version: 66.03
glider: 122
mission: 6
dive: 378
start: 5 8 108 23 39 19
data:
$ID,122
$MISSION,6
$DIVE,378
$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,571.79431
$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,-34727.484
$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,24
$R_STBD_OVSHOOT,52
$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
$GPS1,232321,1241.971,12045.146,37,2.3,56,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.4
$GPS2,233847,1242.058,12045.048,14,2.3,33,-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,139.4,1181,-26.0,-9.016
$D_GRID,861
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.96,-78.2,0.0,0.0,0,87,0.00,0.00,-61.85,0.000,2,0.000,0.000,249,2247,2438
$GC,91,-1.98,-88.0,3.5,-8.2,10,123,12.75,2.55,-12.98,0.000,4,0.166,0.048,2468,801,3109
$GC,198,-1.76,-88.0,27.5,-20.5,28,206,0.28,2.35,0.00,0.000,6,0.132,0.028,2516,2201,3110
$GC,545,-1.64,-88.0,83.7,-14.8,89,552,0.15,2.45,0.00,0.000,4,0.140,0.044,2544,3625,3110
$GC,622,-1.53,-88.0,95.1,-14.1,102,629,0.15,2.33,0.00,0.000,6,0.132,0.026,2569,2214,3110
$GC,969,-1.57,-88.0,138.8,-10.5,163,975,0.00,2.40,0.00,0.000,4,0.000,0.043,2569,3617,3111
$GC,1078,-1.57,-88.0,150.1,-9.6,182,1084,0.00,2.17,0.00,0.000,6,0.000,0.025,2569,2285,3112
$GC,1424,-1.69,-96.1,180.4,-8.4,243,1431,0.15,2.28,0.00,0.000,4,0.053,0.041,2522,3619,3113
$GC,1491,-1.69,-96.1,186.9,-9.7,254,1498,0.00,2.10,0.00,0.000,6,0.000,0.026,2521,2331,3113
$GC,1836,-1.69,-96.1,216.5,-9.4,315,1843,0.00,2.62,0.00,0.000,4,0.000,0.048,2521,813,3113
$GC,1873,-1.69,-96.1,220.0,-10.0,321,1880,0.00,2.65,0.00,0.000,6,0.000,0.031,2521,2386,3113
$GC,2223,-1.71,-104.4,252.1,-8.4,381,2227,0.00,2.72,0.00,0.000,4,0.000,0.044,2521,822,3112
$GC,2279,-1.71,-106.3,257.2,-8.9,385,2286,0.00,2.58,0.00,0.000,6,0.000,0.031,2521,2348,3112
$GC,2606,-1.72,-115.6,282.7,-8.3,416,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2347,3110
$GC,2923,-1.73,-118.0,308.8,-8.8,446,2927,0.00,2.20,0.00,0.000,4,0.000,0.049,2521,3621,3108
$GC,2945,-1.73,-118.0,311.0,-9.3,447,2952,0.00,2.15,0.00,0.000,6,0.000,0.029,2521,2317,3108
$GC,3272,-1.73,-118.0,340.8,-9.6,478,3276,0.00,2.25,0.00,0.000,4,0.000,0.048,2521,3618,3106
$GC,3317,-1.73,-118.0,345.6,-9.9,481,3324,0.00,2.15,0.00,0.000,6,0.000,0.030,2521,2325,3105
$GC,3645,-1.75,-129.1,372.6,-8.1,512,3649,0.00,2.65,0.00,0.000,4,0.000,0.048,2521,817,3103
$GC,3685,-1.75,-129.1,376.2,-9.2,515,3689,0.00,2.55,0.00,0.000,6,0.000,0.033,2521,2312,3103
$GC,4013,-1.78,-133.3,404.3,-8.7,545,4017,0.00,2.25,0.00,0.000,4,0.000,0.050,2521,3617,3101
$GC,4117,-1.78,-133.3,414.3,-9.3,554,4121,0.00,2.15,0.00,0.000,6,0.000,0.031,2521,2332,3100
$GC,4445,-1.82,-137.0,444.2,-8.7,584,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2329,3098
$GC,4773,-1.87,-146.0,471.2,-7.6,615,4778,0.12,2.25,0.00,0.000,4,0.062,0.049,2488,3614,3095
$GC,4802,-1.81,-146.0,473.8,-9.4,617,4806,0.12,2.12,0.00,0.000,6,0.130,0.031,2507,2350,3095
$GC,5137,-1.81,-146.0,502.0,-8.8,647,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2346,3094
$GC,5447,-1.81,-146.0,531.3,-9.5,662,5452,0.00,2.70,0.00,0.000,4,0.000,0.051,2507,822,3092
$GC,5481,-1.81,-146.0,534.8,-9.0,663,5488,0.00,2.65,0.00,0.000,6,0.000,0.035,2507,2360,3092
$GC,5798,-1.81,-146.0,563.7,-9.0,679,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2360,3090
