version: 66.03
glider: 122
mission: 6
dive: 93
start: 3 5 108 4 4 5
data:
$ID,122
$MISSION,6
$DIVE,93
$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,-29125.156
$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,35
$R_STBD_OVSHOOT,33
$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,1
$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
$GPS1,035225,1249.605,12039.997,25,0.9,42,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-65.3
$GPS2,040333,1249.680,12039.868,12,1.2,12,-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,66.8,5543,-17.4,-9.016
$D_GRID,1368
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-83.65,0.000,2,0.000,0.000,254,2147,2692
$GC,106,-1.42,-146.0,3.8,-7.9,12,138,13.43,0.00,-10.30,0.000,6,0.169,0.000,2590,2148,3274
$GC,475,-1.16,-146.0,87.5,-17.8,77,482,0.28,2.40,0.00,0.000,4,0.124,0.041,2645,3554,3277
$GC,568,-1.05,-146.0,101.8,-14.9,93,575,0.15,2.33,0.00,0.000,6,0.110,0.027,2672,2145,3277
$GC,913,-1.05,-146.0,146.3,-10.0,154,919,0.00,2.40,0.00,0.000,4,0.000,0.044,2672,753,3276
$GC,948,-1.10,-146.0,149.7,-10.1,160,956,0.00,2.33,0.00,0.000,6,0.000,0.027,2672,2157,3277
$GC,1294,-1.15,-146.0,180.9,-8.6,221,1301,0.00,2.42,0.00,0.000,4,0.000,0.044,2672,755,3278
$GC,1352,-1.26,-146.0,185.9,-8.1,231,1359,0.20,2.30,0.00,0.000,6,0.042,0.028,2610,2132,3278
$GC,1699,-1.21,-146.0,224.3,-10.6,292,1707,0.15,2.45,0.00,0.000,4,0.096,0.046,2643,3555,3277
$GC,1747,-1.24,-146.0,229.3,-9.7,300,1754,0.00,2.38,0.00,0.000,6,0.000,0.029,2642,2128,3277
$GC,2090,-1.24,-146.0,260.6,-8.7,351,2094,0.00,2.45,0.00,0.000,4,0.000,0.045,2642,3547,3276
$GC,2145,-1.29,-146.0,265.8,-8.8,355,2153,0.00,2.33,0.00,0.000,6,0.000,0.030,2642,2152,3276
$GC,2471,-1.32,-146.0,293.8,-8.6,386,2476,0.12,2.42,0.00,0.000,4,0.057,0.045,2603,3552,3274
$GC,2510,-1.28,-146.0,298.0,-10.2,389,2515,0.12,2.30,0.00,0.000,6,0.100,0.031,2627,2180,3274
$GC,2834,-1.28,-146.0,328.7,-9.6,419,2838,0.00,2.53,0.00,0.000,4,0.000,0.051,2628,746,3271
$GC,2861,-1.28,-146.0,331.3,-9.4,421,2865,0.00,2.45,0.00,0.000,6,0.000,0.032,2627,2187,3271
$GC,3186,-1.28,-146.0,361.6,-9.6,451,3190,0.00,2.38,0.00,0.000,4,0.000,0.048,2627,3555,3269
$GC,3217,-1.28,-146.0,365.1,-10.2,453,3225,0.00,2.33,0.00,0.000,6,0.000,0.031,2627,2189,3269
$GC,3544,-1.28,-146.0,394.0,-9.0,484,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2186,3267
$GC,3861,-1.28,-146.0,421.2,-8.3,514,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2186,3265
$GC,4182,-1.32,-146.0,446.4,-7.4,544,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2186,3263
$GC,4501,-1.36,-146.0,471.6,-7.4,574,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2183,3260
$GC,4818,-1.40,-146.0,495.0,-7.4,604,4823,0.12,2.58,0.00,0.000,4,0.057,0.054,2590,743,3258
$GC,4852,-1.36,-146.0,498.1,-9.4,606,4859,0.00,2.47,0.00,0.000,6,0.000,0.035,2590,2181,3258
$GC,5168,-1.32,-146.0,526.8,-9.1,623,5173,0.15,2.58,0.00,0.000,4,0.109,0.054,2621,741,3256
$GC,5217,-1.37,-146.0,531.2,-8.9,625,5221,0.00,2.42,0.00,0.000,6,0.000,0.036,2621,2152,3256
$GC,5539,-1.40,-146.0,555.5,-7.3,641,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2154,3255
$GC,5847,-1.44,-146.0,579.6,-8.1,656,5849,0.15,0.00,0.00,0.000,6,0.054,0.000,2578,2154,3252
$GC,6156,-1.38,-146.0,608.7,-8.9,671,6158,0.12,0.00,0.00,0.000,6,0.114,0.000,2600,2153,3251
$GC,6465,-1.38,-146.0,634.7,-8.4,686,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2154,3248
$GC,6774,-1.38,-146.0,660.7,-8.4,701,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2154,3248
