-8.4,208,1192,0.17,2.33,0.00,0.000,6,0.054,0.028,2578,2147,2919
$GC,1528,-1.46,-98.6,199.5,-10.0,269,1534,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,3555,2920
$GC,1562,-1.46,-98.6,203.1,-10.9,275,1568,0.00,2.30,0.00,0.000,6,0.000,0.029,2578,2174,2920
$GC,1906,-1.46,-98.6,234.8,-9.3,336,1912,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,3554,2920
$GC,1961,-1.46,-98.6,240.5,-10.2,346,1968,0.00,2.25,0.00,0.000,6,0.000,0.030,2578,2202,2920
$GC,2291,-1.47,-101.4,269.6,-8.8,386,2295,0.00,2.33,0.00,0.000,4,0.000,0.046,2578,3550,2919
$GC,2346,-1.47,-101.4,274.9,-9.8,390,2353,0.00,2.25,0.00,0.000,6,0.000,0.030,2578,2215,2919
$GC,2672,-1.52,-112.8,302.7,-8.0,421,2676,0.00,2.60,0.00,0.000,4,0.000,0.053,2578,746,2917
$GC,2770,-1.52,-112.8,311.3,-9.1,429,2778,0.00,2.53,0.00,0.000,6,0.000,0.033,2578,2219,2917
$GC,3097,-1.57,-122.3,337.6,-8.2,460,3101,0.00,2.60,0.00,0.000,4,0.000,0.053,2578,750,2916
$GC,3185,-1.62,-132.0,345.2,-8.1,467,3192,0.12,2.47,0.00,0.000,6,0.059,0.032,2544,2211,2915
$GC,3510,-1.59,-136.5,373.6,-8.6,498,3514,0.00,2.33,0.00,0.000,4,0.000,0.048,2544,3554,2913
$GC,3582,-1.55,-136.5,380.1,-9.3,504,3587,0.12,2.25,0.00,0.000,6,0.116,0.032,2565,2211,2913
$GC,3906,-1.56,-146.0,404.9,-6.9,534,3911,0.00,2.60,0.00,0.000,4,0.000,0.054,2565,746,2911
$GC,4006,-1.56,-146.0,412.3,-7.1,542,4012,0.00,2.47,0.00,0.000,6,0.000,0.034,2565,2182,2911
$GC,4331,-1.56,-146.0,434.1,-6.8,573,4335,0.00,2.40,0.00,0.000,4,0.000,0.051,2566,3561,2910
$GC,4426,-1.56,-146.0,441.3,-7.6,581,4430,0.00,2.33,0.00,0.000,6,0.000,0.034,2566,2185,2909
$GC,4751,-1.56,-146.0,464.1,-7.0,611,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2182,2907
$GC,5070,-1.59,-146.0,485.5,-6.6,641,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2181,2906
$GC,5395,-1.63,-146.0,509.1,-7.0,666,5399,0.00,2.40,0.00,0.000,4,0.000,0.052,2565,3552,2904
$GC,5472,-1.63,-146.0,515.2,-7.5,669,5477,0.00,2.35,0.00,0.000,6,0.000,0.035,2565,2188,2903
$GC,5794,-1.66,-146.0,537.5,-6.7,685,5799,0.10,2.58,0.00,0.000,4,0.068,0.057,2539,750,2902
$GC,5900,-1.66,-146.0,545.6,-8.1,690,5904,0.00,2.45,0.00,0.000,6,0.000,0.035,2539,2177,2902
$GC,6227,-1.66,-146.0,570.1,-8.1,706,6231,0.00,2.40,0.00,0.000,4,0.000,0.054,2539,3555,2901
$GC,6277,-1.63,-146.0,574.7,-9.3,708,6282,0.00,2.35,0.00,0.000,6,0.000,0.035,2539,2172,2900
$GC,6600,-1.63,-146.0,600.6,-7.9,724,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2170,2899
$GC,6907,-1.63,-146.0,624.7,-7.4,739,6911,0.00,2.55,0.00,0.000,4,0.000,0.061,2539,749,2898
$GC,6961,-1.59,-146.0,628.9,-7.8,741,6967,0.00,2.42,0.00,0.000,6,0.000,0.036,2539,2163,2898
$GC,7278,-1.59,-146.0,650.6,-6.9,757,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2164,2896
$GC,7588,-1.59,-146.0,671.2,-6.5,772,7592,0.00,2.45,0.00,0.000,4,0.000,0.054,2539,3562,2896
$GC,7631,-1.56,-146.0,674.6,-7.6,774,7636,0.12,2.40,0.00,0.000,6,0.123,0.037,2560,2153,2895
$GC,7954,-1.60,-146.0,692.2,-5.5,790,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2153,2894
$GC,8262,-1.64,-146.0,710.1,-6.2,805,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2153,2893
