version: 66.03
glider: 122
mission: 6
dive: 96
start: 3 5 108 22 56 29
data:
$ID,122
$MISSION,6
$DIVE,96
$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,-29169.711
$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,60
$R_STBD_OVSHOOT,28
$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
$GPS1,223902,1250.677,12035.933,41,1.2,41,-0.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-65.1
$GPS2,225557,1250.660,12035.621,15,1.0,15,-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,242.7,37523,-17.4,-9.016
$D_GRID,1609
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.0,0.0,0.0,0,89,0.00,0.00,-67.07,0.000,2,0.000,0.000,252,2108,2445
$GC,91,-1.42,-146.0,3.0,-7.2,10,129,13.48,2.35,-16.02,0.000,4,0.170,0.055,2589,768,3276
$GC,281,-1.15,-146.0,44.2,-21.5,43,289,0.32,2.33,0.00,0.000,6,0.110,0.027,2651,2163,3277
$GC,627,-1.02,-146.0,100.1,-14.9,104,634,0.15,2.40,0.00,0.000,4,0.102,0.041,2684,775,3277
$GC,730,-1.02,-146.0,113.3,-12.0,122,737,0.00,2.28,0.00,0.000,6,0.000,0.026,2684,2144,3278
$GC,1074,-1.02,-146.0,151.7,-9.8,183,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2144,3279
$GC,1417,-1.13,-146.0,180.0,-8.0,244,1424,0.12,2.42,0.00,0.000,4,0.053,0.045,2642,3553,3279
$GC,1638,-1.13,-146.0,201.3,-9.7,283,1645,0.00,2.33,0.00,0.000,6,0.000,0.028,2642,2147,3279
$GC,1983,-1.16,-146.0,231.5,-8.1,344,1989,0.00,2.42,0.00,0.000,4,0.000,0.044,2642,3557,3278
$GC,2035,-1.19,-146.0,236.0,-8.6,353,2042,0.00,2.33,0.00,0.000,6,0.000,0.028,2642,2148,3278
$GC,2377,-1.23,-146.0,263.1,-7.5,399,2381,0.00,2.42,0.00,0.000,4,0.000,0.048,2642,756,3277
$GC,2440,-1.30,-146.0,268.5,-8.4,404,2444,0.00,2.33,0.00,0.000,6,0.000,0.030,2642,2141,3276
$GC,2766,-1.34,-146.0,297.4,-8.5,434,2767,0.12,0.00,0.00,0.000,6,0.055,0.000,2601,2142,3275
$GC,3084,-1.29,-146.0,329.0,-10.4,464,3089,0.10,2.45,0.00,0.000,4,0.108,0.048,2619,3552,3273
$GC,3111,-1.29,-146.0,332.0,-10.4,466,3116,0.00,2.40,0.00,0.000,6,0.000,0.031,2619,2125,3273
$GC,3436,-1.29,-146.0,362.5,-9.8,496,3441,0.00,2.47,0.00,0.000,4,0.000,0.048,2619,3545,3271
$GC,3491,-1.29,-146.0,368.3,-10.7,500,3498,0.00,2.40,0.00,0.000,6,0.000,0.031,2619,2140,3270
$GC,3819,-1.29,-146.0,395.3,-8.6,531,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2138,3268
$GC,4136,-1.29,-146.0,424.0,-8.8,561,4140,0.00,2.47,0.00,0.000,4,0.000,0.050,2619,3551,3266
$GC,4167,-1.33,-146.0,427.1,-9.0,563,4175,0.00,2.40,0.00,0.000,6,0.000,0.032,2619,2132,3266
$GC,4494,-1.33,-146.0,453.2,-8.1,594,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2130,3264
$GC,4812,-1.33,-146.0,478.7,-7.8,624,4816,0.00,2.50,0.00,0.000,4,0.000,0.051,2619,3551,3262
$GC,4901,-1.37,-146.0,485.7,-7.5,631,4907,0.00,2.40,0.00,0.000,6,0.000,0.034,2619,2136,3261