$GC,7084,-1.38,-146.0,687.6,-8.4,716,7088,0.00,2.47,0.00,0.000,4,0.000,0.058,2600,3554,3246
$GC,7138,-1.38,-146.0,692.4,-9.1,718,7145,0.00,2.42,0.00,0.000,6,0.000,0.037,2600,2154,3245
$GC,7454,-1.38,-146.0,715.2,-7.2,734,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2153,3244
$GC,7763,-1.38,-146.0,738.5,-7.5,749,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2153,3243
$GC,8072,-1.38,-146.0,761.7,-7.3,764,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2153,3242
$GC,8381,-1.38,-146.0,786.4,-8.2,779,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2153,3240
$GC,8691,-1.38,-146.0,810.4,-7.5,794,8695,0.00,2.50,0.00,0.000,4,0.000,0.058,2600,3555,3239
$GC,8745,-1.38,-146.0,814.9,-8.1,796,8752,0.00,2.40,0.00,0.000,6,0.000,0.039,2600,2154,3239
$GC,9061,-1.38,-146.0,839.4,-8.1,812,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2154,3239
$GC,9370,-1.38,-146.0,862.2,-6.9,827,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2154,3238
$GC,9680,-1.38,-146.0,886.1,-7.8,842,9683,0.00,2.50,0.00,0.000,4,0.000,0.059,2600,3555,3236
$GC,9717,-1.38,-146.0,889.3,-8.1,843,9725,0.00,2.40,0.00,0.000,6,0.000,0.038,2600,2158,3236
$GC,10033,-1.38,-146.0,913.0,-7.5,859,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2158,3235
$GC,10343,-1.38,-146.0,936.1,-8.5,874,10347,0.00,2.55,0.00,0.000,4,0.000,0.063,2600,750,3234
$GC,10386,-1.38,-146.0,939.8,-8.2,876,10390,0.00,2.45,0.00,0.000,6,0.000,0.038,2600,2167,3234
$GC,10713,-1.83,-146.0,952.9,0.3,892,10715,0.45,0.00,0.00,0.000,6,0.064,0.000,2503,2168,3233
$STATE,10773,end dive,NO_VERTICAL_VELOCITY
$STATE,10773,begin apogee
$GC,10778,-0.34,0.0,952.6,0.0,895,10901,1.50,0.00,118.90,1.364,6,0.061,0.000,2831,2384,2678
$STATE,10901,end apogee,CONTROL_FINISHED_OK
$STATE,10901,begin climb
$GC,10903,1.42,146.0,954.6,0.0,901,11038,1.80,2.55,125.80,1.315,4,0.068,0.064,3211,3723,2082
$GC,11195,1.31,146.0,935.3,10.8,914,11200,0.12,2.38,0.00,0.000,6,0.121,0.041,3191,2385,2080
$GC,11517,1.24,147.7,906.1,8.9,930,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2385,2079
$GC,11826,1.17,147.7,876.2,9.5,945,11828,0.17,0.00,0.00,0.000,6,0.120,0.000,3160,2383,2078
$GC,12135,1.19,162.0,849.8,8.3,960,12158,0.00,2.53,13.20,1.325,4,0.000,0.061,3160,3717,2017
$GC,12191,1.16,162.0,844.5,9.3,962,12195,0.00,2.38,0.00,0.000,6,0.000,0.040,3160,2362,2017
$GC,12512,1.16,162.0,814.2,9.8,978,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2362,2016
$GC,12821,1.16,162.0,787.4,9.3,993,12825,0.00,2.47,0.00,0.000,4,0.000,0.061,3160,3726,2015
$GC,12883,1.11,162.0,781.2,10.4,996,12887,0.00,2.35,0.00,0.000,6,0.000,0.040,3160,2367,2015
$GC,13215,1.11,162.1,750.7,9.0,1012,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2366,2015
$GC,13524,1.08,162.1,722.7,9.2,1027,13529,0.10,2.45,0.00,0.000,4,0.126,0.061,3144,3720,2015
$GC,13567,1.08,167.2,718.5,8.8,1029,13577,0.00,2.33,4.55,1.263,6,0.000,0.039,3143,2376,1995
$GC,13894,1.12,187.0,691.7,8.0,1045,13915,0.00,0.00,17.33,1.230,6,0.000,0.000,3144,2376,1915
$GC,14223,1.12,187.0,663.9,9.0,1061,14227,0.00,2.58,0.00,0.000,4,0.000,0.063,3144,963,1914
$GC,14266,1.12,187.0,659.3,10.9,1063,14271,0.00,2.47,0.00,0.000,6,0.000,0.039,3143,2356,1913
$GC,14594,1.16,212.3,634.5,7.7,1079,14621,0.00,2.55,21.30,1.180,4,0.000,0.063,3143,3725,1812
$GC,14676,1.16,212.3,626.8,10.1,1082,14684,0.00,2.38,0.00,0.000,6,0.000,0.039,3143,2383,1811
$GC,14992,1.19,212.3,597.5,9.8,1098,14993,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2381,1810
$GC,15301,1.23,212.3,567.8,9.6,1113,15303,0.15,0.00,0.00,0.000,6,0.068,0.000,3178,2380,1810
