version: 66.03
glider: 122
mission: 6
dive: 91
start: 3 4 108 15 17 4
data:
$ID,122
$MISSION,6
$DIVE,91
$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,554.62329
$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,-29078.021
$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,61
$R_STBD_OVSHOOT,36
$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,5
$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
$GPS1,145908,1248.454,12035.506,40,1.0,40,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-67.9
$GPS2,151632,1248.495,12035.252,10,1.0,15,-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,66.6,14147,-17.4,-9.016
$D_GRID,1620
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.0,0.0,0.0,0,98,0.00,0.00,-77.55,0.000,2,0.000,0.000,251,2105,2495
$GC,100,-1.42,-146.0,3.0,-6.5,12,132,13.45,0.00,-15.38,0.000,6,0.169,0.000,2589,2107,3275
$GC,470,-1.15,-146.0,83.2,-18.0,77,478,0.30,2.47,0.00,0.000,4,0.127,0.041,2647,3554,3277
$GC,546,-1.05,-146.0,95.1,-14.7,90,554,0.15,2.25,0.00,0.000,6,0.113,0.027,2674,2192,3277
$GC,891,-1.01,-146.0,139.6,-13.7,151,897,0.00,2.50,0.00,0.000,4,0.000,0.044,2674,747,3278
$GC,955,-1.01,-146.0,147.2,-10.7,162,962,0.00,2.38,0.00,0.000,6,0.000,0.028,2674,2170,3278
$GC,1300,-1.07,-146.0,179.8,-8.6,223,1309,0.00,2.45,0.00,0.000,4,0.000,0.044,2674,753,3279
$GC,1378,-1.16,-146.0,186.5,-8.7,236,1385,0.00,2.30,0.00,0.000,6,0.000,0.028,2674,2132,3279
$GC,1723,-1.24,-146.0,213.9,-8.7,297,1729,0.17,0.00,0.00,0.000,6,0.047,0.000,2617,2131,3278
$GC,2067,-1.24,-146.0,250.4,-10.6,358,2072,0.00,2.40,0.00,0.000,4,0.000,0.048,2617,753,3277
$GC,2118,-1.24,-146.0,255.8,-9.9,362,2122,0.00,2.30,0.00,0.000,6,0.000,0.031,2617,2122,3276
$GC,2443,-1.24,-146.0,287.9,-9.7,392,2447,0.00,2.47,0.00,0.000,4,0.000,0.048,2617,3551,3275
$GC,2493,-1.24,-146.0,293.1,-10.1,396,2497,0.00,2.40,0.00,0.000,6,0.000,0.031,2617,2120,3274
$GC,2818,-1.24,-146.0,323.8,-9.3,426,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2119,3272
$GC,3136,-1.24,-146.0,353.8,-9.2,456,3140,0.00,2.50,0.00,0.000,4,0.000,0.048,2616,3549,3269
$GC,3185,-1.24,-146.0,358.5,-9.1,460,3190,0.00,2.42,0.00,0.000,6,0.000,0.033,2617,2117,3269
$GC,3511,-1.24,-146.0,387.8,-8.6,490,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2115,3267
$GC,3828,-1.24,-146.0,415.5,-9.1,520,3832,0.00,2.53,0.00,0.000,4,0.000,0.050,2617,3552,3265
$GC,3872,-1.24,-146.0,419.5,-9.0,523,3880,0.00,2.42,0.00,0.000,6,0.000,0.033,2617,2138,3265
$GC,4198,-1.24,-146.0,447.0,-8.6,554,4202,0.00,2.47,0.00,0.000,4,0.000,0.054,2617,746,3262
$GC,4225,-1.24,-146.0,449.6,-9.2,556,4230,0.00,2.40,0.00,0.000,6,0.000,0.035,2617,2144,3262
$GC,4551,-1.24,-146.0,475.9,-8.3,586,4555,0.00,2.47,0.00,0.000,4,0.000,0.053,2617,3559,3259
