version: 66.03
glider: 122
mission: 6
dive: 371
start: 5 7 108 5 8 18
data:
$ID,122
$MISSION,6
$DIVE,371
$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,-34583.094
$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,58
$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
$GPS1,050156,1248.010,12043.373,40,1.5,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.3
$GPS2,050744,1248.014,12043.385,10,1.4,15,-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,172.8,12503,-18.6,-9.016
$D_GRID,842
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-61.12,0.000,2,0.000,0.000,249,2256,2464
$GC,91,-1.56,-146.0,3.8,-8.0,10,130,13.27,2.33,-16.45,0.000,4,0.166,0.054,2560,3603,3347
$GC,194,-1.26,-146.0,26.0,-19.4,27,201,0.38,2.33,0.00,0.000,6,0.116,0.027,2629,2199,3348
$GC,540,-1.16,-146.0,75.4,-12.4,88,548,0.12,2.40,0.00,0.000,4,0.120,0.043,2651,3594,3350
$GC,628,-1.08,-146.0,86.2,-11.8,103,635,0.00,2.15,0.00,0.000,6,0.000,0.025,2651,2278,3350
$GC,975,-1.18,-146.0,122.3,-8.7,164,982,0.00,2.25,0.00,0.000,4,0.000,0.043,2651,3596,3352
$GC,1057,-1.21,-146.0,130.0,-9.8,178,1064,0.00,2.03,0.00,0.000,6,0.000,0.025,2651,2343,3353
$GC,1403,-1.37,-146.0,159.9,-8.2,239,1411,0.17,2.15,0.00,0.000,4,0.043,0.043,2591,3601,3353
$GC,1504,-1.31,-146.0,169.7,-10.2,256,1511,0.12,2.12,0.00,0.000,6,0.097,0.026,2615,2298,3353
$GC,1851,-1.41,-146.0,197.5,-7.4,317,1858,0.00,2.55,0.00,0.000,4,0.000,0.043,2615,820,3354
$GC,1938,-1.41,-146.0,204.3,-8.1,332,1945,0.00,2.67,0.00,0.000,6,0.000,0.031,2615,2407,3353
$GC,2285,-1.52,-146.0,231.5,-7.8,393,2292,0.15,2.05,0.00,0.000,4,0.049,0.048,2563,3598,3354
$GC,2356,-1.40,-146.0,238.0,-9.7,405,2363,0.20,2.15,0.00,0.000,6,0.097,0.028,2601,2294,3354
$GC,2697,-1.47,-146.0,265.3,-8.3,449,2701,0.00,2.58,0.00,0.000,4,0.000,0.046,2601,816,3352
$GC,2786,-1.47,-146.0,273.8,-9.0,456,2793,0.00,2.70,0.00,0.000,6,0.000,0.033,2601,2409,3352
$GC,3116,-1.55,-146.0,302.5,-8.3,487,3120,0.15,2.05,0.00,0.000,4,0.049,0.048,2549,3596,3350
$GC,3194,-1.42,-146.0,310.7,-10.2,493,3201,0.25,2.15,0.00,0.000,6,0.101,0.030,2596,2296,3350
$GC,3520,-1.48,-146.0,337.6,-7.9,524,3524,0.00,2.60,0.00,0.000,4,0.000,0.048,2596,815,3348
$GC,3598,-1.48,-146.0,344.3,-7.7,530,3605,0.00,2.70,0.00,0.000,6,0.000,0.034,2597,2401,3347
$GC,3928,-1.56,-146.0,369.6,-8.0,561,3932,0.15,2.08,0.00,0.000,4,0.051,0.049,2546,3597,3345
$GC,3994,-1.42,-146.0,376.9,-11.0,566,4002,0.25,2.17,0.00,0.000,6,0.100,0.031,2593,2293,3345
$GC,4321,-1.49,-146.0,403.6,-8.0,597,4325,0.00,2.60,0.00,0.000,4,0.000,0.049,2594,820,3343
$GC,4421,-1.49,-146.0,412.5,-8.5,605,4428,0.00,2.67,0.00,0.000,6,0.000,0.033,2594,2381,3343