$GC,15611,1.19,212.3,534.0,10.9,1128,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2380,1810
$GC,15920,1.15,212.3,500.4,10.5,1143,15925,0.12,2.42,0.00,0.000,4,0.115,0.058,3156,3727,1810
$GC,15951,1.15,212.3,496.9,10.1,1145,15959,0.00,2.35,0.00,0.000,6,0.000,0.038,3156,2384,1810
$GC,16278,1.15,212.3,465.9,10.2,1176,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2383,1810
$GC,16595,1.15,212.3,435.6,9.1,1206,16600,0.00,2.55,0.00,0.000,4,0.000,0.058,3156,967,1810
$GC,16624,1.15,212.3,433.0,10.7,1208,16628,0.00,2.47,0.00,0.000,6,0.000,0.038,3156,2388,1810
$GC,16948,1.16,218.3,404.2,8.7,1238,16959,0.00,0.00,5.50,1.051,6,0.000,0.000,3156,2389,1786
$GC,17278,1.19,233.4,376.1,8.2,1269,17302,0.00,2.67,12.90,0.999,4,0.000,0.055,3156,969,1724
$GC,17360,1.23,233.4,368.9,9.2,1276,17364,0.00,2.45,0.00,0.000,6,0.000,0.038,3156,2362,1724
$GC,17685,1.30,249.0,341.0,8.2,1306,17706,0.15,0.00,13.15,0.969,6,0.064,0.000,3192,2362,1661
$GC,18022,1.30,249.0,307.6,10.0,1338,18026,0.00,2.42,0.00,0.000,4,0.000,0.056,3192,3724,1660
$GC,18089,1.27,249.0,300.1,11.6,1343,18096,0.00,2.38,0.00,0.000,6,0.000,0.037,3192,2343,1660
$GC,18414,1.27,249.0,266.2,10.7,1374,18415,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2342,1661
$GC,18741,1.27,249.0,232.5,10.2,1419,18748,0.00,2.45,0.00,0.000,4,0.000,0.053,3192,3725,1661
$GC,18771,1.27,249.0,229.4,11.0,1424,18778,0.00,2.35,0.00,0.000,6,0.000,0.035,3192,2350,1661
$GC,19116,1.27,249.0,196.3,9.1,1485,19123,0.00,2.42,0.00,0.000,4,0.000,0.052,3192,3725,1661
$GC,19147,1.27,249.0,193.4,9.5,1490,19154,0.00,2.33,0.00,0.000,6,0.000,0.035,3192,2360,1662
$GC,19492,1.34,269.9,164.3,8.0,1551,19515,0.00,2.58,17.20,0.792,4,0.000,0.051,3192,971,1576
$GC,19539,1.41,281.9,160.8,8.4,1558,19555,0.00,2.40,9.73,0.785,6,0.000,0.033,3192,2353,1528
$GC,19892,1.60,336.3,134.6,6.2,1620,19946,0.25,2.55,43.65,0.717,4,0.047,0.050,3267,975,1304
$GC,20053,1.60,336.3,119.0,9.8,1648,20059,0.00,2.30,0.00,0.000,6,0.000,0.033,3267,2309,1301
$GC,20396,1.61,342.1,85.5,8.7,1709,20409,0.00,2.53,3.65,0.727,4,0.000,0.050,3267,3716,1283
$GC,20545,1.61,342.1,70.8,9.1,1735,20551,0.00,2.38,0.00,0.000,6,0.000,0.031,3267,2311,1283
$GC,20890,1.68,361.0,43.7,8.1,1796,20914,0.00,2.55,15.20,0.637,4,0.000,0.046,3267,3726,1205
$GC,20993,1.69,368.7,34.8,8.6,1814,21005,0.00,2.35,5.80,0.646,6,0.000,0.030,3267,2332,1174
$GC,21343,1.77,368.7,3.8,9.7,1876,21350,0.10,2.38,0.00,0.000,4,0.061,0.044,3300,973,1172
$STATE,21360,end climb,SURFACE_DEPTH_REACHED
$STATE,21360,begin surface coast
$FINISH,-0.0,1.021522
$STATE,21384,end surface coast,CONTROL_FINISHED_OK
$STATE,21384,begin surface
$SM_CCo,21407,88.90,0.539,0,0,416,554.62
$SM_GC,0.55,0.00,0.00,88.90,0.000,0.000,0.539,252,2165,416,-12.20,0.42,554.62
$IRIDIUM_FIX,1243.25,12037.35,300597,040402
$TT8_MAMPS,0.023777
$HUMID,1885
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.40
$XPDR_PINGS,425
$ALTIM_BOTTOM_PING,620.8,4.3
$24V_AH,23.2,18.757
$10V_AH,10.1,8.833
$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,33.400,151.000,427.850,88.900,0.000,138.081,178.064,0.000,109.750,0.000,0.000,12.764,3796.914,14052.140,746.642,3008.241,561.970,0.000,2264.607,0.000,2974.646,0.000,27.116
$DEVICE_MAMPS,168.740,64.428,1363.726,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1266.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59777,1883
$CAP_FILE_SIZE,186479,0
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,124.0,1
$GPS,050308,100338,1250.675,12042.455,42,1.2,42,-0.8