version: 66.03
glider: 122
mission: 6
dive: 368
start: 5 6 108 15 31 37
data:
$ID,122
$MISSION,6
$DIVE,368
$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,-34535.016
$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,41
$R_STBD_OVSHOOT,49
$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
$GPS1,151908,1250.655,12042.103,36,0.9,36,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.9
$GPS2,153103,1250.561,12042.003,15,1.3,15,-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,159.4,17779,-18.6,-9.016
$D_GRID,1114
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,81,0.00,0.00,-56.38,0.000,2,0.000,0.000,250,2245,2267
$GC,85,-1.56,-146.0,3.2,-6.8,9,130,13.23,2.50,-22.12,0.000,4,0.166,0.051,2560,826,3347
$GC,165,-1.31,-146.0,18.2,-18.5,22,173,0.30,2.33,0.00,0.000,6,0.119,0.028,2615,2215,3347
$GC,512,-1.18,-146.0,70.5,-13.5,83,519,0.15,2.40,0.00,0.000,4,0.113,0.039,2646,819,3348
$GC,588,-1.14,-146.0,80.2,-12.3,96,595,0.00,2.42,0.00,0.000,6,0.000,0.028,2646,2268,3349
$GC,934,-1.21,-146.0,115.8,-10.7,157,941,0.00,2.50,0.00,0.000,4,0.000,0.039,2646,811,3350
$GC,983,-1.21,-146.0,121.1,-11.4,165,990,0.00,2.67,0.00,0.000,6,0.000,0.030,2646,2398,3350
$GC,1330,-1.34,-146.0,152.7,-8.7,226,1337,0.15,2.72,0.00,0.000,4,0.048,0.039,2591,815,3351
$GC,1407,-1.28,-146.0,161.3,-11.5,239,1415,0.17,2.62,0.00,0.000,6,0.097,0.029,2624,2378,3351
$GC,1754,-1.32,-146.0,190.1,-8.5,300,1761,0.00,2.12,0.00,0.000,4,0.000,0.049,2625,3615,3352
$GC,1847,-1.37,-146.0,198.6,-9.3,316,1855,0.00,2.25,0.00,0.000,6,0.000,0.028,2624,2243,3352
$GC,2194,-1.48,-146.0,227.7,-8.1,377,2202,0.17,2.45,0.00,0.000,4,0.046,0.043,2567,822,3351
$GC,2250,-1.40,-146.0,233.0,-10.1,386,2258,0.17,2.65,0.00,0.000,6,0.097,0.031,2600,2391,3351
$GC,2594,-1.46,-146.0,262.9,-8.6,434,2597,0.00,2.10,0.00,0.000,4,0.000,0.049,2600,3616,3350
$GC,2674,-1.46,-146.0,269.8,-9.0,441,2678,0.00,2.22,0.00,0.000,6,0.000,0.030,2601,2271,3350
$GC,3004,-1.54,-146.0,295.2,-7.7,471,3009,0.15,2.53,0.00,0.000,4,0.051,0.045,2549,822,3348
$GC,3056,-1.42,-146.0,300.2,-8.9,475,3062,0.22,2.72,0.00,0.000,6,0.097,0.033,2593,2420,3347
$GC,3384,-1.47,-146.0,327.3,-8.7,505,3388,0.00,2.80,0.00,0.000,4,0.000,0.046,2593,820,3345
$GC,3492,-1.47,-146.0,337.7,-9.2,514,3496,0.00,2.53,0.00,0.000,6,0.000,0.033,2593,2304,3345
$GC,3821,-1.54,-146.0,365.7,-8.0,544,3826,0.12,2.60,0.00,0.000,4,0.056,0.047,2554,826,3343
$GC,3878,-1.45,-146.0,370.5,-8.0,548,3885,0.17,2.70,0.00,0.000,6,0.102,0.034,2587,2408,3342
$GC,4204,-1.50,-146.0,395.7,-7.7,579,4207,0.00,2.10,0.00,0.000,4,0.000,0.051,2587,3616,3341
$GC,4289,-1.50,-146.0,402.5,-7.5,586,4296,0.00,2.22,0.00,0.000,6,0.000,0.031,2587,2282,3340
$GC,4617,-1.55,-146.0,425.9,-7.7,617,4621,0.00,2.55,0.00,0.000,4,0.000,0.050,2587,829,3337
$GC,4713,-1.55,-146.0,433.8,-7.8,625,4718,0.00,2.67,0.00,0.000,6,0.000,0.034,2587,2390,3336
