version: 66.03
glider: 122
mission: 6
dive: 150
start: 3 17 108 16 7 0
data:
$ID,122
$MISSION,6
$DIVE,150
$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,-30097.432
$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,58
$R_STBD_OVSHOOT,25
$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
$GPS1,160056,1250.662,12039.358,39,1.6,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.6
$GPS2,160627,1250.701,12039.340,13,1.5,13,-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,246.5,44077,-17.4,-9.016
$D_GRID,1318
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-59.00,0.000,2,0.000,0.000,252,2113,2344
$GC,83,-1.42,-146.0,3.1,-7.5,10,122,13.68,2.53,-17.77,0.000,4,0.175,0.053,2590,3570,3276
$GC,202,-1.09,-146.0,32.9,-24.6,30,210,0.40,2.33,0.00,0.000,6,0.116,0.028,2665,2172,3277
$GC,548,-1.00,-146.0,89.2,-13.5,91,554,0.10,0.00,0.00,0.000,6,0.120,0.000,2683,2171,3279
$GC,892,-1.03,-146.0,129.1,-9.2,152,899,0.00,2.47,0.00,0.000,4,0.000,0.044,2683,746,3279
$GC,923,-1.12,-146.0,132.2,-9.9,157,932,0.00,2.40,0.00,0.000,6,0.000,0.028,2683,2180,3280
$GC,1260,-1.21,-146.0,159.3,-7.4,218,1267,0.17,2.35,0.00,0.000,4,0.044,0.044,2624,3546,3281
$GC,1380,-1.18,-146.0,171.4,-10.3,239,1388,0.12,2.28,0.00,0.000,6,0.095,0.028,2648,2174,3281
$GC,1726,-1.23,-146.0,199.8,-7.3,300,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2174,3282
$GC,2069,-1.27,-146.0,229.4,-8.9,361,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2173,3282
$GC,2409,-1.33,-146.0,257.2,-8.5,414,2411,0.15,0.00,0.00,0.000,6,0.050,0.000,2603,2174,3281
$GC,2727,-1.28,-146.0,288.3,-9.9,444,2729,0.12,0.00,0.00,0.000,6,0.100,0.000,2627,2172,3279
$GC,3045,-1.28,-146.0,316.0,-8.8,474,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2171,3278
$GC,3363,-1.28,-146.0,342.1,-8.0,504,3367,0.00,2.40,0.00,0.000,4,0.000,0.048,2627,3550,3277
$GC,3424,-1.28,-146.0,347.2,-8.1,509,3429,0.00,2.30,0.00,0.000,6,0.000,0.031,2627,2184,3277
$GC,3750,-1.28,-146.0,373.3,-7.8,539,3755,0.00,2.53,0.00,0.000,4,0.000,0.051,2627,752,3275
$GC,3772,-1.32,-146.0,375.5,-8.7,540,3779,0.00,2.47,0.00,0.000,6,0.000,0.032,2627,2207,3274
$GC,4098,-1.32,-146.0,400.3,-8.1,571,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2207,3273
$GC,4417,-1.35,-146.0,426.8,-8.4,601,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2207,3271
$GC,4735,-1.39,-146.0,453.4,-8.3,631,4737,0.12,0.00,0.00,0.000,6,0.056,0.000,2590,2207,3269
$GC,5053,-1.34,-146.0,482.5,-9.1,661,5055,0.12,0.00,0.00,0.000,6,0.104,0.000,2613,2207,3267
$GC,5368,-1.34,-146.0,509.7,-8.6,686,5373,0.00,2.35,0.00,0.000,4,0.000,0.052,2613,3542,3266
$GC,5439,-1.34,-146.0,516.2,-8.8,689,5444,0.00,2.30,0.00,0.000,6,0.000,0.034,2613,2189,3265
$GC,5769,-1.34,-146.0,542.5,-7.9,705,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2185,3263
$GC,6076,-1.34,-146.0,567.8,-8.5,720,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2185,3261
$GC,6385,-1.34,-146.0,593.6,-8.6,735,6389,0.00,2.40,0.00,0.000,4,0.000,0.053,2613,3545,3259
$GC,6428,-1.34,-146.0,597.6,-8.9,737,6432,0.00,2.33,0.00,0.000,6,0.000,0.035,2613,2183,3258
$GC,6757,-1.34,-146.0,623.5,-7.7,753,6761,0.00,2.40,0.00,0.000,4,0.000,0.053,2613,3542,3257
$GC,6783,-1.34,-146.0,625.8,-7.9,754,6787,0.00,2.30,0.00,0.000,6,0.000,0.035,2613,2196,3257
$GC,7106,-1.34,-146.0,650.2,-7.4,770,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2194,3256
$GC,7414,-1.34,-146.0,675.9,-8.7,785,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2193,3255
