version: 66.03
glider: 122
mission: 6
dive: 67
start: 2 28 108 5 20 54
data:
$ID,122
$MISSION,6
$DIVE,67
$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,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-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,440
$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,-28651.771
$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,61
$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,2678
$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,5
$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
$GPS1,051508,1247.727,12035.979,30,1.4,30,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.6
$GPS2,052021,1247.683,12035.965,14,1.4,14,-0.8
$SPEED_LIMITS,0.156,0.209
$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,34.4,13474,-17.4,-9.016
$D_GRID,1558
$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,-1.42,-146.0,0.0,0.0,0,84,0.00,0.00,-64.53,0.000,2,0.000,0.000,250,2109,2670
$GC,86,-1.42,-146.0,4.1,-9.3,10,118,13.50,2.33,-10.38,0.000,4,0.170,0.054,2591,775,3275
$GC,298,-1.16,-146.0,57.7,-21.1,47,306,0.30,2.30,0.00,0.000,6,0.110,0.028,2648,2155,3276
$GC,643,-1.05,-146.0,113.0,-15.0,108,651,0.12,2.40,0.00,0.000,4,0.104,0.041,2672,768,3278
$GC,674,-1.00,-146.0,117.3,-14.3,113,681,0.00,2.22,0.00,0.000,6,0.000,0.027,2671,2107,3278
$GC,1018,-1.00,-146.0,155.7,-10.8,174,1025,0.00,2.47,0.00,0.000,4,0.000,0.044,2672,3552,3280
$GC,1076,-1.04,-146.0,162.0,-10.5,184,1083,0.00,2.35,0.00,0.000,6,0.000,0.028,2672,2130,3280
$GC,1417,-1.12,-146.0,193.6,-8.0,245,1425,0.00,2.40,0.00,0.000,4,0.000,0.045,2671,747,3281
$GC,1444,-1.21,-146.0,196.2,-9.1,249,1453,0.15,2.30,0.00,0.000,6,0.048,0.028,2623,2126,3282
$GC,1790,-1.21,-146.0,231.5,-9.5,310,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2126,3281
$GC,2125,-1.21,-146.0,264.2,-9.4,357,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2126,3281
$GC,2444,-1.21,-146.0,295.9,-10.1,387,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2126,3279
$GC,2763,-1.21,-146.0,326.4,-8.7,417,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2126,3278
$GC,3081,-1.21,-146.0,355.2,-9.2,447,3085,0.00,2.45,0.00,0.000,4,0.000,0.049,2624,3543,3277
$GC,3137,-1.24,-146.0,360.4,-10.0,452,3141,0.00,2.40,0.00,0.000,6,0.000,0.033,2623,2122,3276
$GC,3462,-1.24,-146.0,389.1,-8.6,482,3467,0.00,2.50,0.00,0.000,4,0.000,0.050,2623,3548,3274
$GC,3494,-1.24,-146.0,392.1,-8.5,484,3502,0.00,2.42,0.00,0.000,6,0.000,0.033,2623,2131,3274
$GC,3820,-1.24,-146.0,419.6,-8.8,515,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2128,3272
$GC,4140,-1.28,-146.0,446.7,-8.4,545,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2128,3270
$GC,4458,-1.31,-146.0,473.4,-8.5,575,4462,0.00,2.47,0.00,0.000,4,0.000,0.051,2623,3542,3268
