version: 66.03
glider: 122
mission: 6
dive: 421
start: 5 17 108 20 1 8
data:
$ID,122
$MISSION,6
$DIVE,421
$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,0
$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,-35478.07
$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,25
$R_STBD_OVSHOOT,54
$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
$GPS1,195338,1235.997,12044.245,29,1.3,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.1
$GPS2,200035,1235.933,12044.278,15,2.2,34,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12043.000
$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,192.7,11229,-18.6,-9.016
$D_GRID,856
$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,-1.56,-146.0,0.0,0.0,0,91,0.00,0.00,-65.38,0.000,2,0.000,0.000,245,2246,2427
$GC,95,-1.56,-146.0,3.3,-8.3,13,133,13.35,2.35,-18.27,0.000,4,0.166,0.053,2562,3609,3344
$GC,179,-1.30,-146.0,19.6,-17.3,28,186,0.30,2.33,0.00,0.000,6,0.110,0.025,2618,2196,3345
$GC,524,-1.30,-146.0,64.7,-11.3,89,530,0.00,2.38,0.00,0.000,4,0.000,0.041,2618,816,3346
$GC,554,-1.24,-146.0,68.2,-11.5,94,560,0.00,2.60,0.00,0.000,6,0.000,0.028,2618,2366,3346
$GC,899,-1.27,-146.0,106.8,-10.4,155,905,0.00,2.65,0.00,0.000,4,0.000,0.038,2618,820,3347
$GC,940,-1.21,-146.0,111.2,-10.6,162,946,0.12,2.58,0.00,0.000,6,0.107,0.028,2641,2355,3347
$GC,1285,-1.31,-146.0,142.9,-9.2,223,1291,0.00,2.65,0.00,0.000,4,0.000,0.039,2641,814,3349
$GC,1316,-1.40,-146.0,145.9,-10.0,228,1322,0.17,2.55,0.00,0.000,6,0.046,0.028,2585,2338,3349
$GC,1662,-1.43,-146.0,176.1,-8.7,289,1667,0.00,2.62,0.00,0.000,4,0.000,0.040,2585,814,3351
$GC,1714,-1.38,-146.0,180.9,-9.2,298,1720,0.00,2.58,0.00,0.000,6,0.000,0.030,2585,2348,3351
$GC,2060,-1.42,-146.0,210.7,-8.1,359,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2348,3351
$GC,2403,-1.46,-146.0,239.9,-8.6,420,2409,0.00,2.15,0.00,0.000,4,0.000,0.048,2585,3600,3349
$GC,2444,-1.46,-146.0,243.5,-8.9,427,2450,0.00,2.15,0.00,0.000,6,0.000,0.029,2585,2297,3350
$GC,2780,-1.51,-146.0,269.6,-8.1,465,2784,0.00,2.25,0.00,0.000,4,0.000,0.047,2585,3600,3348
$GC,2809,-1.51,-146.0,272.1,-8.6,467,2813,0.00,2.00,0.00,0.000,6,0.000,0.030,2585,2386,3348
$GC,3143,-1.58,-146.0,301.1,-8.6,498,3147,0.12,2.10,0.00,0.000,4,0.053,0.047,2541,3600,3346
$GC,3207,-1.45,-146.0,307.5,-9.8,503,3212,0.25,2.17,0.00,0.000,6,0.100,0.031,2587,2293,3345
$GC,3533,-1.51,-146.0,333.8,-7.6,533,3537,0.00,2.58,0.00,0.000,4,0.000,0.048,2588,826,3344
$GC,3600,-1.51,-146.0,339.2,-8.2,538,3606,0.00,2.35,0.00,0.000,6,0.000,0.033,2587,2207,3344
$GC,3928,-1.59,-146.0,364.3,-8.0,569,3934,0.15,0.00,0.00,0.000,6,0.051,0.000,2543,2209,3341
$GC,4257,-1.59,-146.0,392.4,-8.6,600,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2209,3339
