version: 66.03
glider: 122
mission: 6
dive: 372
start: 5 7 108 10 48 25
data:
$ID,122
$MISSION,6
$DIVE,372
$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,-34596.824
$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,52
$R_STBD_OVSHOOT,25
$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
$GPS1,103225,1248.178,12042.825,26,1.0,43,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.3
$GPS2,104751,1248.131,12042.849,13,1.2,13,-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,155.3,13031,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.56,-146.0,0.0,0.0,0,82,0.00,0.00,-54.47,0.000,2,0.000,0.000,249,2181,2288
$GC,86,-1.56,-146.0,3.2,-7.9,10,124,13.35,0.00,-21.33,0.000,6,0.168,0.000,2559,2181,3346
$GC,463,-1.32,-146.0,69.7,-16.0,76,471,0.28,2.47,0.00,0.000,4,0.121,0.041,2613,3628,3348
$GC,551,-1.18,-146.0,82.6,-13.8,91,558,0.17,2.30,0.00,0.000,6,0.110,0.025,2645,2223,3348
$GC,898,-1.22,-146.0,118.6,-10.5,152,904,0.00,2.42,0.00,0.000,4,0.000,0.042,2645,3638,3349
$GC,984,-1.22,-146.0,128.0,-10.6,167,991,0.00,2.22,0.00,0.000,6,0.000,0.025,2645,2269,3349
$GC,1330,-1.35,-146.0,158.5,-8.4,228,1338,0.15,2.50,0.00,0.000,4,0.047,0.040,2591,819,3350
$GC,1414,-1.29,-146.0,166.2,-9.0,242,1421,0.17,2.67,0.00,0.000,6,0.097,0.029,2625,2414,3350
$GC,1762,-1.38,-146.0,195.4,-7.4,303,1769,0.00,2.08,0.00,0.000,4,0.000,0.046,2625,3629,3350
$GC,1855,-1.43,-146.0,202.7,-8.1,319,1863,0.15,2.20,0.00,0.000,6,0.051,0.028,2580,2285,3350
$GC,2202,-1.43,-146.0,234.3,-9.5,380,2209,0.00,2.30,0.00,0.000,4,0.000,0.044,2580,3629,3349
$GC,2323,-1.35,-146.0,246.9,-10.4,401,2331,0.15,2.05,0.00,0.000,6,0.099,0.028,2608,2378,3349
$GC,2660,-1.43,-146.0,276.6,-8.3,435,2663,0.00,2.15,0.00,0.000,4,0.000,0.046,2608,3632,3347
$GC,2695,-1.43,-146.0,279.6,-8.9,438,2699,0.00,2.25,0.00,0.000,6,0.000,0.029,2608,2268,3347
$GC,3030,-1.52,-146.0,306.4,-7.9,469,3034,0.15,2.53,0.00,0.000,4,0.051,0.046,2556,823,3346
$GC,3086,-1.41,-146.0,311.9,-8.8,473,3093,0.22,2.70,0.00,0.000,6,0.100,0.033,2598,2413,3344
$GC,3412,-1.47,-146.0,336.0,-7.1,504,3415,0.00,2.10,0.00,0.000,4,0.000,0.049,2598,3632,3343
$GC,3473,-1.47,-146.0,340.6,-6.9,509,3480,0.00,2.28,0.00,0.000,6,0.000,0.031,2598,2266,3343
$GC,3802,-1.55,-146.0,363.6,-7.5,540,3807,0.15,2.55,0.00,0.000,4,0.053,0.048,2549,816,3341
$GC,3866,-1.44,-146.0,369.5,-9.5,545,3872,0.22,2.75,0.00,0.000,6,0.100,0.035,2592,2419,3340
$GC,4192,-1.49,-146.0,397.3,-8.7,575,4196,0.00,2.10,0.00,0.000,4,0.000,0.050,2591,3631,3338
$GC,4272,-1.49,-146.0,405.0,-10.1,582,4276,0.00,2.25,0.00,0.000,6,0.000,0.031,2592,2288,3337