$GC,7725,-1.34,-146.0,700.5,-7.7,800,7729,0.00,2.40,0.00,0.000,4,0.000,0.054,2613,3550,3254
$GC,7768,-1.34,-146.0,704.3,-8.1,802,7772,0.00,2.30,0.00,0.000,6,0.000,0.036,2613,2204,3254
$GC,8095,-1.34,-146.0,729.8,-8.0,818,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,3252
$GC,8405,-1.34,-146.0,754.1,-8.0,833,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,3252
$GC,8714,-1.34,-146.0,779.9,-8.5,848,8719,0.00,2.38,0.00,0.000,4,0.000,0.056,2613,3542,3250
$GC,8746,-1.34,-146.0,782.7,-8.4,849,8750,0.00,2.30,0.00,0.000,6,0.000,0.038,2613,2204,3249
$GC,9068,-1.34,-146.0,809.8,-8.5,865,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2203,3249
$GC,9378,-1.34,-146.0,835.2,-7.9,880,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2204,3248
$GC,9689,-1.38,-146.0,860.7,-8.2,895,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2204,3246
$GC,9996,-1.41,-146.0,884.5,-7.2,910,10000,0.00,2.38,0.00,0.000,4,0.000,0.058,2613,3541,3246
$GC,10042,-1.45,-146.0,888.0,-7.8,912,10046,0.12,2.30,0.00,0.000,6,0.063,0.039,2580,2204,3246
$GC,10375,-1.42,-146.0,916.0,-8.6,928,10379,0.00,2.40,0.00,0.000,4,0.000,0.057,2580,3548,3245
$GC,10407,-1.38,-146.0,919.3,-9.2,929,10415,0.12,2.30,0.00,0.000,6,0.113,0.038,2603,2213,3245
$GC,10724,-1.38,-146.0,945.6,-8.4,945,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2212,3244
$GC,11032,-1.38,-146.0,969.4,-7.5,960,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2212,3243
$STATE,11321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11321,begin apogee
$GC,11326,-0.34,0.0,990.6,6.8,974,11452,1.10,0.00,121.88,1.389,6,0.094,0.000,2826,2369,2678
$STATE,11452,end apogee,CONTROL_FINISHED_OK
$STATE,11452,begin climb
$GC,11454,1.42,146.0,993.5,0.0,980,11586,1.80,0.00,127.38,1.338,6,0.057,0.000,3220,2368,2082
$GC,11892,1.20,146.0,944.6,13.3,1002,11894,0.28,0.00,0.00,0.000,6,0.119,0.000,3171,2369,2080
$GC,12201,1.08,146.0,910.3,11.1,1017,12203,0.15,0.00,0.00,0.000,6,0.123,0.000,3145,2369,2079
$GC,12511,1.02,146.0,879.3,9.6,1032,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2369,2078
$GC,12820,0.95,146.0,849.9,9.4,1047,12822,0.17,0.00,0.00,0.000,6,0.121,0.000,3113,2369,2077
$GC,13129,0.98,159.9,825.2,8.3,1062,13142,0.00,0.00,11.50,1.329,6,0.000,0.000,3114,2369,2026
$GC,13438,1.00,174.0,799.0,8.3,1077,13458,0.00,0.00,12.52,1.307,6,0.000,0.000,3113,2369,1968
$GC,13766,1.00,174.0,768.8,9.8,1093,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2369,1967
$GC,14075,1.00,174.0,740.2,9.3,1108,14079,0.00,2.58,0.00,0.000,4,0.000,0.062,3113,966,1967
$GC,14114,1.00,174.0,736.6,10.5,1110,14119,0.00,2.47,0.00,0.000,6,0.000,0.041,3114,2367,1967
$GC,14441,1.04,178.4,707.6,8.8,1126,14450,0.00,2.47,4.03,1.256,4,0.000,0.061,3114,3724,1950
$GC,14489,1.04,178.4,702.8,10.0,1128,14494,0.00,2.38,0.00,0.000,6,0.000,0.040,3114,2381,1950
$GC,14817,1.09,190.5,674.9,8.4,1144,14834,0.12,2.65,10.77,1.232,4,0.071,0.062,3142,961,1900
$GC,14906,1.09,190.5,665.9,10.2,1147,14910,0.00,2.50,0.00,0.000,6,0.000,0.040,3142,2355,1900
$GC,15233,1.09,190.5,633.4,9.8,1163,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2356,1900
$GC,15542,1.11,201.7,605.9,8.4,1178,15554,0.00,0.00,9.88,1.189,6,0.000,0.000,3142,2356,1855
$GC,15852,1.11,201.7,577.1,9.5,1193,15853,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2356,1854
$GC,16161,1.11,201.7,548.0,9.3,1208,16165,0.00,2.53,0.00,0.000,4,0.000,0.059,3143,968,1854
$GC,16192,1.11,201.7,545.1,9.5,1209,16199,0.00,2.45,0.00,0.000,6,0.000,0.039,3142,2347,1854
