version: 66.03
glider: 122
mission: 6
dive: 117
start: 3 10 108 14 3 53
data:
$ID,122
$MISSION,6
$DIVE,117
$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,475
$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,-29528.949
$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,49
$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,9
$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
$GPS1,134632,1249.592,12038.124,42,1.0,42,-0.8
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.8
$GPS2,140321,1249.362,12038.110,13,1.1,13,-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,69.1,8742,-17.4,-9.016
$D_GRID,1511
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,87,0.00,0.00,-65.62,0.000,2,0.000,0.000,248,2119,2550
$GC,90,-1.42,-146.0,3.5,-8.7,11,121,13.48,0.00,-13.15,0.000,6,0.169,0.000,2589,2118,3276
$GC,459,-1.15,-146.0,94.3,-20.8,76,466,0.30,2.47,0.00,0.000,4,0.117,0.041,2649,3562,3278
$GC,495,-1.02,-146.0,100.1,-15.8,82,503,0.17,2.33,0.00,0.000,6,0.104,0.026,2681,2149,3278
$GC,841,-1.02,-146.0,142.3,-10.3,143,848,0.00,2.40,0.00,0.000,4,0.000,0.044,2681,756,3280
$GC,877,-1.07,-146.0,146.1,-10.4,149,885,0.00,2.30,0.00,0.000,6,0.000,0.027,2681,2140,3279
$GC,1223,-1.15,-146.0,177.5,-8.9,210,1231,0.12,2.40,0.00,0.000,4,0.054,0.043,2640,3543,3280
$GC,1271,-1.15,-146.0,183.2,-12.1,218,1278,0.00,2.38,0.00,0.000,6,0.000,0.028,2640,2112,3280
$GC,1616,-1.15,-146.0,215.2,-8.6,279,1623,0.00,2.47,0.00,0.000,4,0.000,0.044,2640,3548,3279
$GC,1646,-1.15,-146.0,217.8,-8.6,284,1653,0.00,2.35,0.00,0.000,6,0.000,0.029,2640,2134,3280
$GC,1991,-1.15,-146.0,246.1,-8.8,345,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2134,3278
$GC,2325,-1.18,-146.0,276.4,-9.5,380,2329,0.00,2.45,0.00,0.000,4,0.000,0.046,2640,3548,3276
$GC,2425,-1.22,-146.0,286.0,-9.4,388,2432,0.00,2.35,0.00,0.000,6,0.000,0.031,2640,2145,3276
$GC,2753,-1.25,-146.0,311.7,-7.3,419,2757,0.00,2.45,0.00,0.000,4,0.000,0.048,2640,3548,3274
$GC,2815,-1.30,-146.0,316.7,-7.8,424,2820,0.00,2.33,0.00,0.000,6,0.000,0.032,2641,2168,3273
$GC,3142,-1.35,-146.0,342.9,-8.6,454,3144,0.15,0.00,0.00,0.000,6,0.052,0.000,2595,2165,3271
$GC,3459,-1.30,-146.0,374.9,-9.3,484,3461,0.15,0.00,0.00,0.000,6,0.102,0.000,2623,2164,3269
$GC,3777,-1.30,-146.0,400.4,-8.4,514,3781,0.00,2.50,0.00,0.000,4,0.000,0.054,2623,752,3266
$GC,3818,-1.33,-146.0,403.9,-8.4,517,3822,0.00,2.40,0.00,0.000,6,0.000,0.033,2623,2153,3267
$GC,4148,-1.33,-146.0,430.5,-8.1,548,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2154,3264
$GC,4466,-1.33,-146.0,452.8,-6.6,578,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2154,3262
$GC,4784,-1.33,-146.0,474.9,-6.9,608,4788,0.00,2.45,0.00,0.000,4,0.000,0.053,2623,3549,3260
$GC,4818,-1.37,-146.0,477.5,-6.9,610,4827,0.00,2.40,0.00,0.000,6,0.000,0.035,2623,2138,3260
