version: 66.03
glider: 122
mission: 6
dive: 379
start: 5 9 108 5 14 26
data:
$ID,122
$MISSION,6
$DIVE,379
$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,-34742.328
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,050208,1239.804,12046.758,29,1.5,29,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-71.0
$GPS2,051350,1239.813,12046.771,9,2.0,14,-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,325.5,4017,-18.6,-9.016
$D_GRID,794
$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,-1.56,-146.0,0.0,0.0,0,96,0.00,0.00,-70.40,0.000,2,0.000,0.000,248,2250,2325
$GC,100,-1.56,-146.0,3.2,-6.9,10,139,13.30,2.55,-20.42,0.000,4,0.166,0.050,2561,814,3346
$GC,164,-1.28,-146.0,16.0,-18.8,20,172,0.32,2.38,0.00,0.000,6,0.115,0.028,2621,2230,3347
$GC,511,-1.17,-146.0,61.6,-11.7,81,518,0.15,2.40,0.00,0.000,4,0.114,0.044,2652,3626,3347
$GC,610,-1.10,-146.0,72.9,-11.3,98,617,0.00,2.22,0.00,0.000,6,0.000,0.025,2653,2262,3347
$GC,958,-1.14,-146.0,112.1,-9.4,159,965,0.00,2.33,0.00,0.000,4,0.000,0.042,2652,3621,3348
$GC,1045,-1.14,-146.0,121.3,-10.5,174,1052,0.00,2.15,0.00,0.000,6,0.000,0.025,2652,2293,3348
$GC,1391,-1.29,-146.0,153.9,-8.7,235,1399,0.15,2.28,0.00,0.000,4,0.048,0.043,2598,3621,3349
$GC,1447,-1.24,-146.0,159.2,-10.2,244,1454,0.17,2.12,0.00,0.000,6,0.092,0.026,2632,2312,3349
$GC,1794,-1.36,-146.0,190.2,-9.2,305,1802,0.12,2.58,0.00,0.000,4,0.052,0.041,2589,822,3349
$GC,1899,-1.31,-146.0,199.9,-8.8,323,1906,0.15,2.70,0.00,0.000,6,0.100,0.031,2618,2424,3349
$GC,2246,-1.40,-146.0,226.3,-7.7,384,2253,0.00,2.05,0.00,0.000,4,0.000,0.050,2617,3615,3349
$GC,2328,-1.43,-146.0,233.1,-8.2,398,2336,0.12,2.15,0.00,0.000,6,0.056,0.028,2580,2304,3348
$GC,2672,-1.43,-146.0,261.6,-8.1,447,2676,0.00,2.58,0.00,0.000,4,0.000,0.044,2580,825,3346
$GC,2770,-1.37,-146.0,270.4,-9.6,455,2775,0.12,2.72,0.00,0.000,6,0.109,0.032,2602,2426,3347
$GC,3096,-1.45,-146.0,298.9,-8.5,485,3099,0.00,2.05,0.00,0.000,4,0.000,0.050,2602,3616,3345
$GC,3192,-1.45,-146.0,307.4,-8.8,493,3199,0.00,2.17,0.00,0.000,6,0.000,0.030,2602,2302,3344
$GC,3520,-1.54,-146.0,334.5,-8.6,524,3525,0.15,2.58,0.00,0.000,4,0.051,0.047,2554,826,3342
$GC,3629,-1.44,-146.0,345.4,-9.9,533,3634,0.20,2.70,0.00,0.000,6,0.100,0.034,2591,2404,3341
$GC,3955,-1.50,-146.0,372.8,-7.6,563,3959,0.00,2.10,0.00,0.000,4,0.000,0.051,2591,3625,3339
$GC,4051,-1.50,-146.0,380.9,-8.4,571,4058,0.00,2.22,0.00,0.000,6,0.000,0.031,2591,2292,3337
$GC,4379,-1.58,-146.0,405.9,-7.7,602,4384,0.15,2.60,0.00,0.000,4,0.053,0.048,2545,822,3335