$GC,4605,-1.28,-146.0,480.9,-8.9,590,4614,0.00,2.40,0.00,0.000,6,0.000,0.034,2617,2152,3259
$GC,4939,-1.28,-146.0,508.6,-8.5,617,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2149,3257
$GC,5247,-1.28,-146.0,534.2,-8.1,632,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2149,3255
$GC,5556,-1.28,-146.0,558.3,-8.0,647,5560,0.00,2.47,0.00,0.000,4,0.000,0.054,2617,3550,3253
$GC,5589,-1.31,-146.0,561.1,-8.0,648,5593,0.00,2.42,0.00,0.000,6,0.000,0.035,2617,2131,3252
$GC,5910,-1.31,-146.0,586.9,-8.1,664,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2129,3251
$GC,6219,-1.34,-146.0,610.3,-7.0,679,6224,0.00,2.53,0.00,0.000,4,0.000,0.054,2617,3556,3249
$GC,6283,-1.39,-146.0,615.0,-7.7,682,6287,0.00,2.40,0.00,0.000,6,0.000,0.036,2617,2146,3248
$GC,6615,-1.42,-146.0,641.0,-8.1,698,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2146,3246
$GC,6925,-1.46,-146.0,665.5,-7.9,713,6927,0.15,0.00,0.00,0.000,6,0.056,0.000,2576,2145,3245
$GC,7233,-1.40,-146.0,695.6,-9.7,728,7238,0.12,2.50,0.00,0.000,4,0.118,0.057,2597,748,3244
$GC,7272,-1.40,-146.0,699.4,-9.6,730,7276,0.00,2.42,0.00,0.000,6,0.000,0.038,2598,2151,3244
$GC,7598,-1.40,-146.0,729.1,-9.5,746,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2151,3242
$GC,7907,-1.40,-146.0,755.9,-8.6,761,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2151,3241
$GC,8216,-1.40,-146.0,783.8,-9.2,776,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2151,3240
$GC,8526,-1.40,-146.0,810.5,-8.5,791,8530,0.00,2.53,0.00,0.000,4,0.000,0.059,2598,747,3239
$GC,8569,-1.40,-146.0,814.6,-8.6,793,8573,0.00,2.45,0.00,0.000,6,0.000,0.037,2598,2163,3239
$GC,8896,-1.40,-146.0,840.2,-7.7,809,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2164,3238
$GC,9206,-1.40,-146.0,864.2,-7.8,824,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2164,3237
$GC,9515,-1.40,-146.0,888.0,-7.3,839,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2164,3236
$GC,9824,-1.40,-146.0,911.0,-7.3,854,9828,0.00,2.47,0.00,0.000,4,0.000,0.060,2598,3555,3234
$GC,9901,-1.40,-146.0,917.1,-7.6,857,9908,0.00,2.42,0.00,0.000,6,0.000,0.038,2598,2143,3234
$GC,10216,-1.40,-146.0,939.6,-7.1,873,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2143,3233
$GC,10526,-1.40,-146.0,961.0,-7.0,888,10530,0.00,2.53,0.00,0.000,4,0.000,0.058,2598,3554,3233
$GC,10569,-1.40,-146.0,964.3,-7.2,890,10573,0.00,2.40,0.00,0.000,6,0.000,0.038,2598,2155,3233
$GC,10896,-1.40,-146.0,987.8,-7.2,906,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2155,3232
$STATE,10935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10935,begin apogee
$GC,10940,-0.34,0.0,990.6,7.3,908,11063,1.15,0.00,119.32,1.394,6,0.100,0.000,2829,2384,2678
