version: 66.03
glider: 122
mission: 6
dive: 375
start: 5 8 108 5 37 3
data:
$ID,122
$MISSION,6
$DIVE,375
$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,-34661.457
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,052931,1244.044,12044.417,36,1.4,42,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.1
$GPS2,053627,1243.978,12044.423,16,1.4,16,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_1
$TGT_LATLONG,1241.580,12045.480
$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,164.9,4834,-26.0,-9.016
$D_GRID,930
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.96,-78.2,0.0,0.0,0,91,0.00,0.00,-65.85,0.000,2,0.000,0.000,248,2223,2282
$GC,95,-2.01,-105.4,3.0,-6.8,10,133,12.82,2.42,-18.38,0.000,4,0.169,0.053,2462,3633,3178
$GC,255,-1.73,-105.4,38.8,-22.1,37,263,0.35,2.38,0.00,0.000,6,0.139,0.026,2522,2194,3180
$GC,602,-1.64,-105.4,97.9,-15.1,98,610,0.12,2.42,0.00,0.000,4,0.143,0.041,2542,3632,3181
$GC,628,-1.57,-105.4,101.6,-14.4,102,635,0.00,2.28,0.00,0.000,6,0.000,0.026,2542,2253,3181
$GC,974,-1.57,-105.4,146.5,-9.2,163,981,0.00,2.35,0.00,0.000,4,0.000,0.042,2542,3625,3183
$GC,1010,-1.57,-105.4,150.2,-10.1,169,1017,0.00,2.22,0.00,0.000,6,0.000,0.026,2542,2271,3183
$GC,1356,-1.63,-105.4,182.9,-9.3,230,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2270,3184
$GC,1702,-1.69,-106.5,215.1,-8.9,291,1709,0.00,2.33,0.00,0.000,4,0.000,0.044,2542,3623,3184
$GC,1812,-1.73,-106.5,225.3,-9.5,310,1819,0.00,2.17,0.00,0.000,6,0.000,0.028,2542,2300,3184
$GC,2160,-1.81,-112.2,254.6,-8.6,367,2165,0.15,2.58,0.00,0.000,4,0.056,0.043,2498,820,3184
$GC,2182,-1.81,-112.2,256.9,-9.5,368,2190,0.00,2.55,0.00,0.000,6,0.000,0.031,2498,2331,3184
$GC,2511,-1.81,-112.2,289.1,-10.0,399,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2331,3183
$GC,2837,-1.81,-112.2,321.6,-10.3,430,2841,0.00,2.62,0.00,0.000,4,0.000,0.045,2498,824,3181
$GC,2865,-1.81,-112.2,324.8,-11.0,432,2869,0.00,2.53,0.00,0.000,6,0.000,0.033,2498,2310,3181
$GC,3195,-1.81,-112.2,358.1,-9.6,462,3199,0.00,2.28,0.00,0.000,4,0.000,0.049,2498,3626,3180
$GC,3247,-1.77,-112.2,363.9,-10.5,466,3251,0.12,2.20,0.00,0.000,6,0.119,0.030,2519,2302,3179
$GC,3574,-1.81,-112.2,396.1,-9.6,496,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2301,3178
$GC,3894,-1.85,-112.2,425.5,-9.3,526,3898,0.00,2.33,0.00,0.000,4,0.000,0.049,2519,3632,3175
$GC,3915,-1.85,-112.2,428.2,-10.3,527,3922,0.00,2.22,0.00,0.000,6,0.000,0.031,2519,2306,3175
$GC,4244,-1.90,-117.1,457.0,-8.6,558,4249,0.12,2.60,0.00,0.000,4,0.064,0.048,2487,826,3173
$GC,4277,-1.90,-117.1,460.4,-9.5,560,4284,0.00,2.53,0.00,0.000,6,0.000,0.033,2487,2302,3173
$GC,4605,-1.90,-117.1,490.4,-10.1,591,4609,0.00,2.30,0.00,0.000,4,0.000,0.050,2487,3619,3171