$GC,4465,-1.47,-146.0,413.9,-9.9,609,4470,0.20,2.70,0.00,0.000,6,0.100,0.034,2583,2392,3335
$GC,4791,-1.51,-146.0,440.6,-7.8,639,4794,0.00,2.12,0.00,0.000,4,0.000,0.051,2583,3615,3332
$GC,4865,-1.48,-146.0,446.7,-8.4,645,4872,0.00,2.25,0.00,0.000,6,0.000,0.032,2583,2275,3332
$GC,5193,-1.53,-146.0,470.7,-7.0,676,5197,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,823,3329
$GC,5282,-1.53,-146.0,478.4,-8.0,683,5289,0.00,2.67,0.00,0.000,6,0.000,0.035,2583,2380,3328
$GC,5620,-1.59,-146.0,505.9,-9.2,712,5625,0.12,2.78,0.00,0.000,4,0.059,0.050,2548,825,3326
$GC,5649,-1.52,-146.0,509.2,-11.3,713,5654,0.12,2.70,0.00,0.000,6,0.112,0.035,2570,2399,3327
$GC,5968,-1.52,-146.0,540.2,-9.7,728,5972,0.00,2.80,0.00,0.000,4,0.000,0.051,2570,828,3325
$GC,6000,-1.52,-146.0,543.9,-9.8,729,6008,0.00,2.62,0.00,0.000,6,0.000,0.035,2570,2350,3325
$GC,6319,-1.56,-146.0,570.8,-8.1,745,6323,0.00,2.72,0.00,0.000,4,0.000,0.051,2570,823,3322
$GC,6414,-1.52,-146.0,578.7,-8.2,749,6418,0.00,2.50,0.00,0.000,6,0.000,0.035,2570,2270,3321
$GC,6734,-1.56,-146.0,601.5,-7.2,764,6737,0.00,2.38,0.00,0.000,4,0.000,0.055,2570,3619,3320
$GC,6829,-1.48,-146.0,609.5,-7.8,768,6833,0.00,2.20,0.00,0.000,6,0.000,0.035,2570,2318,3319
$GC,7152,-1.48,-146.0,632.9,-6.5,784,7156,0.00,2.30,0.00,0.000,4,0.000,0.054,2570,3616,3318
$GC,7174,-1.44,-146.0,634.5,-6.6,785,7178,0.00,2.15,0.00,0.000,6,0.000,0.035,2570,2335,3317
$GC,7502,-1.44,-146.0,655.4,-6.1,801,7507,0.00,2.67,0.00,0.000,4,0.000,0.054,2570,833,3316
$GC,7536,-1.44,-146.0,657.7,-6.6,802,7544,0.00,2.55,0.00,0.000,6,0.000,0.037,2570,2311,3316
$GC,7852,-1.44,-146.0,673.8,-4.8,818,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2310,3313
$GC,8162,-1.41,-146.0,692.2,-6.4,833,8167,0.12,2.67,0.00,0.000,4,0.120,0.054,2592,829,3311
$GC,8203,-1.44,-146.0,695.2,-7.3,835,8207,0.00,2.58,0.00,0.000,6,0.000,0.038,2592,2308,3311
$GC,8533,-1.53,-146.0,717.5,-7.2,851,8537,0.00,2.65,0.00,0.000,4,0.000,0.055,2592,832,3311
$GC,8622,-1.56,-146.0,724.6,-6.9,855,8627,0.15,2.38,0.00,0.000,6,0.058,0.037,2553,2213,3310
$GC,8947,-1.50,-146.0,753.4,-9.1,871,8952,0.12,2.50,0.00,0.000,4,0.115,0.058,2576,3618,3308
$GC,9032,-1.46,-146.0,761.3,-8.9,875,9037,0.00,2.33,0.00,0.000,6,0.000,0.037,2575,2263,3308
$GC,9361,-1.46,-146.0,787.8,-8.0,891,9365,0.00,2.42,0.00,0.000,4,0.000,0.057,2576,3621,3307
$GC,9389,-1.46,-146.0,790.3,-8.8,892,9393,0.00,2.30,0.00,0.000,6,0.000,0.037,2576,2273,3307
$STATE,9434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9434,begin apogee
$GC,9441,-0.35,0.0,794.2,8.1,894,9564,1.25,0.00,119.00,1.222,6,0.104,0.000,2823,2347,2748
