version: 66.03
glider: 122
mission: 6
dive: 95
start: 3 5 108 16 35 13
data:
$ID,122
$MISSION,6
$DIVE,95
$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,500
$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,-29153.447
$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,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
$GPS1,162301,1250.045,12039.540,36,0.9,42,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.5
$GPS2,163439,1250.137,12039.448,15,1.6,15,-0.8
$SPEED_LIMITS,0.156,0.209
$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,269.2,44058,-17.4,-9.016
$D_GRID,1485
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-75.82,0.000,2,0.000,0.000,252,2109,2741
$GC,99,-1.42,-146.0,4.3,-8.7,11,130,13.48,2.53,-8.90,0.000,4,0.170,0.055,2590,3559,3275
$GC,244,-1.12,-146.0,44.6,-23.5,36,252,0.35,2.30,0.00,0.000,6,0.110,0.028,2656,2175,3277
$GC,589,-1.00,-146.0,100.3,-14.4,97,597,0.15,2.47,0.00,0.000,4,0.121,0.043,2686,750,3278
$GC,693,-1.06,-146.0,113.0,-10.9,115,700,0.00,2.30,0.00,0.000,6,0.000,0.027,2686,2126,3278
$GC,1040,-1.10,-146.0,152.9,-9.1,176,1046,0.00,2.45,0.00,0.000,4,0.000,0.046,2686,3549,3279
$GC,1081,-1.19,-146.0,156.8,-9.3,183,1089,0.20,2.38,0.00,0.000,6,0.045,0.027,2630,2116,3279
$GC,1426,-1.19,-146.0,190.9,-10.0,244,1433,0.00,2.47,0.00,0.000,4,0.000,0.044,2630,3552,3279
$GC,1518,-1.19,-146.0,200.0,-9.7,260,1525,0.00,2.45,0.00,0.000,6,0.000,0.028,2630,2082,3279
$GC,1861,-1.19,-146.0,232.3,-9.9,321,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2081,3279
$GC,2196,-1.19,-146.0,264.5,-9.2,368,2200,0.00,2.53,0.00,0.000,4,0.000,0.044,2630,3547,3278
$GC,2268,-1.19,-146.0,271.6,-9.9,374,2273,0.00,2.42,0.00,0.000,6,0.000,0.031,2630,2101,3278
$GC,2594,-1.19,-146.0,301.2,-9.1,404,2598,0.00,2.50,0.00,0.000,4,0.000,0.045,2630,3546,3277
$GC,2636,-1.19,-146.0,305.7,-9.4,407,2644,0.00,2.45,0.00,0.000,6,0.000,0.031,2630,2104,3277
$GC,2963,-1.19,-146.0,335.7,-9.0,438,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2101,3275
$GC,3281,-1.19,-146.0,363.3,-8.2,468,3285,0.00,2.53,0.00,0.000,4,0.000,0.048,2630,3549,3272
$GC,3331,-1.22,-146.0,368.0,-9.3,472,3335,0.00,2.42,0.00,0.000,6,0.000,0.032,2630,2117,3272
$GC,3657,-1.22,-146.0,395.7,-8.9,502,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2115,3270
$GC,3975,-1.26,-146.0,423.9,-8.4,532,3979,0.00,2.53,0.00,0.000,4,0.000,0.049,2630,3555,3268
$GC,4008,-1.30,-146.0,427.1,-8.6,534,4016,0.00,2.42,0.00,0.000,6,0.000,0.032,2630,2122,3268
$GC,4334,-1.34,-146.0,453.2,-7.7,565,4338,0.00,2.50,0.00,0.000,4,0.000,0.050,2630,3544,3266
$GC,4378,-1.39,-146.0,456.9,-8.5,568,4386,0.12,2.40,0.00,0.000,6,0.056,0.033,2593,2131,3266
$GC,4703,-1.34,-146.0,487.9,-9.9,599,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2129,3264
