version: 66.03
glider: 122
mission: 6
dive: 35
start: 2 22 108 13 17 44
data:
$ID,122
$MISSION,6
$DIVE,35
$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,-28079.576
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,131155,1250.310,12036.711,25,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.9
$GPS2,131651,1250.344,12036.708,14,1.6,14,-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,257.9,39294,-22.8,-9.016
$D_GRID,1722
$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,-67.18,0.000,2,0.000,0.000,254,2133,2637
$GC,88,-1.69,-89.5,3.5,-7.9,13,115,13.18,2.42,-5.00,0.000,4,0.171,0.056,2531,766,2909
$GC,334,-1.42,-89.5,65.7,-22.4,57,341,0.35,2.33,0.00,0.000,6,0.128,0.028,2594,2162,2910
$GC,678,-1.35,-89.5,122.3,-15.4,118,684,0.00,2.42,0.00,0.000,4,0.000,0.045,2593,762,2912
$GC,818,-1.35,-89.5,141.3,-13.4,143,824,0.00,2.30,0.00,0.000,6,0.000,0.028,2594,2143,2913
$GC,1161,-1.35,-89.5,180.0,-9.7,204,1167,0.00,2.40,0.00,0.000,4,0.000,0.046,2594,3544,2914
$GC,1251,-1.35,-89.5,188.8,-9.8,220,1257,0.00,2.35,0.00,0.000,6,0.000,0.029,2594,2132,2914
$GC,1595,-1.41,-100.3,219.3,-8.0,281,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2132,2914
$GC,1937,-1.49,-113.0,248.1,-7.9,342,1943,0.00,2.45,0.00,0.000,4,0.000,0.046,2594,3552,2914
$GC,2061,-1.54,-113.0,259.0,-9.1,355,2066,0.12,2.33,0.00,0.000,6,0.061,0.031,2559,2162,2914
$GC,2384,-1.56,-128.3,287.1,-7.6,385,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2160,2912
$GC,2704,-1.57,-132.4,312.8,-8.6,415,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2160,2912
$GC,3023,-1.59,-145.8,338.6,-7.8,445,3027,0.00,2.42,0.00,0.000,4,0.000,0.048,2560,3554,2910
$GC,3054,-1.59,-146.0,341.7,-8.7,447,3061,0.00,2.35,0.00,0.000,6,0.000,0.031,2560,2176,2910
$GC,3380,-1.59,-146.0,367.3,-7.7,478,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2174,2908
$GC,3700,-1.59,-146.0,391.1,-7.4,508,3704,0.00,2.55,0.00,0.000,4,0.000,0.055,2560,744,2906
$GC,3738,-1.59,-146.0,394.3,-8.2,511,3743,0.00,2.45,0.00,0.000,6,0.000,0.034,2560,2183,2906
$GC,4063,-1.59,-146.0,418.2,-7.4,541,4067,0.00,2.55,0.00,0.000,4,0.000,0.055,2560,751,2904
$GC,4101,-1.59,-146.0,421.6,-9.1,544,4105,0.00,2.40,0.00,0.000,6,0.000,0.034,2560,2158,2904
$GC,4431,-1.59,-146.0,447.0,-7.0,575,4435,0.00,2.42,0.00,0.000,4,0.000,0.051,2560,3551,2903
$GC,4459,-1.59,-146.0,449.1,-7.5,577,4464,0.00,2.35,0.00,0.000,6,0.000,0.033,2560,2162,2903
$GC,4784,-1.59,-146.0,471.6,-7.2,607,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2160,2901
$GC,5103,-1.59,-146.0,494.7,-7.1,637,5107,0.00,2.53,0.00,0.000,4,0.000,0.058,2560,747,2900
$GC,5157,-1.59,-146.0,498.8,-7.1,641,5164,0.00,2.47,0.00,0.000,6,0.000,0.035,2560,2174,2899
$GC,5473,-1.59,-146.0,519.2,-6.4,658,5477,0.00,2.42,0.00,0.000,4,0.000,0.054,2560,3555,2898
$GC,5516,-1.59,-146.0,522.2,-6.7,660,5520,0.00,2.35,0.00,0.000,6,0.000,0.035,2560,2185,2898
$GC,5843,-1.59,-146.0,542.6,-6.3,676,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2183,2896
$GC,6152,-1.59,-146.0,563.1,-6.7,691,6156,0.00,2.40,0.00,0.000,4,0.000,0.053,2560,3551,2895
$GC,6228,-1.59,-146.0,569.0,-7.4,694,6235,0.00,2.33,0.00,0.000,6,0.000,0.035,2560,2198,2894
$GC,6545,-1.59,-146.0,591.0,-6.8,710,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,2893
$GC,6853,-1.62,-146.0,609.9,-6.3,725,6858,0.00,2.60,0.00,0.000,4,0.000,0.061,2560,748,2892
$GC,6897,-1.62,-146.0,613.0,-7.0,727,6902,0.00,2.50,0.00,0.000,6,0.000,0.035,2560,2208,2892
