version: 66.03
glider: 122
mission: 6
dive: 37
start: 2 23 108 1 54 32
data:
$ID,122
$MISSION,6
$DIVE,37
$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,-28106.145
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,014838,1249.032,12032.389,38,1.1,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-72.5
$GPS2,015339,1249.005,12032.400,13,1.2,13,-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,259.2,31164,-22.8,-9.016
$D_GRID,1030
$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,16,-1.67,-76.7,0.0,0.0,0,85,0.00,0.00,-66.28,0.000,2,0.000,0.000,252,2141,2594
$GC,87,-1.70,-91.9,3.4,-7.6,13,114,13.12,2.47,-6.15,0.000,4,0.170,0.053,2530,3552,2917
$GC,148,-1.35,-91.9,21.1,-26.0,24,155,0.43,2.35,0.00,0.000,6,0.120,0.028,2608,2143,2917
$GC,492,-1.25,-91.9,84.6,-17.0,85,499,0.12,2.42,0.00,0.000,4,0.126,0.045,2629,749,2919
$GC,751,-1.25,-91.9,119.0,-12.8,131,757,0.00,2.28,0.00,0.000,6,0.000,0.028,2629,2116,2920
$GC,1094,-1.31,-91.9,156.8,-9.8,192,1100,0.00,2.45,0.00,0.000,4,0.000,0.044,2629,3549,2922
$GC,1196,-1.37,-91.9,167.6,-10.6,210,1202,0.12,2.38,0.00,0.000,6,0.058,0.028,2594,2119,2921
$GC,1539,-1.37,-92.0,199.7,-9.0,271,1545,0.00,2.45,0.00,0.000,4,0.000,0.043,2594,3546,2922
$GC,1646,-1.38,-98.0,209.1,-8.5,290,1652,0.00,2.38,0.00,0.000,6,0.000,0.029,2593,2116,2922
$GC,1989,-1.43,-103.2,238.4,-8.5,351,1995,0.00,2.47,0.00,0.000,4,0.000,0.045,2593,3551,2922
$GC,2035,-1.48,-105.7,242.5,-8.8,359,2041,0.00,2.38,0.00,0.000,6,0.000,0.030,2593,2128,2921
$GC,2369,-1.56,-120.0,269.9,-7.7,398,2371,0.12,0.00,0.00,0.000,6,0.058,0.000,2557,2126,2921
$GC,2689,-1.56,-120.0,300.0,-10.4,428,2694,0.00,2.47,0.00,0.000,4,0.000,0.046,2557,3555,2920
$GC,2729,-1.52,-120.0,304.3,-10.5,431,2734,0.00,2.38,0.00,0.000,6,0.000,0.031,2557,2136,2920
$GC,3054,-1.52,-120.0,334.7,-9.4,461,3058,0.00,2.45,0.00,0.000,4,0.000,0.047,2557,3545,2918
$GC,3086,-1.49,-120.0,337.9,-9.6,463,3093,0.12,2.38,0.00,0.000,6,0.115,0.031,2578,2132,2918
$GC,3411,-1.56,-137.0,362.9,-7.5,494,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2130,2917
$GC,3731,-1.61,-146.0,387.1,-7.6,524,3736,0.12,2.47,0.00,0.000,4,0.061,0.048,2544,3546,2915
$GC,3804,-1.56,-146.0,393.7,-9.2,530,3808,0.00,2.38,0.00,0.000,6,0.000,0.032,2544,2141,2915
$GC,4128,-1.56,-146.0,420.8,-8.1,560,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2139,2913
$GC,4446,-1.56,-146.0,447.9,-8.3,590,4450,0.00,2.47,0.00,0.000,4,0.000,0.050,2544,3552,2912
$GC,4500,-1.52,-146.0,452.9,-9.2,594,4507,0.15,2.42,0.00,0.000,6,0.119,0.032,2570,2123,2911
$GC,4825,-1.56,-146.0,476.8,-6.9,625,4829,0.00,2.45,0.00,0.000,4,0.000,0.057,2570,750,2910
$GC,4868,-1.56,-146.0,480.1,-7.6,628,4875,0.00,2.35,0.00,0.000,6,0.000,0.033,2570,2116,2910
$GC,5193,-1.60,-146.0,501.8,-6.8,658,5197,0.00,2.53,0.00,0.000,4,0.000,0.052,2570,3558,2908
$GC,5264,-1.60,-146.0,507.1,-7.6,661,5268,0.00,2.45,0.00,0.000,6,0.000,0.035,2570,2133,2907
$GC,5588,-1.64,-146.0,530.7,-7.5,677,5592,0.00,2.47,0.00,0.000,4,0.000,0.058,2570,747,2906
$GC,5637,-1.64,-146.0,534.8,-8.1,679,5641,0.00,2.38,0.00,0.000,6,0.000,0.034,2570,2122,2905
$GC,5960,-1.68,-146.0,558.4,-7.0,695,5965,0.15,2.50,0.00,0.000,4,0.057,0.051,2529,3549,2904
$GC,6090,-1.62,-146.0,570.3,-9.6,701,6095,0.12,2.40,0.00,0.000,6,0.123,0.035,2549,2137,2903
$GC,6416,-1.62,-146.0,594.0,-6.9,717,6420,0.00,2.50,0.00,0.000,4,0.000,0.052,2550,3558,2902
$GC,6447,-1.62,-146.0,596.4,-7.4,718,6454,0.00,2.40,0.00,0.000,6,0.000,0.035,2549,2160,2902
$GC,6763,-1.62,-146.0,616.0,-6.0,734,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2160,2901