$GC,16508,1.11,201.7,515.7,9.5,1225,16512,0.00,2.50,0.00,0.000,4,0.000,0.058,3142,969,1854
$GC,16546,1.11,201.7,511.9,9.8,1226,16553,0.00,2.38,0.00,0.000,6,0.000,0.038,3143,2329,1853
$GC,16867,1.11,201.7,482.2,9.1,1251,16871,0.00,2.50,0.00,0.000,4,0.000,0.060,3142,3725,1854
$GC,16905,1.11,201.7,478.7,9.1,1254,16910,0.00,2.42,0.00,0.000,6,0.000,0.038,3142,2322,1854
$GC,17230,1.12,206.1,450.5,8.8,1284,17242,0.00,2.55,4.10,1.084,4,0.000,0.057,3142,3724,1837
$GC,17264,1.12,206.1,447.2,10.6,1287,17269,0.00,2.42,0.00,0.000,6,0.000,0.038,3143,2329,1837
$GC,17589,1.12,208.8,417.5,8.9,1317,17593,0.00,0.00,2.70,1.053,6,0.000,0.000,3142,2329,1826
$GC,17909,1.12,211.2,390.2,8.9,1347,17918,0.00,0.00,2.70,1.032,6,0.000,0.000,3143,2328,1815
$GC,18237,1.14,217.9,362.1,8.7,1378,18249,0.00,2.53,6.12,1.013,4,0.000,0.054,3142,3723,1789
$GC,18288,1.16,233.8,357.5,8.2,1382,18307,0.00,2.40,13.60,0.969,6,0.000,0.038,3142,2341,1724
$GC,18624,1.23,251.0,329.3,8.1,1414,18645,0.12,0.00,14.52,0.953,6,0.066,0.000,3173,2340,1653
$GC,18962,1.23,251.0,295.8,9.8,1446,18966,0.00,2.47,0.00,0.000,4,0.000,0.057,3173,967,1652
$GC,19005,1.23,251.0,291.4,9.9,1449,19012,0.00,2.42,0.00,0.000,6,0.000,0.037,3173,2343,1651
$GC,19330,1.23,251.0,260.6,9.4,1480,19334,0.00,2.47,0.00,0.000,4,0.000,0.054,3172,969,1651
$GC,19372,1.23,251.0,256.3,9.9,1483,19380,0.00,2.40,0.00,0.000,6,0.000,0.036,3173,2335,1651
$GC,19713,1.24,260.4,226.2,8.5,1538,19726,0.00,2.55,7.70,0.888,4,0.000,0.054,3173,966,1616
$GC,19777,1.24,260.4,220.2,9.5,1549,19784,0.00,2.38,0.00,0.000,6,0.000,0.036,3173,2330,1615
$GC,20121,1.26,269.1,189.5,8.6,1610,20134,0.00,2.53,7.45,0.852,4,0.000,0.052,3173,970,1579
$GC,20202,1.29,288.8,182.4,8.0,1624,20226,0.00,2.35,16.17,0.805,6,0.000,0.035,3173,2321,1499
$GC,20565,1.43,319.8,153.9,7.4,1688,20595,0.15,0.00,24.95,0.761,6,0.060,0.000,3216,2320,1373
$GC,20934,1.51,338.6,121.1,8.1,1753,20958,0.00,2.58,14.95,0.743,4,0.000,0.051,3216,3727,1296
$GC,21021,1.60,348.8,113.3,8.5,1768,21035,0.17,2.38,8.25,0.751,6,0.054,0.034,3262,2340,1256
$GC,21374,1.63,365.3,80.9,8.2,1830,21393,0.00,2.53,12.95,0.698,4,0.000,0.051,3261,972,1188
$GC,21472,1.63,365.3,71.6,9.5,1847,21479,0.00,2.35,0.00,0.000,6,0.000,0.032,3261,2336,1186
$GC,21817,1.71,387.4,43.7,7.9,1908,21842,0.00,2.47,17.98,0.638,4,0.000,0.048,3262,965,1097
$GC,21911,1.80,402.0,35.9,8.3,1924,21930,0.15,2.30,11.35,0.637,6,0.049,0.030,3305,2311,1039
$STATE,22259,end climb,SURFACE_DEPTH_REACHED
$STATE,22259,begin surface coast
$FINISH,-0.1,1.021189
$STATE,22283,end surface coast,CONTROL_FINISHED_OK
$STATE,22283,begin surface
$SM_CCo,22304,36.35,0.564,0,0,740,475.15
$SM_GC,0.84,0.00,0.00,36.35,0.000,0.000,0.564,250,2134,740,-12.21,-0.45,475.15
$IRIDIUM_FIX,1243.25,12042.28,110697,090958
$TT8_MAMPS,0.023777
$HUMID,1963
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.20
$XPDR_PINGS,458
$24V_AH,23.2,28.549
$10V_AH,10.1,14.096
$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,33.000,131.325,463.450,36.350,0.000,23.749,36.380,156.573,127.000,0.000,0.000,13.266,3874.976,14465.831,692.278,3143.133,497.694,0.000,2235.114,0.000,3074.361,0.000,91.594
$DEVICE_MAMPS,174.876,62.127,1389.037,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1339.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62902,1990
$CAP_FILE_SIZE,196267,0
$CFSIZE,260165632,245407744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,339.3,1
$GPS,170308,222037,1250.650,12035.963,40,0.9,40,-0.8