$GC,4496,-1.36,-146.0,476.8,-8.6,578,4504,0.00,2.42,0.00,0.000,6,0.000,0.035,2623,2118,3268
$GC,4821,-1.40,-146.0,503.4,-7.5,607,4823,0.12,0.00,0.00,0.000,6,0.059,0.000,2588,2117,3267
$GC,5129,-1.37,-146.0,532.1,-9.4,622,5133,0.00,2.53,0.00,0.000,4,0.000,0.052,2588,3545,3265
$GC,5177,-1.37,-146.0,536.9,-9.5,624,5182,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2128,3265
$GC,5499,-1.37,-146.0,567.2,-9.5,640,5503,0.00,2.50,0.00,0.000,4,0.000,0.052,2588,3549,3262
$GC,5530,-1.33,-146.0,570.4,-9.4,641,5539,0.08,2.42,0.00,0.000,6,0.099,0.035,2612,2144,3262
$GC,5847,-1.37,-146.0,595.9,-8.3,657,5851,0.00,2.47,0.00,0.000,4,0.000,0.054,2613,3541,3260
$GC,5909,-1.40,-146.0,601.1,-8.7,660,5913,0.00,2.38,0.00,0.000,6,0.000,0.036,2613,2154,3260
$GC,6235,-1.43,-146.0,626.9,-7.7,676,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2154,3259
$GC,6544,-1.47,-146.0,650.2,-7.7,691,6549,0.12,2.45,0.00,0.000,4,0.060,0.053,2578,3541,3257
$GC,6628,-1.43,-146.0,657.7,-9.3,695,6632,0.00,2.35,0.00,0.000,6,0.000,0.037,2578,2168,3256
$GC,6955,-1.38,-146.0,684.9,-8.0,711,6957,0.12,0.00,0.00,0.000,6,0.117,0.000,2600,2166,3255
$GC,7264,-1.38,-146.0,708.6,-7.9,726,7268,0.00,2.45,0.00,0.000,4,0.000,0.056,2599,3545,3254
$GC,7312,-1.38,-146.0,712.7,-8.5,728,7317,0.00,2.38,0.00,0.000,6,0.000,0.037,2599,2175,3254
$GC,7634,-1.38,-146.0,735.7,-6.9,744,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2175,3253
$GC,7943,-1.38,-146.0,756.1,-6.6,759,7947,0.00,2.40,0.00,0.000,4,0.000,0.056,2600,3539,3251
$GC,7986,-1.38,-146.0,759.4,-7.6,761,7990,0.00,2.35,0.00,0.000,6,0.000,0.038,2600,2185,3251
$GC,8313,-1.38,-146.0,783.4,-7.6,777,8317,0.00,2.60,0.00,0.000,4,0.000,0.061,2600,744,3249
$GC,8345,-1.38,-146.0,785.9,-7.8,778,8352,0.00,2.47,0.00,0.000,6,0.000,0.038,2600,2171,3249
$GC,8661,-1.38,-146.0,809.5,-7.8,794,8665,0.00,2.47,0.00,0.000,4,0.000,0.060,2600,3562,3248
$GC,8692,-1.38,-146.0,812.3,-8.0,795,8699,0.00,2.40,0.00,0.000,6,0.000,0.038,2599,2182,3248
$GC,9010,-1.38,-146.0,836.6,-7.3,811,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2182,3247
$GC,9317,-1.38,-146.0,860.0,-7.7,826,9321,0.00,2.45,0.00,0.000,4,0.000,0.058,2600,3554,3246
$GC,9361,-1.38,-146.0,863.6,-8.1,828,9365,0.00,2.38,0.00,0.000,6,0.000,0.038,2599,2190,3246
$GC,9688,-1.38,-146.0,886.9,-7.3,844,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2189,3245
$GC,9997,-1.38,-146.0,908.9,-7.0,859,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2189,3244
$GC,10307,-1.38,-146.0,930.4,-7.1,874,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2189,3243
$GC,10616,-1.42,-146.0,953.8,-7.8,889,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2189,3242
$GC,10925,-1.46,-146.0,974.8,-5.8,904,10929,0.00,2.45,0.00,0.000,4,0.000,0.059,2600,3557,3242
$GC,10992,-1.49,-146.0,978.9,-6.2,907,10996,0.00,2.35,0.00,0.000,6,0.000,0.038,2600,2186,3242