$GC,4602,-1.57,-146.0,433.6,-8.4,612,4606,0.15,2.35,0.00,0.000,4,0.052,0.048,2545,3631,3335
$GC,4620,-1.57,-146.0,435.5,-8.5,613,4623,0.00,2.10,0.00,0.000,6,0.000,0.031,2544,2374,3334
$GC,4954,-1.47,-146.0,467.4,-10.2,644,4958,0.17,2.20,0.00,0.000,4,0.107,0.048,2579,3629,3332
$GC,5027,-1.42,-146.0,475.3,-10.6,650,5031,0.00,2.12,0.00,0.000,6,0.000,0.032,2580,2365,3332
$GC,5354,-1.46,-146.0,505.8,-9.2,677,5358,0.00,2.22,0.00,0.000,4,0.000,0.051,2580,3632,3329
$GC,5417,-1.41,-146.0,512.1,-9.1,680,5421,0.00,2.33,0.00,0.000,6,0.000,0.033,2580,2261,3328
$GC,5747,-1.46,-146.0,538.9,-7.9,696,5751,0.00,2.58,0.00,0.000,4,0.000,0.052,2580,816,3327
$GC,5825,-1.43,-146.0,545.6,-8.0,699,5832,0.00,2.70,0.00,0.000,6,0.000,0.035,2580,2383,3326
$GC,6143,-1.47,-146.0,566.6,-6.4,715,6146,0.00,2.17,0.00,0.000,4,0.000,0.054,2580,3625,3325
$GC,6221,-1.44,-146.0,572.7,-7.7,718,6228,0.00,2.33,0.00,0.000,6,0.000,0.034,2580,2250,3325
$GC,6538,-1.48,-146.0,598.1,-8.9,734,6542,0.00,2.55,0.00,0.000,4,0.000,0.054,2580,819,3322
$GC,6610,-1.48,-146.0,605.5,-9.9,737,6615,0.00,2.70,0.00,0.000,6,0.000,0.036,2580,2384,3321
$GC,6929,-1.52,-146.0,634.8,-8.9,752,6933,0.00,2.20,0.00,0.000,4,0.000,0.055,2580,3634,3320
$GC,7007,-1.52,-146.0,642.4,-9.0,755,7015,0.00,2.33,0.00,0.000,6,0.000,0.035,2580,2264,3319
$GC,7324,-1.58,-146.0,667.5,-7.6,771,7328,0.00,2.42,0.00,0.000,4,0.000,0.053,2580,3635,3318
$GC,7342,-1.61,-146.0,668.9,-7.9,772,7347,0.12,2.15,0.00,0.000,6,0.066,0.033,2549,2359,3317
$GC,7672,-1.54,-146.0,695.8,-8.2,788,7676,0.00,2.25,0.00,0.000,4,0.000,0.054,2549,3629,3317
$GC,7785,-1.44,-146.0,706.1,-8.8,793,7789,0.22,2.12,0.00,0.000,6,0.114,0.035,2590,2361,3316
$GC,8114,-1.50,-146.0,729.1,-6.9,809,8118,0.00,2.78,0.00,0.000,4,0.000,0.056,2589,813,3315
$GC,8163,-1.50,-146.0,733.1,-8.0,811,8168,0.00,2.67,0.00,0.000,6,0.000,0.037,2589,2357,3314
$GC,8481,-1.59,-146.0,754.3,-6.7,826,8486,0.15,2.78,0.00,0.000,4,0.054,0.054,2544,817,3313
$GC,8503,-1.59,-146.0,756.3,-7.8,827,8507,0.00,2.47,0.00,0.000,6,0.000,0.036,2544,2248,3313
$GC,8829,-1.51,-146.0,781.2,-7.4,843,8834,0.15,2.58,0.00,0.000,4,0.116,0.055,2574,813,3311
$GC,8907,-1.51,-146.0,787.9,-7.9,846,8914,0.00,2.53,0.00,0.000,6,0.000,0.037,2574,2271,3311
$GC,9225,-1.51,-146.0,811.2,-7.5,862,9229,0.00,2.40,0.00,0.000,4,0.000,0.058,2574,3630,3309
$GC,9286,-1.48,-146.0,816.4,-7.9,864,9293,0.00,2.33,0.00,0.000,6,0.000,0.036,2574,2270,3309
$GC,9603,-1.48,-146.0,840.0,-8.3,880,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2268,3308
$STATE,9641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9641,begin apogee
$GC,9648,-0.35,0.0,843.4,8.3,882,9772,1.27,0.00,120.10,1.254,6,0.105,0.000,2826,2353,2748
