version: 66.03
glider: 122
mission: 6
dive: 338
start: 4 29 108 15 7 49
data:
$ID,122
$MISSION,6
$DIVE,338
$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,-34034.652
$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,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,61
$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
$GPS1,150102,1249.098,12024.136,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.3
$GPS2,150714,1249.168,12024.175,14,1.3,14,-0.8
$SPEED_LIMITS,0.156,0.206
$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,90.2,33662,-18.6,-9.016
$D_GRID,916
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,88,0.00,0.00,-63.05,0.000,2,0.000,0.000,250,2253,2465
$GC,91,-1.56,-146.0,3.6,-8.6,12,129,13.32,2.53,-16.50,0.000,4,0.168,0.051,2559,804,3344
$GC,154,-1.30,-146.0,18.1,-19.7,22,162,0.32,2.33,0.00,0.000,6,0.108,0.028,2620,2193,3345
$GC,500,-1.19,-146.0,70.8,-13.0,83,508,0.12,2.40,0.00,0.000,4,0.118,0.040,2642,804,3346
$GC,571,-1.10,-146.0,79.6,-11.8,95,579,0.10,2.47,0.00,0.000,6,0.113,0.028,2660,2282,3347
$GC,917,-1.10,-146.0,116.7,-11.2,156,924,0.00,2.30,0.00,0.000,4,0.000,0.048,2660,3616,3349
$GC,1026,-1.10,-146.0,128.8,-10.3,175,1033,0.00,2.22,0.00,0.000,6,0.000,0.026,2660,2251,3350
$GC,1372,-1.23,-146.0,158.6,-8.6,236,1379,0.12,2.47,0.00,0.000,4,0.053,0.042,2619,821,3352
$GC,1455,-1.23,-146.0,166.5,-9.7,250,1462,0.00,2.67,0.00,0.000,6,0.000,0.030,2619,2407,3352
$GC,1801,-1.31,-146.0,195.9,-8.1,311,1808,0.00,2.10,0.00,0.000,4,0.000,0.050,2619,3624,3351
$GC,1854,-1.31,-146.0,200.8,-9.2,320,1861,0.00,2.22,0.00,0.000,6,0.000,0.028,2619,2272,3351
$GC,2201,-1.38,-146.0,229.4,-8.3,381,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2272,3350
$GC,2541,-1.48,-146.0,258.2,-8.2,433,2546,0.15,2.33,0.00,0.000,4,0.050,0.047,2569,3615,3349
$GC,2596,-1.37,-146.0,264.0,-10.5,437,2604,0.20,2.15,0.00,0.000,6,0.098,0.030,2606,2314,3348
$GC,2924,-1.37,-146.0,291.7,-8.5,468,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2314,3347
$GC,3243,-1.47,-146.0,317.9,-7.7,498,3247,0.00,2.62,0.00,0.000,4,0.000,0.049,2606,829,3345
$GC,3321,-1.51,-146.0,324.8,-9.0,504,3328,0.15,2.55,0.00,0.000,6,0.051,0.033,2564,2323,3344
$GC,3648,-1.44,-146.0,352.8,-8.4,535,3653,0.15,2.25,0.00,0.000,4,0.104,0.051,2592,3612,3343
$GC,3704,-1.41,-146.0,357.8,-8.3,539,3711,0.00,2.10,0.00,0.000,6,0.000,0.031,2592,2346,3342
$GC,4033,-1.41,-146.0,385.1,-8.5,570,4038,0.00,2.67,0.00,0.000,4,0.000,0.050,2592,835,3340
$GC,4085,-1.41,-146.0,390.0,-9.1,574,4089,0.00,2.58,0.00,0.000,6,0.000,0.034,2592,2333,3340
$GC,4414,-1.41,-146.0,417.5,-8.6,604,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2333,3337
$GC,4740,-1.41,-146.0,444.5,-8.4,635,4744,0.00,2.67,0.00,0.000,4,0.000,0.051,2592,832,3335