$STATE,11063,end apogee,CONTROL_FINISHED_OK
$STATE,11063,begin climb
$GC,11065,1.42,146.0,993.5,0.0,914,11200,1.77,2.50,126.45,1.342,4,0.058,0.061,3215,3717,2082
$GC,11255,1.16,146.0,976.9,15.8,922,11264,0.25,2.40,0.00,0.000,6,0.116,0.040,3160,2372,2080
$GC,11571,1.05,146.0,939.8,11.5,938,11576,0.15,2.45,0.00,0.000,4,0.123,0.061,3130,3713,2079
$GC,11626,0.95,146.0,933.4,10.8,940,11634,0.00,2.33,0.00,0.000,6,0.000,0.040,3130,2380,2079
$GC,11942,0.89,146.0,902.0,9.9,956,11944,0.17,0.00,0.00,0.000,6,0.123,0.000,3100,2379,2078
$GC,12251,0.91,155.2,874.7,8.5,971,12265,0.00,2.53,7.32,1.347,4,0.000,0.061,3099,3712,2045
$GC,12349,0.91,157.0,865.8,8.9,975,12353,0.00,2.33,0.00,0.000,6,0.000,0.039,3099,2397,2045
$GC,12671,0.95,180.0,840.6,7.8,991,12694,0.00,0.00,21.88,1.315,6,0.000,0.000,3099,2397,1944
$GC,13000,0.99,183.0,812.0,8.9,1007,13005,0.00,0.00,2.83,1.264,6,0.000,0.000,3100,2396,1931
$GC,13310,1.03,188.6,785.2,8.7,1022,13317,0.15,0.00,5.25,1.305,6,0.068,0.000,3133,2395,1909
$GC,13618,1.00,188.6,752.0,11.1,1037,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2394,1908
$GC,13928,0.97,188.6,717.8,10.9,1052,13932,0.00,2.38,0.00,0.000,4,0.000,0.061,3133,3713,1908
$GC,13982,0.91,188.6,711.5,11.8,1054,13991,0.17,2.30,0.00,0.000,6,0.127,0.039,3104,2406,1908
$GC,14299,0.96,190.9,682.6,8.9,1070,14303,0.00,2.62,0.00,0.000,4,0.000,0.061,3104,960,1908
$GC,14330,0.96,190.9,679.5,9.8,1071,14338,0.00,2.55,0.00,0.000,6,0.000,0.039,3104,2403,1908
$GC,14648,1.00,190.9,651.4,9.1,1087,14652,0.00,2.38,0.00,0.000,4,0.000,0.063,3104,3724,1908
$GC,14696,1.00,190.9,646.3,10.2,1089,14701,0.00,2.30,0.00,0.000,6,0.000,0.038,3103,2407,1908
$GC,15019,1.06,199.1,618.1,8.6,1105,15033,0.15,2.45,8.95,1.201,4,0.069,0.061,3143,3730,1866
$GC,15062,0.99,199.1,613.6,10.8,1107,15067,0.12,2.30,0.00,0.000,6,0.133,0.038,3123,2411,1866
$GC,15388,0.99,199.1,582.4,9.5,1123,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2410,1866
$GC,15697,0.99,199.1,552.9,9.5,1138,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,1866
$GC,16007,0.99,199.5,524.6,9.0,1153,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2409,1866
$GC,16317,0.99,199.5,496.4,9.2,1169,16321,0.00,2.38,0.00,0.000,4,0.000,0.061,3124,3732,1866
$GC,16344,0.99,199.5,493.7,9.8,1171,16348,0.00,2.25,0.00,0.000,6,0.000,0.037,3123,2419,1866
$GC,16668,1.00,203.6,463.2,8.8,1201,16680,0.00,2.65,4.43,1.091,4,0.000,0.057,3123,963,1846
$GC,16708,1.02,217.1,459.6,8.3,1204,16728,0.00,2.58,11.85,1.057,6,0.000,0.038,3123,2429,1791
$GC,17046,1.06,223.5,429.2,8.7,1236,17056,0.00,0.00,5.47,1.062,6,0.000,0.000,3123,2429,1766
$GC,17375,1.09,223.5,398.7,9.6,1267,17379,0.00,2.62,0.00,0.000,4,0.000,0.054,3123,972,1766