$GC,5235,-1.37,-146.0,510.2,-7.6,657,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2134,3259
$GC,5541,-1.37,-146.0,532.2,-7.3,672,5545,0.00,2.50,0.00,0.000,4,0.000,0.051,2619,3554,3257
$GC,5597,-1.40,-146.0,536.5,-8.2,674,5601,0.00,2.40,0.00,0.000,6,0.000,0.034,2619,2146,3256
$GC,5915,-1.40,-146.0,560.7,-7.7,689,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2143,3255
$GC,6221,-1.40,-146.0,584.3,-7.7,704,6225,0.00,2.47,0.00,0.000,4,0.000,0.053,2619,3548,3253
$GC,6254,-1.44,-146.0,587.3,-8.4,705,6259,0.15,2.40,0.00,0.000,6,0.058,0.035,2580,2146,3253
$GC,6571,-1.38,-146.0,617.6,-9.8,720,6572,0.12,0.00,0.00,0.000,6,0.117,0.000,2601,2143,3251
$GC,6879,-1.38,-146.0,644.9,-8.8,735,6883,0.00,2.47,0.00,0.000,4,0.000,0.054,2602,3547,3249
$GC,6911,-1.38,-146.0,648.0,-9.4,736,6916,0.00,2.38,0.00,0.000,6,0.000,0.036,2601,2172,3249
$GC,7233,-1.38,-146.0,676.3,-8.7,752,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2171,3247
$GC,7542,-1.38,-146.0,703.3,-8.9,767,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2171,3247
$GC,7852,-1.45,-146.0,725.7,-6.5,782,7856,0.00,2.45,0.00,0.000,4,0.000,0.055,2601,3552,3245
$GC,7966,-1.45,-146.0,733.7,-7.2,787,7970,0.00,2.35,0.00,0.000,6,0.000,0.036,2601,2179,3245
$GC,8292,-1.45,-146.0,757.2,-7.4,803,8296,0.00,2.55,0.00,0.000,4,0.000,0.058,2602,741,3243
$GC,8442,-1.45,-146.0,769.5,-8.4,809,8449,0.00,2.45,0.00,0.000,6,0.000,0.036,2601,2161,3243
$GC,8758,-1.45,-146.0,793.3,-7.6,825,8762,0.00,2.55,0.00,0.000,4,0.000,0.058,2601,741,3241
$GC,8864,-1.45,-146.0,802.2,-8.4,830,8868,0.00,2.40,0.00,0.000,6,0.000,0.037,2602,2133,3241
$GC,9192,-1.45,-146.0,826.9,-7.5,846,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2133,3239
$GC,9500,-1.45,-146.0,850.5,-7.8,861,9504,0.00,2.50,0.00,0.000,4,0.000,0.058,2602,742,3239
$GC,9565,-1.45,-146.0,856.1,-8.3,864,9570,0.00,2.40,0.00,0.000,6,0.000,0.038,2601,2135,3239
$GC,9893,-1.45,-146.0,880.1,-6.8,880,9897,0.00,2.50,0.00,0.000,4,0.000,0.058,2602,740,3238
$GC,9936,-1.45,-146.0,883.4,-7.0,882,9940,0.00,2.35,0.00,0.000,6,0.000,0.038,2601,2105,3238
$GC,10263,-1.45,-146.0,905.2,-6.4,898,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2106,3237
$GC,10572,-1.45,-146.0,925.7,-6.6,913,10576,0.00,2.45,0.00,0.000,4,0.000,0.059,2602,742,3236
$GC,10634,-1.45,-146.0,930.0,-7.6,916,10638,0.00,2.33,0.00,0.000,6,0.000,0.038,2602,2090,3236
$GC,10960,-1.45,-146.0,951.0,-6.5,932,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2090,3235
$GC,11269,-1.45,-146.0,970.5,-6.3,947,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2091,3234
$STATE,11578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11578,begin apogee
$GC,11583,-0.34,0.0,991.4,6.9,962,11706,1.12,0.00,120.15,1.401,6,0.098,0.000,2828,2377,2678
