version: 66.03
glider: 122
mission: 6
dive: 97
start: 3 6 108 5 23 23
data:
$ID,122
$MISSION,6
$DIVE,97
$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,-29184.855
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,050931,1248.753,12033.079,37,0.9,42,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.4
$GPS2,052251,1248.799,12032.839,13,1.1,13,-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,270.7,31868,-17.4,-9.016
$D_GRID,1030
$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,19,-1.42,-146.0,0.0,0.0,0,91,0.00,0.00,-69.78,0.000,2,0.000,0.000,249,2123,2534
$GC,93,-1.42,-146.0,3.4,-7.9,11,126,13.40,2.53,-13.88,0.000,4,0.167,0.054,2591,3557,3276
$GC,317,-1.15,-146.0,53.5,-20.7,50,325,0.32,2.33,0.00,0.000,6,0.110,0.028,2652,2153,3278
$GC,663,-1.03,-146.0,108.2,-15.7,111,671,0.15,2.42,0.00,0.000,4,0.117,0.043,2683,752,3279
$GC,728,-1.07,-146.0,116.3,-12.0,122,734,0.00,2.33,0.00,0.000,6,0.000,0.027,2683,2146,3279
$GC,1072,-1.07,-146.0,153.9,-10.4,183,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2146,3279
$GC,1413,-1.17,-146.0,183.9,-7.6,244,1420,0.15,2.42,0.00,0.000,4,0.049,0.046,2631,3554,3280
$GC,1476,-1.17,-146.0,190.4,-10.4,255,1483,0.00,2.38,0.00,0.000,6,0.000,0.028,2631,2122,3280
$GC,1820,-1.17,-146.0,223.8,-8.9,316,1827,0.00,2.45,0.00,0.000,4,0.000,0.044,2631,3549,3279
$GC,1883,-1.17,-146.0,229.4,-9.0,327,1890,0.00,2.35,0.00,0.000,6,0.000,0.029,2631,2132,3280
$GC,2227,-1.17,-146.0,259.4,-8.7,379,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2132,3279
$GC,2546,-1.17,-146.0,285.8,-7.1,409,2550,0.00,2.45,0.00,0.000,4,0.000,0.046,2631,3549,3279
$GC,2589,-1.21,-146.0,289.1,-6.9,412,2596,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2152,3278
$GC,2915,-1.21,-146.0,314.4,-8.5,443,2919,0.00,2.42,0.00,0.000,4,0.000,0.047,2631,3555,3277
$GC,2955,-1.24,-146.0,317.9,-8.6,446,2959,0.00,2.30,0.00,0.000,6,0.000,0.031,2631,2180,3276
$GC,3280,-1.24,-146.0,345.0,-8.1,476,3284,0.00,2.53,0.00,0.000,4,0.000,0.051,2631,745,3274
$GC,3324,-1.30,-146.0,348.6,-8.1,479,3331,0.00,2.45,0.00,0.000,6,0.000,0.031,2631,2193,3274
$GC,3649,-1.33,-146.0,374.2,-7.3,510,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2194,3272
$GC,3968,-1.37,-146.0,400.6,-8.5,540,3970,0.10,0.00,0.00,0.000,6,0.063,0.000,2599,2194,3269
$GC,4285,-1.33,-146.0,431.4,-9.8,570,4290,0.00,2.55,0.00,0.000,4,0.000,0.051,2598,750,3268
$GC,4340,-1.33,-146.0,437.2,-10.4,574,4348,0.00,2.42,0.00,0.000,6,0.000,0.033,2599,2173,3267
$GC,4667,-1.30,-146.0,465.4,-9.0,605,4671,0.12,2.42,0.00,0.000,4,0.107,0.051,2621,3558,3265
$GC,4699,-1.30,-146.0,468.4,-8.0,607,4706,0.00,2.33,0.00,0.000,6,0.000,0.033,2621,2182,3265
$GC,5024,-1.30,-146.0,494.2,-7.8,638,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2180,3262
$GC,5348,-1.33,-146.0,520.6,-8.4,657,5352,0.00,2.55,0.00,0.000,4,0.000,0.054,2621,746,3260
$GC,5374,-1.37,-146.0,523.2,-8.8,658,5379,0.00,2.47,0.00,0.000,6,0.000,0.035,2621,2186,3260
$GC,5690,-1.40,-146.0,548.0,-7.6,673,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2186,3258
$GC,6002,-1.43,-146.0,570.6,-7.1,688,6007,0.15,2.40,0.00,0.000,4,0.054,0.054,2576,3551,3256
$GC,6045,-1.37,-146.0,575.0,-10.0,690,6050,0.10,2.35,0.00,0.000,6,0.089,0.035,2606,2185,3256
$GC,6375,-1.37,-146.0,600.6,-7.9,706,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2183,3255
$GC,6682,-1.37,-146.0,626.5,-8.8,721,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2184,3253
$GC,6991,-1.37,-146.0,652.2,-7.7,736,6995,0.00,2.42,0.00,0.000,4,0.000,0.055,2606,3554,3251
$GC,7024,-1.37,-146.0,655.0,-7.5,737,7031,0.00,2.35,0.00,0.000,6,0.000,0.035,2606,2176,3251