$GC,7073,-1.62,-146.0,636.8,-6.9,749,7078,0.00,2.53,0.00,0.000,4,0.000,0.060,2549,752,2899
$GC,7118,-1.62,-146.0,640.3,-7.5,751,7122,0.00,2.42,0.00,0.000,6,0.000,0.035,2549,2171,2899
$GC,7440,-1.62,-146.0,661.1,-6.2,767,7444,0.00,2.42,0.00,0.000,4,0.000,0.054,2549,3551,2898
$GC,7494,-1.62,-146.0,665.0,-6.4,769,7501,0.00,2.38,0.00,0.000,6,0.000,0.036,2549,2175,2898
$GC,7810,-1.62,-146.0,684.3,-6.4,785,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2175,2897
$GC,8119,-1.62,-146.0,703.5,-6.0,800,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2175,2896
$GC,8428,-1.62,-146.0,724.9,-7.4,815,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2174,2895
$GC,8738,-1.62,-146.0,747.2,-6.8,830,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2174,2894
$GC,9047,-1.62,-146.0,766.5,-6.0,845,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2173,2893
$GC,9357,-1.62,-146.0,783.2,-4.8,860,9362,0.00,2.45,0.00,0.000,4,0.000,0.055,2550,3558,2892
$GC,9419,-1.62,-146.0,786.4,-4.8,863,9423,0.00,2.35,0.00,0.000,6,0.000,0.038,2550,2181,2892
$GC,9744,-1.62,-146.0,801.9,-5.0,879,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2181,2891
$GC,10054,-1.62,-146.0,818.7,-5.7,894,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2181,2891
$GC,10363,-1.62,-146.0,836.7,-5.6,909,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2181,2890
$GC,10673,-1.62,-146.0,855.3,-6.6,924,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2181,2890
$GC,10981,-1.62,-146.0,876.4,-6.7,939,10985,0.00,2.42,0.00,0.000,4,0.000,0.056,2549,3552,2889
$GC,11031,-1.62,-146.0,880.1,-7.5,941,11036,0.00,2.35,0.00,0.000,6,0.000,0.038,2549,2180,2889
$GC,11346,-1.62,-146.0,898.5,-5.6,956,11350,0.00,2.45,0.00,0.000,4,0.000,0.056,2550,3561,2889
$GC,11435,-1.62,-146.0,904.4,-6.3,960,11439,0.00,2.35,0.00,0.000,6,0.000,0.038,2550,2185,2888
$GC,11763,-1.62,-146.0,923.5,-5.9,976,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2184,2888
$GC,12072,-1.65,-146.0,940.9,-5.5,991,12076,0.00,2.45,0.00,0.000,4,0.000,0.058,2549,3561,2887
$GC,12143,-1.65,-146.0,945.6,-5.9,994,12147,0.00,2.33,0.00,0.000,6,0.000,0.038,2549,2200,2887
$GC,12466,-1.68,-146.0,965.3,-6.4,1010,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2200,2886
$GC,12774,-1.72,-146.0,983.6,-5.8,1025,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2200,2886
$STATE,12896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12896,begin apogee
$GC,12901,-0.34,0.0,991.0,6.1,1031,12979,1.42,0.00,74.68,1.426,6,0.114,0.000,2828,2391,2539
$STATE,12980,end apogee,CONTROL_FINISHED_OK
$STATE,12980,begin climb
$GC,12981,1.79,146.0,992.3,0.0,1035,13118,2.20,0.00,128.38,1.376,6,0.061,0.000,3295,2391,1943
$GC,13427,1.60,146.0,919.0,19.4,1057,13433,0.20,2.62,0.00,0.000,4,0.137,0.062,3258,967,1939
$GC,13461,1.46,146.0,912.6,18.7,1058,13468,0.17,2.47,0.00,0.000,6,0.137,0.041,3229,2369,1938
$GC,13776,1.40,146.0,862.8,14.9,1074,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2369,1938
$GC,14086,1.34,146.0,817.2,14.8,1089,14088,0.17,0.00,0.00,0.000,6,0.129,0.000,3198,2369,1937
$GC,14394,1.34,146.0,776.2,13.0,1104,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2369,1936
$GC,14703,1.34,146.0,733.4,13.8,1119,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2369,1936
$GC,15014,1.34,146.0,691.0,13.3,1134,15018,0.00,2.55,0.00,0.000,4,0.000,0.061,3198,970,1936
$GC,15056,1.34,146.0,685.1,14.0,1136,15061,0.00,2.50,0.00,0.000,6,0.000,0.040,3198,2385,1936
$GC,15383,1.34,146.0,643.1,13.2,1152,15384,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2385,1936