$GC,6106,-1.81,-146.0,588.4,-8.0,694,6110,0.00,2.72,0.00,0.000,4,0.000,0.051,2507,827,3087
$GC,6173,-1.81,-146.0,594.0,-8.4,697,6178,0.00,2.62,0.00,0.000,6,0.000,0.036,2508,2347,3086
$GC,6495,-1.81,-146.0,617.5,-6.9,713,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2346,3085
$GC,6803,-1.81,-146.0,644.6,-9.5,728,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2346,3083
$GC,7113,-1.81,-146.0,672.0,-8.3,743,7118,0.00,2.72,0.00,0.000,4,0.000,0.053,2507,826,3081
$GC,7200,-1.81,-146.0,678.8,-7.4,747,7204,0.00,2.65,0.00,0.000,6,0.000,0.038,2507,2349,3080
$GC,7530,-1.81,-146.0,704.6,-8.7,763,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2348,3079
$GC,7836,-1.85,-146.0,733.5,-9.1,778,7841,0.00,2.72,0.00,0.000,4,0.000,0.054,2507,829,3077
$GC,7886,-1.85,-146.0,738.2,-9.9,780,7891,0.00,2.62,0.00,0.000,6,0.000,0.037,2507,2342,3077
$GC,8203,-1.85,-146.0,768.9,-10.4,795,8207,0.00,2.22,0.00,0.000,4,0.000,0.058,2508,3612,3075
$GC,8230,-1.85,-146.0,772.1,-11.5,796,8234,0.00,2.15,0.00,0.000,6,0.000,0.035,2507,2344,3075
$GC,8559,-1.85,-146.0,799.0,-7.9,812,8563,0.00,2.70,0.00,0.000,4,0.000,0.055,2507,829,3074
$GC,8644,-1.85,-146.0,805.9,-8.3,816,8648,0.00,2.58,0.00,0.000,6,0.000,0.038,2508,2308,3074
$GC,8976,-1.85,-146.0,830.9,-7.5,832,8980,0.00,2.65,0.00,0.000,4,0.000,0.054,2507,829,3072
$GC,9009,-1.85,-146.0,834.0,-7.4,833,9016,0.00,2.53,0.00,0.000,6,0.000,0.038,2508,2285,3073
$GC,9326,-1.89,-146.0,856.2,-6.4,849,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2286,3071
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9394,-0.35,0.0,861.5,8.4,852,9468,1.65,0.00,70.03,1.280,6,0.119,0.000,2825,2333,2748
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9471,2.08,146.0,864.3,0.0,856,9610,2.47,2.62,127.43,1.236,4,0.051,0.061,3363,3727,2152
$GC,9672,1.81,146.0,850.6,14.0,865,9677,0.35,2.40,0.00,0.000,6,0.151,0.039,3305,2355,2150
$GC,9989,1.69,146.0,816.5,9.8,880,9994,0.15,2.60,0.00,0.000,4,0.140,0.059,3278,929,2149
$GC,10113,1.59,146.0,803.4,11.8,885,10121,0.15,2.40,0.00,0.000,6,0.138,0.038,3253,2297,2148
$GC,10430,1.56,146.0,769.8,10.9,901,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2297,2148
$GC,10738,1.56,146.0,737.2,10.1,916,10742,0.00,2.50,0.00,0.000,4,0.000,0.058,3253,925,2146
$GC,10800,1.52,146.0,730.1,11.4,918,10807,0.00,2.40,0.00,0.000,6,0.000,0.040,3253,2291,2146
$GC,11116,1.52,146.0,697.1,10.3,934,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2291,2146
$GC,11426,1.52,146.0,666.0,10.0,949,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2291,2145
$GC,11736,1.56,170.8,640.5,7.0,964,11762,0.00,2.60,20.02,1.173,4,0.000,0.059,3253,930,2051
$GC,11781,1.57,179.3,637.3,8.3,966,11795,0.00,2.40,7.78,1.162,6,0.000,0.039,3253,2280,2015
$GC,12113,1.60,199.1,612.2,7.4,982,12136,0.00,2.60,16.98,1.150,4,0.000,0.058,3253,923,1936
$GC,12183,1.60,199.1,605.6,9.5,985,12188,0.00,2.38,0.00,0.000,6,0.000,0.039,3253,2262,1935
$GC,12511,1.60,199.1,573.3,10.0,1001,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2263,1934
$GC,12821,1.64,199.1,542.3,9.9,1016,12825,0.00,2.62,0.00,0.000,4,0.000,0.059,3253,3727,1934
$GC,12860,1.64,199.1,538.1,10.1,1018,12865,0.00,2.60,0.00,0.000,6,0.000,0.039,3253,2226,1934
$GC,13188,1.67,199.1,508.1,9.3,1034,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2226,1934
$GC,13503,1.68,204.0,480.9,8.6,1059,13516,0.00,2.72,4.15,1.094,4,0.000,0.055,3253,3724,1916