$GC,4750,-1.56,-146.0,437.4,-7.9,636,4754,0.12,2.12,0.00,0.000,4,0.056,0.049,2556,3601,3341
$GC,4840,-1.46,-146.0,446.2,-10.2,643,4847,0.15,2.20,0.00,0.000,6,0.108,0.032,2583,2289,3340
$GC,5167,-1.51,-146.0,471.8,-7.2,674,5171,0.00,2.60,0.00,0.000,4,0.000,0.050,2583,820,3337
$GC,5264,-1.51,-146.0,479.3,-7.5,682,5268,0.00,2.67,0.00,0.000,6,0.000,0.034,2583,2373,3337
$GC,5602,-1.57,-146.0,503.1,-7.4,711,5606,0.00,2.12,0.00,0.000,4,0.000,0.051,2583,3597,3334
$GC,5681,-1.57,-146.0,510.0,-8.3,714,5685,0.00,2.20,0.00,0.000,6,0.000,0.033,2583,2291,3334
$GC,5998,-1.63,-146.0,535.6,-8.2,729,6003,0.15,2.30,0.00,0.000,4,0.053,0.050,2535,3597,3332
$GC,6093,-1.49,-146.0,545.7,-10.9,733,6097,0.22,2.05,0.00,0.000,6,0.110,0.033,2575,2378,3332
$GC,6413,-1.53,-146.0,571.1,-8.2,748,6417,0.00,2.12,0.00,0.000,4,0.000,0.051,2575,3591,3330
$GC,6517,-1.50,-146.0,580.3,-9.1,752,6521,0.00,2.22,0.00,0.000,6,0.000,0.034,2575,2281,3329
$GC,6834,-1.54,-146.0,607.3,-8.5,767,6838,0.00,2.33,0.00,0.000,4,0.000,0.052,2575,3595,3328
$GC,6942,-1.51,-146.0,616.6,-8.1,772,6946,0.00,2.10,0.00,0.000,6,0.000,0.034,2575,2356,3328
$GC,7278,-1.57,-146.0,644.1,-7.8,788,7282,0.00,2.17,0.00,0.000,4,0.000,0.054,2575,3596,3326
$GC,7380,-1.54,-146.0,653.2,-8.5,792,7384,0.00,2.20,0.00,0.000,6,0.000,0.035,2575,2301,3326
$GC,7702,-1.59,-146.0,680.1,-8.2,807,7706,0.00,2.30,0.00,0.000,4,0.000,0.054,2576,3597,3324
$GC,7802,-1.59,-146.0,689.8,-8.2,811,7811,0.00,2.05,0.00,0.000,6,0.000,0.035,2575,2381,3323
$GC,8120,-1.63,-146.0,714.8,-7.7,827,8124,0.12,2.15,0.00,0.000,4,0.060,0.054,2540,3595,3322
$GC,8239,-1.52,-146.0,726.5,-9.1,832,8243,0.17,2.20,0.00,0.000,6,0.112,0.036,2571,2301,3321
$GC,8559,-1.52,-146.0,750.4,-8.2,847,8563,0.00,2.65,0.00,0.000,4,0.000,0.058,2571,827,3320
$GC,8625,-1.52,-146.0,756.4,-8.6,850,8630,0.00,2.47,0.00,0.000,6,0.000,0.036,2572,2261,3319
$GC,8950,-1.52,-146.0,782.7,-8.3,866,8954,0.00,2.42,0.00,0.000,4,0.000,0.057,2571,3626,3318
$GC,8994,-1.52,-146.0,787.2,-8.9,868,8998,0.00,2.28,0.00,0.000,6,0.000,0.036,2571,2292,3318
$GC,9316,-1.52,-146.0,815.9,-9.0,884,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2290,3317
$STATE,9601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9608,-0.35,0.0,842.9,8.9,898,9734,1.27,0.00,121.88,1.253,6,0.104,0.000,2825,2349,2748
$STATE,9734,end apogee,CONTROL_FINISHED_OK
$STATE,9734,begin climb
$GC,9737,1.56,146.0,848.0,0.0,904,9869,1.90,0.00,126.93,1.210,6,0.053,0.000,3245,2348,2152
$GC,10171,1.31,146.0,816.3,9.9,925,10176,0.28,2.58,0.00,0.000,4,0.121,0.058,3193,944,2150
