version: 66.03
glider: 122
mission: 6
dive: 369
start: 5 6 108 19 51 7
data:
$ID,122
$MISSION,6
$DIVE,369
$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,-34550.793
$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,27
$R_STBD_OVSHOOT,65
$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
$GPS1,194438,1250.173,12042.272,28,1.1,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.0
$GPS2,195033,1250.176,12042.256,15,1.5,15,-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,161.0,16952,-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,-146.0,0.0,0.0,0,83,0.00,0.00,-56.08,0.000,2,0.000,0.000,252,2263,2299
$GC,86,-1.56,-146.0,3.3,-7.8,11,127,13.30,2.60,-20.95,0.000,4,0.168,0.050,2556,802,3346
$GC,157,-1.27,-146.0,16.8,-18.1,22,165,0.38,2.33,0.00,0.000,6,0.114,0.028,2626,2189,3347
$GC,504,-1.15,-146.0,68.9,-13.1,83,511,0.15,2.40,0.00,0.000,4,0.110,0.039,2657,798,3349
$GC,574,-1.11,-146.0,78.3,-12.5,95,581,0.00,2.55,0.00,0.000,6,0.000,0.028,2658,2317,3349
$GC,920,-1.11,-146.0,117.4,-10.4,156,927,0.00,2.22,0.00,0.000,4,0.000,0.044,2657,3622,3351
$GC,979,-1.11,-146.0,123.4,-10.1,166,986,0.00,2.15,0.00,0.000,6,0.000,0.025,2657,2295,3351
$GC,1325,-1.24,-146.0,154.5,-8.3,227,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2295,3352
$GC,1671,-1.41,-146.0,182.2,-8.5,288,1678,0.25,2.58,0.00,0.000,4,0.039,0.041,2581,801,3353
$GC,1747,-1.35,-146.0,189.6,-9.8,301,1755,0.15,2.70,0.00,0.000,6,0.100,0.030,2610,2407,3353
$GC,2094,-1.43,-146.0,219.5,-7.8,362,2101,0.00,2.08,0.00,0.000,4,0.000,0.047,2610,3620,3353
$GC,2194,-1.43,-146.0,227.4,-8.4,379,2201,0.00,2.25,0.00,0.000,6,0.000,0.028,2610,2251,3353
$GC,2542,-1.51,-146.0,255.8,-8.7,435,2546,0.15,2.45,0.00,0.000,4,0.050,0.044,2559,827,3352
$GC,2605,-1.42,-146.0,262.0,-10.0,440,2610,0.20,2.67,0.00,0.000,6,0.098,0.031,2597,2407,3352
$GC,2933,-1.47,-146.0,289.8,-8.2,470,2937,0.00,2.08,0.00,0.000,4,0.000,0.048,2597,3616,3350
$GC,2995,-1.47,-146.0,295.7,-8.6,475,3002,0.00,2.22,0.00,0.000,6,0.000,0.030,2596,2268,3350
$GC,3323,-1.54,-146.0,323.6,-8.4,506,3328,0.12,2.53,0.00,0.000,4,0.056,0.045,2559,821,3349
$GC,3420,-1.47,-146.0,332.7,-8.8,514,3425,0.12,2.65,0.00,0.000,6,0.106,0.033,2582,2378,3348
$GC,3747,-1.50,-146.0,357.9,-7.9,544,3751,0.00,2.72,0.00,0.000,4,0.000,0.046,2582,820,3346
$GC,3825,-1.47,-146.0,364.7,-9.2,550,3832,0.00,2.47,0.00,0.000,6,0.000,0.032,2582,2277,3346
$GC,4153,-1.51,-146.0,392.7,-9.0,581,4157,0.00,2.55,0.00,0.000,4,0.000,0.048,2582,829,3344
$GC,4209,-1.48,-146.0,398.1,-9.2,585,4216,0.00,2.65,0.00,0.000,6,0.000,0.033,2582,2383,3343
$GC,4537,-1.52,-146.0,423.6,-7.6,616,4541,0.00,2.15,0.00,0.000,4,0.000,0.050,2582,3622,3342
$GC,4612,-1.49,-146.0,429.7,-7.9,622,4616,0.00,2.30,0.00,0.000,6,0.000,0.031,2582,2249,3341
$GC,4946,-1.53,-146.0,454.2,-7.1,653,4950,0.00,2.53,0.00,0.000,4,0.000,0.049,2582,818,3339
$GC,5002,-1.50,-146.0,459.0,-8.2,657,5009,0.00,2.67,0.00,0.000,6,0.000,0.034,2582,2381,3339
$GC,5330,-1.54,-146.0,484.9,-7.7,688,5334,0.00,2.15,0.00,0.000,4,0.000,0.051,2582,3612,3336