$STATE,11207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11207,begin apogee
$GC,11211,-0.34,0.0,991.0,5.6,918,11336,1.12,0.00,121.40,1.400,6,0.099,0.000,2826,2387,2678
$STATE,11337,end apogee,CONTROL_FINISHED_OK
$STATE,11337,begin climb
$GC,11339,1.42,146.0,992.4,0.0,924,11473,1.80,2.47,126.28,1.348,4,0.058,0.061,3218,3710,2082
$GC,11563,1.15,146.0,968.1,15.4,934,11568,0.28,2.38,0.00,0.000,6,0.117,0.041,3159,2377,2080
$GC,11890,1.05,146.0,930.2,11.4,950,11892,0.12,0.00,0.00,0.000,6,0.120,0.000,3137,2377,2079
$GC,12199,0.98,146.0,897.3,10.6,965,12204,0.00,2.60,0.00,0.000,4,0.000,0.064,3137,961,2078
$GC,12231,0.89,146.0,893.6,10.6,966,12240,0.20,2.47,0.00,0.000,6,0.114,0.041,3101,2362,2078
$GC,12547,0.90,151.2,864.7,8.7,982,12557,0.00,2.60,4.20,1.323,4,0.000,0.062,3101,966,2061
$GC,12595,0.90,151.2,860.2,9.3,984,12600,0.00,2.50,0.00,0.000,6,0.000,0.041,3101,2361,2060
$GC,12923,0.91,159.1,831.6,8.6,1000,12937,0.00,2.65,7.10,1.338,4,0.000,0.061,3101,971,2029
$GC,12959,0.91,159.1,828.1,9.1,1001,12967,0.00,2.50,0.00,0.000,6,0.000,0.041,3101,2362,2029
$GC,13275,0.93,169.2,800.9,8.5,1017,13286,0.00,0.00,9.18,1.323,6,0.000,0.000,3101,2362,1987
$GC,13584,0.94,171.4,774.4,8.9,1032,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2362,1987
$GC,13893,0.94,176.6,747.0,8.8,1047,13907,0.00,2.65,6.47,1.292,4,0.000,0.061,3100,964,1958
$GC,13973,0.94,176.6,739.5,9.3,1050,13981,0.00,2.47,0.00,0.000,6,0.000,0.040,3101,2350,1958
$GC,14290,0.96,184.1,712.4,8.6,1066,14299,0.00,0.00,7.07,1.270,6,0.000,0.000,3101,2350,1927
$GC,14599,1.01,196.0,686.5,8.4,1081,14612,0.12,0.00,10.32,1.248,6,0.069,0.000,3130,2350,1879
$GC,14907,1.01,196.0,657.3,9.7,1096,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2350,1878
$GC,15217,1.01,196.0,627.6,9.5,1111,15221,0.00,2.50,0.00,0.000,4,0.000,0.059,3130,970,1878
$GC,15259,1.01,196.0,623.3,9.5,1113,15264,0.00,2.42,0.00,0.000,6,0.000,0.038,3130,2343,1879
$GC,15587,1.01,196.0,591.5,10.4,1129,15591,0.00,2.47,0.00,0.000,4,0.000,0.061,3130,3726,1878
$GC,15630,0.98,196.0,586.5,11.1,1131,15634,0.00,2.35,0.00,0.000,6,0.000,0.037,3130,2357,1878
$GC,15956,0.98,196.0,554.9,9.4,1147,15961,0.00,2.50,0.00,0.000,4,0.000,0.059,3130,969,1878
$GC,15977,0.98,196.0,552.9,9.5,1148,15982,0.00,2.47,0.00,0.000,6,0.000,0.038,3130,2375,1878
$GC,16304,0.98,196.0,520.6,10.0,1164,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2375,1878
$GC,16617,0.98,196.0,489.7,9.3,1184,16621,0.00,2.40,0.00,0.000,4,0.000,0.058,3130,3723,1878
$GC,16656,0.98,196.0,485.7,10.9,1187,16660,0.00,2.33,0.00,0.000,6,0.000,0.036,3130,2367,1878
$GC,16980,0.99,203.4,456.4,8.6,1217,16992,0.00,0.00,6.65,1.091,6,0.000,0.000,3130,2366,1848
$GC,17309,1.00,206.0,426.3,8.9,1248,17319,0.00,0.00,2.65,1.055,6,0.000,0.000,3130,2365,1838