$STATE,9773,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9776,1.56,146.0,848.4,0.0,888,9907,1.90,0.00,127.18,1.216,6,0.053,0.000,3245,2353,2152
$GC,10216,1.36,169.6,820.3,8.0,910,10243,0.20,2.70,20.12,1.220,4,0.122,0.059,3206,939,2055
$GC,10277,1.19,169.6,814.5,10.1,912,10285,0.22,2.45,0.00,0.000,6,0.121,0.039,3167,2321,2055
$GC,10593,1.13,169.6,785.9,9.3,928,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2321,2054
$GC,10904,1.11,196.4,759.6,7.8,943,10933,0.00,2.60,22.75,1.215,4,0.000,0.060,3166,941,1947
$GC,10993,1.05,203.5,751.9,8.7,947,11007,0.17,2.45,6.45,1.216,6,0.115,0.040,3136,2327,1918
$GC,11326,1.09,227.4,725.7,7.9,963,11349,0.00,0.00,20.90,1.197,6,0.000,0.000,3136,2326,1821
$GC,11653,1.18,250.9,699.3,8.0,979,11680,0.12,2.65,20.55,1.180,4,0.073,0.061,3164,942,1725
$GC,11721,1.18,250.9,692.9,9.1,982,11726,0.00,2.42,0.00,0.000,6,0.000,0.039,3164,2307,1723
$GC,12049,1.19,257.0,663.4,8.7,998,12060,0.00,2.55,5.53,1.182,4,0.000,0.060,3164,939,1699
$GC,12093,1.19,257.0,659.4,9.1,1000,12097,0.00,2.38,0.00,0.000,6,0.000,0.039,3164,2281,1698
$GC,12415,1.19,257.5,631.2,9.0,1016,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2281,1698
$GC,12725,1.20,261.1,602.4,8.9,1031,12731,0.00,0.00,3.72,1.148,6,0.000,0.000,3164,2281,1683
$GC,13033,1.27,302.4,579.8,7.2,1046,13078,0.00,2.53,36.58,1.097,4,0.000,0.060,3164,941,1513
$GC,13107,1.32,307.7,573.8,8.8,1049,13117,0.12,2.35,4.72,1.105,6,0.071,0.038,3193,2271,1493
$GC,13428,1.32,307.7,543.1,10.2,1064,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2271,1490
$GC,13737,1.34,318.4,515.4,8.5,1079,13752,0.00,2.53,8.98,1.094,4,0.000,0.058,3193,939,1449
$GC,13797,1.37,336.2,510.0,8.2,1081,13818,0.00,2.30,16.15,1.058,6,0.000,0.038,3194,2248,1377
$GC,14136,1.39,349.9,482.2,8.4,1107,14154,0.00,2.70,12.23,1.052,4,0.000,0.057,3193,3727,1320
$GC,14200,1.39,349.9,476.4,9.3,1112,14204,0.00,2.55,0.00,0.000,6,0.000,0.038,3194,2274,1319
$GC,14525,1.39,349.9,445.9,10.6,1142,14529,0.00,2.42,0.00,0.000,4,0.000,0.058,3194,935,1317
$GC,14577,1.39,349.9,440.1,10.5,1146,14581,0.00,2.38,0.00,0.000,6,0.000,0.038,3194,2291,1317
$GC,14903,1.42,366.6,410.7,8.3,1176,14927,0.00,2.55,14.38,0.997,4,0.000,0.057,3194,941,1252
$GC,14978,1.47,366.6,403.4,10.1,1182,14986,0.15,2.28,0.00,0.000,6,0.060,0.037,3233,2244,1251
$GC,15304,1.43,366.6,365.0,11.4,1213,15308,0.00,2.65,0.00,0.000,4,0.000,0.055,3233,3727,1250
$GC,15359,1.38,366.6,357.9,12.2,1217,15367,0.15,2.55,0.00,0.000,6,0.116,0.038,3208,2251,1250
$GC,15686,1.41,366.6,325.5,9.4,1248,15690,0.00,2.62,0.00,0.000,4,0.000,0.053,3208,3722,1250