$GC,5421,-1.50,-146.0,492.7,-8.5,695,5428,0.00,2.28,0.00,0.000,6,0.000,0.033,2582,2267,3335
$GC,5742,-1.55,-146.0,517.4,-7.6,715,5746,0.00,2.58,0.00,0.000,4,0.000,0.051,2582,818,3333
$GC,5820,-1.55,-146.0,524.1,-8.2,718,5827,0.00,2.70,0.00,0.000,6,0.000,0.035,2582,2386,3333
$GC,6137,-1.59,-146.0,546.6,-7.0,734,6142,0.12,2.15,0.00,0.000,4,0.057,0.052,2547,3613,3331
$GC,6223,-1.47,-146.0,553.2,-8.1,738,6228,0.20,2.28,0.00,0.000,6,0.109,0.034,2583,2273,3331
$GC,6553,-1.53,-146.0,579.5,-8.7,754,6560,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,823,3329
$GC,6650,-1.53,-146.0,589.3,-9.7,758,6655,0.00,2.67,0.00,0.000,6,0.000,0.036,2583,2371,3328
$GC,6974,-1.58,-146.0,615.1,-7.2,774,6979,0.00,2.78,0.00,0.000,4,0.000,0.052,2583,817,3327
$GC,7082,-1.58,-146.0,624.0,-7.8,779,7087,0.00,2.50,0.00,0.000,6,0.000,0.035,2583,2267,3327
$GC,7412,-1.65,-146.0,646.4,-6.7,795,7417,0.17,2.58,0.00,0.000,4,0.051,0.052,2532,820,3326
$GC,7446,-1.53,-146.0,649.7,-9.5,796,7454,0.20,2.40,0.00,0.000,6,0.109,0.036,2568,2217,3325
$GC,7765,-1.53,-146.0,677.1,-8.9,812,7769,0.00,2.47,0.00,0.000,4,0.000,0.055,2568,3619,3324
$GC,7889,-1.48,-146.0,689.5,-9.7,817,7896,0.00,2.28,0.00,0.000,6,0.000,0.035,2568,2284,3323
$GC,8205,-1.48,-146.0,718.1,-9.2,833,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2283,3322
$STATE,8492,end dive,NO_VERTICAL_VELOCITY
$STATE,8492,begin apogee
$GC,8499,-0.35,0.0,723.9,0.0,847,8622,1.35,0.00,119.32,1.157,6,0.122,0.000,2825,2346,2748
$STATE,8623,end apogee,CONTROL_FINISHED_OK
$STATE,8623,begin climb
$GC,8626,1.56,146.0,723.5,0.0,853,8759,2.12,2.65,122.97,1.116,4,0.105,0.056,3239,945,2151
$GC,8890,1.33,166.0,709.3,8.1,865,8914,0.25,2.45,16.50,1.125,6,0.127,0.038,3196,2333,2071
$GC,9224,1.24,196.8,684.7,7.6,881,9256,0.12,2.58,25.88,1.116,4,0.130,0.060,3175,3724,1945
$GC,9326,1.10,197.8,675.0,9.0,885,9334,0.17,2.38,0.00,0.000,6,0.127,0.038,3146,2355,1945
$GC,9645,1.14,239.1,651.0,7.2,901,9683,0.00,0.00,35.75,1.104,6,0.000,0.000,3146,2352,1773
$GC,9992,1.20,272.4,623.2,7.5,918,10027,0.00,2.58,28.52,1.098,4,0.000,0.057,3145,3723,1637
$GC,10073,1.20,272.4,616.0,9.5,921,10080,0.00,2.38,0.00,0.000,6,0.000,0.038,3146,2358,1636
$GC,10389,1.29,301.9,590.0,7.7,937,10421,0.15,2.58,25.35,1.086,4,0.067,0.057,3185,3726,1516
$GC,10480,1.24,301.9,581.9,9.4,941,10484,0.00,2.33,0.00,0.000,6,0.000,0.038,3185,2393,1515
$GC,10812,1.24,301.9,547.4,10.6,957,10816,0.00,2.40,0.00,0.000,4,0.000,0.057,3185,3730,1513
$GC,10836,1.20,301.9,544.9,11.3,958,10840,0.00,2.30,0.00,0.000,6,0.000,0.038,3185,2398,1513
$GC,11164,1.23,315.9,515.7,8.4,974,11185,0.00,2.50,11.45,1.075,4,0.000,0.056,3185,3730,1460
$GC,11202,1.23,315.9,511.8,10.2,975,11209,0.00,2.28,0.00,0.000,6,0.000,0.037,3185,2420,1459
$GC,11523,1.23,315.9,480.5,9.8,1000,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2419,1458
$GC,11843,1.23,315.9,451.4,9.1,1030,11847,0.00,2.35,0.00,0.000,4,0.000,0.056,3184,3733,1457
$GC,11872,1.23,315.9,448.6,9.9,1032,11876,0.00,2.25,0.00,0.000,6,0.000,0.037,3185,2426,1457
$GC,12198,1.23,315.9,415.2,10.1,1062,12202,0.00,2.67,0.00,0.000,4,0.000,0.055,3185,933,1456