$GC,17637,1.01,215.7,397.6,8.5,1279,17650,0.00,2.53,8.45,1.032,4,0.000,0.056,3130,3726,1798
$GC,17709,1.01,215.7,391.1,9.2,1285,17713,0.00,2.33,0.00,0.000,6,0.000,0.036,3130,2378,1798
$GC,18033,1.01,215.7,361.8,9.8,1315,18034,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2377,1798
$GC,18352,1.02,222.4,332.8,8.7,1345,18363,0.00,0.00,5.80,0.989,6,0.000,0.000,3130,2376,1771
$GC,18681,1.06,222.4,303.2,9.1,1376,18682,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2376,1771
$GC,18999,1.10,222.4,273.3,9.2,1406,19003,0.00,2.38,0.00,0.000,4,0.000,0.052,3130,3724,1771
$GC,19031,1.10,222.4,270.1,10.3,1408,19040,0.00,2.33,0.00,0.000,6,0.000,0.034,3130,2372,1771
$GC,19363,1.16,231.4,241.2,8.6,1448,19377,0.12,0.00,7.97,0.894,6,0.066,0.000,3163,2371,1734
$GC,19714,1.16,231.8,207.1,9.0,1510,19720,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2371,1734
$GC,20058,1.16,231.8,174.4,9.3,1571,20065,0.00,2.47,0.00,0.000,4,0.000,0.051,3163,969,1734
$GC,20318,1.22,267.2,152.3,7.2,1617,20355,0.00,2.38,29.05,0.758,6,0.000,0.033,3163,2358,1587
$GC,20690,1.36,299.8,123.8,7.3,1682,20721,0.15,2.58,25.40,0.720,4,0.056,0.048,3206,965,1454
$GC,20833,1.36,299.8,109.6,10.2,1707,20840,0.00,2.33,0.00,0.000,6,0.000,0.031,3206,2327,1452
$GC,21178,1.40,305.7,78.5,8.7,1768,21191,0.00,2.42,4.40,0.721,4,0.000,0.045,3206,979,1430
$GC,21214,1.43,306.0,75.4,9.0,1774,21221,0.00,2.30,0.00,0.000,6,0.000,0.029,3206,2336,1430
$GC,21558,1.55,341.1,49.1,7.2,1835,21594,0.15,2.45,27.90,0.627,4,0.055,0.045,3253,970,1286
$GC,21600,1.55,341.1,45.1,10.5,1842,21606,0.00,2.25,0.00,0.000,6,0.000,0.029,3253,2289,1284
$GC,21944,1.56,352.3,13.9,8.4,1903,21957,0.00,2.55,8.45,0.617,4,0.000,0.044,3253,3719,1241
$GC,22025,1.57,353.8,6.6,8.9,1917,22031,0.00,2.42,0.00,0.000,6,0.000,0.028,3253,2263,1240
$STATE,22080,end climb,SURFACE_DEPTH_REACHED
$STATE,22080,begin surface coast
$FINISH,-0.2,1.010014
$STATE,22104,end surface coast,CONTROL_FINISHED_OK
$STATE,22104,begin surface
$SM_CCo,22125,41.80,0.553,0,0,883,440.07
$SM_GC,0.53,0.00,0.00,41.80,0.000,0.000,0.553,253,2123,883,-12.20,-0.76,440.07
$IRIDIUM_FIX,1243.25,12031.29,230597,232358
$TT8_MAMPS,0.02301
$HUMID,1825
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,527
$ALTIM_BOTTOM_PING,551.5,8.3
$24V_AH,23.1,14.280
$10V_AH,10.1,6.409
$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,31.800,161.125,418.750,41.800,0.000,23.353,18.048,166.009,133.500,0.000,0.000,14.276,3983.793,14283.265,680.561,3113.846,422.027,0.000,2243.792,0.000,3074.708,0.000,14.450
$DEVICE_MAMPS,169.507,64.428,1399.775,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1299.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59720,1931
$CAP_FILE_SIZE,192832,0
$CFSIZE,260165632,252243968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,139.5,1
$GPS,280208,113137,1249.087,12037.992,37,1.4,42,-0.8