$GC,4769,-1.41,-146.0,447.2,-8.9,637,4773,0.00,2.55,0.00,0.000,6,0.000,0.034,2592,2312,3335
$GC,5096,-1.41,-146.0,474.8,-8.6,667,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2312,3333
$GC,5414,-1.41,-146.0,502.5,-8.8,696,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2312,3331
$GC,5721,-1.41,-146.0,529.3,-8.6,711,5725,0.00,2.30,0.00,0.000,4,0.000,0.054,2592,3618,3329
$GC,5747,-1.41,-146.0,531.9,-9.2,712,5751,0.00,2.20,0.00,0.000,6,0.000,0.033,2592,2315,3329
$GC,6070,-1.50,-146.0,558.0,-7.8,728,6075,0.00,2.65,0.00,0.000,4,0.000,0.053,2592,826,3328
$GC,6156,-1.50,-146.0,564.9,-8.2,732,6160,0.00,2.42,0.00,0.000,6,0.000,0.035,2592,2233,3327
$GC,6486,-1.53,-146.0,588.0,-6.8,748,6490,0.00,2.50,0.00,0.000,4,0.000,0.053,2592,827,3326
$GC,6511,-1.57,-146.0,590.1,-7.4,749,6516,0.12,2.38,0.00,0.000,6,0.058,0.035,2558,2204,3326
$GC,6841,-1.51,-146.0,616.9,-8.3,765,6845,0.00,2.50,0.00,0.000,4,0.000,0.055,2557,3624,3325
$GC,6913,-1.43,-146.0,624.1,-9.5,768,6918,0.17,2.38,0.00,0.000,6,0.110,0.035,2589,2228,3324
$GC,7237,-1.43,-146.0,649.3,-7.6,784,7242,0.00,2.47,0.00,0.000,4,0.000,0.055,2589,3625,3322
$GC,7283,-1.43,-146.0,653.5,-8.4,786,7287,0.00,2.38,0.00,0.000,6,0.000,0.035,2589,2235,3322
$GC,7613,-1.43,-146.0,680.4,-8.3,802,7617,0.00,2.47,0.00,0.000,4,0.000,0.055,2589,3623,3320
$GC,7646,-1.43,-146.0,683.7,-8.8,803,7653,0.00,2.33,0.00,0.000,6,0.000,0.035,2589,2257,3320
$GC,7962,-1.43,-146.0,708.4,-8.0,819,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2254,3319
$GC,8271,-1.43,-146.0,734.7,-8.9,834,8276,0.00,2.42,0.00,0.000,4,0.000,0.056,2589,3618,3317
$GC,8329,-1.43,-146.0,740.0,-10.2,836,8335,0.00,2.30,0.00,0.000,6,0.000,0.036,2589,2269,3317
$GC,8645,-1.43,-146.0,765.5,-7.6,852,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2266,3316
$GC,8954,-1.43,-146.0,788.2,-7.6,867,8959,0.00,2.42,0.00,0.000,4,0.000,0.057,2589,3625,3315
$GC,8982,-1.43,-146.0,790.5,-8.1,868,8986,0.00,2.28,0.00,0.000,6,0.000,0.036,2589,2290,3315
$GC,9298,-1.43,-146.0,813.5,-7.3,883,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2288,3314
$GC,9608,-1.43,-146.0,834.4,-7.0,898,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2288,3313
$GC,9917,-1.46,-146.0,856.2,-6.8,913,9921,0.00,2.38,0.00,0.000,4,0.000,0.058,2589,3616,3311
$GC,9967,-1.46,-146.0,859.8,-7.5,915,9971,0.00,2.25,0.00,0.000,6,0.000,0.038,2589,2300,3311
$GC,10283,-1.46,-146.0,880.1,-5.9,930,10288,0.00,2.70,0.00,0.000,4,0.000,0.061,2589,809,3310
$GC,10328,-1.52,-146.0,883.6,-7.7,932,10333,0.00,2.60,0.00,0.000,6,0.000,0.039,2589,2295,3309
$GC,10653,-1.55,-146.0,904.1,-6.5,948,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2295,3309
$STATE,10833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10833,begin apogee