$GC,5016,-1.31,-146.0,518.1,-9.6,620,5021,0.12,2.50,0.00,0.000,4,0.109,0.050,2616,3549,3262
$GC,5059,-1.31,-146.0,522.1,-8.7,622,5063,0.00,2.40,0.00,0.000,6,0.000,0.034,2615,2138,3261
$GC,5386,-1.31,-146.0,549.3,-8.5,638,5390,0.00,2.47,0.00,0.000,4,0.000,0.051,2615,3543,3259
$GC,5419,-1.31,-146.0,552.3,-8.4,639,5426,0.00,2.40,0.00,0.000,6,0.000,0.034,2616,2136,3259
$GC,5734,-1.31,-146.0,577.9,-8.2,655,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2134,3257
$GC,6044,-1.31,-146.0,604.1,-8.5,670,6048,0.00,2.50,0.00,0.000,4,0.000,0.054,2615,3543,3256
$GC,6110,-1.31,-146.0,609.8,-7.9,673,6115,0.00,2.35,0.00,0.000,6,0.000,0.035,2615,2166,3256
$GC,6436,-1.31,-146.0,636.3,-8.0,689,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2165,3254
$GC,6745,-1.31,-146.0,660.6,-7.7,704,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2165,3252
$GC,7056,-1.31,-146.0,683.3,-7.2,719,7060,0.00,2.45,0.00,0.000,4,0.000,0.055,2615,3542,3250
$GC,7097,-1.31,-146.0,686.3,-7.5,721,7101,0.00,2.35,0.00,0.000,6,0.000,0.036,2615,2169,3250
$GC,7423,-1.31,-146.0,711.7,-8.1,737,7427,0.00,2.55,0.00,0.000,4,0.000,0.059,2615,742,3249
$GC,7461,-1.31,-146.0,715.0,-9.0,738,7468,0.00,2.45,0.00,0.000,6,0.000,0.035,2616,2164,3247
$GC,7777,-1.31,-146.0,740.7,-8.5,754,7781,0.00,2.45,0.00,0.000,4,0.000,0.057,2615,3552,3247
$GC,7816,-1.34,-146.0,744.2,-9.0,756,7820,0.00,2.40,0.00,0.000,6,0.000,0.036,2615,2150,3247
$GC,8142,-1.37,-146.0,770.2,-7.7,772,8146,0.00,2.50,0.00,0.000,4,0.000,0.057,2615,3555,3246
$GC,8198,-1.40,-146.0,775.0,-8.9,774,8202,0.00,2.38,0.00,0.000,6,0.000,0.036,2615,2166,3246
$GC,8514,-1.44,-146.0,798.5,-7.4,789,8516,0.12,0.00,0.00,0.000,6,0.061,0.000,2580,2166,3245
$GC,8823,-1.39,-146.0,827.1,-9.3,804,8828,0.10,2.47,0.00,0.000,4,0.119,0.056,2597,3558,3243
$GC,8877,-1.39,-146.0,831.9,-8.6,806,8884,0.00,2.38,0.00,0.000,6,0.000,0.037,2596,2170,3243
$GC,9193,-1.39,-146.0,856.6,-8.0,822,9197,0.00,2.47,0.00,0.000,4,0.000,0.058,2597,3556,3242
$GC,9225,-1.39,-146.0,859.4,-8.5,823,9232,0.00,2.35,0.00,0.000,6,0.000,0.038,2597,2186,3241
$GC,9542,-1.39,-146.0,882.8,-7.4,839,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2186,3241
$GC,9850,-1.39,-146.0,908.7,-8.7,854,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2186,3240
$GC,10159,-1.39,-146.0,935.8,-8.5,869,10164,0.00,2.45,0.00,0.000,4,0.000,0.060,2597,3552,3239
$GC,10221,-1.39,-146.0,941.5,-9.2,872,10225,0.00,2.33,0.00,0.000,6,0.000,0.038,2597,2198,3239
$GC,10553,-1.39,-146.0,968.1,-7.6,888,10558,0.00,2.62,0.00,0.000,4,0.000,0.063,2597,746,3239
$GC,10624,-1.39,-146.0,974.3,-8.5,891,10629,0.00,2.50,0.00,0.000,6,0.000,0.038,2597,2186,3238
$STATE,10841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10841,begin apogee