$GC,8570,-1.68,-146.0,729.2,-6.2,820,8574,0.00,2.47,0.00,0.000,4,0.000,0.055,2560,3555,2893
$GC,8635,-1.68,-146.0,733.5,-5.8,823,8640,0.00,2.40,0.00,0.000,6,0.000,0.038,2560,2163,2893
$GC,8963,-1.73,-146.0,751.1,-5.2,839,8968,0.15,2.47,0.00,0.000,4,0.062,0.054,2518,3560,2892
$GC,8995,-1.65,-146.0,753.4,-6.8,840,9002,0.12,2.40,0.00,0.000,6,0.125,0.037,2539,2155,2892
$GC,9310,-1.65,-146.0,771.9,-6.4,856,9315,0.00,2.47,0.00,0.000,4,0.000,0.055,2539,3552,2891
$GC,9354,-1.65,-146.0,774.9,-6.4,858,9358,0.00,2.38,0.00,0.000,6,0.000,0.038,2539,2165,2891
$GC,9681,-1.65,-146.0,794.6,-5.8,874,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2164,2890
$GC,9990,-1.65,-146.0,812.3,-5.5,889,9994,0.00,2.47,0.00,0.000,4,0.000,0.057,2539,3561,2889
$GC,10057,-1.65,-146.0,816.5,-6.1,892,10061,0.00,2.38,0.00,0.000,6,0.000,0.038,2539,2173,2889
$GC,10383,-1.65,-146.0,834.3,-5.8,908,10387,0.00,2.58,0.00,0.000,4,0.000,0.064,2539,748,2888
$GC,10437,-1.65,-146.0,838.1,-7.2,910,10443,0.00,2.47,0.00,0.000,6,0.000,0.038,2539,2183,2888
$GC,10752,-1.65,-146.0,858.3,-6.5,926,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2183,2888
$GC,11062,-1.65,-146.0,879.2,-7.1,941,11065,0.00,2.40,0.00,0.000,4,0.000,0.059,2539,3551,2887
$GC,11110,-1.65,-146.0,883.0,-7.0,943,11115,0.00,2.38,0.00,0.000,6,0.000,0.038,2539,2180,2887
$GC,11437,-1.65,-146.0,904.3,-6.1,959,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2180,2886
$GC,11747,-1.65,-146.0,923.4,-6.4,974,11751,0.00,2.60,0.00,0.000,4,0.000,0.064,2539,743,2886
$GC,11807,-1.65,-146.0,927.6,-6.6,977,11812,0.00,2.47,0.00,0.000,6,0.000,0.038,2539,2182,2886
$GC,12139,-1.65,-146.0,948.1,-6.1,993,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2182,2885
$GC,12448,-1.65,-146.0,966.9,-6.0,1008,12452,0.00,2.45,0.00,0.000,4,0.000,0.061,2539,3561,2885
$GC,12491,-1.65,-146.0,969.9,-7.7,1010,12496,0.00,2.38,0.00,0.000,6,0.000,0.038,2539,2189,2885
$GC,12817,-1.65,-146.0,989.0,-5.8,1026,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2189,2884
$STATE,12838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12838,begin apogee
$GC,12842,-0.34,0.0,990.2,5.7,1027,12920,1.48,0.00,74.25,1.426,6,0.112,0.000,2829,2392,2539
$STATE,12921,end apogee,CONTROL_FINISHED_OK
$STATE,12921,begin climb
$GC,12923,1.79,146.0,990.8,0.0,1031,13060,2.20,0.00,128.02,1.373,6,0.061,0.000,3297,2391,1942
$GC,13368,1.61,146.0,917.9,18.2,1053,13370,0.22,0.00,0.00,0.000,6,0.135,0.000,3258,2392,1938
$GC,13677,1.50,146.0,868.2,15.6,1068,13682,0.15,2.40,0.00,0.000,4,0.132,0.061,3229,3718,1937
$GC,13761,1.40,146.0,854.6,15.6,1072,13765,0.00,2.33,0.00,0.000,6,0.000,0.040,3229,2383,1938
$GC,14086,1.35,146.0,805.6,14.7,1088,14088,0.17,0.00,0.00,0.000,6,0.132,0.000,3199,2382,1936
$GC,14395,1.35,146.0,764.1,13.3,1103,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2381,1936
$GC,14704,1.35,146.0,722.7,13.3,1118,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2381,1936
$GC,15013,1.35,146.0,682.2,12.2,1133,15017,0.00,2.40,0.00,0.000,4,0.000,0.060,3199,3715,1936
$GC,15057,1.31,146.0,676.5,13.6,1135,15061,0.00,2.33,0.00,0.000,6,0.000,0.039,3199,2388,1936
$GC,15383,1.31,146.0,636.3,12.5,1151,15384,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2386,1936
