version: 66.03
glider: 122
mission: 6
dive: 76
start: 3 1 108 6 24 17
data:
$ID,122
$MISSION,6
$DIVE,76
$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,-28816.477
$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,67
$R_STBD_OVSHOOT,34
$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
$GPS1,061637,1249.179,12030.387,27,1.6,27,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.0
$GPS2,062345,1249.169,12030.399,9,1.9,9,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,272.4,27704,-17.4,-9.016
$D_GRID,989
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,80,0.00,0.00,-59.38,0.000,2,0.000,0.000,253,2102,2499
$GC,82,-1.42,-146.0,3.1,-6.6,10,121,13.43,2.58,-14.77,0.000,4,0.169,0.054,2588,3554,3276
$GC,172,-1.07,-146.0,27.5,-25.7,25,180,0.43,2.30,0.00,0.000,6,0.099,0.029,2672,2178,3277
$GC,517,-0.96,-146.0,82.6,-14.5,86,524,0.12,2.50,0.00,0.000,4,0.109,0.044,2695,743,3278
$GC,569,-0.96,-146.0,89.4,-12.0,95,577,0.00,2.35,0.00,0.000,6,0.000,0.028,2695,2152,3278
$GC,914,-0.96,-146.0,132.9,-12.5,156,921,0.00,2.42,0.00,0.000,4,0.000,0.047,2694,3558,3280
$GC,960,-0.96,-146.0,138.9,-12.7,164,968,0.00,2.35,0.00,0.000,6,0.000,0.028,2695,2144,3280
$GC,1305,-1.02,-146.0,172.2,-9.6,225,1312,0.00,2.42,0.00,0.000,4,0.000,0.044,2694,3554,3281
$GC,1364,-1.13,-146.0,177.5,-8.7,235,1372,0.17,2.25,0.00,0.000,6,0.046,0.027,2644,2193,3281
$GC,1710,-1.13,-146.0,213.6,-9.6,296,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2193,3282
$GC,2053,-1.13,-146.0,246.6,-8.7,357,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2192,3281
$GC,2382,-1.16,-146.0,276.7,-9.6,391,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2190,3280
$GC,2700,-1.20,-146.0,302.6,-7.8,421,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2190,3279
$GC,3019,-1.25,-146.0,329.7,-8.7,451,3023,0.00,2.38,0.00,0.000,4,0.000,0.048,2644,3555,3278
$GC,3047,-1.30,-146.0,332.4,-9.7,453,3052,0.12,2.28,0.00,0.000,6,0.057,0.031,2606,2203,3278
$GC,3371,-1.27,-146.0,365.1,-10.2,483,3376,0.12,2.58,0.00,0.000,4,0.108,0.051,2628,751,3275
$GC,3422,-1.30,-146.0,369.8,-9.6,487,3426,0.00,2.47,0.00,0.000,6,0.000,0.032,2629,2202,3275
$GC,3748,-1.30,-146.0,397.7,-8.8,517,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2204,3273
$GC,4065,-1.30,-146.0,423.4,-8.5,547,4069,0.00,2.58,0.00,0.000,4,0.000,0.052,2628,751,3271
$GC,4142,-1.35,-146.0,430.5,-8.5,553,4150,0.00,2.50,0.00,0.000,6,0.000,0.033,2629,2214,3270
$GC,4468,-1.38,-146.0,457.8,-8.7,584,4470,0.12,0.00,0.00,0.000,6,0.059,0.000,2593,2214,3269
$GC,4787,-1.33,-146.0,486.8,-8.7,614,4792,0.12,2.60,0.00,0.000,4,0.108,0.053,2616,755,3267
$GC,4841,-1.33,-146.0,491.7,-8.9,618,4850,0.00,2.50,0.00,0.000,6,0.000,0.035,2616,2212,3267