$GC,4645,-1.85,-117.1,494.7,-10.4,594,4649,0.00,2.22,0.00,0.000,6,0.000,0.031,2487,2300,3171
$GC,4973,-1.85,-117.1,529.5,-10.8,612,4978,0.00,2.60,0.00,0.000,4,0.000,0.050,2487,825,3168
$GC,5014,-1.85,-117.1,534.1,-10.7,613,5021,0.00,2.55,0.00,0.000,6,0.000,0.035,2487,2308,3168
$GC,5330,-1.85,-117.1,566.5,-9.8,629,5334,0.00,2.65,0.00,0.000,4,0.000,0.050,2487,819,3166
$GC,5351,-1.85,-117.1,568.6,-9.3,630,5356,0.00,2.55,0.00,0.000,6,0.000,0.035,2487,2299,3166
$GC,5674,-1.85,-117.1,597.4,-9.5,646,5678,0.00,2.33,0.00,0.000,4,0.000,0.051,2487,3623,3164
$GC,5730,-1.81,-117.1,603.6,-10.3,648,5737,0.12,2.22,0.00,0.000,6,0.129,0.033,2507,2312,3163
$GC,6049,-1.84,-117.6,632.2,-9.0,664,6053,0.00,2.62,0.00,0.000,4,0.000,0.052,2507,829,3162
$GC,6082,-1.84,-118.3,635.7,-9.0,665,6089,0.00,2.55,0.00,0.000,6,0.000,0.035,2507,2309,3161
$GC,6398,-1.84,-120.2,662.8,-8.9,681,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2308,3160
$GC,6709,-1.88,-120.2,691.2,-9.2,696,6713,0.00,2.65,0.00,0.000,4,0.000,0.053,2507,820,3159
$GC,6775,-1.88,-120.2,697.8,-9.7,699,6779,0.00,2.60,0.00,0.000,6,0.000,0.037,2507,2320,3158
$GC,7097,-1.88,-120.2,727.0,-9.2,715,7101,0.00,2.30,0.00,0.000,4,0.000,0.055,2507,3624,3156
$GC,7147,-1.88,-120.2,732.1,-9.7,717,7151,0.00,2.20,0.00,0.000,6,0.000,0.035,2507,2321,3156
$GC,7470,-1.95,-142.7,757.7,-7.2,733,7475,0.12,2.67,0.00,0.000,4,0.067,0.054,2477,820,3155
$GC,7526,-1.96,-146.0,762.3,-7.9,735,7533,0.00,2.62,0.00,0.000,6,0.000,0.037,2477,2333,3154
$GC,7843,-1.96,-146.0,788.0,-8.8,751,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2332,3153
$GC,8152,-1.96,-146.0,819.7,-11.5,766,8160,0.00,2.67,0.00,0.000,4,0.000,0.054,2477,836,3151
$GC,8200,-1.96,-146.0,825.7,-12.9,768,8205,0.00,2.58,0.00,0.000,6,0.000,0.038,2477,2317,3151
$GC,8530,-1.96,-146.0,862.1,-9.9,784,8535,0.00,2.70,0.00,0.000,4,0.000,0.056,2477,824,3149
$GC,8574,-1.96,-146.0,866.6,-9.6,786,8578,0.00,2.58,0.00,0.000,6,0.000,0.038,2477,2299,3149
$GC,8895,-1.96,-146.0,897.4,-9.4,802,8899,0.00,2.65,0.00,0.000,4,0.000,0.056,2477,829,3148
$GC,8925,-1.96,-146.0,900.5,-10.1,803,8929,0.00,2.53,0.00,0.000,6,0.000,0.038,2477,2281,3148
$STATE,9199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9206,-0.35,0.0,930.4,11.1,816,9300,1.85,0.00,87.32,1.327,6,0.128,0.000,2825,2340,2748
$STATE,9301,end apogee,CONTROL_FINISHED_OK
$STATE,9301,begin climb
$GC,9304,2.08,146.0,935.3,0.0,821,9442,2.45,2.58,128.88,1.287,4,0.051,0.060,3358,3720,2152
$GC,9475,1.81,146.0,927.5,13.7,829,9481,0.32,2.40,0.00,0.000,6,0.147,0.040,3305,2355,2151
$GC,9798,1.69,146.0,890.5,11.1,845,9803,0.17,2.60,0.00,0.000,4,0.143,0.060,3273,932,2149
$GC,9871,1.60,146.0,882.8,10.4,848,9875,0.00,2.42,0.00,0.000,6,0.000,0.038,3273,2311,2149