$GC,17440,1.13,223.5,392.1,10.2,1272,17449,0.12,2.55,0.00,0.000,6,0.064,0.038,3155,2431,1765
$GC,17765,1.13,223.5,359.6,9.7,1303,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2431,1765
$GC,18084,1.13,223.5,328.9,10.3,1333,18088,0.00,2.62,0.00,0.000,4,0.000,0.053,3155,966,1766
$GC,18134,1.13,223.5,323.6,10.3,1337,18138,0.00,2.53,0.00,0.000,6,0.000,0.037,3155,2421,1765
$GC,18458,1.13,223.5,290.6,10.1,1367,18462,0.00,2.60,0.00,0.000,4,0.000,0.052,3155,967,1766
$GC,18491,1.13,223.5,287.1,10.7,1369,18498,0.00,2.50,0.00,0.000,6,0.000,0.036,3155,2415,1766
$GC,18816,1.13,223.5,256.4,9.2,1400,18817,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2415,1766
$GC,19147,1.15,235.8,226.3,8.4,1453,19168,0.00,2.38,10.55,0.871,4,0.000,0.053,3155,3719,1716
$GC,19202,1.15,235.8,221.0,10.7,1462,19209,0.00,2.25,0.00,0.000,6,0.000,0.033,3155,2402,1715
$GC,19546,1.18,253.2,189.9,8.1,1523,19566,0.00,2.65,14.23,0.818,4,0.000,0.051,3155,968,1645
$GC,19640,1.21,253.2,180.9,9.8,1539,19647,0.00,2.50,0.00,0.000,6,0.000,0.035,3155,2407,1644
$GC,19982,1.37,315.5,152.5,5.8,1600,20041,0.17,2.65,49.72,0.736,4,0.053,0.050,3205,977,1389
$GC,20198,1.37,315.5,131.9,9.3,1638,20205,0.00,2.45,0.00,0.000,6,0.000,0.033,3205,2397,1386
$GC,20543,1.46,341.8,101.4,7.7,1699,20572,0.00,2.62,20.15,0.698,4,0.000,0.046,3205,973,1284
$GC,20613,1.52,347.4,95.2,8.7,1711,20626,0.15,2.40,4.43,0.729,6,0.056,0.031,3243,2365,1261
$GC,20964,1.52,347.4,59.5,9.4,1773,20969,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2365,1260
$GC,21307,1.54,357.2,27.8,8.5,1834,21320,0.00,2.45,7.60,0.637,4,0.000,0.046,3243,3733,1221
$GC,21405,1.57,357.2,18.1,9.7,1851,21411,0.00,2.33,0.00,0.000,6,0.000,0.028,3243,2341,1221
$STATE,21601,end climb,SURFACE_DEPTH_REACHED
$STATE,21601,begin surface coast
$FINISH,-0.0,1.009593
$STATE,21631,end surface coast,CONTROL_FINISHED_OK
$STATE,21631,begin surface
$SM_CCo,21652,93.65,0.537,0,0,415,554.62
$SM_GC,0.61,0.00,0.00,93.65,0.000,0.000,0.537,254,2131,415,-12.19,-0.54,554.62
$IRIDIUM_FIX,1243.25,12036.22,290597,151525
$TT8_MAMPS,0.02301
$HUMID,1812
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,449
$ALTIM_BOTTOM_PING,570.2,8.2
$24V_AH,23.2,18.379
$10V_AH,10.1,8.625
$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,32.100,157.550,420.425,93.650,0.000,128.889,242.885,306.059,114.500,0.000,0.000,16.242,3873.212,14217.414,731.844,3046.128,922.871,0.000,2268.065,0.000,3008.546,0.000,18.078
$DEVICE_MAMPS,168.740,62.894,1394.406,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59846,1891
$CAP_FILE_SIZE,195065,0
$CFSIZE,260165632,250269696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,318.6,1
$GPS,040308,212038,1249.839,12037.273,34,1.2,34,-0.8