$GC,10212,1.16,146.0,812.1,10.1,927,10217,0.20,2.42,0.00,0.000,6,0.117,0.039,3157,2319,2150
$GC,10542,1.18,197.6,786.7,6.7,943,10592,0.00,2.60,44.03,1.208,4,0.000,0.059,3157,3726,1941
$GC,10643,1.13,197.6,778.1,9.4,947,10651,0.00,2.38,0.00,0.000,6,0.000,0.040,3157,2363,1940
$GC,10960,1.20,237.4,753.0,7.2,963,11004,0.00,2.72,33.85,1.197,4,0.000,0.061,3157,932,1780
$GC,11028,1.20,237.4,747.5,9.2,966,11033,0.00,2.55,0.00,0.000,6,0.000,0.039,3157,2364,1779
$GC,11356,1.27,281.3,723.2,7.1,982,11402,0.12,2.75,38.97,1.176,4,0.071,0.060,3188,934,1601
$GC,11454,1.23,283.8,715.2,8.9,986,11458,0.00,2.47,0.00,0.000,6,0.000,0.039,3188,2330,1598
$GC,11774,1.23,283.8,684.1,10.3,1002,11779,0.00,2.53,0.00,0.000,4,0.000,0.061,3188,3730,1596
$GC,11816,1.20,283.8,679.6,10.7,1004,11821,0.12,2.45,0.00,0.000,6,0.125,0.040,3167,2330,1596
$GC,12143,1.20,283.8,648.6,9.7,1020,12147,0.00,2.55,0.00,0.000,4,0.000,0.061,3167,931,1595
$GC,12227,1.20,283.8,639.8,10.7,1024,12232,0.00,2.42,0.00,0.000,6,0.000,0.038,3167,2310,1595
$GC,12555,1.20,283.8,608.0,10.0,1040,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2309,1595
$GC,12864,1.23,285.9,579.1,8.9,1055,12873,0.00,2.58,3.20,1.134,4,0.000,0.059,3168,936,1582
$GC,12948,1.24,294.4,571.4,8.6,1058,12961,0.00,2.38,7.85,1.143,6,0.000,0.038,3167,2294,1548
$GC,13285,1.33,325.1,544.9,7.6,1075,13319,0.12,2.55,27.42,1.083,4,0.071,0.058,3198,925,1421
$GC,13381,1.33,325.1,535.2,10.8,1079,13385,0.00,2.35,0.00,0.000,6,0.000,0.038,3198,2263,1417
$GC,13697,1.33,325.1,503.7,9.6,1094,13701,0.00,2.42,0.00,0.000,4,0.000,0.058,3197,932,1416
$GC,13718,1.33,325.1,501.4,9.9,1095,13722,0.00,2.33,0.00,0.000,6,0.000,0.038,3197,2257,1416
$GC,14049,1.33,327.0,470.8,8.9,1125,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2258,1416
$GC,14367,1.33,327.0,442.2,9.1,1155,14371,0.00,2.42,0.00,0.000,4,0.000,0.058,3198,922,1416
$GC,14401,1.33,327.0,438.8,9.8,1157,14408,0.00,2.28,0.00,0.000,6,0.000,0.037,3198,2233,1415
$GC,14729,1.33,327.0,408.3,9.1,1188,14734,0.00,2.67,0.00,0.000,4,0.000,0.056,3198,3730,1415
$GC,14764,1.33,327.0,404.6,9.2,1190,14771,0.00,2.65,0.00,0.000,6,0.000,0.038,3198,2200,1415
$GC,15092,1.34,330.8,375.5,8.8,1221,15105,0.00,2.35,4.05,1.009,4,0.000,0.058,3198,932,1398
$GC,15121,1.34,333.6,372.6,8.9,1223,15129,0.00,2.22,2.70,0.989,6,0.000,0.037,3197,2208,1387
$GC,15446,1.34,333.6,340.6,10.3,1254,15451,0.00,2.72,0.00,0.000,4,0.000,0.056,3198,3733,1387
$GC,15509,1.34,333.6,334.1,10.4,1259,15513,0.00,2.65,0.00,0.000,6,0.000,0.037,3198,2206,1387
$GC,15837,1.45,351.5,305.7,8.2,1289,15862,0.10,2.80,16.05,0.920,4,0.069,0.053,3226,3731,1315
