version: 66.03
glider: 122
mission: 6
dive: 170
start: 3 22 108 0 4 47
data:
$ID,122
$MISSION,6
$DIVE,170
$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,-30408.488
$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,63
$R_STBD_OVSHOOT,31
$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
$GPS1,235832,1248.035,12033.502,41,1.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.6
$GPS2,000414,1248.016,12033.495,11,0.8,16,-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,89.1,17440,-17.4,-9.016
$D_GRID,1290
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-62.58,0.000,2,0.000,0.000,250,2109,2459
$GC,87,-1.42,-146.0,3.5,-8.1,10,125,13.65,2.35,-15.35,0.000,4,0.173,0.054,2590,777,3276
$GC,283,-1.18,-146.0,47.6,-20.8,44,290,0.30,2.30,0.00,0.000,6,0.109,0.026,2647,2160,3278
$GC,629,-1.06,-146.0,102.6,-14.0,105,635,0.15,0.00,0.00,0.000,6,0.097,0.000,2680,2160,3280
$GC,973,-1.06,-146.0,140.9,-10.4,166,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2160,3282
$GC,1317,-1.13,-146.0,172.5,-8.4,227,1326,0.00,2.38,0.00,0.000,4,0.000,0.044,2680,3551,3282
$GC,1356,-1.21,-146.0,175.5,-8.2,233,1366,0.17,2.25,0.00,0.000,6,0.048,0.028,2628,2186,3282
$GC,1703,-1.21,-146.0,208.1,-9.2,294,1710,0.00,2.47,0.00,0.000,4,0.000,0.046,2628,762,3283
$GC,1744,-1.21,-146.0,212.1,-9.6,301,1752,0.00,2.38,0.00,0.000,6,0.000,0.030,2628,2179,3282
$GC,2089,-1.21,-146.0,241.5,-8.2,362,2096,0.00,2.35,0.00,0.000,4,0.000,0.046,2628,3546,3282
$GC,2164,-1.21,-146.0,248.3,-9.0,375,2172,0.00,2.22,0.00,0.000,6,0.000,0.031,2628,2211,3282
$GC,2499,-1.21,-146.0,275.9,-8.5,408,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2209,3280
$GC,2816,-1.21,-146.0,303.2,-8.6,438,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2207,3279
$GC,3135,-1.21,-146.0,330.2,-8.4,468,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2207,3276
$GC,3453,-1.21,-146.0,357.9,-8.8,498,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2207,3274
$GC,3772,-1.21,-146.0,384.5,-8.1,528,3776,0.00,2.58,0.00,0.000,4,0.000,0.054,2628,763,3271
$GC,3801,-1.24,-146.0,387.0,-8.2,530,3805,0.00,2.47,0.00,0.000,6,0.000,0.034,2628,2206,3272
$GC,4128,-1.24,-146.0,411.2,-7.2,560,4133,0.00,2.35,0.00,0.000,4,0.000,0.051,2628,3551,3270
$GC,4161,-1.24,-146.0,414.0,-7.5,562,4170,0.00,2.25,0.00,0.000,6,0.000,0.034,2628,2223,3269
$GC,4488,-1.27,-146.0,437.9,-7.5,593,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2220,3268
$GC,4806,-1.31,-146.0,462.1,-8.0,623,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2220,3266
$GC,5125,-1.34,-146.0,487.1,-8.0,653,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2220,3264
$GC,5441,-1.38,-146.0,511.3,-7.4,676,5443,0.12,0.00,0.00,0.000,6,0.059,0.000,2593,2220,3262