$GC,7224,-1.66,-146.0,634.5,-7.0,743,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2209,2891
$GC,7533,-1.69,-146.0,654.8,-6.2,758,7538,0.10,2.35,0.00,0.000,4,0.071,0.054,2534,3551,2890
$GC,7605,-1.66,-146.0,659.9,-7.7,761,7610,0.00,2.30,0.00,0.000,6,0.000,0.036,2534,2196,2890
$GC,7924,-1.66,-146.0,681.6,-7.0,777,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2195,2888
$GC,8234,-1.66,-146.0,702.9,-7.0,792,8238,0.00,2.40,0.00,0.000,4,0.000,0.054,2534,3554,2888
$GC,8295,-1.61,-146.0,707.4,-7.0,795,8299,0.00,2.33,0.00,0.000,6,0.000,0.037,2534,2187,2888
$GC,8626,-1.61,-146.0,728.2,-6.1,811,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2186,2887
$GC,8935,-1.61,-146.0,748.5,-7.2,826,8940,0.00,2.60,0.00,0.000,4,0.000,0.064,2534,747,2886
$GC,9066,-1.58,-146.0,758.8,-7.1,832,9072,0.12,2.45,0.00,0.000,6,0.137,0.038,2554,2170,2886
$GC,9394,-1.62,-146.0,780.4,-6.7,848,9398,0.00,2.45,0.00,0.000,4,0.000,0.058,2554,3558,2885
$GC,9493,-1.62,-146.0,787.5,-7.7,852,9500,0.00,2.40,0.00,0.000,6,0.000,0.038,2554,2172,2884
$GC,9809,-1.66,-146.0,807.0,-6.1,868,9813,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,748,2884
$GC,9858,-1.66,-146.0,810.2,-6.5,870,9862,0.00,2.45,0.00,0.000,6,0.000,0.038,2554,2168,2884
$GC,10173,-1.70,-146.0,827.6,-5.3,885,10177,0.00,2.45,0.00,0.000,4,0.000,0.059,2554,3555,2883
$GC,10218,-1.70,-146.0,830.1,-5.9,887,10222,0.00,2.35,0.00,0.000,6,0.000,0.038,2554,2176,2883
$GC,10538,-1.74,-146.0,847.7,-5.5,903,10540,0.12,0.00,0.00,0.000,6,0.066,0.000,2524,2176,2882
$GC,10847,-1.74,-146.0,867.5,-6.7,918,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2175,2881
$GC,11156,-1.74,-146.0,887.0,-6.3,933,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2176,2881
$GC,11467,-1.74,-146.0,906.0,-6.1,948,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2176,2880
$GC,11775,-1.74,-146.0,925.2,-6.3,963,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2176,2879
$GC,12084,-1.74,-146.0,945.2,-6.5,978,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2175,2879
$GC,12393,-1.74,-146.0,964.8,-6.0,993,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2171,2878
$GC,12703,-1.74,-146.0,983.6,-6.5,1008,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2171,2877
$STATE,12826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12826,begin apogee
$GC,12830,-0.34,0.0,991.0,5.6,1014,12908,1.55,0.00,73.00,1.431,6,0.110,0.000,2829,2394,2539
$STATE,12908,end apogee,CONTROL_FINISHED_OK
$STATE,12909,begin climb
$GC,12910,1.79,146.0,992.0,0.0,1018,13043,2.17,0.00,128.35,1.378,6,0.057,0.000,3296,2394,1943
$GC,13338,1.61,146.0,923.3,17.6,1039,13340,0.22,0.00,0.00,0.000,6,0.135,0.000,3257,2393,1939
$GC,13647,1.51,146.0,872.0,16.4,1054,13652,0.12,2.62,0.00,0.000,4,0.137,0.061,3237,965,1938
$GC,13701,1.42,146.0,862.8,16.6,1056,13709,0.12,2.47,0.00,0.000,6,0.143,0.041,3217,2362,1938
$GC,14017,1.39,146.0,817.0,13.8,1072,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2362,1938
$GC,14326,1.35,146.0,776.5,13.2,1087,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2362,1937
$GC,14635,1.35,146.0,735.3,12.9,1102,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2362,1936
$GC,14946,1.32,146.0,695.6,12.5,1117,14951,0.15,2.55,0.00,0.000,4,0.130,0.061,3188,966,1936
$GC,14971,1.32,146.0,691.9,12.6,1118,14976,0.00,2.53,0.00,0.000,6,0.000,0.040,3188,2389,1936