$GC,5041,-1.60,-146.0,460.7,-8.9,655,5046,0.15,2.12,0.00,0.000,4,0.054,0.049,2540,3614,3334
$GC,5131,-1.45,-146.0,470.5,-10.7,662,5139,0.25,2.28,0.00,0.000,6,0.107,0.032,2586,2262,3333
$GC,5457,-1.51,-146.0,499.1,-9.1,693,5461,0.00,2.38,0.00,0.000,4,0.000,0.050,2586,3615,3332
$GC,5565,-1.51,-146.0,508.9,-8.6,698,5569,0.00,2.12,0.00,0.000,6,0.000,0.032,2586,2351,3331
$GC,5892,-1.51,-146.0,540.0,-9.5,714,5899,0.00,2.72,0.00,0.000,4,0.000,0.051,2585,812,3329
$GC,5986,-1.51,-146.0,548.6,-8.4,718,5990,0.00,2.62,0.00,0.000,6,0.000,0.035,2585,2332,3328
$GC,6313,-1.51,-146.0,578.4,-9.2,734,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2331,3327
$GC,6623,-1.54,-146.0,602.9,-8.7,749,6627,0.00,2.25,0.00,0.000,4,0.000,0.055,2586,3612,3326
$GC,6731,-1.50,-146.0,612.5,-9.6,754,6735,0.00,2.05,0.00,0.000,6,0.000,0.034,2586,2397,3325
$GC,7064,-1.50,-146.0,641.2,-9.3,770,7069,0.00,2.80,0.00,0.000,4,0.000,0.053,2586,822,3323
$GC,7092,-1.50,-146.0,643.6,-7.8,771,7097,0.00,2.72,0.00,0.000,6,0.000,0.037,2586,2399,3323
$STATE,7344,end dive,NO_VERTICAL_VELOCITY
$STATE,7344,begin apogee
$GC,7351,-0.35,0.0,646.8,0.0,783,7473,1.15,0.00,117.82,1.078,6,0.076,0.000,2828,2323,2748
$STATE,7473,end apogee,CONTROL_FINISHED_OK
$STATE,7473,begin climb
$GC,7476,1.56,146.0,646.5,0.0,789,7607,1.92,2.60,121.05,1.042,4,0.064,0.056,3241,950,2151
$GC,7699,1.35,146.0,632.9,9.9,799,7704,0.22,2.42,0.00,0.000,6,0.122,0.038,3202,2326,2150
$GC,8026,1.21,146.0,604.8,10.7,815,8031,0.15,2.50,0.00,0.000,4,0.118,0.055,3171,950,2149
$GC,8049,1.12,146.0,602.7,9.2,816,8054,0.12,2.35,0.00,0.000,6,0.121,0.038,3150,2299,2148
$GC,8370,1.23,209.0,583.5,6.2,832,8428,0.00,2.65,51.35,1.036,4,0.000,0.057,3151,3720,1895
$GC,8463,1.23,209.0,576.3,9.6,836,8467,0.00,2.45,0.00,0.000,6,0.000,0.037,3150,2309,1895
$GC,8784,1.26,231.3,551.0,8.0,852,8808,0.15,2.60,17.85,1.039,4,0.068,0.055,3190,931,1805
$GC,8848,1.18,231.3,545.3,9.2,854,8856,0.15,2.40,0.00,0.000,6,0.112,0.038,3164,2300,1804
$GC,9165,1.27,283.3,521.1,6.7,870,9214,0.00,2.53,44.08,1.006,4,0.000,0.055,3164,935,1592
$GC,9250,1.31,283.7,514.2,9.0,874,9255,0.12,2.35,0.00,0.000,6,0.068,0.037,3193,2272,1589
$GC,9571,1.31,283.7,485.1,9.7,896,9575,0.00,2.60,0.00,0.000,4,0.000,0.056,3193,3727,1588
$GC,9622,1.26,283.7,479.7,9.5,900,9627,0.00,2.53,0.00,0.000,6,0.000,0.038,3193,2271,1588
$GC,9950,1.26,283.7,449.1,9.3,930,9954,0.00,2.40,0.00,0.000,4,0.000,0.055,3193,934,1587
$GC,9995,1.26,283.7,444.7,9.1,933,10002,0.00,2.35,0.00,0.000,6,0.000,0.038,3193,2286,1586
$GC,10324,1.26,283.7,414.7,10.0,964,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2285,1586
$GC,10650,1.28,295.2,385.8,8.5,995,10662,0.00,0.00,8.93,0.980,6,0.000,0.000,3193,2285,1544
$GC,10983,1.31,312.5,358.6,8.2,1026,11007,0.00,2.65,14.55,0.944,4,0.000,0.055,3193,3717,1473
