version: 66.03
glider: 122
mission: 6
dive: 125
start: 3 12 108 9 51 23
data:
$ID,122
$MISSION,6
$DIVE,125
$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,554.62329
$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,-29703.426
$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,47
$R_STBD_OVSHOOT,26
$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
$GPS1,093431,1248.911,12030.758,43,1.3,43,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.3
$GPS2,095051,1248.837,12030.745,15,1.1,15,-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,263.2,28174,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,98,0.00,0.00,-76.72,0.000,2,0.000,0.000,252,2119,2518
$GC,101,-1.42,-146.0,3.5,-7.7,11,133,13.52,2.55,-13.60,0.000,4,0.171,0.052,2587,3564,3276
$GC,151,-0.78,-146.0,19.1,-28.4,19,159,0.75,2.35,0.00,0.000,6,0.118,0.028,2729,2154,3277
$GC,497,-0.82,-146.0,68.6,-11.0,80,504,0.00,2.42,0.00,0.000,4,0.000,0.042,2730,3564,3277
$GC,539,-0.90,-146.0,73.5,-11.6,87,547,0.00,2.33,0.00,0.000,6,0.000,0.027,2729,2163,3278
$GC,884,-0.99,-146.0,107.9,-8.8,148,892,0.17,2.40,0.00,0.000,4,0.045,0.041,2668,3560,3278
$GC,914,-0.99,-146.0,111.3,-10.9,153,921,0.00,2.28,0.00,0.000,6,0.000,0.027,2668,2187,3278
$GC,1258,-0.99,-146.0,150.1,-11.6,214,1265,0.00,2.38,0.00,0.000,4,0.000,0.042,2668,3570,3278
$GC,1328,-1.03,-146.0,157.3,-9.6,226,1336,0.00,2.22,0.00,0.000,6,0.000,0.027,2668,2221,3278
$GC,1674,-1.08,-146.0,188.6,-8.3,287,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3278
$GC,2014,-1.17,-146.0,215.6,-7.8,348,2020,0.00,2.55,0.00,0.000,4,0.000,0.046,2668,755,3278
$GC,2049,-1.28,-146.0,218.6,-8.2,354,2056,0.20,2.50,0.00,0.000,6,0.041,0.029,2602,2244,3278
$GC,2396,-1.23,-146.0,256.1,-10.8,411,2401,0.15,2.28,0.00,0.000,4,0.096,0.048,2635,3564,3277
$GC,2434,-1.23,-146.0,260.3,-10.4,414,2441,0.00,2.25,0.00,0.000,6,0.000,0.029,2635,2227,3277
$GC,2760,-1.23,-146.0,290.5,-9.3,445,2764,0.00,2.58,0.00,0.000,4,0.000,0.049,2635,755,3276
$GC,2799,-1.28,-146.0,294.4,-9.9,448,2803,0.00,2.50,0.00,0.000,6,0.000,0.031,2636,2234,3275
$GC,3125,-1.28,-146.0,323.5,-8.6,478,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2235,3273
$GC,3443,-1.32,-146.0,349.3,-8.1,508,3447,0.00,2.60,0.00,0.000,4,0.000,0.051,2635,756,3271
$GC,3532,-1.37,-146.0,357.2,-8.2,515,3539,0.15,2.45,0.00,0.000,6,0.050,0.031,2588,2206,3270
$GC,3857,-1.30,-146.0,389.1,-10.1,546,3861,0.15,2.35,0.00,0.000,4,0.103,0.048,2620,3567,3268
$GC,3894,-1.30,-146.0,393.0,-9.3,549,3901,0.00,2.30,0.00,0.000,6,0.000,0.031,2620,2199,3267
$GC,4220,-1.30,-146.0,420.6,-8.7,580,4225,0.00,2.58,0.00,0.000,4,0.000,0.052,2620,746,3266
$GC,4299,-1.34,-146.0,427.8,-8.6,586,4305,0.00,2.47,0.00,0.000,6,0.000,0.033,2620,2196,3265
