version: 66.03
glider: 122
mission: 6
dive: 209
start: 3 30 108 15 59 31
data:
$ID,122
$MISSION,6
$DIVE,209
$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,-31065.85
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,155256,1249.199,12029.233,41,1.2,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-74.1
$GPS2,155856,1249.180,12029.246,10,1.8,15,-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,247.7,25690,-18.6,-9.016
$D_GRID,973
$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,20,-1.56,-146.0,0.0,0.0,0,80,0.00,0.00,-57.97,0.000,2,0.000,0.000,251,2120,2407
$GC,83,-1.56,-146.0,3.4,-7.9,9,122,13.45,2.50,-17.75,0.000,4,0.173,0.052,2561,3565,3346
$GC,174,-1.21,-146.0,25.8,-24.5,24,182,0.40,2.35,0.00,0.000,6,0.121,0.028,2635,2152,3347
$GC,520,-1.11,-146.0,86.0,-16.0,85,527,0.15,2.42,0.00,0.000,4,0.110,0.041,2666,3561,3348
$GC,596,-1.11,-146.0,96.2,-14.4,98,603,0.00,2.33,0.00,0.000,6,0.000,0.027,2666,2162,3348
$GC,941,-1.18,-146.0,133.3,-9.6,159,948,0.00,2.45,0.00,0.000,4,0.000,0.044,2666,747,3351
$GC,988,-1.28,-146.0,138.2,-10.3,167,996,0.17,2.38,0.00,0.000,6,0.044,0.028,2612,2168,3351
$GC,1333,-1.28,-146.0,174.9,-9.6,228,1339,0.00,2.38,0.00,0.000,4,0.000,0.044,2612,3554,3352
$GC,1477,-1.28,-146.0,188.5,-9.2,253,1484,0.00,2.25,0.00,0.000,6,0.000,0.028,2612,2195,3352
$GC,1823,-1.28,-146.0,219.7,-8.9,314,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2193,3353
$GC,2167,-1.28,-146.0,248.8,-8.7,375,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2191,3352
$GC,2496,-1.31,-146.0,276.8,-8.7,407,2500,0.00,2.35,0.00,0.000,4,0.000,0.046,2612,3554,3350
$GC,2547,-1.35,-146.0,281.5,-8.5,411,2551,0.00,2.30,0.00,0.000,6,0.000,0.030,2612,2176,3350
$GC,2874,-1.39,-146.0,310.2,-9.2,441,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2176,3349
$GC,3192,-1.43,-146.0,337.0,-8.6,471,3196,0.00,2.38,0.00,0.000,4,0.000,0.047,2612,3545,3347
$GC,3243,-1.47,-146.0,341.5,-9.0,475,3248,0.12,2.30,0.00,0.000,6,0.058,0.031,2576,2179,3348
$GC,3568,-1.42,-146.0,372.2,-9.4,505,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2176,3345
$GC,3888,-1.38,-146.0,402.0,-9.3,535,3893,0.15,2.40,0.00,0.000,4,0.107,0.048,2607,3546,3343
$GC,3932,-1.41,-146.0,406.3,-8.8,538,3940,0.00,2.30,0.00,0.000,6,0.000,0.033,2607,2188,3343
$GC,4259,-1.41,-146.0,433.5,-8.5,569,4263,0.00,2.40,0.00,0.000,4,0.000,0.050,2607,3554,3342
$GC,4299,-1.45,-146.0,437.4,-9.5,572,4303,0.00,2.30,0.00,0.000,6,0.000,0.033,2607,2198,3341
$GC,4626,-1.48,-146.0,466.7,-9.0,602,4628,0.12,0.00,0.00,0.000,6,0.060,0.000,2572,2195,3339
$GC,4944,-1.43,-146.0,499.6,-10.7,632,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3337