$GC,15693,1.34,146.0,604.2,12.2,1167,15698,0.00,2.58,0.00,0.000,4,0.000,0.061,3198,966,1936
$GC,15787,1.34,146.0,591.8,12.4,1171,15792,0.00,2.50,0.00,0.000,6,0.000,0.039,3198,2385,1935
$GC,16108,1.34,146.0,553.2,11.9,1187,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2386,1935
$GC,16417,1.34,146.0,516.3,11.9,1202,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2386,1935
$GC,16733,1.34,146.0,477.2,12.8,1225,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2386,1935
$GC,17052,1.34,146.0,438.8,11.9,1255,17056,0.00,2.53,0.00,0.000,4,0.000,0.056,3198,973,1936
$GC,17101,1.34,146.0,432.6,12.6,1259,17105,0.00,2.45,0.00,0.000,6,0.000,0.037,3198,2391,1936
$GC,17425,1.34,146.0,395.5,11.8,1289,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2391,1936
$GC,17743,1.34,146.0,359.2,10.7,1319,17748,0.00,2.53,0.00,0.000,4,0.000,0.054,3198,973,1936
$GC,17805,1.34,146.0,352.4,11.3,1324,17809,0.00,2.42,0.00,0.000,6,0.000,0.036,3198,2383,1936
$GC,18128,1.34,146.0,320.2,9.7,1354,18132,0.00,2.53,0.00,0.000,4,0.000,0.054,3198,967,1936
$GC,18167,1.34,146.0,316.2,11.2,1357,18171,0.00,2.42,0.00,0.000,6,0.000,0.035,3198,2381,1936
$GC,18490,1.34,146.0,282.3,10.7,1387,18492,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2380,1937
$GC,18810,1.38,146.0,249.0,10.4,1417,18815,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2381,1938
$GC,19152,1.44,146.0,214.0,9.7,1478,19158,0.00,2.50,0.00,0.000,4,0.000,0.051,3198,967,1939
$GC,19254,1.47,147.9,204.2,8.8,1496,19261,0.12,2.45,0.00,0.000,6,0.071,0.035,3227,2400,1939
$GC,19598,1.47,147.9,170.4,11.0,1557,19604,0.00,2.30,0.00,0.000,4,0.000,0.051,3227,3722,1939
$GC,19856,1.50,165.7,146.9,7.4,1603,19878,0.00,2.17,14.98,0.771,6,0.000,0.031,3227,2417,1863
$GC,20216,1.56,171.9,117.9,8.5,1667,20228,0.00,2.30,5.20,0.768,4,0.000,0.047,3227,3728,1837
$GC,20341,1.60,173.7,106.5,8.9,1689,20347,0.12,2.15,0.00,0.000,6,0.067,0.030,3258,2440,1837
$GC,20685,1.65,201.5,83.9,6.5,1750,20716,0.00,2.33,23.20,0.688,4,0.000,0.046,3258,3726,1716
$GC,20755,1.67,215.3,78.7,7.8,1763,20772,0.00,2.15,10.55,0.688,6,0.000,0.028,3258,2440,1661
$GC,21110,1.74,215.9,49.8,9.0,1826,21117,0.12,2.58,0.00,0.000,4,0.065,0.048,3291,973,1660
$GC,21263,1.74,215.9,36.1,9.7,1853,21269,0.00,2.47,0.00,0.000,6,0.000,0.030,3291,2435,1660
$GC,21606,1.84,243.7,9.4,6.5,1914,21633,0.00,2.65,22.17,0.595,4,0.000,0.044,3291,980,1544
$GC,21678,1.90,252.9,3.9,8.2,1927,21691,0.12,2.50,6.78,0.613,6,0.059,0.029,3324,2451,1508
$STATE,21700,end climb,SURFACE_DEPTH_REACHED
$STATE,21700,begin surface coast
$FINISH,-0.1,1.007222
$STATE,21724,end surface coast,CONTROL_FINISHED_OK
$STATE,21724,begin surface
$SM_CCo,21745,82.38,0.548,0,0,806,425.10
$SM_GC,0.85,0.00,0.00,82.38,0.000,0.000,0.548,251,2113,806,-12.20,-1.05,425.10
$IRIDIUM_FIX,1243.25,12108.06,180597,191935
$TT8_MAMPS,0.023777
$HUMID,1765
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$XPDR_PINGS,541
$24V_AH,23.1,10.247
$10V_AH,10.1,4.074
$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,32.950,156.275,285.925,82.375,0.000,22.206,23.444,155.559,147.750,0.000,0.000,13.194,3118.986,14926.057,573.842,3121.945,411.626,0.000,2092.672,0.000,3050.061,0.000,91.594
$DEVICE_MAMPS,169.507,62.127,1425.853,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1301.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59794,1935
$CAP_FILE_SIZE,196091,0
$CFSIZE,260165632,254361600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,075937,1248.159,12030.279,39,1.9,44,-0.8