$GC,4624,-1.34,-146.0,454.6,-8.3,617,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2197,3263
$GC,4942,-1.34,-146.0,480.9,-8.5,647,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2197,3260
$GC,5268,-1.34,-146.0,509.2,-8.5,673,5272,0.00,2.38,0.00,0.000,4,0.000,0.053,2620,3551,3258
$GC,5316,-1.34,-146.0,513.5,-8.8,675,5321,0.00,2.33,0.00,0.000,6,0.000,0.033,2620,2182,3258
$GC,5638,-1.34,-146.0,540.0,-8.2,691,5643,0.00,2.55,0.00,0.000,4,0.000,0.055,2620,747,3256
$GC,5665,-1.34,-146.0,542.5,-9.0,692,5669,0.00,2.45,0.00,0.000,6,0.000,0.035,2620,2168,3256
$GC,5992,-1.34,-146.0,569.5,-8.5,708,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2169,3254
$GC,6302,-1.34,-146.0,595.0,-7.8,723,6306,0.00,2.42,0.00,0.000,4,0.000,0.055,2620,3555,3252
$GC,6345,-1.34,-146.0,598.8,-8.1,725,6349,0.00,2.33,0.00,0.000,6,0.000,0.034,2620,2188,3251
$GC,6674,-1.34,-146.0,623.0,-7.4,741,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2186,3249
$GC,6981,-1.34,-146.0,647.0,-7.7,756,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2184,3248
$GC,7291,-1.34,-146.0,669.9,-7.3,771,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2184,3247
$GC,7600,-1.34,-146.0,692.9,-8.1,786,7604,0.00,2.42,0.00,0.000,4,0.000,0.055,2621,3552,3245
$GC,7666,-1.37,-146.0,698.6,-8.3,789,7670,0.00,2.30,0.00,0.000,6,0.000,0.035,2620,2202,3246
$GC,7996,-1.40,-146.0,724.6,-8.2,805,8000,0.00,2.60,0.00,0.000,4,0.000,0.058,2620,752,3243
$GC,8035,-1.45,-146.0,728.1,-8.2,807,8040,0.15,2.50,0.00,0.000,6,0.054,0.035,2578,2199,3243
$GC,8363,-1.38,-146.0,758.4,-9.7,823,8365,0.12,0.00,0.00,0.000,6,0.114,0.000,2600,2201,3242
$GC,8671,-1.38,-146.0,786.4,-9.0,838,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2201,3241
$GC,8982,-1.38,-146.0,810.5,-7.5,853,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2200,3239
$GC,9289,-1.38,-146.0,834.0,-8.1,868,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2201,3239
$GC,9599,-1.38,-146.0,857.6,-7.3,883,9603,0.00,2.62,0.00,0.000,4,0.000,0.059,2600,745,3238
$GC,9638,-1.38,-146.0,860.9,-8.3,885,9643,0.00,2.50,0.00,0.000,6,0.000,0.038,2600,2184,3238
$GC,9965,-1.38,-146.0,887.5,-8.5,901,9969,0.00,2.45,0.00,0.000,4,0.000,0.060,2600,3561,3237
$GC,9998,-1.38,-146.0,890.3,-8.6,902,10006,0.00,2.35,0.00,0.000,6,0.000,0.037,2600,2188,3237
$GC,10314,-1.38,-146.0,915.4,-8.3,918,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2187,3235
$GC,10624,-1.38,-146.0,940.1,-8.0,933,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2187,3234
$GC,10932,-1.38,-146.0,962.9,-7.4,948,10936,0.00,2.42,0.00,0.000,4,0.000,0.058,2600,3555,3234
$GC,10964,-1.38,-146.0,965.7,-7.5,949,10972,0.00,2.35,0.00,0.000,6,0.000,0.038,2600,2186,3234
$STATE,11278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11278,begin apogee