$GC,5161,-1.33,-146.0,518.6,-8.7,639,5165,0.00,2.35,0.00,0.000,4,0.000,0.054,2616,3546,3265
$GC,5186,-1.33,-146.0,521.2,-9.5,640,5191,0.00,2.28,0.00,0.000,6,0.000,0.033,2615,2220,3265
$GC,5508,-1.33,-146.0,548.7,-8.6,656,5512,0.00,2.60,0.00,0.000,4,0.000,0.055,2616,759,3263
$GC,5557,-1.37,-146.0,553.2,-8.8,658,5562,0.00,2.47,0.00,0.000,6,0.000,0.035,2616,2200,3263
$GC,5873,-1.37,-146.0,579.6,-8.7,673,5877,0.00,2.40,0.00,0.000,4,0.000,0.056,2616,3562,3261
$GC,5916,-1.40,-146.0,583.9,-10.0,675,5920,0.00,2.30,0.00,0.000,6,0.000,0.034,2615,2226,3261
$GC,6244,-1.40,-146.0,613.0,-8.6,691,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2222,3259
$GC,6553,-1.40,-146.0,637.1,-7.4,706,6557,0.00,2.62,0.00,0.000,4,0.000,0.058,2616,759,3258
$GC,6596,-1.44,-146.0,640.4,-7.7,708,6601,0.12,2.53,0.00,0.000,6,0.061,0.035,2581,2224,3257
$GC,6917,-1.39,-146.0,667.8,-8.6,724,6921,0.00,2.62,0.00,0.000,4,0.000,0.057,2581,759,3256
$GC,6979,-1.36,-146.0,673.5,-9.5,727,6984,0.15,2.50,0.00,0.000,6,0.113,0.036,2607,2206,3256
$GC,7305,-1.36,-146.0,700.1,-8.4,743,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2206,3254
$GC,7614,-1.36,-146.0,725.1,-7.8,758,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2206,3253
$GC,7924,-1.36,-146.0,747.5,-6.8,773,7928,0.00,2.40,0.00,0.000,4,0.000,0.059,2607,3561,3251
$GC,7956,-1.36,-146.0,750.0,-7.2,774,7964,0.00,2.35,0.00,0.000,6,0.000,0.037,2607,2204,3252
$GC,8272,-1.36,-146.0,771.2,-6.8,790,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3250
$GC,8581,-1.36,-146.0,791.5,-6.3,805,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3249
$GC,8890,-1.36,-146.0,812.9,-7.2,820,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3248
$GC,9200,-1.39,-146.0,835.1,-7.1,835,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2204,3247
$GC,9510,-1.42,-146.0,857.0,-7.1,850,9514,0.00,2.40,0.00,0.000,4,0.000,0.058,2608,3551,3246
$GC,9559,-1.42,-146.0,860.9,-8.0,852,9563,0.00,2.33,0.00,0.000,6,0.000,0.038,2608,2213,3246
$GC,9881,-1.45,-146.0,884.0,-7.3,868,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2213,3245
$GC,10190,-1.49,-146.0,907.9,-7.6,883,10195,0.12,2.62,0.00,0.000,4,0.063,0.062,2576,762,3243
$GC,10234,-1.45,-146.0,912.1,-9.6,885,10238,0.00,2.47,0.00,0.000,6,0.000,0.038,2576,2188,3244
$GC,10561,-1.42,-146.0,940.4,-8.5,901,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2189,3243
$GC,10870,-1.38,-146.0,964.7,-7.5,916,10875,0.15,2.45,0.00,0.000,4,0.114,0.059,2602,3564,3242
$GC,10919,-1.38,-146.0,968.5,-8.1,918,10924,0.00,2.38,0.00,0.000,6,0.000,0.039,2602,2186,3242
$STATE,11239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11239,begin apogee
