version: 66.03
glider: 122
mission: 6
dive: 204
start: 3 29 108 8 59 37
data:
$ID,122
$MISSION,6
$DIVE,204
$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,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-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,-30993.68
$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,14.2
$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,54
$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,2748
$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,8
$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
$GPS1,085338,1251.251,12041.464,37,0.9,37,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.2
$GPS2,085903,1251.283,12041.459,12,1.2,12,-0.8
$SPEED_LIMITS,0.156,0.206
$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,241.7,48048,-18.6,-9.016
$D_GRID,1169
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.56,-146.0,0.0,0.0,0,84,0.00,0.00,-60.65,0.000,2,0.000,0.000,254,2117,2489
$GC,86,-1.56,-146.0,3.5,-7.6,10,125,13.40,2.53,-15.43,0.000,4,0.173,0.052,2558,3558,3346
$GC,154,-1.17,-146.0,22.5,-25.1,21,162,0.47,2.33,0.00,0.000,6,0.123,0.028,2646,2162,3347
$GC,500,-1.08,-146.0,82.3,-14.3,82,507,0.12,2.40,0.00,0.000,4,0.114,0.041,2669,3560,3348
$GC,581,-1.08,-146.0,93.3,-13.0,96,588,0.00,2.25,0.00,0.000,6,0.000,0.026,2669,2194,3349
$GC,926,-1.12,-146.0,131.6,-10.1,157,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2194,3350
$GC,1270,-1.22,-146.0,162.4,-7.9,218,1277,0.15,0.00,0.00,0.000,6,0.050,0.000,2619,2194,3352
$GC,1615,-1.22,-146.0,195.5,-9.0,279,1622,0.10,0.00,0.00,0.000,6,0.101,0.000,2638,2195,3352
$GC,1961,-1.28,-146.0,225.8,-7.8,340,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2194,3352
$GC,2302,-1.35,-146.0,254.2,-9.1,397,2304,0.12,0.00,0.00,0.000,6,0.055,0.000,2598,2194,3352
$GC,2622,-1.35,-146.0,286.9,-9.2,427,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2191,3350
$GC,2939,-1.35,-146.0,315.6,-9.3,457,2943,0.00,2.38,0.00,0.000,4,0.000,0.046,2598,3570,3349
$GC,2971,-1.35,-146.0,318.8,-9.3,459,2978,0.00,2.25,0.00,0.000,6,0.000,0.031,2598,2221,3349
$GC,3298,-1.35,-146.0,346.6,-8.7,490,3302,0.00,2.58,0.00,0.000,4,0.000,0.050,2597,756,3348
$GC,3348,-1.35,-146.0,351.1,-9.2,494,3352,0.00,2.50,0.00,0.000,6,0.000,0.032,2597,2228,3347
$GC,3676,-1.35,-146.0,379.5,-8.9,524,3680,0.00,2.30,0.00,0.000,4,0.000,0.048,2598,3557,3346
$GC,3697,-1.35,-146.0,382.2,-10.3,525,3705,0.00,2.28,0.00,0.000,6,0.000,0.031,2597,2220,3346
$GC,4024,-1.35,-146.0,411.1,-9.3,556,4028,0.00,2.35,0.00,0.000,4,0.000,0.048,2598,3564,3344
$GC,4075,-1.35,-146.0,416.3,-10.2,560,4079,0.00,2.28,0.00,0.000,6,0.000,0.032,2597,2217,3343
$GC,4402,-1.35,-146.0,444.4,-8.3,590,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2213,3341
$GC,4720,-1.35,-146.0,470.9,-8.7,620,4724,0.00,2.35,0.00,0.000,4,0.000,0.050,2597,3555,3339