$GC,10839,-0.35,0.0,916.6,7.1,957,10965,1.17,0.00,121.78,1.326,6,0.100,0.000,2824,2343,2748
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10969,1.56,146.0,920.9,0.0,963,11107,1.92,2.72,127.85,1.279,4,0.053,0.060,3249,934,2151
$GC,11124,1.27,146.0,914.9,11.7,970,11130,0.38,2.50,0.00,0.000,6,0.118,0.041,3182,2327,2151
$GC,11447,1.13,146.0,884.9,9.1,986,11452,0.15,2.55,0.00,0.000,4,0.130,0.059,3156,940,2149
$GC,11475,1.03,146.0,882.1,9.3,987,11479,0.15,2.45,0.00,0.000,6,0.126,0.041,3130,2323,2150
$GC,11791,1.05,155.5,856.9,8.6,1002,11800,0.00,0.00,7.82,1.303,6,0.000,0.000,3130,2322,2114
$GC,12100,1.11,192.8,833.1,7.3,1017,12142,0.00,2.62,32.97,1.272,4,0.000,0.061,3130,940,1961
$GC,12167,1.12,196.1,828.1,8.9,1020,12176,0.00,2.47,3.33,1.226,6,0.000,0.041,3130,2321,1947
$GC,12499,1.13,206.2,799.6,8.6,1036,12510,0.00,0.00,9.07,1.282,6,0.000,0.000,3130,2321,1907
$GC,12809,1.17,224.5,774.4,8.2,1051,12833,0.12,2.67,16.38,1.258,4,0.071,0.061,3160,935,1830
$GC,12857,1.12,224.5,770.0,10.1,1053,12861,0.00,2.45,0.00,0.000,6,0.000,0.040,3160,2308,1830
$GC,13185,1.12,224.5,738.4,9.5,1069,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2308,1829
$GC,13493,1.12,224.5,709.9,9.0,1084,13498,0.00,2.50,0.00,0.000,4,0.000,0.060,3160,940,1828
$GC,13534,1.08,224.5,706.2,9.8,1086,13538,0.00,2.45,0.00,0.000,6,0.000,0.040,3160,2325,1828
$GC,13862,1.10,237.7,678.3,8.4,1102,13883,0.00,2.60,11.32,1.223,4,0.000,0.061,3160,3734,1777
$GC,13911,1.10,237.7,673.5,10.2,1104,13915,0.00,2.47,0.00,0.000,6,0.000,0.039,3160,2326,1777
$GC,14232,1.10,238.4,645.4,9.0,1120,14237,0.00,2.55,0.00,0.000,4,0.000,0.060,3160,927,1776
$GC,14260,1.10,238.4,642.8,9.2,1121,14264,0.00,2.45,0.00,0.000,6,0.000,0.038,3160,2329,1776
$GC,14581,1.10,238.4,612.2,9.9,1137,14582,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2328,1776
$GC,14892,1.10,238.4,584.0,9.0,1152,14896,0.00,2.55,0.00,0.000,4,0.000,0.058,3160,931,1776
$GC,14913,1.10,238.4,581.7,9.6,1153,14917,0.00,2.42,0.00,0.000,6,0.000,0.038,3160,2320,1775
$GC,15235,1.13,252.8,554.5,8.4,1169,15255,0.00,0.00,13.38,1.135,6,0.000,0.000,3160,2319,1716
$GC,15565,1.15,267.3,527.0,8.4,1185,15588,0.00,2.62,12.60,1.108,4,0.000,0.057,3160,934,1658
$GC,15622,1.15,267.3,521.8,9.1,1187,15626,0.00,2.42,0.00,0.000,6,0.000,0.037,3160,2309,1657
$GC,15939,1.15,267.3,492.7,9.3,1205,15944,0.00,2.50,0.00,0.000,4,0.000,0.056,3160,931,1656
$GC,15973,1.15,267.3,489.3,9.6,1207,15980,0.00,2.35,0.00,0.000,6,0.000,0.036,3160,2280,1656
$GC,16302,1.19,290.2,461.5,8.0,1238,16328,0.00,0.00,19.92,1.040,6,0.000,0.000,3160,2280,1564
$GC,16647,1.27,321.2,432.6,7.6,1271,16683,0.10,2.53,27.00,0.998,4,0.072,0.056,3186,931,1437
$GC,16729,1.27,321.2,425.0,10.5,1278,16733,0.00,2.35,0.00,0.000,6,0.000,0.036,3186,2269,1434