$GC,11283,-0.34,0.0,989.6,8.2,965,11406,1.12,0.00,119.38,1.397,6,0.095,0.000,2828,2387,2678
$STATE,11407,end apogee,CONTROL_FINISHED_OK
$STATE,11407,begin climb
$GC,11409,1.42,146.0,993.0,0.0,971,11544,1.77,2.50,126.32,1.342,4,0.057,0.062,3216,3707,2082
$GC,11595,1.18,146.0,976.8,14.5,979,11600,0.30,2.35,0.00,0.000,6,0.118,0.040,3162,2373,2081
$GC,11916,1.07,146.0,938.9,11.4,995,11921,0.12,2.58,0.00,0.000,4,0.120,0.060,3141,965,2079
$GC,11956,1.00,146.0,934.6,10.6,997,11961,0.00,2.45,0.00,0.000,6,0.000,0.040,3141,2349,2078
$GC,12283,0.93,146.0,900.1,10.7,1013,12285,0.17,0.00,0.00,0.000,6,0.110,0.000,3109,2349,2078
$GC,12592,0.93,146.0,871.8,9.3,1028,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2350,2077
$GC,12901,0.94,151.1,844.7,8.8,1043,12910,0.00,2.60,3.67,1.309,4,0.000,0.060,3109,966,2061
$GC,12949,0.94,151.1,840.3,9.7,1045,12953,0.00,2.50,0.00,0.000,6,0.000,0.040,3109,2361,2062
$GC,13277,0.94,152.4,812.5,9.0,1061,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2361,2061
$GC,13586,0.96,166.1,786.4,8.3,1076,13609,0.00,2.65,12.95,1.309,4,0.000,0.060,3109,967,2001
$GC,13632,0.96,166.1,782.4,10.0,1078,13636,0.00,2.45,0.00,0.000,6,0.000,0.040,3109,2343,2001
$GC,13958,0.97,168.8,753.6,8.9,1094,13963,0.00,0.00,3.08,1.259,6,0.000,0.000,3109,2343,1989
$GC,14268,1.01,175.8,726.7,8.7,1109,14276,0.00,0.00,6.43,1.279,6,0.000,0.000,3109,2343,1961
$GC,14577,1.07,188.3,700.1,8.4,1124,14591,0.12,0.00,11.10,1.254,6,0.068,0.000,3141,2343,1910
$GC,14886,1.07,188.3,668.9,10.0,1139,14890,0.00,2.50,0.00,0.000,4,0.000,0.059,3141,972,1909
$GC,14952,1.04,188.3,661.8,10.2,1142,14956,0.00,2.40,0.00,0.000,6,0.000,0.039,3141,2336,1908
$GC,15279,1.04,188.3,629.3,9.5,1158,15280,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2336,1909
$GC,15588,1.04,188.3,598.1,10.7,1173,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2336,1908
$GC,15897,1.04,188.3,566.1,9.5,1188,15901,0.00,2.47,0.00,0.000,4,0.000,0.058,3141,970,1909
$GC,15936,1.04,188.3,562.3,9.1,1190,15941,0.00,2.38,0.00,0.000,6,0.000,0.039,3141,2328,1908
$GC,16263,1.04,189.4,531.7,9.0,1206,16267,0.00,2.50,0.00,0.000,4,0.000,0.061,3142,3729,1908
$GC,16300,1.04,189.4,527.8,9.4,1207,16308,0.00,2.45,0.00,0.000,6,0.000,0.038,3141,2328,1909
$GC,16617,1.04,189.4,499.4,9.5,1223,16621,0.00,2.45,0.00,0.000,4,0.000,0.058,3141,968,1908
$GC,16678,1.04,189.4,493.5,9.5,1228,16682,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,2330,1909
$GC,17002,1.04,189.4,463.4,9.5,1258,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2330,1908
$GC,17322,1.06,204.9,435.4,8.2,1288,17346,0.00,2.55,13.93,1.055,4,0.000,0.055,3141,973,1841
$GC,17414,1.06,204.9,426.9,9.2,1296,17418,0.00,2.40,0.00,0.000,6,0.000,0.038,3141,2338,1841