$GC,5747,-1.38,-146.0,538.1,-9.0,691,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2220,3260
$GC,6056,-1.35,-146.0,566.6,-9.5,706,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2220,3258
$GC,6364,-1.35,-146.0,595.8,-9.1,721,6369,0.00,2.35,0.00,0.000,4,0.000,0.055,2594,3545,3257
$GC,6398,-1.32,-146.0,599.2,-10.0,722,6406,0.12,2.22,0.00,0.000,6,0.106,0.036,2616,2238,3257
$GC,6714,-1.32,-146.0,623.9,-7.8,738,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2236,3256
$GC,7023,-1.32,-146.0,648.4,-7.8,753,7027,0.00,2.30,0.00,0.000,4,0.000,0.056,2616,3540,3254
$GC,7060,-1.32,-146.0,651.6,-8.4,754,7068,0.00,2.22,0.00,0.000,6,0.000,0.037,2616,2237,3254
$GC,7376,-1.32,-146.0,678.2,-8.5,770,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2236,3253
$GC,7687,-1.35,-146.0,703.7,-8.0,785,7691,0.00,2.33,0.00,0.000,4,0.000,0.056,2616,3545,3251
$GC,7736,-1.39,-146.0,708.2,-8.7,787,7740,0.00,2.22,0.00,0.000,6,0.000,0.038,2616,2246,3251
$GC,8053,-1.43,-146.0,732.5,-7.7,802,8057,0.00,2.67,0.00,0.000,4,0.000,0.059,2616,759,3250
$GC,8093,-1.49,-146.0,735.8,-8.6,804,8098,0.17,2.53,0.00,0.000,6,0.054,0.038,2570,2216,3250
$GC,8422,-1.42,-146.0,767.2,-9.8,820,8424,0.12,0.00,0.00,0.000,6,0.117,0.000,2591,2216,3248
$GC,8729,-1.42,-146.0,791.6,-7.5,835,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2216,3248
$GC,9038,-1.42,-146.0,816.4,-8.2,850,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2216,3246
$GC,9347,-1.42,-146.0,841.9,-8.4,865,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2216,3245
$GC,9657,-1.42,-146.0,865.7,-7.3,880,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2217,3245
$GC,9967,-1.42,-146.0,890.2,-7.5,895,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2217,3244
$GC,10275,-1.42,-146.0,914.6,-7.7,910,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2217,3243
$GC,10585,-1.42,-146.0,936.3,-7.6,925,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2217,3242
$GC,10894,-1.42,-146.0,962.4,-9.0,940,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2217,3241
$GC,11203,-1.42,-146.0,984.5,-6.1,955,11207,0.00,2.38,0.00,0.000,4,0.000,0.062,2591,3543,3241
$GC,11243,-1.42,-146.0,987.4,-7.3,957,11247,0.00,2.25,0.00,0.000,6,0.000,0.039,2591,2239,3240
$STATE,11281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11281,begin apogee
$GC,11286,-0.34,0.0,990.5,8.1,959,11411,1.17,0.00,121.55,1.394,6,0.097,0.000,2828,2369,2678
$STATE,11412,end apogee,CONTROL_FINISHED_OK
$STATE,11412,begin climb
$GC,11414,1.42,146.0,995.4,0.0,965,11549,1.77,2.53,127.18,1.341,4,0.058,0.062,3216,3720,2081
$GC,11640,1.16,146.0,977.3,12.9,975,11645,0.32,2.33,0.00,0.000,6,0.130,0.041,3160,2396,2080