$GC,7339,-1.37,-146.0,679.0,-7.9,753,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2176,3249
$GC,7650,-1.37,-146.0,703.7,-8.2,768,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2176,3248
$GC,7958,-1.37,-146.0,727.5,-7.5,783,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2176,3247
$GC,8267,-1.37,-146.0,752.0,-7.9,798,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2176,3246
$GC,8578,-1.37,-146.0,776.3,-7.6,813,8582,0.00,2.55,0.00,0.000,4,0.000,0.058,2606,750,3245
$GC,8621,-1.37,-146.0,780.0,-8.7,815,8625,0.00,2.47,0.00,0.000,6,0.000,0.035,2606,2184,3245
$GC,8948,-1.37,-146.0,807.2,-8.4,831,8952,0.00,2.42,0.00,0.000,4,0.000,0.059,2606,3560,3243
$GC,8986,-1.37,-146.0,810.3,-7.7,832,8993,0.00,2.35,0.00,0.000,6,0.000,0.036,2606,2181,3243
$GC,9301,-1.37,-146.0,834.6,-7.4,848,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2181,3242
$GC,9611,-1.40,-146.0,855.7,-6.9,863,9615,0.00,2.45,0.00,0.000,4,0.000,0.057,2606,3559,3241
$GC,9655,-1.44,-146.0,859.2,-7.9,865,9659,0.00,2.33,0.00,0.000,6,0.000,0.037,2606,2198,3240
$GC,9977,-1.47,-146.0,882.0,-7.0,881,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2198,3240
$GC,10285,-1.50,-146.0,903.4,-6.8,896,10290,0.12,2.42,0.00,0.000,4,0.062,0.057,2572,3557,3239
$GC,10318,-1.45,-146.0,906.2,-8.3,897,10324,0.00,2.33,0.00,0.000,6,0.000,0.037,2572,2197,3239
$GC,10633,-1.40,-146.0,932.6,-9.1,913,10635,0.15,0.00,0.00,0.000,6,0.116,0.000,2598,2191,3238
$GC,10943,-1.40,-146.0,956.9,-7.8,928,10947,0.00,2.40,0.00,0.000,4,0.000,0.058,2598,3554,3237
$GC,10986,-1.40,-146.0,960.9,-8.1,930,10990,0.00,2.33,0.00,0.000,6,0.000,0.038,2598,2210,3238
$GC,11314,-1.40,-146.0,989.7,-9.3,946,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2210,3236
$STATE,11332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11332,begin apogee
$GC,11337,-0.34,0.0,991.6,9.3,947,11462,1.15,0.00,121.15,1.401,6,0.097,0.000,2831,2385,2678
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11464,1.42,146.0,996.2,0.0,953,11600,1.77,2.47,127.28,1.348,4,0.057,0.060,3218,3716,2082
$GC,11645,1.14,146.0,983.5,14.2,961,11650,0.30,2.38,0.00,0.000,6,0.111,0.038,3154,2379,2081
$GC,11966,1.03,146.0,948.2,11.2,977,11971,0.12,2.42,0.00,0.000,4,0.123,0.060,3133,3711,2078
$GC,12010,0.93,146.0,943.1,11.2,979,12014,0.15,2.33,0.00,0.000,6,0.127,0.038,3108,2371,2079
$GC,12337,0.97,170.2,914.7,7.8,995,12362,0.00,2.50,20.62,1.350,4,0.000,0.061,3108,3709,1984
$GC,12395,0.94,170.9,910.1,9.0,997,12403,0.00,2.30,0.00,0.000,6,0.000,0.038,3108,2390,1984
$GC,12711,0.98,191.9,884.2,7.9,1013,12734,0.00,0.00,19.17,1.336,6,0.000,0.000,3108,2389,1895
$GC,13040,0.98,193.6,854.4,8.9,1029,13044,0.00,2.40,0.00,0.000,4,0.000,0.061,3109,3710,1893
$GC,13089,0.98,193.6,849.3,10.3,1031,13094,0.00,2.30,0.00,0.000,6,0.000,0.038,3108,2401,1893
$GC,13411,0.98,193.6,818.8,9.5,1047,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,1892
$GC,13720,0.98,194.3,791.1,9.0,1062,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,1892
$GC,14030,0.99,201.3,764.0,8.7,1077,14044,0.00,2.70,7.97,1.303,4,0.000,0.061,3108,967,1857
$GC,14074,0.99,201.3,759.9,9.5,1079,14079,0.00,2.55,0.00,0.000,6,0.000,0.042,3108,2398,1856
$GC,14400,1.04,209.2,730.1,8.6,1095,14410,0.12,0.00,7.12,1.288,6,0.072,0.000,3137,2399,1825
$GC,14709,1.04,209.2,697.9,10.8,1110,14710,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,1825
$GC,15018,1.04,209.2,664.5,10.1,1125,15022,0.00,2.40,0.00,0.000,4,0.000,0.064,3137,3727,1825
$GC,15050,1.01,209.2,660.9,11.2,1126,15058,0.00,2.28,0.00,0.000,6,0.000,0.038,3137,2409,1825
$GC,15366,1.01,209.2,630.7,9.6,1142,15367,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2407,1825