$GC,11244,-0.34,0.0,990.2,7.5,934,11369,1.12,0.00,121.40,1.394,6,0.098,0.000,2829,2385,2678
$STATE,11370,end apogee,CONTROL_FINISHED_OK
$STATE,11370,begin climb
$GC,11372,1.42,146.0,993.9,0.0,940,11506,1.77,2.50,126.43,1.345,4,0.058,0.061,3215,3722,2082
$GC,11596,1.16,146.0,974.2,13.4,950,11601,0.25,2.40,0.00,0.000,6,0.118,0.041,3161,2377,2080
$GC,11917,1.05,146.0,941.2,10.1,966,11919,0.15,0.00,0.00,0.000,6,0.120,0.000,3134,2376,2079
$GC,12227,0.98,146.0,910.9,9.7,981,12231,0.00,2.42,0.00,0.000,4,0.000,0.061,3134,3712,2078
$GC,12275,0.88,146.0,905.8,10.7,983,12280,0.15,2.35,0.00,0.000,6,0.111,0.041,3097,2386,2079
$GC,12597,0.90,155.2,880.3,8.5,999,12606,0.00,0.00,7.45,1.360,6,0.000,0.000,3097,2386,2045
$GC,12906,0.90,157.6,852.2,8.9,1014,12910,0.00,0.00,2.58,1.279,6,0.000,0.000,3097,2385,2035
$GC,13215,0.92,167.0,825.2,8.5,1029,13225,0.00,0.00,8.48,1.331,6,0.000,0.000,3097,2385,1997
$GC,13525,0.97,180.8,799.1,8.3,1044,13539,0.00,0.00,12.38,1.306,6,0.000,0.000,3097,2383,1940
$GC,13834,1.02,185.3,771.8,8.8,1059,13841,0.15,0.00,4.28,1.296,6,0.069,0.000,3131,2383,1922
$GC,14143,1.02,185.3,742.5,9.2,1074,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2383,1922
$GC,14452,1.02,185.3,712.7,9.9,1089,14456,0.00,2.42,0.00,0.000,4,0.000,0.061,3131,3723,1922
$GC,14514,0.96,185.3,706.1,11.2,1092,14517,0.00,2.33,0.00,0.000,6,0.000,0.040,3131,2379,1921
$GC,14845,0.96,185.3,674.1,9.6,1108,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2377,1921
$GC,15154,0.96,185.3,644.5,9.4,1123,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2377,1921
$GC,15464,0.96,185.3,615.5,9.6,1138,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2376,1922
$GC,15773,0.97,191.1,586.9,8.7,1153,15781,0.00,0.00,5.43,1.191,6,0.000,0.000,3131,2376,1898
$GC,16083,1.00,208.7,560.9,8.1,1168,16104,0.00,0.00,15.18,1.138,6,0.000,0.000,3131,2376,1826
$GC,16412,1.00,208.7,531.9,9.2,1184,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2376,1825
$GC,16721,1.00,208.7,502.9,9.5,1199,16722,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2376,1825
$GC,17038,1.00,208.7,471.9,9.6,1227,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2376,1825
$GC,17357,1.00,208.7,442.1,9.1,1257,17361,0.00,2.40,0.00,0.000,4,0.000,0.057,3131,3722,1825
$GC,17422,1.00,208.7,435.5,10.8,1262,17430,0.00,2.33,0.00,0.000,6,0.000,0.037,3131,2388,1826
$GC,17748,1.01,213.3,406.2,8.8,1293,17759,0.00,0.00,4.20,1.052,6,0.000,0.000,3131,2386,1808
$GC,18077,1.02,222.6,376.7,8.5,1324,18090,0.00,2.65,8.00,1.016,4,0.000,0.056,3131,964,1770
$GC,18151,1.02,222.6,369.2,11.7,1330,18159,0.00,2.47,0.00,0.000,6,0.000,0.036,3131,2385,1769
$GC,18477,1.02,222.6,337.6,9.5,1361,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2385,1769