$GC,10187,1.53,146.0,852.1,10.3,863,10189,0.20,0.00,0.00,0.000,6,0.140,0.000,3239,2311,2147
$GC,10496,1.53,146.0,820.3,10.3,878,10501,0.00,2.53,0.00,0.000,4,0.000,0.059,3240,929,2147
$GC,10608,1.53,146.0,808.8,10.0,883,10612,0.00,2.42,0.00,0.000,6,0.000,0.039,3239,2308,2146
$GC,10930,1.53,146.9,779.6,8.9,899,10934,0.00,2.53,0.00,0.000,4,0.000,0.059,3239,927,2146
$GC,10980,1.53,147.2,774.8,9.0,901,10984,0.00,2.40,0.00,0.000,6,0.000,0.040,3239,2293,2145
$GC,11296,1.54,148.8,745.8,8.9,916,11300,0.00,2.58,0.00,0.000,4,0.000,0.060,3239,3727,2145
$GC,11331,1.50,148.8,742.7,9.9,917,11338,0.00,2.50,0.00,0.000,6,0.000,0.040,3239,2291,2144
$GC,11647,1.51,153.0,715.9,8.7,933,11653,0.00,0.00,4.72,1.246,6,0.000,0.000,3239,2291,2124
$GC,11956,1.51,154.3,688.5,8.9,948,11960,0.00,2.47,0.00,0.000,4,0.000,0.061,3239,933,2124
$GC,12034,1.51,155.4,681.3,8.9,951,12042,0.00,2.35,2.62,1.197,6,0.000,0.038,3239,2275,2115
$GC,12350,1.56,183.1,657.6,6.8,967,12377,0.00,0.00,24.50,1.183,6,0.000,0.000,3239,2275,2001
$GC,12679,1.56,184.0,630.3,8.9,983,12684,0.00,2.47,0.00,0.000,4,0.000,0.060,3239,926,2000
$GC,12788,1.56,184.0,619.6,10.1,988,12792,0.00,2.33,0.00,0.000,6,0.000,0.039,3239,2247,1999
$GC,13115,1.62,196.5,591.6,8.0,1004,13138,0.00,2.78,11.48,1.161,4,0.000,0.058,3239,3724,1946
$GC,13149,1.62,196.5,588.6,9.6,1005,13154,0.00,2.62,0.00,0.000,6,0.000,0.040,3239,2239,1946
$GC,13466,1.69,204.9,561.6,8.3,1020,13480,0.15,2.78,7.50,1.144,4,0.074,0.055,3275,3729,1912
$GC,13503,1.65,204.9,557.7,11.1,1021,13511,0.00,2.55,0.00,0.000,6,0.000,0.040,3275,2280,1912
$GC,13820,1.65,204.9,528.4,9.1,1037,13824,0.00,2.45,0.00,0.000,4,0.000,0.060,3276,931,1912
$GC,13892,1.65,204.9,521.6,9.1,1040,13896,0.00,2.33,0.00,0.000,6,0.000,0.037,3276,2262,1912
$GC,14210,1.66,207.8,493.7,8.8,1058,14223,0.00,2.47,3.00,1.091,4,0.000,0.057,3276,935,1900
$GC,14250,1.66,207.8,489.8,9.5,1061,14257,0.00,2.28,0.00,0.000,6,0.000,0.038,3276,2233,1900
$GC,14579,1.66,207.8,458.6,9.7,1092,14584,0.00,2.67,0.00,0.000,4,0.000,0.056,3275,3729,1900
$GC,14676,1.62,207.8,448.4,10.0,1100,14680,0.00,2.58,0.00,0.000,6,0.000,0.038,3275,2250,1900
$GC,15002,1.64,222.0,418.5,7.9,1130,15024,0.00,2.50,12.43,1.028,4,0.000,0.057,3276,926,1841
$GC,15060,1.64,222.0,413.4,9.0,1135,15064,0.00,2.30,0.00,0.000,6,0.000,0.037,3275,2236,1841
$GC,15387,1.64,223.8,384.9,8.9,1165,15391,0.00,2.67,0.00,0.000,4,0.000,0.055,3275,3733,1841
$GC,15454,1.65,225.1,378.2,8.9,1170,15462,0.00,2.60,2.70,1.011,6,0.000,0.038,3276,2238,1830
$GC,15780,1.65,228.2,350.8,8.8,1201,15792,0.00,2.72,3.22,0.999,4,0.000,0.053,3275,3724,1817
$GC,15831,1.65,228.2,346.0,9.5,1205,15838,0.00,2.50,0.00,0.000,6,0.000,0.038,3275,2284,1817