$STATE,9564,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9568,1.56,146.0,799.5,0.0,900,9702,1.90,2.58,125.50,1.183,4,0.053,0.058,3250,3711,2151
$GC,9735,1.27,146.0,794.0,10.6,907,9741,0.38,2.42,0.00,0.000,6,0.136,0.039,3186,2333,2151
$GC,10053,1.22,193.6,771.9,6.9,922,10095,0.00,0.00,40.70,1.180,6,0.000,0.000,3186,2333,1958
$GC,10401,1.19,225.7,744.2,7.6,939,10435,0.12,2.65,27.67,1.177,4,0.131,0.061,3165,930,1827
$GC,10458,1.18,243.0,740.2,8.2,941,10479,0.00,2.55,15.35,1.166,6,0.000,0.040,3165,2362,1756
$GC,10796,1.19,246.9,714.4,8.8,958,10805,0.00,2.70,3.17,1.161,4,0.000,0.059,3165,930,1740
$GC,10874,1.19,246.9,707.1,9.2,961,10878,0.00,2.47,0.00,0.000,6,0.000,0.039,3165,2329,1740
$GC,11191,1.24,279.8,682.7,7.5,976,11227,0.00,2.67,29.05,1.156,4,0.000,0.060,3165,935,1606
$GC,11289,1.25,283.3,674.4,8.9,980,11302,0.00,2.38,3.40,1.147,6,0.000,0.039,3165,2279,1592
$GC,11611,1.27,299.8,647.9,8.3,996,11634,0.00,2.70,14.60,1.158,4,0.000,0.061,3165,3727,1525
$GC,11651,1.27,299.8,644.1,10.1,997,11658,0.00,2.58,0.00,0.000,6,0.000,0.040,3165,2266,1524
$GC,11969,1.29,308.0,617.0,8.6,1013,11982,0.00,2.55,7.03,1.159,4,0.000,0.061,3165,927,1492
$GC,12018,1.29,308.0,612.1,10.0,1015,12022,0.00,2.35,0.00,0.000,6,0.000,0.038,3166,2259,1491
$GC,12340,1.33,308.0,582.0,9.7,1031,12342,0.15,0.00,0.00,0.000,6,0.065,0.000,3200,2259,1490
$GC,12650,1.30,308.0,547.6,11.1,1046,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2259,1490
$GC,12958,1.30,308.0,515.6,9.8,1061,12962,0.00,2.42,0.00,0.000,4,0.000,0.059,3200,929,1489
$GC,12979,1.30,308.0,513.3,9.7,1062,12983,0.00,2.28,0.00,0.000,6,0.000,0.038,3200,2234,1488
$GC,13306,1.30,308.0,482.9,9.3,1086,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2235,1488
$GC,13624,1.30,308.0,453.1,9.5,1116,13629,0.00,2.67,0.00,0.000,4,0.000,0.057,3200,3733,1488
$GC,13653,1.26,308.0,450.1,10.4,1118,13658,0.00,2.65,0.00,0.000,6,0.000,0.038,3200,2208,1488
$GC,13982,1.23,308.0,419.9,9.1,1148,13987,0.15,2.72,0.00,0.000,4,0.120,0.054,3170,3727,1488
$GC,14037,1.23,308.0,414.3,9.4,1152,14044,0.00,2.55,0.00,0.000,6,0.000,0.038,3171,2252,1488
$GC,14366,1.33,312.9,385.3,8.8,1183,14379,0.12,2.67,3.85,1.020,4,0.071,0.054,3200,3727,1472
$GC,14407,1.28,312.9,380.9,9.8,1186,14415,0.00,2.80,0.00,0.000,6,0.000,0.038,3200,2122,1472
$GC,14735,1.31,330.2,353.0,8.2,1217,14759,0.00,2.95,15.38,0.966,4,0.000,0.052,3200,3729,1401
$GC,14854,1.31,330.2,341.8,9.5,1227,14862,0.00,2.67,0.00,0.000,6,0.000,0.038,3200,2192,1400