$GC,5262,-1.39,-146.0,533.4,-10.0,648,5267,0.15,2.38,0.00,0.000,4,0.107,0.050,2603,3543,3336
$GC,5306,-1.43,-146.0,537.8,-9.5,650,5310,0.00,2.28,0.00,0.000,6,0.000,0.034,2603,2206,3336
$GC,5636,-1.46,-146.0,563.4,-7.7,666,5640,0.00,2.38,0.00,0.000,4,0.000,0.051,2603,3550,3333
$GC,5676,-1.50,-146.0,566.9,-8.4,668,5681,0.12,2.28,0.00,0.000,6,0.061,0.034,2570,2215,3333
$GC,6005,-1.45,-146.0,595.4,-8.5,684,6009,0.00,2.62,0.00,0.000,4,0.000,0.056,2570,749,3331
$GC,6031,-1.45,-146.0,598.1,-9.2,685,6035,0.00,2.53,0.00,0.000,6,0.000,0.035,2570,2215,3331
$GC,6353,-1.41,-146.0,627.6,-9.8,701,6358,0.15,2.35,0.00,0.000,4,0.113,0.054,2600,3545,3329
$GC,6410,-1.44,-146.0,632.9,-9.4,703,6416,0.00,2.25,0.00,0.000,6,0.000,0.035,2600,2224,3329
$GC,6725,-1.44,-146.0,659.2,-8.2,719,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2224,3327
$GC,7035,-1.44,-146.0,682.6,-7.4,734,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2223,3326
$GC,7344,-1.47,-146.0,707.9,-8.2,749,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2222,3324
$GC,7654,-1.51,-146.0,731.9,-7.9,764,7659,0.12,2.65,0.00,0.000,4,0.061,0.058,2567,750,3323
$GC,7681,-1.51,-146.0,734.5,-9.0,765,7686,0.00,2.55,0.00,0.000,6,0.000,0.037,2567,2229,3323
$GC,7999,-1.47,-146.0,762.1,-8.7,780,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2230,3322
$GC,8308,-1.44,-146.0,790.6,-9.9,795,8310,0.12,0.00,0.00,0.000,6,0.115,0.000,2588,2230,3322
$GC,8615,-1.44,-146.0,815.9,-7.9,810,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2230,3320
$GC,8925,-1.44,-146.0,842.1,-8.1,825,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2230,3319
$GC,9234,-1.44,-146.0,868.0,-8.3,840,9238,0.00,2.33,0.00,0.000,4,0.000,0.059,2588,3542,3318
$GC,9273,-1.44,-146.0,871.6,-9.2,842,9277,0.00,2.25,0.00,0.000,6,0.000,0.038,2588,2229,3317
$GC,9601,-1.44,-146.0,900.8,-9.1,858,9606,0.00,2.65,0.00,0.000,4,0.000,0.060,2588,753,3316
$GC,9641,-1.47,-146.0,904.5,-9.3,860,9645,0.00,2.53,0.00,0.000,6,0.000,0.038,2589,2219,3316
$GC,9973,-1.47,-146.0,933.2,-8.6,876,9977,0.00,2.35,0.00,0.000,4,0.000,0.060,2588,3542,3315
$GC,10006,-1.47,-146.0,936.2,-8.8,877,10013,0.00,2.25,0.00,0.000,6,0.000,0.038,2588,2228,3315
$GC,10323,-1.51,-146.0,962.7,-8.5,893,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2227,3314
$STATE,10465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10465,begin apogee
$GC,10471,-0.35,0.0,974.3,7.9,900,10597,1.17,0.00,122.50,1.377,6,0.102,0.000,2823,2372,2748
$STATE,10598,end apogee,CONTROL_FINISHED_OK
$STATE,10598,begin climb
$GC,10600,1.56,146.0,977.3,0.0,906,10736,1.95,2.50,127.45,1.330,4,0.057,0.061,3246,3713,2152