$GC,11957,1.05,146.0,943.0,11.4,990,11961,0.15,2.42,0.00,0.000,4,0.126,0.061,3133,3723,2079
$GC,11996,0.96,146.0,938.5,10.8,992,12001,0.00,2.35,0.00,0.000,6,0.000,0.040,3133,2379,2079
$GC,12323,0.90,146.0,903.4,10.9,1008,12328,0.17,2.58,0.00,0.000,4,0.121,0.061,3100,971,2078
$GC,12378,0.90,146.0,897.1,10.1,1010,12385,0.00,2.47,0.00,0.000,6,0.000,0.041,3100,2372,2078
$GC,12694,0.93,160.7,868.8,8.3,1026,12716,0.00,2.58,12.30,1.346,4,0.000,0.064,3100,3725,2022
$GC,12739,0.93,160.7,865.1,9.5,1028,12743,0.00,2.35,0.00,0.000,6,0.000,0.040,3100,2386,2022
$GC,13067,0.94,169.9,837.1,8.5,1044,13081,0.00,2.67,8.10,1.335,4,0.000,0.062,3100,974,1984
$GC,13120,0.94,169.9,832.1,9.8,1046,13124,0.00,2.53,0.00,0.000,6,0.000,0.041,3100,2376,1985
$GC,13442,0.97,169.9,803.3,9.2,1062,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2376,1984
$GC,13751,1.02,176.4,775.7,8.7,1077,13760,0.12,0.00,5.85,1.314,6,0.071,0.000,3129,2376,1959
$GC,14060,1.02,176.4,746.9,9.1,1092,14064,0.00,2.58,0.00,0.000,4,0.000,0.061,3129,967,1958
$GC,14121,1.02,176.4,741.2,9.0,1095,14126,0.00,2.47,0.00,0.000,6,0.000,0.041,3129,2373,1958
$GC,14448,1.03,183.0,712.4,8.7,1111,14456,0.00,0.00,6.28,1.276,6,0.000,0.000,3129,2373,1931
$GC,14757,1.07,205.2,686.8,7.9,1126,14782,0.00,2.67,19.30,1.224,4,0.000,0.060,3129,968,1841
$GC,14823,1.07,205.2,681.2,9.4,1129,14827,0.00,2.50,0.00,0.000,6,0.000,0.040,3129,2374,1840
$GC,15149,1.08,213.3,652.9,8.6,1145,15158,0.00,0.00,6.90,1.223,6,0.000,0.000,3129,2374,1808
$GC,15459,1.10,225.8,626.5,8.4,1160,15472,0.00,0.00,11.55,1.190,6,0.000,0.000,3129,2374,1757
$GC,15767,1.11,230.8,599.0,8.8,1175,15776,0.00,2.60,4.53,1.177,4,0.000,0.058,3129,972,1737
$GC,15838,1.12,234.3,592.5,8.8,1178,15850,0.00,2.45,3.85,1.159,6,0.000,0.038,3129,2363,1722
$GC,16159,1.13,242.2,564.8,8.6,1194,16168,0.00,0.00,7.10,1.154,6,0.000,0.000,3129,2364,1690
$GC,16468,1.17,242.2,536.1,9.3,1209,16473,0.15,2.55,0.00,0.000,4,0.063,0.058,3168,960,1690
$GC,16508,1.12,242.2,531.8,11.5,1211,16512,0.00,2.45,0.00,0.000,6,0.000,0.038,3168,2357,1689
$GC,16825,1.08,242.2,494.0,12.6,1228,16827,0.15,0.00,0.00,0.000,6,0.111,0.000,3141,2357,1689
$GC,17144,1.08,242.2,460.8,9.8,1258,17149,0.00,2.53,0.00,0.000,4,0.000,0.057,3141,960,1689
$GC,17177,1.08,242.2,457.0,10.0,1260,17184,0.00,2.42,0.00,0.000,6,0.000,0.038,3141,2335,1689
$GC,17503,1.08,242.2,426.0,9.2,1291,17507,0.00,2.47,0.00,0.000,4,0.000,0.056,3141,962,1689
$GC,17554,1.08,242.2,421.3,9.5,1295,17558,0.00,2.35,0.00,0.000,6,0.000,0.037,3141,2313,1689
$GC,17879,1.08,242.2,391.8,9.2,1325,17883,0.00,2.50,0.00,0.000,4,0.000,0.057,3142,3730,1689
$GC,17917,1.08,242.2,387.8,9.7,1328,17925,0.00,2.45,0.00,0.000,6,0.000,0.037,3141,2303,1689