$GC,17057,1.27,321.2,395.0,9.5,1308,17063,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2268,1433
$GC,17382,1.27,321.2,364.1,9.5,1339,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2268,1434
$GC,17701,1.27,321.2,332.9,9.9,1369,17705,0.00,2.42,0.00,0.000,4,0.000,0.054,3186,921,1433
$GC,17734,1.27,321.2,329.4,11.1,1371,17741,0.00,2.33,0.00,0.000,6,0.000,0.035,3187,2261,1432
$GC,18062,1.28,325.7,299.7,8.8,1402,18069,0.00,0.00,3.17,0.943,6,0.000,0.000,3186,2262,1420
$GC,18392,1.29,328.6,269.5,8.9,1433,18404,0.00,2.65,3.10,0.920,4,0.000,0.054,3186,3718,1407
$GC,18428,1.29,328.6,265.8,9.9,1436,18432,0.00,2.60,0.00,0.000,6,0.000,0.035,3186,2215,1408
$GC,18761,1.34,338.0,236.5,8.6,1479,18776,0.00,2.78,7.97,0.879,4,0.000,0.051,3186,3723,1370
$GC,18794,1.37,338.0,233.4,9.4,1484,18801,0.00,2.55,0.00,0.000,6,0.000,0.035,3186,2247,1370
$GC,19141,1.43,343.3,204.0,8.8,1545,19149,0.12,0.00,5.03,0.858,6,0.064,0.000,3218,2248,1348
$GC,19487,1.43,343.3,170.8,9.9,1606,19494,0.00,2.62,0.00,0.000,4,0.000,0.050,3217,3730,1348
$GC,19513,1.43,343.3,168.1,10.9,1610,19520,0.00,2.55,0.00,0.000,6,0.000,0.034,3218,2244,1348
$GC,19859,1.48,351.5,136.8,8.6,1671,19871,0.00,0.00,6.97,0.791,6,0.000,0.000,3218,2242,1314
$GC,20211,1.69,411.6,110.3,6.3,1733,20265,0.22,0.00,50.10,0.691,6,0.048,0.000,3279,2241,1069
$GC,20605,1.74,437.3,77.7,7.9,1801,20632,0.00,2.72,20.62,0.664,4,0.000,0.047,3279,3728,964
$GC,20749,1.79,440.5,65.3,8.9,1825,20757,0.00,2.53,2.15,0.693,6,0.000,0.031,3279,2247,952
$GC,21097,1.99,494.9,41.2,6.6,1886,21151,0.22,2.40,44.88,0.591,4,0.047,0.050,3346,924,729
$GC,21197,1.99,494.9,31.9,10.4,1902,21204,0.00,2.35,0.00,0.000,6,0.000,0.030,3346,2301,727
$STATE,21490,end climb,SURFACE_DEPTH_REACHED
$STATE,21490,begin surface coast
$FINISH,0.1,1.021004
$STATE,21508,end surface coast,CONTROL_FINISHED_OK
$STATE,21508,begin surface
$SM_CCo,21593,0.00,0.000,0,0,722,497.22
$SM_GC,0.70,13.65,0.00,0.00,0.040,0.000,0.000,248,2161,722,-12.19,-1.55,497.22
$IRIDIUM_FIX,1243.25,12021.43,240797,090935
$TT8_MAMPS,0.023777
$HUMID,1998
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,25.10
$XPDR_PINGS,442
$ALTIM_BOTTOM_PING,850.5,56.8
$24V_AH,23.0,62.821
$10V_AH,10.1,32.273
$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,33.175,182.475,547.425,0.000,0.000,23.721,30.988,175.977,119.750,0.000,0.000,14.946,4055.662,13288.845,759.148,3166.688,693.432,0.000,2371.344,0.000,3118.042,0.000,68.987
$DEVICE_MAMPS,167.973,122.720,1326.143,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1314.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62835,1957
$CAP_FILE_SIZE,201404,0
$CFSIZE,260165632,228958208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,193.1,1
$GPS,290408,210856,1248.923,12025.887,38,2.0,38,-0.8