$GC,13566,1.68,204.0,475.1,9.2,1064,13573,0.00,2.60,0.00,0.000,6,0.000,0.038,3253,2234,1915
$GC,13895,1.74,218.3,447.1,7.9,1095,13913,0.15,2.42,12.48,1.048,4,0.074,0.058,3290,924,1857
$GC,13975,1.71,226.7,439.7,8.3,1101,13988,0.00,2.28,7.40,1.046,6,0.000,0.038,3290,2221,1824
$GC,14307,1.72,232.5,410.0,8.5,1132,14320,0.00,2.72,5.10,1.036,4,0.000,0.056,3290,3724,1800
$GC,14348,1.68,232.5,406.1,9.9,1135,14355,0.00,2.65,0.00,0.000,6,0.000,0.038,3290,2209,1799
$GC,14676,1.69,235.6,376.6,8.8,1166,14688,0.00,2.78,2.95,1.012,4,0.000,0.053,3290,3724,1787
$GC,14728,1.65,235.6,371.1,9.4,1170,14736,0.15,2.60,0.00,0.000,6,0.151,0.038,3267,2228,1787
$GC,15054,1.70,235.6,341.1,9.3,1201,15058,0.00,2.67,0.00,0.000,4,0.000,0.052,3267,3726,1787
$GC,15086,1.70,235.6,337.6,10.2,1203,15093,0.00,2.58,0.00,0.000,6,0.000,0.038,3267,2238,1787
$GC,15415,1.76,240.5,308.1,8.6,1234,15427,0.00,2.70,4.62,0.966,4,0.000,0.052,3267,3730,1767
$GC,15451,1.76,240.5,304.4,9.6,1237,15455,0.00,2.60,0.00,0.000,6,0.000,0.037,3267,2237,1767
$GC,15778,1.82,240.5,275.2,9.1,1267,15780,0.15,0.00,0.00,0.000,6,0.075,0.000,3300,2237,1767
$GC,16097,1.82,242.8,247.1,8.8,1299,16105,0.00,2.42,2.42,0.910,4,0.000,0.054,3301,922,1758
$GC,16184,1.82,242.8,238.8,9.3,1314,16192,0.00,2.38,0.00,0.000,6,0.000,0.036,3300,2294,1757
$GC,16530,1.82,242.8,207.0,9.6,1375,16537,0.00,2.45,0.00,0.000,4,0.000,0.054,3300,929,1757
$GC,16595,1.82,242.8,201.0,9.1,1386,16602,0.00,2.28,0.00,0.000,6,0.000,0.036,3301,2246,1758
$GC,16941,1.82,242.8,173.0,9.6,1447,16948,0.00,2.38,0.00,0.000,4,0.000,0.054,3301,921,1758
$GC,16977,1.82,242.8,169.3,10.0,1453,16984,0.00,2.22,0.00,0.000,6,0.000,0.035,3301,2218,1758
$GC,17324,1.94,271.0,143.1,6.8,1514,17357,0.12,2.75,23.42,0.760,4,0.071,0.049,3331,3721,1642
$GC,17493,1.99,299.2,130.7,6.8,1543,17525,0.00,2.55,23.15,0.739,6,0.000,0.034,3331,2234,1527
$GC,17867,2.14,340.0,108.8,5.7,1608,17907,0.15,2.75,32.67,0.693,4,0.064,0.047,3371,3728,1361
$GC,18016,2.15,345.6,96.9,8.6,1633,18029,0.00,2.38,4.20,0.729,6,0.000,0.031,3371,2333,1338
$GC,18371,2.23,357.4,70.6,8.1,1695,18386,0.00,2.55,9.55,0.669,4,0.000,0.047,3371,937,1289
$GC,18520,2.32,371.7,58.3,7.9,1720,18541,0.17,2.38,11.52,0.646,6,0.053,0.031,3419,2327,1231
$GC,18882,2.32,371.7,23.5,9.5,1783,18889,0.00,2.45,0.00,0.000,4,0.000,0.044,3419,931,1231
$GC,18997,2.32,371.7,13.3,9.1,1803,19004,0.00,2.22,0.00,0.000,6,0.000,0.029,3419,2248,1230
$STATE,19149,end climb,SURFACE_DEPTH_REACHED
$STATE,19149,begin surface coast
$FINISH,-0.2,1.020818
$STATE,19179,end surface coast,CONTROL_FINISHED_OK
$STATE,19179,begin surface
$SM_CCo,19204,96.75,0.529,0,0,416,571.79
$SM_GC,0.71,0.00,0.00,96.75,0.000,0.000,0.529,248,2249,416,-12.22,0.93,571.79
$IRIDIUM_FIX,1236.62,12046.08,020897,232337
$TT8_MAMPS,0.023777
$HUMID,2011
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.10
$XPDR_PINGS,368
$24V_AH,23.0,70.459
$10V_AH,10.1,36.287
$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,33.325,183.825,385.875,96.750,0.000,131.296,375.803,0.000,101.250,0.000,0.000,34.134,3798.734,11723.268,719.037,3018.992,960.360,0.000,2223.913,0.000,2942.415,0.000,68.227
$DEVICE_MAMPS,166.439,115.817,1280.123,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56582,1835
$CAP_FILE_SIZE,186910,0
$CFSIZE,260165632,225349632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,144.7,1
$GPS,090508,050208,1239.804,12046.758,29,1.5,29,-0.8