$GC,15675,1.01,209.2,599.1,10.3,1157,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2407,1824
$GC,15984,1.01,209.2,568.6,9.6,1172,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2406,1825
$GC,16293,1.01,209.2,538.6,9.7,1187,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2406,1825
$GC,16602,1.01,209.2,508.9,9.4,1202,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2407,1825
$GC,16918,1.01,209.2,478.0,9.5,1227,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2406,1825
$GC,17238,1.01,212.4,447.7,8.9,1257,17248,0.00,0.00,3.05,1.075,6,0.000,0.000,3137,2406,1812
$GC,17566,1.01,212.8,419.1,9.0,1288,17568,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2406,1812
$GC,17883,1.01,212.8,389.2,9.8,1318,17885,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2406,1812
$GC,18204,1.05,233.2,360.0,8.0,1348,18229,0.00,2.65,18.08,0.980,4,0.000,0.054,3137,966,1725
$GC,18252,1.05,236.8,356.0,8.8,1352,18265,0.00,2.58,3.33,0.979,6,0.000,0.038,3137,2425,1712
$GC,18582,1.09,236.8,326.8,9.2,1383,18586,0.00,2.62,0.00,0.000,4,0.000,0.054,3137,965,1711
$GC,18632,1.14,236.8,322.0,9.6,1387,18636,0.00,2.53,0.00,0.000,6,0.000,0.038,3137,2414,1711
$GC,18957,1.19,236.8,292.0,9.1,1417,18962,0.12,2.60,0.00,0.000,4,0.068,0.053,3168,965,1711
$GC,19007,1.19,236.8,286.9,9.7,1421,19012,0.00,2.50,0.00,0.000,6,0.000,0.037,3168,2404,1711
$GC,19331,1.19,236.8,254.7,9.8,1451,19335,0.00,2.55,0.00,0.000,4,0.000,0.053,3168,969,1711
$GC,19381,1.19,236.8,249.6,9.8,1455,19388,0.00,2.45,0.00,0.000,6,0.000,0.037,3168,2383,1712
$GC,19727,1.19,236.8,214.6,10.3,1516,19734,0.00,2.38,0.00,0.000,4,0.000,0.057,3168,3726,1712
$GC,19774,1.19,236.8,209.5,10.9,1524,19781,0.00,2.33,0.00,0.000,6,0.000,0.035,3168,2361,1712
$GC,20118,1.31,277.4,183.6,6.9,1585,20161,0.00,2.53,33.10,0.794,4,0.000,0.053,3168,3723,1546
$GC,20235,1.38,287.9,173.7,8.5,1604,20253,0.17,2.30,8.48,0.811,6,0.058,0.034,3211,2382,1504
$GC,20590,1.43,316.6,145.1,7.6,1666,20620,0.00,2.62,23.12,0.746,4,0.000,0.051,3212,968,1386
$GC,20649,1.46,316.6,139.6,11.0,1675,20656,0.00,2.50,0.00,0.000,6,0.000,0.034,3212,2408,1384
$GC,20993,1.59,351.8,110.3,7.2,1736,21031,0.15,2.62,27.98,0.698,4,0.052,0.049,3257,970,1242
$GC,21110,1.59,351.8,98.1,10.9,1755,21117,0.00,2.45,0.00,0.000,6,0.000,0.033,3257,2390,1240
$GC,21454,1.59,353.9,64.5,8.9,1816,21460,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2391,1240
$GC,21797,1.59,353.9,34.0,9.6,1877,21804,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2391,1240
$GC,22136,1.72,391.4,8.8,7.1,1938,22174,0.00,2.55,31.17,0.578,4,0.000,0.044,3257,963,1080
$STATE,22218,end climb,SURFACE_DEPTH_REACHED
$STATE,22218,begin surface coast
$FINISH,0.1,1.021743
$STATE,22241,end surface coast,CONTROL_FINISHED_OK
$STATE,22242,begin surface
$SM_CCo,22264,78.05,0.538,0,0,416,554.62
$SM_GC,0.74,0.00,0.00,78.05,0.000,0.000,0.538,253,2167,416,-12.19,0.48,554.62
$IRIDIUM_FIX,1241.04,12031.29,310597,050523
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.30
$XPDR_PINGS,436
$ALTIM_BOTTOM_PING,650.6,4.3
$24V_AH,23.2,19.543
$10V_AH,10.1,9.252
$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,32.175,156.150,451.625,78.050,0.000,130.707,136.596,168.948,113.500,0.000,0.000,14.516,4044.922,14555.430,748.245,3101.743,691.430,0.000,2304.744,0.000,3058.872,0.000,35.386
$DEVICE_MAMPS,167.206,64.428,1401.309,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1315.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59693,1955
$CAP_FILE_SIZE,198026,0
$CFSIZE,260165632,249700352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,230.0,1
$GPS,060308,113702,1248.662,12029.734,42,1.5,42,-0.8