$GC,16159,1.70,235.7,317.0,8.4,1236,16167,0.00,0.00,6.32,0.968,6,0.000,0.000,3276,2284,1787
$GC,16488,1.76,248.3,290.1,8.0,1267,16505,0.00,2.50,11.23,0.921,4,0.000,0.054,3275,922,1734
$GC,16567,1.77,254.3,283.0,8.5,1273,16577,0.00,2.33,5.12,0.929,6,0.000,0.035,3276,2259,1710
$GC,16904,1.82,254.3,252.2,9.1,1305,16909,0.12,2.62,0.00,0.000,4,0.074,0.053,3304,3733,1710
$GC,17006,1.82,254.3,241.2,11.0,1320,17013,0.00,2.47,0.00,0.000,6,0.000,0.036,3304,2299,1710
$GC,17354,1.85,272.9,209.2,7.5,1381,17375,0.00,2.58,15.85,0.835,4,0.000,0.054,3304,926,1634
$GC,17405,1.86,276.4,204.6,8.7,1389,17413,0.00,2.42,3.20,0.857,6,0.000,0.035,3304,2311,1621
$GC,17754,1.90,279.2,171.2,8.8,1450,17762,0.00,2.55,2.47,0.842,4,0.000,0.053,3304,934,1609
$GC,17803,1.91,288.3,166.7,8.3,1458,17817,0.00,2.42,7.90,0.812,6,0.000,0.035,3305,2328,1571
$GC,18157,2.04,311.3,136.9,7.2,1520,18184,0.15,2.53,19.10,0.753,4,0.065,0.050,3346,3730,1477
$GC,18253,2.04,311.3,128.2,9.4,1536,18260,0.00,2.45,0.00,0.000,6,0.000,0.034,3346,2309,1475
$GC,18599,2.15,337.1,102.4,7.0,1597,18627,0.12,2.55,20.50,0.709,4,0.067,0.051,3376,932,1371
$GC,18702,2.15,341.2,93.4,8.7,1614,18710,0.00,2.42,3.08,0.745,6,0.000,0.032,3376,2336,1357
$GC,19052,2.24,358.0,69.3,7.7,1675,19072,0.00,2.53,13.90,0.668,4,0.000,0.048,3376,3724,1287
$GC,19108,2.30,359.9,64.5,8.9,1684,19115,0.12,2.35,0.00,0.000,6,0.067,0.031,3406,2340,1286
$GC,19458,2.36,377.3,36.5,7.6,1745,19478,0.00,2.58,15.43,0.615,4,0.000,0.047,3406,931,1209
$GC,19503,2.45,410.7,33.6,6.3,1752,19537,0.15,2.45,26.95,0.591,6,0.061,0.030,3442,2362,1073
$GC,19879,2.47,421.4,3.2,8.2,1817,19892,0.00,0.00,8.35,0.580,6,0.000,0.000,3442,2361,1028
$STATE,19896,end climb,SURFACE_DEPTH_REACHED
$STATE,19896,begin surface coast
$FINISH,-0.1,1.007804
$STATE,19920,end surface coast,CONTROL_FINISHED_OK
$STATE,19920,begin surface
$SM_CCo,19945,26.12,0.548,0,0,811,475.15
$SM_GC,0.85,0.00,0.00,26.12,0.000,0.000,0.548,249,2172,811,-12.22,-1.24,475.15
$IRIDIUM_FIX,1243.25,12042.28,010897,232338
$TT8_MAMPS,0.023777
$HUMID,2032
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.20
$XPDR_PINGS,363
$24V_AH,22.9,69.855
$10V_AH,10.1,35.967
$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,33.900,213.800,447.775,26.125,0.000,30.856,36.929,197.053,101.750,0.000,0.000,16.245,3817.075,12063.499,715.013,3070.925,719.891,0.000,2275.745,0.000,2998.885,0.000,80.946
$DEVICE_MAMPS,168.740,88.205,1326.910,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1224.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56620,1824
$CAP_FILE_SIZE,200754,0
$CFSIZE,260165632,225644544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,332.8,1
$GPS,080508,111107,1243.961,12044.062,33,1.1,33,-0.8