$GC,18796,1.07,232.5,308.9,8.5,1391,18809,0.00,2.65,8.70,0.954,4,0.000,0.053,3131,961,1730
$GC,18859,1.11,232.5,302.7,9.2,1396,18867,0.00,2.47,0.00,0.000,6,0.000,0.035,3131,2381,1729
$GC,19186,1.15,232.5,272.4,9.3,1427,19190,0.12,2.38,0.00,0.000,4,0.067,0.053,3163,3725,1729
$GC,19228,1.12,232.5,267.3,12.1,1430,19236,0.00,2.33,0.00,0.000,6,0.000,0.034,3163,2375,1729
$GC,19563,1.12,232.5,231.7,9.7,1476,19570,0.00,2.50,0.00,0.000,4,0.000,0.052,3163,964,1730
$GC,19645,1.12,232.5,223.2,10.5,1490,19652,0.00,2.45,0.00,0.000,6,0.000,0.035,3163,2387,1729
$GC,19990,1.12,232.5,191.0,9.0,1551,19998,0.00,2.35,0.00,0.000,4,0.000,0.051,3163,3729,1730
$GC,20043,1.12,232.5,185.4,9.8,1560,20050,0.00,2.33,0.00,0.000,6,0.000,0.033,3163,2357,1730
$GC,20387,1.20,261.5,158.8,7.5,1621,20418,0.00,2.58,23.80,0.771,4,0.000,0.050,3163,966,1610
$GC,20476,1.29,283.7,151.8,7.9,1635,20500,0.10,2.38,17.52,0.757,6,0.068,0.031,3190,2344,1521
$GC,20839,1.37,305.8,122.8,7.9,1698,20864,0.00,2.53,17.60,0.724,4,0.000,0.048,3189,3726,1430
$GC,20949,1.45,315.3,113.4,8.5,1716,20967,0.15,2.38,7.55,0.737,6,0.057,0.031,3229,2325,1392
$GC,21305,1.45,315.3,79.2,10.3,1778,21312,0.00,2.38,0.00,0.000,4,0.000,0.048,3229,974,1390
$GC,21335,1.45,315.3,75.9,10.0,1783,21342,0.00,2.30,0.00,0.000,6,0.000,0.030,3229,2332,1390
$GC,21680,1.51,349.1,43.2,7.3,1844,21716,0.00,2.47,26.77,0.620,4,0.000,0.045,3229,975,1253
$GC,21751,1.56,349.1,36.7,9.5,1855,21758,0.00,2.20,0.00,0.000,6,0.000,0.028,3229,2276,1251
$GC,22086,1.66,365.4,9.2,8.2,1916,22106,0.15,2.60,12.18,0.597,4,0.052,0.044,3278,3727,1187
$STATE,22161,end climb,SURFACE_DEPTH_REACHED
$STATE,22161,begin surface coast
$FINISH,-0.2,1.009633
$STATE,22185,end surface coast,CONTROL_FINISHED_OK
$STATE,22185,begin surface
$SM_CCo,22208,35.85,0.556,0,0,883,440.07
$SM_GC,0.79,0.00,0.00,35.85,0.000,0.000,0.556,251,2148,883,-12.20,-0.06,440.07
$IRIDIUM_FIX,1243.25,12029.39,260597,060659
$TT8_MAMPS,0.023777
$HUMID,1830
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.50
$XPDR_PINGS,505
$ALTIM_BOTTOM_PING,541.5,8.0
$24V_AH,23.1,15.787
$10V_AH,10.1,7.235
$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,32.750,151.725,429.900,35.850,0.000,53.728,47.734,163.380,127.750,0.000,0.000,10.235,4162.332,14260.529,694.246,3064.773,492.152,0.000,2226.138,0.000,3036.114,0.000,12.628
$DEVICE_MAMPS,168.740,62.127,1394.406,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1300.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59793,1932
$CAP_FILE_SIZE,193244,0
$CFSIZE,260165632,251502592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,263.3,1
$GPS,010308,123608,1249.115,12026.978,33,1.0,33,-0.8