$GC,4752,-1.35,-146.0,474.3,-9.2,622,4760,0.00,2.25,0.00,0.000,6,0.000,0.033,2597,2244,3339
$GC,5089,-1.35,-146.0,506.8,-10.1,651,5093,0.00,2.30,0.00,0.000,4,0.000,0.051,2597,3555,3337
$GC,5124,-1.35,-146.0,510.5,-9.8,652,5131,0.00,2.20,0.00,0.000,6,0.000,0.033,2597,2253,3337
$GC,5440,-1.35,-146.0,538.8,-8.4,668,5444,0.00,2.65,0.00,0.000,4,0.000,0.054,2597,762,3335
$GC,5467,-1.35,-146.0,541.2,-8.4,669,5471,0.00,2.58,0.00,0.000,6,0.000,0.035,2597,2259,3335
$GC,5783,-1.35,-146.0,569.0,-9.6,684,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2260,3332
$GC,6093,-1.35,-146.0,600.7,-9.8,699,6098,0.00,2.67,0.00,0.000,4,0.000,0.054,2597,760,3331
$GC,6120,-1.39,-146.0,603.5,-9.7,700,6125,0.00,2.55,0.00,0.000,6,0.000,0.035,2598,2243,3330
$GC,6438,-1.39,-146.0,630.1,-8.1,715,6442,0.00,2.33,0.00,0.000,4,0.000,0.055,2598,3565,3329
$GC,6482,-1.39,-146.0,633.9,-7.6,717,6486,0.00,2.25,0.00,0.000,6,0.000,0.035,2597,2238,3328
$GC,6809,-1.39,-146.0,656.9,-7.4,733,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2237,3327
$GC,7119,-1.39,-146.0,684.2,-9.0,748,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2237,3325
$GC,7430,-1.39,-146.0,711.1,-8.9,763,7434,0.00,2.35,0.00,0.000,4,0.000,0.054,2597,3565,3323
$GC,7456,-1.39,-146.0,713.7,-9.0,764,7460,0.00,2.28,0.00,0.000,6,0.000,0.035,2598,2250,3324
$GC,7778,-1.39,-146.0,739.6,-8.0,780,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2249,3323
$GC,8087,-1.39,-146.0,764.0,-8.5,795,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2249,3321
$GC,8397,-1.43,-146.0,792.3,-9.4,810,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2248,3321
$GC,8706,-1.46,-146.0,818.8,-8.2,825,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2248,3320
$GC,9016,-1.50,-146.0,844.3,-8.6,840,9020,0.00,2.67,0.00,0.000,4,0.000,0.060,2597,762,3319
$GC,9042,-1.54,-146.0,847.1,-9.9,841,9047,0.12,2.58,0.00,0.000,6,0.061,0.038,2563,2246,3319
$GC,9360,-1.51,-146.0,877.6,-10.0,856,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2247,3317
$GC,9668,-1.47,-146.0,906.9,-9.3,871,9673,0.12,2.67,0.00,0.000,4,0.116,0.059,2584,765,3316
$GC,9701,-1.47,-146.0,910.3,-9.5,872,9709,0.00,2.55,0.00,0.000,6,0.000,0.039,2584,2232,3316
$GC,10018,-1.47,-146.0,937.3,-8.6,888,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2233,3314
$GC,10326,-1.47,-146.0,962.7,-8.5,903,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2233,3314
$STATE,10638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10638,begin apogee
$GC,10644,-0.35,0.0,990.6,9.3,918,10769,1.20,0.00,122.00,1.394,6,0.100,0.000,2825,2381,2748
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10770,begin climb
$GC,10772,1.56,146.0,995.6,0.0,924,10907,1.95,2.53,126.95,1.345,4,0.060,0.064,3249,3728,2151
$GC,10999,1.26,146.0,977.1,14.5,934,11004,0.38,2.35,0.00,0.000,6,0.137,0.041,3183,2388,2150