$GC,5143,-1.37,-146.0,499.6,-7.2,641,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2136,3257
$GC,5463,-1.40,-146.0,523.0,-7.3,657,5468,0.12,2.50,0.00,0.000,4,0.059,0.053,2589,3549,3256
$GC,5540,-1.36,-146.0,529.7,-9.1,660,5551,0.00,2.40,0.00,0.000,6,0.000,0.035,2588,2148,3255
$GC,5858,-1.31,-146.0,556.8,-9.0,676,5860,0.15,0.00,0.00,0.000,6,0.110,0.000,2615,2147,3254
$GC,6167,-1.31,-146.0,581.1,-7.8,691,6172,0.00,2.50,0.00,0.000,4,0.000,0.054,2615,3555,3251
$GC,6200,-1.31,-146.0,584.0,-8.1,692,6207,0.00,2.42,0.00,0.000,6,0.000,0.035,2616,2136,3251
$GC,6517,-1.31,-146.0,609.8,-7.8,708,6522,0.00,2.53,0.00,0.000,4,0.000,0.055,2616,3553,3250
$GC,6555,-1.31,-146.0,613.2,-8.3,709,6562,0.00,2.38,0.00,0.000,6,0.000,0.036,2616,2163,3250
$GC,6871,-1.31,-146.0,638.3,-7.5,725,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2161,3248
$GC,7180,-1.31,-146.0,663.2,-8.3,740,7184,0.00,2.47,0.00,0.000,4,0.000,0.056,2616,3551,3247
$GC,7235,-1.35,-146.0,667.9,-8.7,742,7242,0.00,2.38,0.00,0.000,6,0.000,0.038,2616,2168,3247
$GC,7552,-1.35,-146.0,691.3,-7.3,758,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2166,3246
$GC,7860,-1.38,-146.0,713.1,-6.9,773,7864,0.00,2.47,0.00,0.000,4,0.000,0.057,2616,3552,3244
$GC,7899,-1.42,-146.0,716.0,-7.6,775,7903,0.00,2.38,0.00,0.000,6,0.000,0.038,2616,2173,3244
$GC,8227,-1.46,-146.0,739.7,-7.5,791,8235,0.12,2.47,0.00,0.000,4,0.061,0.057,2582,3556,3242
$GC,8297,-1.46,-146.0,745.9,-9.6,794,8301,0.00,2.35,0.00,0.000,6,0.000,0.038,2581,2192,3243
$GC,8625,-1.42,-146.0,774.7,-8.7,810,8629,0.00,2.60,0.00,0.000,4,0.000,0.061,2581,750,3242
$GC,8657,-1.38,-146.0,777.8,-8.7,811,8664,0.12,2.50,0.00,0.000,6,0.119,0.038,2603,2191,3241
$GC,8974,-1.38,-146.0,802.0,-7.9,827,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3240
$GC,9282,-1.38,-146.0,826.0,-7.9,842,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3239
$GC,9592,-1.38,-146.0,850.9,-8.3,857,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3239
$GC,9900,-1.38,-146.0,873.7,-6.7,872,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3238
$GC,10209,-1.38,-146.0,894.3,-6.7,887,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3237
$GC,10519,-1.38,-146.0,917.7,-7.7,902,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3236
$GC,10828,-1.38,-146.0,942.2,-8.0,917,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,3235
$GC,11138,-1.38,-146.0,965.4,-7.1,932,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2191,3234
$GC,11446,-1.38,-146.0,988.9,-8.0,947,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2191,3233
$STATE,11466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11466,begin apogee
$GC,11471,-0.34,0.0,990.7,8.0,948,11595,1.12,0.00,120.35,1.403,6,0.097,0.000,2830,2380,2678