$STATE,11708,end apogee,CONTROL_FINISHED_OK
$STATE,11708,begin climb
$GC,11709,1.42,146.0,994.5,0.0,968,11844,1.77,2.53,127.00,1.348,4,0.058,0.064,3217,3722,2082
$GC,11991,1.16,146.0,965.0,14.0,980,11999,0.32,2.35,0.00,0.000,6,0.120,0.038,3159,2370,2080
$GC,12307,1.05,146.0,931.3,10.0,996,12312,0.12,2.45,0.00,0.000,4,0.123,0.060,3138,3719,2078
$GC,12481,0.95,146.0,912.7,10.3,1004,12486,0.15,2.28,0.00,0.000,6,0.133,0.038,3113,2404,2078
$GC,12807,0.96,155.9,884.0,8.5,1020,12821,0.00,2.47,8.10,1.351,4,0.000,0.061,3113,3721,2042
$GC,12889,0.92,155.9,876.4,9.3,1023,12897,0.00,2.25,0.00,0.000,6,0.000,0.038,3113,2422,2041
$GC,13205,0.96,176.8,851.2,8.0,1039,13227,0.00,0.00,18.55,1.329,6,0.000,0.000,3113,2419,1957
$GC,13534,0.96,178.5,822.0,8.9,1055,13538,0.00,2.35,0.00,0.000,4,0.000,0.061,3113,3718,1955
$GC,13645,0.96,178.5,810.6,10.1,1060,13649,0.00,2.25,0.00,0.000,6,0.000,0.038,3113,2436,1955
$GC,13973,1.02,216.2,784.0,7.1,1076,14018,0.00,2.45,33.90,1.272,4,0.000,0.061,3113,3717,1796
$GC,14080,1.02,216.2,774.4,9.2,1080,14087,0.00,2.20,0.00,0.000,6,0.000,0.038,3113,2450,1795
$GC,14395,1.06,216.2,744.5,9.9,1096,14400,0.12,2.30,0.00,0.000,4,0.074,0.061,3141,3722,1794
$GC,14432,1.02,216.2,740.2,10.8,1097,14440,0.00,2.20,0.00,0.000,6,0.000,0.038,3141,2463,1794
$GC,14748,1.02,216.2,706.7,10.3,1113,14752,0.00,2.28,0.00,0.000,4,0.000,0.061,3141,3720,1794
$GC,14870,0.99,216.2,693.3,10.7,1118,14877,0.00,2.12,0.00,0.000,6,0.000,0.038,3142,2485,1794
$GC,15185,0.99,216.2,660.5,10.6,1134,15186,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2484,1793
$GC,15495,0.99,216.2,628.0,10.8,1149,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2483,1793
$GC,15804,0.99,216.2,595.9,10.0,1164,15808,0.00,2.22,0.00,0.000,4,0.000,0.061,3141,3722,1793
$GC,15843,0.99,216.2,591.7,11.0,1166,15847,0.00,2.12,0.00,0.000,6,0.000,0.038,3141,2484,1793
$GC,16169,0.99,216.2,558.2,10.3,1182,16173,0.00,2.22,0.00,0.000,4,0.000,0.061,3141,3719,1793
$GC,16252,0.99,216.2,549.1,10.7,1186,16256,0.00,2.08,0.00,0.000,6,0.000,0.037,3141,2498,1793
$GC,16584,0.99,216.2,517.6,9.0,1202,16589,0.00,2.75,0.00,0.000,4,0.000,0.058,3141,963,1793
$GC,16617,0.99,216.2,514.4,9.8,1203,16624,0.00,2.67,0.00,0.000,6,0.000,0.039,3141,2497,1793
$GC,16937,0.99,216.2,483.8,9.7,1226,16940,0.00,2.17,0.00,0.000,4,0.000,0.062,3141,3723,1793
$GC,17004,0.99,216.2,476.4,10.6,1232,17007,0.00,2.10,0.00,0.000,6,0.000,0.037,3141,2488,1793
$GC,17334,0.99,216.2,444.8,9.1,1263,17336,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2485,1793
$GC,17653,1.00,219.6,416.6,8.8,1293,17662,0.00,0.00,2.78,1.042,6,0.000,0.000,3141,2485,1782
$GC,17981,1.01,228.8,385.6,8.5,1324,17991,0.00,0.00,8.23,1.031,6,0.000,0.000,3141,2485,1745