$GC,15293,1.32,146.0,654.8,11.7,1134,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2389,1936
$GC,15602,1.32,146.0,618.9,11.3,1149,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2389,1936
$GC,15912,1.35,146.0,582.6,11.6,1164,15913,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2389,1936
$GC,16221,1.38,146.0,547.9,11.0,1179,16222,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2389,1936
$GC,16530,1.41,146.0,514.1,11.0,1194,16532,0.12,0.00,0.00,0.000,6,0.075,0.000,3216,2389,1936
$GC,16845,1.41,146.0,475.8,12.6,1218,16849,0.00,2.55,0.00,0.000,4,0.000,0.057,3216,973,1936
$GC,16910,1.38,146.0,467.4,12.7,1223,16917,0.00,2.47,0.00,0.000,6,0.000,0.038,3216,2402,1936
$GC,17235,1.38,146.0,428.5,12.3,1254,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2402,1936
$GC,17553,1.38,146.0,389.8,12.3,1284,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2402,1936
$GC,17873,1.38,146.0,353.3,11.3,1314,17877,0.00,2.55,0.00,0.000,4,0.000,0.054,3216,973,1937
$GC,17972,1.38,146.0,342.1,11.1,1322,17979,0.00,2.50,0.00,0.000,6,0.000,0.037,3216,2406,1937
$GC,18297,1.38,146.0,306.8,11.6,1353,18301,0.00,2.55,0.00,0.000,4,0.000,0.053,3216,973,1937
$GC,18346,1.38,146.0,300.7,11.8,1357,18351,0.00,2.42,0.00,0.000,6,0.000,0.035,3216,2391,1937
$GC,18670,1.38,146.0,262.0,11.3,1387,18671,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2392,1937
$GC,19000,1.38,146.0,226.1,10.7,1436,19006,0.00,2.53,0.00,0.000,4,0.000,0.052,3216,963,1938
$GC,19045,1.38,146.0,221.1,10.8,1444,19051,0.00,2.42,0.00,0.000,6,0.000,0.035,3216,2382,1938
$GC,19388,1.38,150.4,187.7,8.6,1505,19399,0.00,2.40,3.30,0.853,4,0.000,0.051,3216,3726,1925
$GC,19455,1.38,150.4,181.5,10.3,1517,19461,0.00,2.30,0.00,0.000,6,0.000,0.032,3216,2361,1925
$GC,19799,1.45,163.6,152.2,7.8,1578,19815,0.00,2.42,10.43,0.795,4,0.000,0.048,3216,3725,1871
$GC,20062,1.45,163.6,130.1,9.1,1625,20068,0.00,2.25,0.00,0.000,6,0.000,0.031,3216,2378,1871
$GC,20406,1.57,196.6,104.0,6.0,1686,20438,0.15,2.53,26.25,0.718,4,0.061,0.049,3261,975,1736
$GC,20455,1.61,218.6,100.8,7.0,1695,20477,0.00,2.35,17.33,0.706,6,0.000,0.030,3261,2347,1648
$GC,20815,1.66,219.5,65.5,8.9,1759,20821,0.00,2.42,0.00,0.000,4,0.000,0.049,3261,973,1647
$GC,21012,1.73,239.0,50.1,7.3,1794,21034,0.00,2.30,15.88,0.657,6,0.000,0.030,3261,2337,1564
$GC,21371,1.84,239.0,16.4,9.3,1858,21378,0.17,2.40,0.00,0.000,4,0.054,0.046,3311,3724,1563
$GC,21395,1.89,239.0,14.2,10.0,1862,21401,0.00,2.35,0.00,0.000,6,0.000,0.028,3311,2314,1563
$STATE,21529,end climb,SURFACE_DEPTH_REACHED
$STATE,21529,begin surface coast
$FINISH,-0.1,1.021777
$STATE,21552,end surface coast,CONTROL_FINISHED_OK
$STATE,21552,begin surface
$SM_CCo,21573,92.03,0.558,0,0,805,425.10
$SM_GC,0.57,0.00,0.00,92.03,0.000,0.000,0.558,251,2128,805,-12.20,-0.62,425.10
$IRIDIUM_FIX,1247.67,12037.35,180597,070755
$TT8_MAMPS,0.023777
$HUMID,1769
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.30
$XPDR_PINGS,514
$24V_AH,23.1,9.949
$10V_AH,10.1,3.877
$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,32.425,141.750,274.525,92.025,0.000,22.601,13.642,154.347,141.000,0.000,0.000,14.220,3044.605,14939.432,560.965,3056.190,384.452,0.000,2042.594,0.000,2979.017,0.000,91.596
$DEVICE_MAMPS,171.041,64.428,1431.222,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59771,1890
$CAP_FILE_SIZE,189827,0
$CFSIZE,260165632,254541824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,192002,1249.473,12034.686,40,1.5,40,-0.8