$GC,11314,1.13,146.0,941.1,11.5,949,11319,0.15,2.60,0.00,0.000,4,0.126,0.061,3154,966,2149
$GC,11355,1.04,146.0,936.7,11.2,951,11360,0.12,2.50,0.00,0.000,6,0.127,0.041,3133,2378,2149
$GC,11682,1.01,146.0,903.3,10.1,967,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2378,2148
$GC,11991,1.03,159.7,873.9,8.4,982,12013,0.00,2.62,11.55,1.348,4,0.000,0.059,3133,972,2095
$GC,12086,1.00,160.0,865.3,9.0,986,12090,0.00,2.47,0.00,0.000,6,0.000,0.041,3133,2371,2095
$GC,12408,1.03,176.2,838.1,8.3,1002,12427,0.00,0.00,14.48,1.325,6,0.000,0.000,3133,2372,2029
$GC,12736,1.05,191.4,809.9,8.3,1018,12759,0.00,2.67,13.38,1.312,4,0.000,0.060,3133,969,1967
$GC,12786,1.05,191.4,805.4,9.5,1020,12790,0.00,2.47,0.00,0.000,6,0.000,0.041,3133,2357,1966
$GC,13114,1.09,215.6,779.0,7.9,1036,13140,0.00,2.62,20.85,1.279,4,0.000,0.061,3133,970,1869
$GC,13174,1.09,215.6,773.4,9.8,1038,13181,0.00,2.47,0.00,0.000,6,0.000,0.041,3133,2358,1867
$GC,13490,1.12,215.6,745.0,9.6,1054,13494,0.00,2.55,0.00,0.000,4,0.000,0.060,3133,966,1867
$GC,13544,1.12,215.6,739.2,10.6,1056,13552,0.00,2.40,0.00,0.000,6,0.000,0.040,3133,2328,1867
$GC,13862,1.16,217.2,709.9,8.9,1072,13867,0.12,2.53,0.00,0.000,4,0.075,0.062,3162,3725,1867
$GC,13905,1.12,217.2,704.8,11.5,1074,13909,0.00,2.42,0.00,0.000,6,0.000,0.040,3162,2334,1867
$GC,14234,1.12,217.2,671.8,9.8,1090,14238,0.00,2.47,0.00,0.000,4,0.000,0.061,3162,969,1867
$GC,14305,1.12,217.2,664.1,10.6,1093,14309,0.00,2.40,0.00,0.000,6,0.000,0.040,3162,2331,1866
$GC,14627,1.12,217.2,632.7,9.7,1109,14631,0.00,2.47,0.00,0.000,4,0.000,0.059,3162,969,1866
$GC,14689,1.12,217.2,626.6,10.0,1112,14693,0.00,2.35,0.00,0.000,6,0.000,0.040,3162,2307,1866
$GC,15016,1.14,228.4,597.2,8.5,1128,15028,0.00,0.00,10.93,1.187,6,0.000,0.000,3162,2307,1816
$GC,15324,1.14,228.4,567.8,9.8,1143,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2307,1815
$GC,15634,1.15,233.2,538.7,8.8,1158,15643,0.00,2.47,4.28,1.144,4,0.000,0.058,3162,968,1797
$GC,15724,1.15,233.4,530.4,9.0,1162,15728,0.00,2.35,0.00,0.000,6,0.000,0.038,3162,2307,1796
$GC,16051,1.16,242.3,502.9,8.6,1178,16065,0.00,2.53,8.15,1.114,4,0.000,0.058,3162,966,1760
$GC,16099,1.16,242.3,498.3,9.8,1180,16107,0.00,2.35,0.00,0.000,6,0.000,0.038,3162,2304,1759
$GC,16427,1.16,242.3,467.3,9.5,1211,16431,0.00,2.42,0.00,0.000,4,0.000,0.058,3162,967,1759
$GC,16459,1.16,242.3,463.9,10.2,1213,16467,0.00,2.28,0.00,0.000,6,0.000,0.038,3162,2279,1759
$GC,16786,1.18,251.4,435.0,8.6,1244,16799,0.00,2.70,8.35,1.065,4,0.000,0.058,3162,3730,1723
$GC,16834,1.18,251.4,430.2,10.6,1248,16838,0.00,2.53,0.00,0.000,6,0.000,0.038,3162,2284,1723
$GC,17159,1.18,251.4,400.1,9.8,1278,17163,0.00,2.38,0.00,0.000,4,0.000,0.058,3162,961,1723
$GC,17191,1.18,251.4,396.7,12.1,1280,17198,0.00,2.33,0.00,0.000,6,0.000,0.036,3162,2299,1722