$GC,12253,1.23,315.9,409.4,10.3,1066,12260,0.00,2.58,0.00,0.000,6,0.000,0.038,3185,2407,1455
$GC,12582,1.28,315.9,379.1,9.8,1097,12586,0.00,2.65,0.00,0.000,4,0.000,0.054,3185,934,1455
$GC,12704,1.29,321.9,367.2,8.7,1107,12715,0.00,2.35,4.95,1.003,6,0.000,0.038,3185,2288,1434
$GC,13042,1.41,332.6,337.2,8.5,1139,13059,0.12,2.53,9.52,0.964,4,0.065,0.054,3217,934,1390
$GC,13067,1.46,347.1,335.0,8.4,1141,13085,0.00,2.60,12.80,0.930,6,0.000,0.038,3216,2404,1333
$GC,13405,1.46,347.1,303.7,10.0,1172,13409,0.00,2.65,0.00,0.000,4,0.000,0.054,3216,933,1330
$GC,13433,1.46,347.1,300.8,9.9,1174,13437,0.00,2.53,0.00,0.000,6,0.000,0.038,3216,2375,1329
$GC,13761,1.46,347.1,268.0,9.4,1204,13765,0.00,2.60,0.00,0.000,4,0.000,0.053,3216,930,1329
$GC,13890,1.46,347.1,255.4,9.1,1215,13895,0.00,2.60,0.00,0.000,6,0.000,0.038,3216,2417,1328
$GC,14232,1.52,353.7,226.0,8.7,1269,14246,0.00,2.38,5.22,0.887,4,0.000,0.056,3216,3717,1306
$GC,14286,1.52,353.7,220.9,9.7,1278,14293,0.00,2.53,0.00,0.000,6,0.000,0.035,3216,2255,1305
$GC,14634,1.58,362.5,188.8,8.6,1339,14649,0.15,2.45,7.85,0.838,4,0.054,0.053,3257,932,1269
$GC,14766,1.52,362.5,176.0,10.0,1361,14773,0.12,2.50,0.00,0.000,6,0.117,0.035,3235,2370,1268
$GC,15115,1.62,394.8,146.7,7.6,1422,15148,0.00,2.67,27.25,0.754,4,0.000,0.048,3235,932,1137
$GC,15269,1.73,415.2,134.8,8.1,1448,15292,0.20,2.30,17.02,0.746,6,0.054,0.034,3289,2259,1055
$GC,15633,1.79,419.4,104.7,8.8,1511,15642,0.00,2.67,3.17,0.757,4,0.000,0.051,3289,3731,1038
$GC,15690,1.79,420.8,99.6,9.0,1520,15697,0.00,2.35,0.00,0.000,6,0.000,0.031,3289,2344,1038
$GC,16036,1.90,442.8,75.1,8.0,1581,16064,0.12,2.53,19.73,0.663,4,0.058,0.046,3325,938,940
$GC,16099,1.90,442.8,69.1,9.9,1591,16106,0.00,2.17,0.00,0.000,6,0.000,0.031,3325,2211,939
$GC,16446,2.02,490.4,41.3,6.9,1652,16491,0.00,0.00,39.20,0.597,6,0.000,0.000,3325,2211,747
$GC,16831,2.17,515.6,11.5,7.9,1719,16860,0.20,2.67,19.35,0.567,4,0.046,0.044,3388,3723,645
$GC,16909,2.09,515.6,3.9,10.2,1731,16916,0.15,2.30,0.00,0.000,6,0.113,0.028,3362,2349,643
$STATE,16921,end climb,SURFACE_DEPTH_REACHED
$STATE,16921,begin surface coast
$FINISH,0.4,1.020834
$STATE,16939,end surface coast,CONTROL_FINISHED_OK
$STATE,16939,begin surface
$SM_CCo,17024,0.00,0.000,0,0,641,516.85
$SM_GC,0.83,13.73,0.00,0.00,0.039,0.000,0.000,249,2193,641,-12.18,-0.65,516.85
$IRIDIUM_FIX,1245.46,12042.28,310797,151516
$TT8_MAMPS,0.023777
$HUMID,2053
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.20
$XPDR_PINGS,377
$ALTIM_BOTTOM_PING,671.7,56.9
$24V_AH,23.1,68.669
$10V_AH,10.1,35.347
$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,34.500,182.425,551.825,0.000,0.000,23.948,32.357,160.421,99.500,0.000,0.000,15.148,3645.214,9408.580,733.432,2949.688,643.798,0.000,2239.189,0.000,2903.461,0.000,42.181
$DEVICE_MAMPS,167.973,72.098,1156.636,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56641,1736
$CAP_FILE_SIZE,183104,0
$CFSIZE,260165632,226217984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,141.3,1
$GPS,070508,003608,1248.908,12042.949,41,0.9,41,-0.8