$GC,11069,1.32,321.9,350.8,8.6,1033,11087,0.00,2.47,8.18,0.946,6,0.000,0.036,3193,2287,1434
$GC,11406,1.38,321.9,319.8,9.9,1065,11410,0.00,2.55,0.00,0.000,4,0.000,0.052,3193,3723,1433
$GC,11438,1.38,321.9,316.4,10.1,1067,11446,0.00,2.72,0.00,0.000,6,0.000,0.037,3193,2149,1432
$GC,11768,1.51,331.7,287.3,8.6,1098,11782,0.15,2.28,8.10,0.907,4,0.059,0.055,3236,929,1394
$GC,11843,1.44,331.7,279.9,10.2,1104,11847,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2321,1393
$GC,12170,1.39,331.7,246.3,10.7,1137,12178,0.15,2.47,0.00,0.000,4,0.107,0.052,3205,3723,1393
$GC,12196,1.39,331.7,243.7,9.9,1141,12203,0.00,2.47,0.00,0.000,6,0.000,0.035,3205,2282,1393
$GC,12543,1.49,354.8,214.8,8.0,1202,12571,0.12,2.47,19.33,0.817,4,0.067,0.054,3235,932,1301
$GC,12623,1.46,355.0,207.4,9.0,1215,12630,0.00,2.08,0.00,0.000,6,0.000,0.035,3235,2133,1299
$GC,12969,1.46,355.0,174.5,9.3,1276,12976,0.00,2.15,0.00,0.000,4,0.000,0.053,3236,932,1298
$GC,13068,1.46,355.0,165.2,9.2,1293,13075,0.00,2.22,0.00,0.000,6,0.000,0.033,3235,2225,1298
$GC,13414,1.58,377.9,138.0,8.0,1354,13441,0.00,2.70,18.92,0.746,4,0.000,0.051,3235,3723,1206
$GC,13455,1.67,388.2,134.6,8.6,1360,13470,0.15,2.75,8.77,0.749,6,0.060,0.034,3273,2138,1165
$GC,13812,1.81,436.1,106.4,6.9,1422,13859,0.12,2.92,39.85,0.684,4,0.059,0.047,3309,3727,969
$GC,13867,1.83,451.7,101.8,8.3,1430,13887,0.00,2.62,13.00,0.683,6,0.000,0.032,3309,2210,906
$GC,14229,1.93,463.8,71.0,8.5,1493,14243,0.00,2.75,9.23,0.673,4,0.000,0.046,3309,3723,857
$GC,14336,2.00,481.4,61.9,8.2,1511,14357,0.15,2.88,14.57,0.647,6,0.056,0.032,3348,2047,785
$GC,14698,2.01,491.3,29.9,8.6,1574,14712,0.00,3.03,7.53,0.622,4,0.000,0.043,3348,3730,744
$GC,14761,2.01,491.9,24.1,9.0,1584,14768,0.00,2.80,0.00,0.000,6,0.000,0.031,3349,2084,744
$STATE,15008,end climb,SURFACE_DEPTH_REACHED
$STATE,15008,begin surface coast
$FINISH,-0.1,1.020558
$STATE,15032,end surface coast,CONTROL_FINISHED_OK
$STATE,15033,begin surface
$SM_CCo,15117,0.00,0.000,0,0,739,492.81
$SM_GC,0.72,13.60,0.00,0.00,0.039,0.000,0.000,252,2265,739,-12.16,1.41,492.81
$IRIDIUM_FIX,1245.46,12040.38,310797,151503
$TT8_MAMPS,0.023777
$HUMID,2088
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.10
$XPDR_PINGS,425
$ALTIM_BOTTOM_PING,540.6,87.2
$24V_AH,23.3,68.488
$10V_AH,10.1,35.253
$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,33.875,169.975,523.100,0.000,0.000,78.462,99.174,202.214,107.750,0.000,0.000,15.077,3430.087,8157.206,696.852,2695.667,857.082,0.000,2087.118,0.000,2672.046,0.000,12.873
$DEVICE_MAMPS,165.672,69.797,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50377,1632
$CAP_FILE_SIZE,166994,0
$CFSIZE,260165632,226316288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,345.7,1
$GPS,060508,194438,1250.173,12042.272,28,1.1,28,-0.8