$GC,17518,1.22,279.6,367.9,7.8,1311,17553,0.00,2.62,24.05,0.972,4,0.000,0.057,3162,3729,1606
$GC,17581,1.27,279.6,362.3,9.4,1316,17588,0.00,2.47,0.00,0.000,6,0.000,0.037,3162,2307,1606
$GC,17908,1.34,289.6,333.4,8.6,1347,17922,0.15,2.50,8.25,0.969,4,0.060,0.056,3204,968,1567
$GC,18002,1.30,289.6,323.2,11.4,1355,18007,0.00,2.33,0.00,0.000,6,0.000,0.036,3204,2300,1566
$GC,18327,1.30,289.6,291.0,9.4,1385,18331,0.00,2.40,0.00,0.000,4,0.000,0.055,3204,967,1566
$GC,18404,1.30,289.6,283.4,9.6,1391,18411,0.00,2.28,0.00,0.000,6,0.000,0.036,3204,2261,1566
$GC,18732,1.30,289.6,250.2,10.7,1422,18736,0.00,2.33,0.00,0.000,4,0.000,0.054,3204,965,1566
$GC,18760,1.30,289.6,246.7,10.9,1426,18767,0.00,2.22,0.00,0.000,6,0.000,0.036,3204,2249,1566
$GC,19106,1.30,289.6,211.6,9.9,1487,19113,0.00,2.30,0.00,0.000,4,0.000,0.054,3204,966,1566
$GC,19153,1.30,289.6,206.9,9.4,1495,19160,0.00,2.20,0.00,0.000,6,0.000,0.035,3204,2243,1566
$GC,19497,1.30,289.6,176.5,9.2,1556,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2243,1566
$GC,19841,1.43,339.8,149.0,6.8,1617,19888,0.00,2.40,41.12,0.753,4,0.000,0.051,3204,966,1361
$GC,19957,1.56,358.6,139.6,8.2,1636,19979,0.17,2.20,14.88,0.753,6,0.057,0.033,3249,2238,1286
$GC,20319,1.63,370.0,106.1,8.5,1699,20333,0.00,2.38,9.20,0.738,4,0.000,0.051,3249,957,1238
$GC,20391,1.70,371.9,99.7,8.9,1711,20398,0.12,2.15,0.00,0.000,6,0.062,0.032,3281,2209,1236
$GC,20736,1.73,389.7,70.7,8.2,1772,20758,0.00,2.78,15.65,0.679,4,0.000,0.048,3281,3730,1158
$GC,20816,1.75,398.1,64.0,8.6,1785,20830,0.00,2.62,6.72,0.689,6,0.000,0.032,3281,2197,1125
$GC,21170,1.87,427.3,35.6,7.7,1847,21204,0.15,2.78,23.70,0.614,4,0.057,0.044,3325,3732,1005
$GC,21277,1.87,427.3,24.2,10.9,1865,21284,0.00,2.58,0.00,0.000,6,0.000,0.031,3325,2219,1003
$STATE,21507,end climb,SURFACE_DEPTH_REACHED
$STATE,21507,begin surface coast
$FINISH,-0.1,1.021189
$STATE,21531,end surface coast,CONTROL_FINISHED_OK
$STATE,21531,begin surface
$SM_CCo,21554,23.60,0.571,0,0,810,475.15
$SM_GC,1.03,0.00,0.00,23.60,0.000,0.000,0.571,250,2111,810,-12.21,-1.10,475.15
$IRIDIUM_FIX,1247.67,12045.31,230697,050507
$TT8_MAMPS,0.023777
$HUMID,1987
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.40
$XPDR_PINGS,421
$ALTIM_BOTTOM_PING,990.6,82.6
$24V_AH,23.2,37.690
$10V_AH,10.1,19.043
$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,32.800,180.775,484.475,23.600,0.000,30.900,39.182,147.205,118.250,0.000,0.000,12.793,4009.894,13469.368,727.029,3165.343,543.415,0.000,2316.592,0.000,3089.880,0.000,97.413
$DEVICE_MAMPS,173.342,63.661,1393.639,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1285.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59854,1910
$CAP_FILE_SIZE,199890,0
$CFSIZE,260165632,240898048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,317.1,1
$GPS,290308,150032,1251.192,12038.487,41,1.1,41,-0.8