$GC,4583,-1.59,-146.0,418.8,-8.2,631,4587,0.00,2.45,0.00,0.000,4,0.000,0.050,2542,828,3337
$GC,4617,-1.50,-146.0,421.5,-7.7,633,4623,0.17,2.60,0.00,0.000,6,0.104,0.034,2574,2343,3336
$GC,4943,-1.55,-146.0,445.0,-7.3,664,4947,0.00,2.22,0.00,0.000,4,0.000,0.051,2574,3615,3334
$GC,4999,-1.55,-146.0,449.4,-7.7,668,5004,0.00,2.17,0.00,0.000,6,0.000,0.033,2574,2318,3333
$GC,5329,-1.62,-146.0,472.5,-6.9,699,5333,0.00,2.65,0.00,0.000,4,0.000,0.051,2575,828,3332
$GC,5441,-1.62,-146.0,481.3,-7.0,708,5447,0.00,2.42,0.00,0.000,6,0.000,0.035,2574,2239,3331
$GC,5776,-1.69,-146.0,507.7,-8.3,736,5781,0.15,2.53,0.00,0.000,4,0.054,0.051,2526,824,3328
$GC,5794,-1.69,-146.0,509.5,-8.9,737,5799,0.00,2.62,0.00,0.000,6,0.000,0.035,2525,2341,3328
$GC,6129,-1.64,-146.0,538.9,-8.5,753,6134,0.12,2.25,0.00,0.000,4,0.113,0.054,2547,3618,3327
$GC,6219,-1.56,-146.0,547.0,-8.7,757,6223,0.00,2.35,0.00,0.000,6,0.000,0.035,2547,2235,3326
$GC,6544,-1.56,-146.0,571.1,-7.5,773,6548,0.00,2.53,0.00,0.000,4,0.000,0.053,2547,819,3325
$GC,6613,-1.49,-146.0,576.7,-7.8,776,6618,0.17,2.65,0.00,0.000,6,0.111,0.036,2579,2350,3324
$GC,6938,-1.57,-146.0,600.0,-7.3,792,6943,0.00,2.75,0.00,0.000,4,0.000,0.053,2579,815,3322
$GC,7028,-1.57,-146.0,606.9,-7.2,796,7032,0.00,2.55,0.00,0.000,6,0.000,0.037,2579,2285,3321
$GC,7350,-1.64,-146.0,629.1,-7.3,812,7355,0.15,2.65,0.00,0.000,4,0.054,0.053,2538,809,3320
$GC,7384,-1.56,-146.0,632.3,-9.1,813,7390,0.15,2.75,0.00,0.000,6,0.111,0.038,2565,2392,3320
$GC,7703,-1.61,-146.0,657.0,-7.5,829,7707,0.00,2.17,0.00,0.000,4,0.000,0.058,2565,3617,3318
$GC,7804,-1.61,-146.0,665.1,-7.7,833,7808,0.00,2.28,0.00,0.000,6,0.000,0.035,2565,2281,3318
$GC,8121,-1.66,-146.0,687.3,-6.9,848,8125,0.00,2.40,0.00,0.000,4,0.000,0.055,2565,3627,3317
$GC,8234,-1.66,-146.0,695.5,-7.2,853,8237,0.00,2.12,0.00,0.000,6,0.000,0.035,2565,2374,3317
$GC,8556,-1.73,-146.0,717.2,-6.9,869,8561,0.15,2.22,0.00,0.000,4,0.055,0.055,2517,3623,3315
$GC,8613,-1.59,-146.0,722.2,-9.1,871,8620,0.22,2.05,0.00,0.000,6,0.117,0.035,2557,2410,3315
$GC,8932,-1.63,-146.0,748.2,-7.7,887,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2409,3313
$GC,9240,-1.63,-146.0,771.1,-7.4,902,9244,0.00,2.15,0.00,0.000,4,0.000,0.058,2557,3617,3312
$GC,9269,-1.60,-146.0,773.5,-7.9,903,9273,0.00,1.95,0.00,0.000,6,0.000,0.036,2557,2468,3312
$GC,9600,-1.64,-146.0,797.8,-7.5,919,9603,0.00,2.05,0.00,0.000,4,0.000,0.058,2557,3616,3311
$GC,9616,-1.64,-146.0,799.5,-7.9,919,9622,0.00,2.20,0.00,0.000,6,0.000,0.036,2557,2328,3311
$GC,9933,-1.64,-146.0,824.3,-7.8,935,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2326,3310
$GC,10244,-2.01,-146.0,839.2,0.4,950,10246,0.43,0.00,0.00,0.000,6,0.051,0.000,2460,2326,3308