$GC,15692,1.31,146.0,596.7,13.0,1166,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2385,1936
$GC,16003,1.31,146.0,556.2,13.0,1181,16008,0.00,2.58,0.00,0.000,4,0.000,0.062,3199,963,1936
$GC,16064,1.31,146.0,547.7,13.8,1184,16068,0.00,2.47,0.00,0.000,6,0.000,0.039,3199,2391,1935
$GC,16395,1.31,146.0,507.0,12.1,1200,16397,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1935
$GC,16712,1.31,146.0,469.9,10.8,1227,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1935
$GC,17032,1.35,146.0,434.0,11.1,1257,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1935
$GC,17349,1.35,146.0,398.0,12.0,1287,17351,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1935
$GC,17668,1.35,146.0,361.3,11.6,1317,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1935
$GC,17987,1.38,146.0,325.7,11.0,1347,17989,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2391,1936
$GC,18306,1.41,146.0,289.4,11.8,1377,18307,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2392,1936
$GC,18626,1.45,146.0,254.3,9.9,1407,18630,0.10,2.53,0.00,0.000,4,0.077,0.051,3222,966,1937
$GC,18720,1.45,146.0,243.7,10.9,1420,18726,0.00,2.42,0.00,0.000,6,0.000,0.035,3222,2387,1937
$GC,19063,1.45,146.0,209.2,9.4,1481,19069,0.00,2.35,0.00,0.000,4,0.000,0.052,3222,3732,1938
$GC,19242,1.45,146.0,189.5,10.7,1513,19249,0.00,2.25,0.00,0.000,6,0.000,0.033,3222,2391,1938
$GC,19586,1.49,146.7,159.3,9.0,1574,19592,0.00,2.33,0.00,0.000,4,0.000,0.050,3222,3725,1939
$GC,19676,1.49,150.0,151.5,8.7,1590,19687,0.00,2.15,3.03,0.813,6,0.000,0.031,3222,2432,1926
$GC,20025,1.58,172.8,126.0,7.0,1652,20052,0.12,2.33,17.80,0.752,4,0.070,0.048,3252,3719,1834
$GC,20260,1.60,188.2,106.3,7.6,1694,20276,0.00,2.12,11.95,0.741,6,0.000,0.030,3252,2445,1771
$GC,20614,1.70,213.7,79.9,6.7,1757,20641,0.00,2.65,20.12,0.687,4,0.000,0.050,3252,974,1666
$GC,20798,1.76,218.9,66.1,8.6,1790,20810,0.17,2.58,4.12,0.707,6,0.054,0.031,3297,2489,1645
$GC,21148,1.81,245.4,38.1,6.6,1852,21175,0.00,2.72,20.55,0.630,4,0.000,0.046,3297,965,1536
$GC,21412,1.81,245.4,13.2,9.0,1899,21418,0.00,2.55,0.00,0.000,6,0.000,0.030,3297,2474,1535
$STATE,21528,end climb,SURFACE_DEPTH_REACHED
$STATE,21528,begin surface coast
$FINISH,-0.1,1.021651
$STATE,21553,end surface coast,CONTROL_FINISHED_OK
$STATE,21553,begin surface
$SM_CCo,21573,88.88,0.552,0,0,805,425.10
$SM_GC,0.77,0.00,0.00,88.88,0.000,0.000,0.552,253,2132,805,-12.19,-0.48,425.10
$IRIDIUM_FIX,1245.46,12042.28,180597,010111
$TT8_MAMPS,0.023777
$HUMID,1774
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,524
$24V_AH,23.1,9.813
$10V_AH,10.1,3.785
$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,32.675,160.775,279.850,88.875,0.000,24.749,17.392,161.446,143.500,0.000,0.000,16.806,3106.479,14734.499,561.246,3187.800,403.515,0.000,2115.279,0.000,3104.407,0.000,91.595
$DEVICE_MAMPS,169.507,64.428,1425.853,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1294.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59801,1924
$CAP_FILE_SIZE,197298,0
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,131155,1250.310,12036.711,25,1.0,42,-0.8