$GC,18310,1.03,238.9,356.4,8.5,1355,18321,0.00,0.00,8.93,0.998,6,0.000,0.000,3141,2485,1703
$GC,18637,1.08,248.0,327.2,8.6,1386,18650,0.00,2.83,7.60,0.975,4,0.000,0.054,3142,966,1666
$GC,18696,1.15,263.7,322.0,8.2,1391,18719,0.00,2.70,13.80,0.935,6,0.000,0.038,3141,2504,1601
$GC,19037,1.21,267.6,290.4,8.8,1423,19049,0.12,2.80,3.40,0.942,4,0.069,0.053,3171,976,1585
$GC,19083,1.21,267.6,285.6,10.0,1427,19088,0.00,2.65,0.00,0.000,6,0.000,0.037,3172,2494,1585
$GC,19407,1.21,267.6,252.5,10.0,1457,19412,0.00,2.72,0.00,0.000,4,0.000,0.052,3172,969,1584
$GC,19434,1.21,267.6,249.7,11.1,1459,19441,0.00,2.62,0.00,0.000,6,0.000,0.036,3172,2483,1585
$GC,19778,1.21,267.6,216.4,9.6,1520,19783,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2483,1585
$GC,20121,1.28,279.2,186.2,8.4,1581,20139,0.00,2.25,9.45,0.838,4,0.000,0.054,3172,3720,1539
$GC,20185,1.33,279.2,180.5,9.5,1592,20192,0.10,2.10,0.00,0.000,6,0.071,0.033,3196,2479,1539
$GC,20530,1.42,303.4,150.6,7.8,1653,20555,0.00,2.30,19.62,0.766,4,0.000,0.051,3196,3724,1440
$GC,20591,1.49,316.4,145.8,8.4,1663,20610,0.15,2.08,10.82,0.765,6,0.061,0.031,3234,2497,1387
$GC,20948,1.49,316.4,113.4,9.1,1726,20954,0.00,2.70,0.00,0.000,4,0.000,0.050,3234,970,1384
$GC,21084,1.49,316.4,100.2,9.8,1750,21091,0.00,2.60,0.00,0.000,6,0.000,0.034,3234,2481,1383
$GC,21428,1.54,347.5,72.6,7.4,1811,21459,0.00,2.80,24.55,0.662,4,0.000,0.048,3234,963,1259
$GC,21544,1.63,369.0,63.3,7.9,1831,21569,0.12,2.55,16.65,0.650,6,0.060,0.032,3267,2457,1173
$GC,21908,1.63,369.0,28.5,10.2,1895,21915,0.00,2.62,0.00,0.000,4,0.000,0.047,3268,967,1170
$GC,22101,1.68,372.2,9.0,8.9,1929,22109,0.00,2.50,2.10,0.632,6,0.000,0.030,3268,2439,1160
$STATE,22191,end climb,SURFACE_DEPTH_REACHED
$STATE,22192,begin surface coast
$FINISH,-0.1,1.021690
$STATE,22222,end surface coast,CONTROL_FINISHED_OK
$STATE,22222,begin surface
$SM_CCo,22243,61.60,0.548,0,0,638,500.17
$SM_GC,0.88,0.00,0.00,61.60,0.000,0.000,0.548,250,2126,638,-12.21,-0.71,500.17
$IRIDIUM_FIX,1243.25,12034.32,300597,222240
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.20
$XPDR_PINGS,446
$ALTIM_BOTTOM_PING,630.4,4.3
$24V_AH,23.2,19.349
$10V_AH,10.1,9.148
$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,32.100,179.675,435.625,61.600,0.000,123.747,119.379,401.138,115.250,0.000,0.000,15.635,3827.135,14539.897,712.563,3316.023,925.634,0.000,2373.440,0.000,3271.165,0.000,28.943
$DEVICE_MAMPS,169.507,64.428,1401.309,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1311.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59720,1950
$CAP_FILE_SIZE,209283,0
$CFSIZE,260165632,249806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,181.3,1
$GPS,060308,050931,1248.753,12033.079,37,0.9,42,-0.8