version: 66.03
glider: 122
mission: 6
dive: 365
start: 5 6 108 4 35 43
data:
$ID,122
$MISSION,6
$DIVE,365
$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,-34481.504
$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
$GPS1,042925,1250.551,12042.659,40,1.4,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.1
$GPS2,043509,1250.557,12042.625,12,2.0,12,-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,167.4,17408,-18.6,-9.016
$D_GRID,918
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,80,0.00,0.00,-53.58,0.000,2,0.000,0.000,249,2241,2333
$GC,83,-1.56,-146.0,3.5,-7.1,8,123,13.27,2.45,-19.42,0.000,4,0.166,0.054,2559,3629,3347
$GC,164,-1.25,-146.0,20.9,-20.4,21,172,0.38,2.38,0.00,0.000,6,0.117,0.026,2628,2198,3349
$GC,511,-1.14,-146.0,72.9,-12.6,82,519,0.15,2.47,0.00,0.000,4,0.116,0.042,2659,3635,3350
$GC,526,-1.05,-146.0,74.7,-12.3,84,533,0.00,2.20,0.00,0.000,6,0.000,0.025,2659,2293,3350
$GC,872,-1.05,-146.0,114.0,-10.5,145,879,0.00,2.53,0.00,0.000,4,0.000,0.041,2659,820,3352
$GC,942,-1.05,-146.0,121.4,-10.6,157,949,0.00,2.58,0.00,0.000,6,0.000,0.028,2659,2357,3352
$GC,1289,-1.21,-146.0,150.0,-7.6,218,1296,0.00,2.17,0.00,0.000,4,0.000,0.046,2659,3628,3353
$GC,1388,-1.34,-146.0,158.3,-8.4,235,1396,0.20,2.08,0.00,0.000,6,0.045,0.026,2602,2342,3353
$GC,1735,-1.41,-146.0,188.0,-7.6,296,1742,0.00,2.62,0.00,0.000,4,0.000,0.041,2601,817,3354
$GC,1773,-1.41,-146.0,190.8,-7.7,302,1780,0.00,2.58,0.00,0.000,6,0.000,0.030,2602,2351,3354
$GC,2119,-1.49,-146.0,217.4,-7.4,363,2126,0.00,2.65,0.00,0.000,4,0.000,0.042,2601,820,3354
$GC,2201,-1.49,-146.0,224.0,-8.3,377,2208,0.00,2.45,0.00,0.000,6,0.000,0.031,2601,2279,3354
$GC,2550,-1.56,-146.0,255.4,-9.3,434,2555,0.15,2.53,0.00,0.000,4,0.048,0.044,2548,823,3353
$GC,2580,-1.48,-146.0,258.5,-11.2,436,2585,0.17,2.67,0.00,0.000,6,0.100,0.032,2581,2400,3353
$GC,2905,-1.44,-146.0,290.6,-10.1,466,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2400,3351
$GC,3226,-1.44,-146.0,319.9,-8.7,496,3230,0.00,2.78,0.00,0.000,4,0.000,0.046,2581,816,3350
$GC,3258,-1.44,-146.0,323.1,-9.2,498,3265,0.00,2.65,0.00,0.000,6,0.000,0.033,2581,2372,3350
$GC,3586,-1.41,-146.0,352.5,-9.4,529,3590,0.00,2.17,0.00,0.000,4,0.000,0.050,2582,3631,3348
$GC,3616,-1.36,-146.0,355.7,-10.4,531,3620,0.12,2.10,0.00,0.000,6,0.107,0.030,2605,2363,3347
$GC,3942,-1.44,-146.0,384.1,-9.0,561,3946,0.00,2.67,0.00,0.000,4,0.000,0.048,2605,825,3346
$GC,4042,-1.44,-146.0,392.6,-7.4,569,4049,0.00,2.53,0.00,0.000,6,0.000,0.033,2605,2304,3345
$GC,4371,-1.53,-146.0,419.1,-9.0,600,4376,0.15,2.60,0.00,0.000,4,0.051,0.047,2555,825,3343
$GC,4483,-1.45,-146.0,431.1,-10.4,609,4490,0.17,2.35,0.00,0.000,6,0.102,0.033,2587,2209,3342
$GC,4808,-1.52,-146.0,464.4,-9.8,640,4812,0.00,2.45,0.00,0.000,4,0.000,0.050,2587,826,3340
$GC,4905,-1.52,-146.0,471.6,-6.5,648,4909,0.00,2.53,0.00,0.000,6,0.000,0.033,2587,2300,3340
$STATE,5185,end dive,NO_VERTICAL_VELOCITY
$STATE,5185,begin apogee
$GC,5194,-0.35,0.0,480.1,0.0,674,5314,1.10,0.00,116.65,0.922,6,0.076,0.000,2822,2298,2748
$STATE,5315,end apogee,CONTROL_FINISHED_OK
$STATE,5315,begin climb
$GC,5318,1.56,146.0,479.9,0.0,686,5448,1.92,2.55,116.88,0.892,4,0.058,0.052,3242,942,2151