$STATE,11596,end apogee,CONTROL_FINISHED_OK
$STATE,11596,begin climb
$GC,11598,1.42,146.0,995.1,0.0,954,11733,1.77,2.50,127.25,1.351,4,0.056,0.066,3217,3719,2081
$GC,11814,1.16,146.0,976.6,13.7,964,11819,0.32,2.38,0.00,0.000,6,0.121,0.042,3160,2375,2080
$GC,12141,1.04,146.0,940.4,10.7,980,12142,0.15,0.00,0.00,0.000,6,0.119,0.000,3133,2374,2078
$GC,12449,0.98,146.0,910.8,9.5,995,12454,0.00,2.58,0.00,0.000,4,0.000,0.064,3133,967,2077
$GC,12493,0.90,146.0,906.4,9.9,997,12499,0.17,2.50,0.00,0.000,6,0.114,0.043,3102,2373,2077
$GC,12814,0.90,148.3,879.3,8.9,1013,12818,0.00,2.47,0.00,0.000,4,0.000,0.067,3102,3730,2077
$GC,12847,0.87,148.3,876.2,10.0,1014,12855,0.00,2.38,0.00,0.000,6,0.000,0.041,3102,2369,2077
$GC,13164,0.87,148.3,844.5,9.4,1030,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2368,2077
$GC,13472,0.87,148.3,815.4,9.3,1045,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2368,2076
$GC,13781,0.89,160.0,789.1,8.4,1060,13794,0.00,0.00,11.45,1.322,6,0.000,0.000,3102,2368,2025
$GC,14090,0.94,192.4,764.3,7.4,1075,14125,0.00,2.58,28.12,1.274,4,0.000,0.063,3102,3719,1893
$GC,14164,0.94,192.4,758.2,9.3,1078,14168,0.00,2.40,0.00,0.000,6,0.000,0.041,3102,2372,1892
$GC,14486,1.01,207.4,731.0,8.3,1094,14507,0.10,0.00,13.12,1.266,6,0.077,0.000,3125,2371,1831
$GC,14814,1.01,207.4,697.4,10.5,1110,14815,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2370,1831
$GC,15124,1.01,207.4,665.7,10.6,1125,15128,0.00,2.47,0.00,0.000,4,0.000,0.062,3125,3735,1830
$GC,15167,1.01,207.4,660.8,10.8,1127,15171,0.00,2.40,0.00,0.000,6,0.000,0.040,3125,2359,1830
$GC,15494,1.01,207.4,629.5,9.0,1143,15495,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2358,1830
$GC,15803,1.01,207.4,599.6,9.4,1158,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2357,1830
$GC,16113,1.01,207.4,568.7,9.7,1173,16117,0.00,2.53,0.00,0.000,4,0.000,0.061,3125,963,1830
$GC,16138,1.01,207.4,565.9,11.0,1174,16143,0.00,2.50,0.00,0.000,6,0.000,0.039,3125,2374,1829
$GC,16460,1.01,207.4,536.1,9.7,1190,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2373,1829
$GC,16770,1.01,207.4,506.9,9.7,1205,16774,0.00,2.55,0.00,0.000,4,0.000,0.058,3125,966,1830
$GC,16802,1.01,207.4,503.5,11.1,1206,16810,0.00,2.45,0.00,0.000,6,0.000,0.039,3125,2354,1830
$GC,17127,1.02,211.3,473.6,8.8,1235,17140,0.00,2.58,3.33,1.091,4,0.000,0.057,3125,964,1816
$GC,17174,1.02,211.3,469.0,9.9,1239,17178,0.00,2.45,0.00,0.000,6,0.000,0.038,3125,2360,1815
$GC,17499,1.02,211.3,439.6,9.4,1269,17503,0.00,2.53,0.00,0.000,4,0.000,0.057,3125,960,1816
$GC,17538,1.02,211.3,435.8,9.9,1272,17542,0.00,2.42,0.00,0.000,6,0.000,0.038,3125,2349,1816
$GC,17864,1.04,222.0,407.5,8.5,1302,17880,0.00,2.58,9.50,1.044,4,0.000,0.055,3125,970,1771
$GC,17955,1.09,239.2,399.4,8.1,1310,17980,0.00,2.35,15.00,1.008,6,0.000,0.038,3125,2312,1701