$STATE,10321,end dive,NO_VERTICAL_VELOCITY
$STATE,10321,begin apogee
$GC,10328,-0.35,0.0,838.9,0.0,954,10454,1.73,0.00,121.70,1.256,6,0.067,0.000,2829,2326,2748
$STATE,10455,end apogee,CONTROL_FINISHED_OK
$STATE,10455,begin climb
$GC,10458,1.56,146.0,838.6,0.0,960,10594,1.88,2.62,127.78,1.214,4,0.050,0.059,3247,3724,2152
$GC,10662,1.27,146.0,827.6,9.7,970,10669,0.35,2.42,0.00,0.000,6,0.127,0.041,3186,2346,2150
$GC,10978,1.18,178.4,803.2,7.6,986,11009,0.12,0.00,28.23,1.216,6,0.134,0.000,3166,2346,2020
$GC,11308,1.17,207.2,776.9,7.7,1002,11339,0.00,2.65,25.23,1.207,4,0.000,0.063,3166,934,1902
$GC,11395,1.10,207.2,769.2,9.0,1006,11400,0.00,2.50,0.00,0.000,6,0.000,0.039,3166,2345,1901
$GC,11718,1.09,231.5,742.7,7.9,1022,11745,0.12,2.70,20.90,1.206,4,0.126,0.061,3145,928,1804
$GC,11768,1.09,231.5,738.5,9.4,1024,11772,0.00,2.47,0.00,0.000,6,0.000,0.040,3145,2315,1803
$GC,12084,1.13,256.2,714.1,7.9,1039,12113,0.00,2.67,22.15,1.187,4,0.000,0.061,3145,933,1702
$GC,12205,1.14,261.4,703.2,8.8,1044,12216,0.00,2.30,4.70,1.189,6,0.000,0.039,3145,2237,1682
$GC,12527,1.23,276.5,675.9,8.3,1060,12546,0.12,2.53,13.90,1.183,4,0.066,0.061,3177,928,1620
$GC,12575,1.19,276.5,671.5,10.1,1062,12579,0.00,2.22,0.00,0.000,6,0.000,0.038,3177,2187,1618
$GC,12896,1.19,276.5,642.1,9.4,1078,12900,0.00,2.78,0.00,0.000,4,0.000,0.058,3177,3726,1618
$GC,12993,1.15,276.5,632.6,9.6,1082,12998,0.12,2.65,0.00,0.000,6,0.126,0.040,3157,2210,1618
$GC,13309,1.27,292.8,606.1,8.3,1097,13331,0.12,2.40,14.43,1.144,4,0.067,0.062,3188,933,1553
$GC,13430,1.24,292.8,595.1,9.2,1102,13434,0.00,2.55,0.00,0.000,6,0.000,0.038,3188,2379,1552
$GC,13751,1.26,303.8,566.8,8.5,1118,13765,0.00,2.47,9.45,1.131,4,0.000,0.059,3189,3724,1509
$GC,13830,1.21,303.8,559.6,9.3,1121,13834,0.00,2.62,0.00,0.000,6,0.000,0.039,3188,2227,1509
$GC,14146,1.29,308.5,532.1,8.8,1136,14156,0.00,2.40,4.57,1.118,4,0.000,0.060,3188,928,1489
$GC,14202,1.29,311.0,526.9,8.9,1138,14206,0.00,2.58,0.00,0.000,6,0.000,0.038,3188,2390,1488
$GC,14519,1.34,314.0,498.9,8.9,1153,14530,0.00,2.72,4.95,1.098,4,0.000,0.056,3188,932,1468
$GC,14564,1.34,314.0,494.4,9.7,1157,14570,0.00,2.22,0.00,0.000,6,0.000,0.036,3188,2208,1467
$GC,14894,1.43,314.0,464.7,9.1,1188,14900,0.12,0.00,0.00,0.000,6,0.064,0.000,3221,2209,1467
$GC,15221,1.43,314.0,433.2,9.5,1219,15225,0.00,2.70,0.00,0.000,4,0.000,0.054,3221,3725,1467
$GC,15284,1.34,314.0,426.8,10.1,1224,15289,0.12,2.40,0.00,0.000,6,0.127,0.037,3200,2337,1467
$GC,15610,1.40,327.5,396.9,8.4,1254,15631,0.00,2.65,12.20,1.005,4,0.000,0.056,3200,933,1412
$GC,15722,1.40,327.5,386.9,9.3,1264,15726,0.00,2.20,0.00,0.000,6,0.000,0.035,3200,2195,1411