$GC,18244,1.11,242.3,358.5,9.0,1359,18249,0.00,2.40,0.00,0.000,4,0.000,0.056,3141,960,1689
$GC,18288,1.11,242.3,354.1,9.0,1362,18296,0.00,2.38,0.00,0.000,6,0.000,0.036,3141,2313,1689
$GC,18615,1.13,253.1,326.0,8.5,1393,18626,0.00,0.00,9.85,0.971,6,0.000,0.000,3141,2313,1646
$GC,18944,1.17,256.1,297.6,8.9,1424,18949,0.00,0.00,2.78,0.956,6,0.000,0.000,3141,2313,1633
$GC,19269,1.23,261.0,269.6,8.8,1454,19283,0.15,2.45,4.65,0.934,4,0.062,0.054,3184,968,1612
$GC,19307,1.18,261.0,265.9,10.1,1457,19311,0.00,2.33,0.00,0.000,6,0.000,0.035,3184,2303,1612
$GC,19641,1.15,261.0,233.0,9.4,1502,19648,0.15,2.53,0.00,0.000,4,0.110,0.052,3153,3733,1612
$GC,19722,1.15,261.0,225.5,9.3,1516,19729,0.00,2.40,0.00,0.000,6,0.000,0.035,3153,2328,1612
$GC,20067,1.23,289.4,196.8,7.6,1577,20097,0.00,2.47,23.23,0.815,4,0.000,0.052,3153,972,1496
$GC,20200,1.30,300.1,185.6,8.5,1600,20214,0.17,2.33,8.65,0.834,6,0.049,0.035,3197,2313,1454
$GC,20552,1.31,305.4,150.9,8.7,1662,20565,0.00,2.55,4.30,0.821,4,0.000,0.051,3197,3727,1433
$GC,20588,1.31,305.8,147.7,9.0,1668,20595,0.00,2.42,0.00,0.000,6,0.000,0.034,3197,2312,1433
$GC,20933,1.39,327.9,119.0,7.9,1729,20958,0.00,2.47,18.52,0.736,4,0.000,0.051,3197,972,1339
$GC,20998,1.47,342.2,113.4,8.3,1740,21018,0.12,2.40,11.52,0.733,6,0.061,0.033,3231,2363,1282
$GC,21357,1.54,366.4,82.1,7.8,1803,21382,0.00,2.58,19.15,0.678,4,0.000,0.048,3231,971,1183
$GC,21428,1.59,368.7,75.8,8.9,1815,21434,0.00,2.33,0.00,0.000,6,0.000,0.031,3231,2326,1181
$GC,21773,1.76,422.6,51.3,6.3,1876,21826,0.22,2.45,45.05,0.610,4,0.045,0.047,3294,970,954
$GC,21978,1.76,422.6,29.3,10.3,1912,21984,0.00,2.20,0.00,0.000,6,0.000,0.029,3294,2274,951
$STATE,22235,end climb,SURFACE_DEPTH_REACHED
$STATE,22235,begin surface coast
$FINISH,0.1,1.020922
$STATE,22259,end surface coast,CONTROL_FINISHED_OK
$STATE,22259,begin surface
$SM_CCo,22281,25.60,0.562,0,0,741,475.15
$SM_GC,1.12,0.00,0.00,25.60,0.000,0.000,0.562,249,2107,741,-12.22,-1.22,475.15
$IRIDIUM_FIX,1243.25,12029.39,150697,181838
$TT8_MAMPS,0.024544
$HUMID,1910
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,451
$24V_AH,23.2,31.903
$10V_AH,10.1,15.920
$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,33.075,150.750,482.175,25.600,0.000,22.786,38.006,160.622,125.250,0.000,0.000,16.247,4006.072,14278.460,701.811,3144.854,519.516,0.000,2270.850,0.000,3080.215,0.000,91.577
$DEVICE_MAMPS,173.342,63.661,1394.406,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1320.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59795,1962
$CAP_FILE_SIZE,199881,0
$CFSIZE,260165632,243736576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,323.7,1
$GPS,220308,061738,1248.207,12035.882,29,1.2,29,-0.8