$GC,5645,1.36,166.8,463.3,8.1,715,5668,0.20,2.42,16.05,0.918,6,0.114,0.036,3206,2337,2067
$GC,5994,1.33,211.3,439.1,7.0,748,6035,0.00,2.53,35.38,0.897,4,0.000,0.053,3206,3730,1885
$GC,6104,1.21,211.3,429.5,9.4,757,6109,0.20,2.33,0.00,0.000,6,0.118,0.035,3171,2377,1884
$GC,6429,1.23,226.1,402.4,8.4,787,6446,0.00,2.62,11.45,0.917,4,0.000,0.053,3171,935,1825
$GC,6585,1.23,226.1,388.5,9.1,800,6589,0.00,2.40,0.00,0.000,6,0.000,0.036,3171,2314,1823
$GC,6912,1.30,267.5,363.2,7.2,830,6950,0.00,2.55,33.30,0.874,4,0.000,0.053,3171,933,1656
$GC,7087,1.32,277.6,348.1,8.6,845,7101,0.00,2.28,8.02,0.897,6,0.000,0.035,3171,2243,1616
$GC,7418,1.43,295.8,321.7,8.2,876,7444,0.17,2.72,14.77,0.867,4,0.061,0.053,3218,3724,1542
$GC,7525,1.37,295.8,311.4,10.4,885,7529,0.00,2.85,0.00,0.000,6,0.000,0.038,3218,2089,1541
$GC,7854,1.33,295.8,278.9,9.6,915,7859,0.12,2.92,0.00,0.000,4,0.113,0.049,3196,3733,1539
$GC,7944,1.38,323.1,271.0,7.8,922,7975,0.00,2.72,21.92,0.827,6,0.000,0.036,3196,2151,1430
$GC,8299,1.48,335.1,240.8,8.5,964,8315,0.15,2.90,9.30,0.830,4,0.061,0.049,3237,3730,1382
$GC,8389,1.41,335.1,232.0,10.0,979,8397,0.15,2.60,0.00,0.000,6,0.122,0.036,3212,2228,1381
$GC,8736,1.44,335.1,200.0,9.4,1040,8743,0.00,2.33,0.00,0.000,4,0.000,0.054,3212,926,1379
$GC,8756,1.48,335.1,198.0,9.3,1043,8763,0.00,2.28,0.00,0.000,6,0.000,0.034,3212,2247,1379
$GC,9103,1.59,350.1,168.4,8.3,1104,9124,0.15,2.40,12.50,0.772,4,0.058,0.051,3256,934,1319
$GC,9240,1.55,350.1,156.2,9.3,1127,9247,0.00,2.12,0.00,0.000,6,0.000,0.033,3257,2170,1317
$GC,9586,1.61,383.4,127.8,7.5,1188,9619,0.00,2.85,26.85,0.711,4,0.000,0.048,3257,3724,1184
$GC,9722,1.64,403.6,117.2,8.1,1211,9748,0.00,2.62,16.88,0.704,6,0.000,0.034,3256,2195,1101
$GC,10090,1.85,437.6,90.4,7.5,1275,10126,0.20,2.75,27.55,0.663,4,0.047,0.046,3317,3726,963
$GC,10168,1.85,437.6,83.5,9.5,1287,10175,0.00,2.90,0.00,0.000,6,0.000,0.034,3317,2051,961
$GC,10514,1.89,457.3,52.9,8.1,1348,10535,0.00,3.05,15.50,0.629,4,0.000,0.044,3317,3733,882
$GC,10584,1.96,483.1,47.4,7.9,1359,10611,0.00,2.83,21.00,0.607,6,0.000,0.031,3317,2077,778
$GC,10953,2.14,498.8,17.9,8.3,1423,10975,0.20,2.05,12.12,0.585,4,0.044,0.047,3382,939,712
$GC,11017,2.09,498.8,11.3,10.2,1433,11024,0.12,1.77,0.00,0.000,6,0.107,0.028,3359,2004,711
$STATE,11112,end climb,SURFACE_DEPTH_REACHED
$STATE,11113,begin surface coast
$FINISH,-0.0,1.020308
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11225,0.00,0.000,0,0,707,500.66
$SM_GC,0.87,13.57,0.00,0.00,0.035,0.000,0.000,247,2260,707,-12.18,1.24,500.66
$IRIDIUM_FIX,1245.46,12044.18,310797,000041
$TT8_MAMPS,0.023777
$HUMID,2055
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.10
$XPDR_PINGS,527
$24V_AH,23.4,67.989
$10V_AH,10.2,35.003
$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,33.050,125.875,516.125,0.000,0.000,30.787,27.684,150.736,131.750,0.000,0.000,12.224,2967.552,5090.577,645.342,2319.742,549.404,0.000,1837.560,0.000,2310.015,0.000,0.932
$DEVICE_MAMPS,166.439,54.457,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44084,1454
$CAP_FILE_SIZE,133875,0
$CFSIZE,260165632,226578432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,335.0,1
$GPS,060508,074333,1250.977,12042.290,9,2.0,9,-0.8