$GC,16050,1.49,327.5,358.3,9.1,1294,16055,0.12,2.72,0.00,0.000,4,0.065,0.053,3233,3730,1411
$GC,16097,1.42,327.5,353.5,10.4,1297,16103,0.00,2.42,0.00,0.000,6,0.000,0.037,3233,2320,1411
$GC,16424,1.43,333.6,321.7,8.7,1328,16436,0.00,2.53,5.38,0.965,4,0.000,0.053,3232,931,1386
$GC,16499,1.36,333.6,314.5,9.6,1334,16505,0.17,2.12,0.00,0.000,6,0.110,0.035,3202,2162,1385
$GC,16825,1.48,351.7,287.6,8.2,1365,16847,0.12,2.85,15.90,0.896,4,0.067,0.052,3233,3727,1313
$GC,16921,1.43,351.7,278.5,10.4,1373,16927,0.00,2.47,0.00,0.000,6,0.000,0.035,3233,2293,1312
$GC,17249,1.43,351.7,248.4,9.4,1405,17255,0.00,2.45,0.00,0.000,4,0.000,0.053,3233,926,1311
$GC,17364,1.39,351.7,237.4,9.0,1425,17370,0.15,2.08,0.00,0.000,6,0.109,0.035,3207,2131,1310
$GC,17710,1.54,371.5,209.3,8.1,1486,17732,0.15,2.95,16.83,0.818,4,0.061,0.051,3250,3726,1233
$GC,17796,1.50,373.2,201.3,8.9,1501,17802,0.00,2.58,0.00,0.000,6,0.000,0.035,3250,2239,1232
$GC,18142,1.53,373.2,170.0,9.1,1562,18148,0.00,2.35,0.00,0.000,4,0.000,0.054,3250,924,1230
$GC,18229,1.54,376.9,162.0,8.8,1577,18240,0.00,2.03,4.43,0.815,6,0.000,0.033,3250,2108,1211
$GC,18581,1.70,418.5,132.9,7.2,1639,18624,0.12,2.92,35.97,0.713,4,0.059,0.048,3285,3726,1040
$GC,18700,1.70,418.5,122.3,9.7,1660,18706,0.00,2.60,0.00,0.000,6,0.000,0.033,3286,2216,1037
$GC,19046,1.84,442.9,95.1,7.9,1721,19072,0.00,2.33,19.55,0.682,4,0.000,0.050,3286,933,941
$GC,19195,1.91,455.9,83.2,8.4,1747,19212,0.15,1.95,10.85,0.683,6,0.054,0.031,3328,2083,889
$GC,19553,2.06,493.9,51.9,7.3,1810,19591,0.10,3.00,31.48,0.608,4,0.064,0.046,3361,3732,733
$GC,19679,2.06,493.9,40.7,9.4,1832,19685,0.00,2.60,0.00,0.000,6,0.000,0.030,3361,2200,731
$GC,20025,2.11,503.5,11.0,8.6,1893,20037,0.00,2.30,7.10,0.592,4,0.000,0.044,3361,927,695
$STATE,20119,end climb,SURFACE_DEPTH_REACHED
$STATE,20120,begin surface coast
$FINISH,-0.0,1.020631
$STATE,20146,end surface coast,CONTROL_FINISHED_OK
$STATE,20146,begin surface
$SM_CCo,20233,0.00,0.000,0,0,691,504.58
$SM_GC,0.90,13.52,0.00,0.00,0.032,0.000,0.000,248,2247,691,-12.17,0.88,504.58
$IRIDIUM_FIX,1232.20,12046.08,110897,141406
$TT8_MAMPS,0.023777
$HUMID,2067
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.90
$XPDR_PINGS,387
$ALTIM_BOTTOM_PING,790.1,56.9
$24V_AH,22.9,78.723
$10V_AH,10.1,40.209
$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,35.650,214.725,557.650,0.000,0.000,23.959,39.474,181.440,104.750,0.000,0.000,35.033,3077.246,12781.391,737.408,3285.316,764.749,0.000,2397.890,0.000,3190.098,0.000,61.083
$DEVICE_MAMPS,166.439,62.894,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,62906,1914
$CAP_FILE_SIZE,211338,0
$CFSIZE,260165632,221577216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,013938,1234.968,12044.432,40,1.0,40,-0.8