$GC,17738,1.10,227.5,399.4,7.9,1326,17760,0.00,0.00,19.08,1.004,6,0.000,0.000,3141,2338,1750
$GC,18078,1.15,233.2,370.3,8.7,1358,18088,0.00,0.00,4.93,1.019,6,0.000,0.000,3141,2338,1727
$GC,18407,1.24,258.6,340.3,7.7,1389,18435,0.15,2.58,21.42,0.944,4,0.060,0.055,3181,969,1622
$GC,18468,1.24,258.6,333.8,10.3,1394,18475,0.00,2.38,0.00,0.000,6,0.000,0.037,3181,2319,1621
$GC,18793,1.24,258.6,298.2,11.1,1425,18795,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2318,1621
$GC,19111,1.24,258.6,263.7,10.2,1455,19116,0.00,2.42,0.00,0.000,4,0.000,0.054,3181,969,1621
$GC,19184,1.24,258.6,255.8,10.3,1461,19188,0.00,2.35,0.00,0.000,6,0.000,0.036,3181,2321,1620
$GC,19523,1.24,258.6,221.3,10.1,1516,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2321,1620
$GC,19867,1.25,267.7,188.8,8.5,1577,19880,0.00,0.00,7.43,0.861,6,0.000,0.000,3181,2321,1585
$GC,20218,1.36,291.4,160.7,7.8,1639,20243,0.00,2.53,19.12,0.787,4,0.000,0.051,3181,969,1488
$GC,20289,1.44,297.3,154.7,8.7,1651,20302,0.17,2.33,4.72,0.818,6,0.054,0.035,3226,2305,1466
$GC,20641,1.48,320.8,125.4,7.8,1713,20666,0.00,2.55,18.92,0.741,4,0.000,0.051,3225,3724,1369
$GC,20785,1.54,333.6,113.5,8.4,1738,20804,0.00,2.33,10.30,0.740,6,0.000,0.032,3226,2358,1317
$GC,21143,1.67,369.3,86.4,7.2,1801,21180,0.15,2.53,28.27,0.672,4,0.057,0.050,3270,969,1171
$GC,21260,1.69,376.6,75.7,8.6,1821,21273,0.00,2.38,5.72,0.703,6,0.000,0.032,3270,2349,1142
$GC,21611,1.77,395.4,45.2,8.1,1883,21630,0.00,0.00,14.80,0.637,6,0.000,0.000,3270,2348,1065
$GC,21967,1.87,407.2,16.7,8.4,1946,21986,0.15,2.50,8.88,0.613,4,0.056,0.046,3317,973,1017
$GC,22089,1.87,407.2,4.1,10.3,1967,22095,0.00,2.28,0.00,0.000,6,0.000,0.030,3317,2315,1016
$STATE,22112,end climb,SURFACE_DEPTH_REACHED
$STATE,22112,begin surface coast
$FINISH,0.1,1.021391
$STATE,22129,end surface coast,CONTROL_FINISHED_OK
$STATE,22129,begin surface
$SM_CCo,22150,70.88,0.538,0,0,417,554.62
$SM_GC,0.75,0.00,0.00,70.88,0.000,0.000,0.538,251,2114,417,-12.20,-1.05,554.62
$IRIDIUM_FIX,1243.25,12031.29,060697,090925
$TT8_MAMPS,0.02301
$HUMID,1887
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.60
$XPDR_PINGS,447
$24V_AH,23.2,24.469
$10V_AH,10.1,11.873
$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,33.075,161.625,460.450,70.875,0.000,128.808,79.618,380.967,124.000,0.000,0.000,15.835,3993.074,14358.604,739.822,3195.409,913.843,0.000,2339.448,0.000,3131.908,0.000,89.788
$DEVICE_MAMPS,171.041,62.127,1396.707,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1327.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62910,1974
$CAP_FILE_SIZE,209675,0
$CFSIZE,260165632,247361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,263.4,1
$GPS,120308,160301,1248.567,12027.697,42,1.4,42,-0.8