$GC,18297,1.15,239.2,369.0,9.1,1342,18298,0.15,0.00,0.00,0.000,6,0.061,0.000,3161,2312,1700
$GC,18616,1.15,239.2,335.9,10.3,1372,18620,0.00,2.42,0.00,0.000,4,0.000,0.056,3162,966,1700
$GC,18658,1.15,239.2,331.2,10.1,1375,18666,0.00,2.38,0.00,0.000,6,0.000,0.037,3161,2316,1700
$GC,18985,1.15,239.2,300.1,9.8,1406,18989,0.00,2.53,0.00,0.000,4,0.000,0.059,3161,3730,1700
$GC,19039,1.12,239.2,294.4,10.2,1410,19047,0.00,2.42,0.00,0.000,6,0.000,0.036,3161,2316,1701
$GC,19365,1.12,239.2,262.0,10.9,1441,19367,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2316,1700
$GC,19694,1.12,239.2,231.4,9.2,1489,19701,0.00,2.50,0.00,0.000,4,0.000,0.054,3162,3724,1700
$GC,19747,1.12,240.1,226.4,9.0,1498,19754,0.00,2.38,0.00,0.000,6,0.000,0.035,3162,2334,1700
$GC,20092,1.17,268.6,193.2,7.6,1559,20125,0.00,2.53,23.92,0.818,4,0.000,0.052,3162,970,1582
$GC,20172,1.20,268.6,186.1,9.4,1572,20180,0.00,2.40,0.00,0.000,6,0.000,0.035,3162,2350,1581
$GC,20518,1.31,300.2,157.9,7.4,1633,20549,0.12,0.00,25.33,0.772,6,0.063,0.000,3193,2349,1454
$GC,20889,1.40,332.7,126.0,7.4,1697,20924,0.00,2.53,26.25,0.730,4,0.000,0.050,3193,967,1319
$GC,21027,1.48,332.7,113.5,9.3,1720,21035,0.15,2.35,0.00,0.000,6,0.057,0.032,3233,2332,1316
$GC,21372,1.48,332.7,80.8,9.3,1781,21379,0.00,2.42,0.00,0.000,4,0.000,0.049,3233,3719,1316
$GC,21414,1.48,332.7,76.3,10.1,1788,21421,0.00,2.35,0.00,0.000,6,0.000,0.031,3233,2327,1316
$GC,21756,1.60,379.4,50.9,6.6,1849,21798,0.00,2.55,36.62,0.629,4,0.000,0.045,3233,3723,1130
$GC,21827,1.69,379.5,45.3,9.0,1861,21834,0.17,2.33,0.00,0.000,6,0.051,0.029,3279,2352,1128
$GC,22172,1.69,379.5,9.7,9.8,1922,22178,0.00,2.42,0.00,0.000,4,0.000,0.046,3280,966,1126
$STATE,22250,end climb,SURFACE_DEPTH_REACHED
$STATE,22250,begin surface coast
$FINISH,-0.0,1.021513
$STATE,22268,end surface coast,CONTROL_FINISHED_OK
$STATE,22268,begin surface
$SM_CCo,22291,45.67,0.555,0,0,740,475.15
$SM_GC,0.82,0.00,0.00,45.67,0.000,0.000,0.555,251,2165,740,-12.21,0.42,475.15
$IRIDIUM_FIX,1243.25,12037.35,040697,141407
$TT8_MAMPS,0.023777
$HUMID,1852
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.40
$XPDR_PINGS,468
$24V_AH,23.2,23.052
$10V_AH,10.1,11.110
$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,32.450,161.225,440.250,45.675,0.000,126.814,71.262,437.485,129.500,0.000,0.000,13.084,4067.826,14497.446,719.830,3126.167,936.569,0.000,2286.604,0.000,3063.068,0.000,91.610
$DEVICE_MAMPS,168.740,66.729,1402.843,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1305.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59726,1939
$CAP_FILE_SIZE,206118,0
$CFSIZE,260165632,248078336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,121.9,1
$GPS,100308,201708,1249.737,12041.206,24,1.9,24,-0.8