$GC,15741,1.41,366.6,320.1,9.3,1252,15748,0.00,2.75,0.00,0.000,6,0.000,0.038,3208,2139,1250
$GC,16069,1.55,380.6,293.7,8.4,1283,16086,0.15,2.17,11.98,0.914,4,0.059,0.056,3249,941,1195
$GC,16111,1.51,380.6,289.7,10.4,1286,16115,0.00,2.40,0.00,0.000,6,0.000,0.036,3249,2307,1194
$GC,16440,1.48,380.6,255.4,10.9,1316,16445,0.12,2.53,0.00,0.000,4,0.113,0.054,3227,3727,1193
$GC,16481,1.48,380.6,250.6,10.4,1319,16485,0.00,2.47,0.00,0.000,6,0.000,0.036,3227,2293,1193
$GC,16825,1.52,405.5,219.9,7.9,1379,16851,0.00,2.67,21.52,0.828,4,0.000,0.051,3227,3730,1094
$GC,16931,1.52,405.5,210.1,9.2,1397,16938,0.00,2.60,0.00,0.000,6,0.000,0.036,3227,2229,1092
$GC,17278,1.64,407.3,178.7,8.9,1458,17285,0.15,2.33,0.00,0.000,4,0.058,0.053,3273,931,1090
$GC,17355,1.58,407.3,170.7,10.8,1471,17363,0.12,1.95,0.00,0.000,6,0.115,0.034,3252,2070,1089
$GC,17702,1.68,418.1,138.7,8.5,1532,17722,0.00,2.10,10.57,0.772,4,0.000,0.052,3252,937,1042
$GC,17814,1.80,441.6,129.5,8.0,1551,17843,0.20,2.10,20.25,0.732,6,0.052,0.034,3304,2155,947
$GC,18184,1.80,442.1,96.6,9.0,1615,18191,0.00,2.78,0.00,0.000,4,0.000,0.051,3304,3728,943
$GC,18254,1.80,442.1,90.1,9.0,1627,18261,0.00,3.00,0.00,0.000,6,0.000,0.035,3304,1989,943
$GC,18600,1.91,453.2,62.4,8.5,1688,18615,0.00,1.95,8.85,0.675,4,0.000,0.050,3304,926,900
$GC,18719,1.98,469.0,52.1,8.3,1708,18740,0.12,2.05,13.35,0.647,6,0.055,0.030,3342,2141,835
$GC,19082,2.08,493.5,21.0,7.9,1771,19109,0.00,2.83,20.05,0.591,4,0.000,0.045,3342,3734,734
$GC,19195,2.11,494.5,11.1,9.0,1790,19202,0.00,3.00,0.00,0.000,6,0.000,0.031,3343,1981,733
$STATE,19296,end climb,SURFACE_DEPTH_REACHED
$STATE,19296,begin surface coast
$FINISH,0.1,1.020669
$STATE,19324,end surface coast,CONTROL_FINISHED_OK
$STATE,19325,begin surface
$SM_CCo,19409,0.00,0.000,0,0,728,495.51
$SM_GC,0.79,13.62,0.00,0.00,0.039,0.000,0.000,248,2254,728,-12.18,1.07,495.51
$IRIDIUM_FIX,1245.46,12042.28,010897,101041
$TT8_MAMPS,0.023777
$HUMID,2080
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.00
$XPDR_PINGS,374
$24V_AH,23.0,69.251
$10V_AH,10.1,35.640
$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,34.975,204.050,546.900,0.000,0.000,91.883,150.709,333.472,102.250,0.000,0.000,13.100,3880.324,11586.039,758.610,3045.733,1062.103,0.000,2308.656,0.000,2992.276,0.000,64.402
$DEVICE_MAMPS,167.973,64.428,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1215.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56664,1812
$CAP_FILE_SIZE,207842,0
$CFSIZE,260165632,225931264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,335.1,1
$GPS,070508,161308,1247.967,12042.762,38,2.0,38,-0.8