$GC,15183,1.38,330.2,313.0,9.1,1258,15187,0.00,2.28,0.00,0.000,4,0.000,0.057,3200,926,1399
$GC,15282,1.38,330.2,303.5,9.2,1266,15289,0.00,2.42,0.00,0.000,6,0.000,0.036,3200,2321,1398
$GC,15610,1.43,330.2,274.4,9.2,1297,15615,0.00,2.50,0.00,0.000,4,0.000,0.054,3200,3730,1398
$GC,15662,1.43,330.2,269.2,9.6,1301,15666,0.00,2.75,0.00,0.000,6,0.000,0.037,3200,2142,1398
$GC,15995,1.53,330.2,238.4,9.3,1342,16002,0.15,2.17,0.00,0.000,4,0.061,0.054,3241,926,1398
$GC,16044,1.46,330.2,233.8,9.8,1350,16051,0.00,2.38,0.00,0.000,6,0.000,0.035,3241,2299,1398
$GC,16390,1.42,344.6,202.2,8.4,1411,16411,0.15,2.53,12.18,0.836,4,0.108,0.053,3210,926,1342
$GC,16517,1.47,351.1,191.9,8.7,1432,16531,0.00,2.25,5.78,0.844,6,0.000,0.034,3210,2226,1316
$GC,16872,1.63,390.3,161.5,7.3,1494,16913,0.20,2.38,33.33,0.755,4,0.057,0.051,3264,930,1154
$GC,16977,1.59,390.3,151.6,9.5,1511,16984,0.00,1.98,0.00,0.000,6,0.000,0.034,3264,2076,1152
$GC,17324,1.61,401.4,122.0,8.5,1572,17338,0.00,3.03,8.52,0.754,4,0.000,0.048,3264,3734,1111
$GC,17472,1.65,427.7,109.3,7.8,1597,17499,0.00,2.78,22.25,0.708,6,0.000,0.034,3264,2119,1004
$GC,17841,1.88,474.7,81.3,6.9,1661,17889,0.20,2.20,38.62,0.650,4,0.048,0.051,3323,925,813
$GC,17971,1.90,482.1,69.8,8.7,1682,17985,0.00,1.85,6.20,0.679,6,0.000,0.030,3323,2018,782
$GC,18325,1.95,495.5,38.4,8.4,1744,18345,0.00,2.00,10.62,0.625,4,0.000,0.049,3323,928,727
$GC,18381,2.00,495.5,33.1,9.1,1753,18388,0.00,2.00,0.00,0.000,6,0.000,0.028,3323,2121,725
$GC,18728,2.18,513.2,4.6,8.2,1814,18749,0.22,2.83,13.95,0.573,4,0.045,0.043,3387,3727,654
$STATE,18759,end climb,SURFACE_DEPTH_REACHED
$STATE,18760,begin surface coast
$FINISH,-0.2,1.008992
$STATE,18782,end surface coast,CONTROL_FINISHED_OK
$STATE,18782,begin surface
$SM_CCo,18869,0.00,0.000,0,0,650,514.64
$SM_GC,0.81,13.82,0.00,0.00,0.038,0.000,0.000,252,2195,650,-12.17,-0.59,514.64
$IRIDIUM_FIX,1236.62,12049.11,030897,050510
$TT8_MAMPS,0.023777
$HUMID,2067
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.60
$XPDR_PINGS,370
$24V_AH,23.0,70.664
$10V_AH,10.1,36.389
$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,34.800,212.200,556.150,0.000,0.000,48.868,71.788,368.281,100.000,0.000,0.000,14.215,3874.128,10881.979,786.881,3086.895,941.869,0.000,2363.472,0.000,3025.860,0.000,55.322
$DEVICE_MAMPS,165.672,62.894,1221.831,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56598,1823
$CAP_FILE_SIZE,204192,0
$CFSIZE,260165632,225275904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,327.9,1
$GPS,090508,103008,1241.185,12045.883,37,1.0,37,-0.8