$GC,15875,1.45,351.5,301.8,9.5,1292,15880,0.00,2.92,0.00,0.000,6,0.000,0.038,3226,2071,1313
$GC,16203,1.45,351.5,270.6,9.4,1322,16208,0.00,2.95,0.00,0.000,4,0.000,0.051,3226,3730,1313
$GC,16213,1.45,351.5,269.3,9.3,1322,16220,0.00,2.70,0.00,0.000,6,0.000,0.037,3226,2170,1312
$GC,16545,1.45,351.5,238.2,10.0,1364,16552,0.00,2.22,0.00,0.000,4,0.000,0.056,3226,927,1312
$GC,16615,1.45,351.5,231.3,9.5,1376,16622,0.00,2.30,0.00,0.000,6,0.000,0.035,3226,2259,1311
$GC,16961,1.48,366.8,199.0,8.3,1437,16981,0.00,2.62,13.25,0.830,4,0.000,0.051,3226,3726,1252
$GC,17000,1.48,371.6,195.8,8.8,1443,17014,0.00,2.62,4.28,0.835,6,0.000,0.035,3226,2217,1232
$GC,17353,1.57,371.6,166.9,9.2,1505,17360,0.00,2.30,0.00,0.000,4,0.000,0.054,3226,928,1230
$GC,17436,1.64,377.6,159.2,8.7,1519,17451,0.15,1.98,5.18,0.825,6,0.055,0.033,3264,2086,1207
$GC,17793,1.68,401.9,129.4,7.9,1581,17820,0.00,3.03,20.62,0.737,4,0.000,0.048,3264,3734,1108
$GC,17844,1.70,415.1,125.4,8.4,1589,17865,0.00,2.70,11.45,0.735,6,0.000,0.034,3264,2175,1054
$GC,18206,1.90,456.5,96.9,7.2,1652,18248,0.22,2.33,34.75,0.676,4,0.048,0.050,3327,923,885
$GC,18307,1.85,456.5,86.8,10.2,1668,18314,0.00,1.95,0.00,0.000,6,0.000,0.031,3328,2069,882
$GC,18652,1.86,461.5,54.7,8.8,1729,18660,0.00,2.97,3.30,0.686,4,0.000,0.046,3328,3727,866
$GC,18770,1.91,489.5,44.5,7.8,1749,18802,0.00,2.78,23.30,0.622,6,0.000,0.031,3328,2103,751
$GC,19144,2.06,489.5,12.8,9.6,1814,19151,0.12,2.08,0.00,0.000,4,0.052,0.047,3367,922,749
$GC,19181,2.06,489.5,9.0,9.9,1820,19188,0.00,2.30,0.00,0.000,6,0.000,0.029,3367,2280,748
$STATE,19259,end climb,SURFACE_DEPTH_REACHED
$STATE,19259,begin surface coast
$FINISH,-0.1,1.020352
$STATE,19283,end surface coast,CONTROL_FINISHED_OK
$STATE,19283,begin surface
$SM_CCo,19368,0.00,0.000,0,0,744,491.58
$SM_GC,0.80,13.70,0.00,0.00,0.038,0.000,0.000,249,2181,744,-12.18,-0.99,491.58
$IRIDIUM_FIX,1247.67,12037.35,010897,000017
$TT8_MAMPS,0.023777
$HUMID,2105
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.70
$XPDR_PINGS,386
$24V_AH,23.0,69.038
$10V_AH,10.1,35.537
$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,34.500,212.175,543.050,0.000,0.000,25.493,27.863,155.169,105.500,0.000,0.000,15.763,3940.073,11170.667,778.040,3169.727,659.692,0.000,2380.452,0.000,3101.904,0.000,67.338
$DEVICE_MAMPS,166.439,82.836,1252.511,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1232.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59729,1838
$CAP_FILE_SIZE,202673,0
$CFSIZE,260165632,226025472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,331.6,1
$GPS,070508,103225,1248.178,12042.825,26,1.0,43,-0.8