$GC,10845,-0.34,0.0,991.0,7.7,902,10970,1.15,0.00,120.72,1.392,6,0.099,0.000,2828,2391,2678
$STATE,10971,end apogee,CONTROL_FINISHED_OK
$STATE,10971,begin climb
$GC,10972,1.42,146.0,994.5,0.0,908,11109,1.83,2.55,126.57,1.342,4,0.058,0.064,3222,3733,2082
$GC,11166,1.15,146.0,977.7,15.0,917,11171,0.35,2.38,0.00,0.000,6,0.122,0.039,3161,2375,2081
$GC,11487,1.05,146.0,942.1,10.3,933,11492,0.15,2.55,0.00,0.000,4,0.124,0.060,3135,972,2079
$GC,11542,0.98,146.0,936.4,9.7,935,11549,0.00,2.45,0.00,0.000,6,0.000,0.040,3135,2358,2078
$GC,11858,0.93,146.0,905.9,9.9,951,11862,0.15,2.47,0.00,0.000,4,0.123,0.063,3109,3733,2078
$GC,11902,0.93,146.0,901.7,9.2,953,11906,0.00,2.38,0.00,0.000,6,0.000,0.039,3109,2364,2078
$GC,12222,0.95,155.4,874.5,8.5,969,12231,0.00,0.00,7.62,1.350,6,0.000,0.000,3109,2363,2044
$GC,12532,0.96,160.9,847.8,8.7,984,12539,0.00,0.00,5.18,1.326,6,0.000,0.000,3109,2362,2022
$GC,12840,0.97,172.4,821.8,8.4,999,12853,0.00,0.00,10.57,1.321,6,0.000,0.000,3109,2361,1975
$GC,13150,0.99,183.9,794.4,8.4,1014,13162,0.00,0.00,10.15,1.304,6,0.000,0.000,3109,2361,1927
$GC,13460,1.03,184.2,767.4,9.0,1029,13464,0.00,2.47,0.00,0.000,4,0.000,0.062,3109,3726,1927
$GC,13521,1.03,184.2,761.2,10.8,1032,13525,0.00,2.35,0.00,0.000,6,0.000,0.039,3109,2370,1927
$GC,13849,1.11,206.7,732.0,7.9,1048,13871,0.17,0.00,19.77,1.253,6,0.066,0.000,3149,2369,1834
$GC,14177,1.11,206.7,698.2,11.0,1064,14181,0.00,2.47,0.00,0.000,4,0.000,0.061,3149,3733,1833
$GC,14216,1.06,206.7,693.5,12.9,1066,14220,0.00,2.38,0.00,0.000,6,0.000,0.040,3149,2371,1833
$GC,14542,1.06,206.7,658.3,10.7,1082,14546,0.00,2.55,0.00,0.000,4,0.000,0.063,3148,970,1833
$GC,14580,1.06,206.7,654.1,10.9,1084,14584,0.00,2.47,0.00,0.000,6,0.000,0.040,3149,2378,1833
$GC,14906,1.06,206.7,621.0,10.4,1100,14911,0.00,2.42,0.00,0.000,4,0.000,0.064,3148,3723,1833
$GC,14961,1.02,206.7,614.6,11.7,1102,14969,0.12,2.35,0.00,0.000,6,0.129,0.039,3128,2366,1833
$GC,15277,1.02,206.7,584.1,9.4,1118,15281,0.00,2.53,0.00,0.000,4,0.000,0.061,3128,972,1833
$GC,15316,1.02,206.7,580.3,10.2,1120,15320,0.00,2.45,0.00,0.000,6,0.000,0.039,3128,2370,1833
$GC,15643,1.02,206.7,549.1,9.9,1136,15647,0.00,2.45,0.00,0.000,4,0.000,0.063,3128,3733,1833
$GC,15713,1.02,206.7,541.3,10.8,1139,15718,0.00,2.38,0.00,0.000,6,0.000,0.038,3128,2370,1832
$GC,16036,1.05,207.5,511.6,9.0,1155,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2369,1833
$GC,16350,1.09,211.2,483.0,8.8,1178,16361,0.00,0.00,3.65,1.093,6,0.000,0.000,3128,2368,1817
$GC,16680,1.13,212.8,454.1,8.9,1209,16681,0.10,0.00,0.00,0.000,6,0.077,0.000,3154,2368,1817
$GC,16997,1.13,212.8,423.3,9.5,1239,16998,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2368,1817