$GC,10810,1.26,146.0,961.0,13.5,915,10818,0.38,2.35,0.00,0.000,6,0.137,0.040,3183,2372,2151
$GC,11127,1.15,146.0,927.6,9.5,931,11129,0.15,0.00,0.00,0.000,6,0.130,0.000,3157,2372,2149
$GC,11436,1.08,146.0,897.5,9.9,946,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2371,2148
$GC,11745,1.01,146.0,867.2,9.4,961,11750,0.15,2.55,0.00,0.000,4,0.122,0.060,3127,971,2148
$GC,11807,1.05,166.4,861.7,8.1,964,11830,0.00,2.47,17.15,1.320,6,0.000,0.041,3127,2374,2069
$GC,12138,1.10,198.3,835.4,7.6,980,12173,0.00,2.65,27.98,1.291,4,0.000,0.060,3126,966,1938
$GC,12225,1.11,203.5,828.3,8.8,984,12235,0.00,2.47,4.68,1.278,6,0.000,0.041,3127,2360,1918
$GC,12553,1.18,230.4,802.4,7.8,1000,12579,0.17,0.00,23.73,1.276,6,0.066,0.000,3166,2359,1808
$GC,12880,1.18,230.4,769.4,10.5,1016,12884,0.00,2.55,0.00,0.000,4,0.000,0.061,3166,970,1806
$GC,12929,1.15,230.4,763.8,11.1,1018,12933,0.00,2.45,0.00,0.000,6,0.000,0.041,3166,2358,1805
$GC,13246,1.15,230.4,728.3,11.9,1033,13250,0.00,2.53,0.00,0.000,4,0.000,0.060,3166,973,1805
$GC,13289,1.11,230.4,722.8,12.2,1035,13293,0.00,2.40,0.00,0.000,6,0.000,0.041,3166,2333,1805
$GC,13612,1.11,230.4,688.1,10.1,1051,13617,0.00,2.50,0.00,0.000,4,0.000,0.061,3167,964,1805
$GC,13653,1.08,230.4,683.8,10.5,1053,13657,0.15,2.38,0.00,0.000,6,0.115,0.040,3140,2314,1804
$GC,13981,1.12,230.4,653.4,9.5,1069,13985,0.00,2.55,0.00,0.000,4,0.000,0.064,3140,3726,1804
$GC,14007,1.12,230.4,650.5,9.5,1070,14012,0.00,2.45,0.00,0.000,6,0.000,0.039,3140,2314,1804
$GC,14329,1.16,231.5,621.0,9.0,1086,14334,0.00,2.42,0.00,0.000,4,0.000,0.061,3140,972,1804
$GC,14362,1.20,231.5,617.7,9.3,1087,14370,0.12,2.38,0.00,0.000,6,0.067,0.039,3169,2330,1804
$GC,14678,1.20,231.5,586.2,9.9,1103,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2330,1804
$GC,14987,1.20,231.5,556.4,9.6,1118,14991,0.00,2.47,0.00,0.000,4,0.000,0.058,3169,965,1804
$GC,15071,1.17,231.5,548.2,9.9,1122,15076,0.00,2.40,0.00,0.000,6,0.000,0.039,3169,2334,1804
$GC,15398,1.17,231.5,518.3,9.2,1138,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2333,1804
$GC,15711,1.18,241.0,490.7,8.6,1158,15726,0.00,2.58,8.57,1.108,4,0.000,0.058,3169,970,1765
$GC,15756,1.18,241.0,486.4,9.9,1162,15760,0.00,2.40,0.00,0.000,6,0.000,0.038,3169,2329,1765
$GC,16081,1.20,248.8,457.2,8.7,1192,16092,0.00,0.00,7.22,1.082,6,0.000,0.000,3169,2329,1732
$GC,16411,1.20,248.8,426.8,9.5,1223,16415,0.00,2.45,0.00,0.000,4,0.000,0.056,3169,972,1732
$GC,16477,1.20,248.8,420.0,9.9,1228,16485,0.00,2.35,0.00,0.000,6,0.000,0.038,3169,2306,1732
$GC,16804,1.23,267.8,391.5,8.2,1259,16823,0.00,0.00,16.15,1.002,6,0.000,0.000,3169,2305,1656
$GC,17143,1.30,283.8,362.2,8.3,1291,17161,0.00,0.00,13.80,0.979,6,0.000,0.000,3169,2305,1591
$GC,17481,1.34,283.8,331.7,9.3,1323,17486,0.12,2.42,0.00,0.000,4,0.071,0.055,3199,964,1589
$GC,17543,1.30,283.8,324.7,11.0,1328,17548,0.00,2.38,0.00,0.000,6,0.000,0.038,3198,2325,1588
$GC,17868,1.30,283.8,292.1,9.9,1358,17872,0.00,2.45,0.00,0.000,4,0.000,0.055,3198,964,1588
$GC,17934,1.30,283.8,285.3,10.0,1363,17941,0.00,2.30,0.00,0.000,6,0.000,0.037,3198,2290,1588
$GC,18261,1.30,283.8,254.2,10.0,1394,18265,0.00,2.38,0.00,0.000,4,0.000,0.055,3199,970,1588
$GC,18311,1.30,283.8,248.9,10.7,1398,18318,0.00,2.22,0.00,0.000,6,0.000,0.036,3198,2260,1588
$GC,18655,1.30,283.8,216.0,9.5,1459,18662,0.00,2.60,0.00,0.000,4,0.000,0.054,3198,3727,1589
$GC,18691,1.30,283.8,212.8,9.4,1465,18698,0.00,2.53,0.00,0.000,6,0.000,0.036,3199,2258,1589
$GC,19035,1.31,286.4,181.9,8.9,1526,19043,0.00,2.38,2.38,0.860,4,0.000,0.054,3199,963,1580
$GC,19101,1.34,304.0,176.3,8.2,1537,19122,0.00,2.25,14.90,0.813,6,0.000,0.035,3199,2269,1507
$GC,19462,1.47,337.7,146.9,7.5,1600,19496,0.12,2.70,27.25,0.760,4,0.066,0.051,3230,3726,1370
$GC,19531,1.47,337.7,140.9,9.2,1611,19538,0.00,2.53,0.00,0.000,6,0.000,0.035,3230,2269,1369
$GC,19876,1.62,385.8,113.8,6.9,1672,19922,0.12,2.38,38.85,0.708,4,0.064,0.051,3263,964,1174
$GC,19941,1.67,389.6,108.6,8.8,1682,19949,0.00,2.28,3.35,0.744,6,0.000,0.033,3262,2274,1159
$GC,20287,1.78,408.1,80.9,8.2,1743,20309,0.15,2.42,14.68,0.686,4,0.056,0.048,3308,961,1083
$GC,20350,1.80,417.4,75.5,8.6,1753,20364,0.00,2.28,7.57,0.690,6,0.000,0.031,3308,2281,1045
$GC,20702,1.80,417.4,42.4,9.3,1815,20709,0.00,2.33,0.00,0.000,4,0.000,0.047,3308,965,1043
$GC,20823,1.80,420.6,31.2,8.9,1836,20831,0.00,2.15,2.22,0.662,6,0.000,0.030,3308,2237,1033
$STATE,21167,end climb,SURFACE_DEPTH_REACHED
$STATE,21167,begin surface coast
$FINISH,0.2,1.021201
$STATE,21191,end surface coast,CONTROL_FINISHED_OK
$STATE,21191,begin surface
$SM_CCo,21214,27.27,0.567,0,0,810,475.15
$SM_GC,1.04,0.00,0.00,27.27,0.000,0.000,0.567,249,2113,810,-12.22,-1.05,475.15
$IRIDIUM_FIX,1243.25,12029.39,240697,090959
$TT8_MAMPS,0.024544
$HUMID,1971
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.60
$XPDR_PINGS,386
$24V_AH,23.1,38.663
$10V_AH,10.1,19.559
$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,33.525,174.000,480.425,27.275,0.000,26.021,38.036,168.568,108.750,0.000,0.000,15.487,4013.394,13190.204,699.073,3105.602,595.561,0.000,2262.554,0.000,3045.601,0.000,90.859
$DEVICE_MAMPS,172.575,63.661,1376.765,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59893,1901
$CAP_FILE_SIZE,200995,0
$CFSIZE,260165632,240431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,159.7,1
$GPS,300308,215438,1248.217,12027.260,29,1.0,29,-0.8