$GC,17315,1.13,212.8,391.3,9.6,1269,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2368,1817
$GC,17633,1.13,212.8,362.8,9.1,1299,17634,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2368,1817
$GC,17953,1.16,226.9,334.4,8.3,1329,17973,0.00,0.00,14.23,0.960,6,0.000,0.000,3154,2368,1750
$GC,18292,1.17,234.3,305.8,8.6,1361,18306,0.00,2.55,6.25,0.954,4,0.000,0.054,3154,964,1721
$GC,18363,1.17,234.3,299.2,10.4,1367,18367,0.00,2.50,0.00,0.000,6,0.000,0.036,3154,2397,1720
$GC,18687,1.17,234.3,268.1,9.0,1397,18691,0.00,2.55,0.00,0.000,4,0.000,0.053,3154,970,1721
$GC,18719,1.18,238.0,265.3,8.8,1399,18728,0.00,2.40,3.22,0.927,6,0.000,0.036,3154,2355,1707
$GC,19052,1.22,238.0,235.7,9.2,1443,19059,0.00,2.47,0.00,0.000,4,0.000,0.052,3154,970,1707
$GC,19110,1.22,238.0,230.3,9.1,1453,19117,0.00,2.38,0.00,0.000,6,0.000,0.035,3153,2344,1706
$GC,19456,1.32,262.5,200.9,7.8,1514,19486,0.15,2.55,20.33,0.818,4,0.060,0.052,3195,974,1606
$GC,19542,1.32,262.5,192.0,10.6,1528,19550,0.00,2.35,0.00,0.000,6,0.000,0.035,3195,2326,1605
$GC,19887,1.35,283.6,159.4,7.9,1589,19909,0.00,2.58,16.75,0.778,4,0.000,0.051,3195,3724,1521
$GC,20068,1.46,314.2,145.2,7.5,1620,20101,0.12,2.40,24.45,0.743,6,0.064,0.034,3227,2320,1397
$GC,20439,1.53,332.0,114.2,8.1,1684,20462,0.00,2.45,14.20,0.723,4,0.000,0.051,3227,969,1322
$GC,20614,1.58,332.0,99.4,9.2,1714,20622,0.00,2.28,0.00,0.000,6,0.000,0.032,3227,2297,1320
$GC,20960,1.72,373.3,71.6,6.9,1775,20997,0.20,0.00,32.70,0.646,6,0.049,0.000,3285,2297,1155
$GC,21335,1.72,373.3,32.5,10.1,1840,21341,0.00,2.35,0.00,0.000,4,0.000,0.048,3285,965,1152
$GC,21477,1.68,373.3,16.6,11.9,1865,21484,0.00,2.25,0.00,0.000,6,0.000,0.031,3285,2291,1151
$STATE,21649,end climb,SURFACE_DEPTH_REACHED
$STATE,21649,begin surface coast
$FINISH,-0.2,1.008853
$STATE,21671,end surface coast,CONTROL_FINISHED_OK
$STATE,21671,begin surface
$SM_CCo,21692,60.62,0.548,0,0,638,500.17
$SM_GC,0.75,0.00,0.00,60.62,0.000,0.000,0.548,252,2108,638,-12.20,-1.19,500.17
$IRIDIUM_FIX,1247.67,12039.25,300597,161643
$TT8_MAMPS,0.023777
$HUMID,1893
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.30
$XPDR_PINGS,430
$ALTIM_BOTTOM_PING,651.1,4.2
$24V_AH,23.2,19.144
$10V_AH,10.1,9.039
$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,32.575,176.475,436.375,60.625,0.000,72.136,141.185,231.709,112.000,0.000,0.000,15.816,4045.757,13849.627,737.087,3106.848,716.106,0.000,2295.172,0.000,3061.321,0.000,35.386
$DEVICE_MAMPS,169.507,63.661,1392.105,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1277.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59791,1899
$CAP_FILE_SIZE,198655,0
$CFSIZE,260165632,249909248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,289.7,1
$GPS,050308,223902,1250.677,12035.933,41,1.2,41,-0.8